{
  "schema_version": 1,
  "date": "2026-10-28",
  "machine": {
    "id": "9722d23d12a3",
    "os": "Windows 11 AMD64",
    "cpu": "AMD64 Family 25 Model 80",
    "logical_cores": 16
  },
  "physics": "Newton 1.5.0 / MuJoCo 3.11 CPU, 16 ms sample, 8 substeps",
  "meaning": "Structured simulation discovery; not a field failure rate or hardware validation.",
  "robots": {
    "husky": {
      "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"
      ]
    },
    "jackal": {
      "version": "1.1.0",
      "counts": {
        "PASS": 41,
        "FAIL": 23
      },
      "episodes": 64,
      "campaign_sha256": "553f229032f93b34954ef5940500ad9d6bc4fab63166e66adfe8c314dda61847",
      "cases": [
        {
          "case": "case-000",
          "spec": {
            "schema_version": 2,
            "robot": "jackal",
            "target_speed_m_s": 0.41159999999999997,
            "brake_delay_s": 0.0,
            "max_stop_distance_m": 0.11764899999999998,
            "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": 0.0,
            "ground_mu": 0.1,
            "payload_kg": 0.0,
            "payload_height_m": 0.2254,
            "payload_offset_x_m": 0.0
          },
          "kind": "grid",
          "status": "PASS",
          "reasons": [],
          "metrics": {
            "braking_qualified": true,
            "max_achieved_speed_m_s": 0.4115985631942749,
            "max_ground_tilt_rad": 0.0006903809103157401,
            "sample_count": 279,
            "sample_period_s": 0.016,
            "max_forward_excursion_m": 0.08606016635894775,
            "initial_speed_m_s": 0.4115985631942749,
            "stop_time_s": 0.3999999999999999,
            "observed_command_delay_s": 0.0,
            "request_time_s": 1.952,
            "rollback_m": 0.0,
            "final_speed_m_s": 1.5643884712005089e-10
          }
        },
        {
          "case": "case-001",
          "spec": {
            "schema_version": 2,
            "robot": "jackal",
            "target_speed_m_s": 0.41159999999999997,
            "brake_delay_s": 0.0,
            "max_stop_distance_m": 0.11764899999999998,
            "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": 0.0,
            "ground_mu": 0.1,
            "payload_kg": 2.0,
            "payload_height_m": 0.2254,
            "payload_offset_x_m": 0.0
          },
          "kind": "grid",
          "status": "PASS",
          "reasons": [],
          "metrics": {
            "braking_qualified": true,
            "max_achieved_speed_m_s": 0.4115985631942749,
            "max_ground_tilt_rad": 0.0,
            "sample_count": 279,
            "sample_period_s": 0.016,
            "max_forward_excursion_m": 0.08602288365364075,
            "initial_speed_m_s": 0.4115985631942749,
            "stop_time_s": 0.3999999999999999,
            "observed_command_delay_s": 0.0,
            "request_time_s": 1.952,
            "rollback_m": 0.0,
            "final_speed_m_s": 1.6497831728764302e-10
          }
        },
        {
          "case": "case-002",
          "spec": {
            "schema_version": 2,
            "robot": "jackal",
            "target_speed_m_s": 0.41159999999999997,
            "brake_delay_s": 0.0,
            "max_stop_distance_m": 0.11764899999999998,
            "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": 0.0,
            "ground_mu": 0.1,
            "payload_kg": 5.0,
            "payload_height_m": 0.2254,
            "payload_offset_x_m": 0.0
          },
          "kind": "grid",
          "status": "PASS",
          "reasons": [],
          "metrics": {
            "braking_qualified": true,
            "max_achieved_speed_m_s": 0.4115985035896301,
            "max_ground_tilt_rad": 0.0,
            "sample_count": 279,
            "sample_period_s": 0.016,
            "max_forward_excursion_m": 0.08599609136581421,
            "initial_speed_m_s": 0.4115985035896301,
            "stop_time_s": 0.3999999999999999,
            "observed_command_delay_s": 0.0,
            "request_time_s": 1.952,
            "rollback_m": 0.0,
            "final_speed_m_s": 1.880244129606901e-10
          }
        },
        {
          "case": "case-003",
          "spec": {
            "schema_version": 2,
            "robot": "jackal",
            "target_speed_m_s": 0.41159999999999997,
            "brake_delay_s": 0.0,
            "max_stop_distance_m": 0.11764899999999998,
            "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": 0.0,
            "ground_mu": 0.2,
            "payload_kg": 0.0,
            "payload_height_m": 0.2254,
            "payload_offset_x_m": 0.0
          },
          "kind": "grid",
          "status": "PASS",
          "reasons": [],
          "metrics": {
            "braking_qualified": true,
            "max_achieved_speed_m_s": 0.4136902689933777,
            "max_ground_tilt_rad": 0.0,
            "sample_count": 273,
            "sample_period_s": 0.016,
            "max_forward_excursion_m": 0.04392129182815552,
            "initial_speed_m_s": 0.4115942120552063,
            "stop_time_s": 0.20799999999999996,
            "observed_command_delay_s": 0.0,
            "request_time_s": 1.856,
            "rollback_m": 0.0,
            "final_speed_m_s": 5.670781173030648e-11
          }
        },
        {
          "case": "case-004",
          "spec": {
            "schema_version": 2,
            "robot": "jackal",
            "target_speed_m_s": 0.41159999999999997,
            "brake_delay_s": 0.0,
            "max_stop_distance_m": 0.11764899999999998,
            "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": 0.0,
            "ground_mu": 0.2,
            "payload_kg": 2.0,
            "payload_height_m": 0.2254,
            "payload_offset_x_m": 0.0
          },
          "kind": "grid",
          "status": "PASS",
          "reasons": [],
          "metrics": {
            "braking_qualified": true,
            "max_achieved_speed_m_s": 0.4164723753929138,
            "max_ground_tilt_rad": 0.00029853105230213196,
            "sample_count": 273,
            "sample_period_s": 0.016,
            "max_forward_excursion_m": 0.044523924589157104,
            "initial_speed_m_s": 0.4115941524505615,
            "stop_time_s": 0.22399999999999998,
            "observed_command_delay_s": 0.0,
            "request_time_s": 1.856,
            "rollback_m": 0.0,
            "final_speed_m_s": 7.452253069853247e-11
          }
        },
        {
          "case": "case-005",
          "spec": {
            "schema_version": 2,
            "robot": "jackal",
            "target_speed_m_s": 0.41159999999999997,
            "brake_delay_s": 0.0,
            "max_stop_distance_m": 0.11764899999999998,
            "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": 0.0,
            "ground_mu": 0.2,
            "payload_kg": 5.0,
            "payload_height_m": 0.2254,
            "payload_offset_x_m": 0.0
          },
          "kind": "grid",
          "status": "PASS",
          "reasons": [],
          "metrics": {
            "braking_qualified": true,
            "max_achieved_speed_m_s": 0.41399601101875305,
            "max_ground_tilt_rad": 0.0,
            "sample_count": 273,
            "sample_period_s": 0.016,
            "max_forward_excursion_m": 0.045175760984420776,
            "initial_speed_m_s": 0.4115939438343048,
            "stop_time_s": 0.22399999999999998,
            "observed_command_delay_s": 0.0,
            "request_time_s": 1.856,
            "rollback_m": 0.0,
            "final_speed_m_s": 1.0433171648556155e-10
          }
        },
        {
          "case": "case-006",
          "spec": {
            "schema_version": 2,
            "robot": "jackal",
            "target_speed_m_s": 0.41159999999999997,
            "brake_delay_s": 0.0,
            "max_stop_distance_m": 0.11764899999999998,
            "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": 0.0,
            "ground_mu": 0.4,
            "payload_kg": 0.0,
            "payload_height_m": 0.2254,
            "payload_offset_x_m": 0.0
          },
          "kind": "grid",
          "status": "PASS",
          "reasons": [],
          "metrics": {
            "braking_qualified": true,
            "max_achieved_speed_m_s": 0.4222565293312073,
            "max_ground_tilt_rad": 0.0,
            "sample_count": 272,
            "sample_period_s": 0.016,
            "max_forward_excursion_m": 0.041802942752838135,
            "initial_speed_m_s": 0.41157427430152893,
            "stop_time_s": 0.20799999999999996,
            "observed_command_delay_s": 0.0,
            "request_time_s": 1.84,
            "rollback_m": 0.0,
            "final_speed_m_s": 9.735847827645976e-11
          }
        },
        {
          "case": "case-007",
          "spec": {
            "schema_version": 2,
            "robot": "jackal",
            "target_speed_m_s": 0.41159999999999997,
            "brake_delay_s": 0.0,
            "max_stop_distance_m": 0.11764899999999998,
            "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": 0.0,
            "ground_mu": 0.4,
            "payload_kg": 2.0,
            "payload_height_m": 0.2254,
            "payload_offset_x_m": 0.0
          },
          "kind": "grid",
          "status": "PASS",
          "reasons": [],
          "metrics": {
            "braking_qualified": true,
            "max_achieved_speed_m_s": 0.42368441820144653,
            "max_ground_tilt_rad": 0.0,
            "sample_count": 272,
            "sample_period_s": 0.016,
            "max_forward_excursion_m": 0.042230576276779175,
            "initial_speed_m_s": 0.41157397627830505,
            "stop_time_s": 0.20799999999999996,
            "observed_command_delay_s": 0.0,
            "request_time_s": 1.84,
            "rollback_m": 0.0,
            "final_speed_m_s": 1.0503442939643347e-10
          }
        },
        {
          "case": "case-008",
          "spec": {
            "schema_version": 2,
            "robot": "jackal",
            "target_speed_m_s": 0.41159999999999997,
            "brake_delay_s": 0.0,
            "max_stop_distance_m": 0.11764899999999998,
            "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": 0.0,
            "ground_mu": 0.4,
            "payload_kg": 5.0,
            "payload_height_m": 0.2254,
            "payload_offset_x_m": 0.0
          },
          "kind": "grid",
          "status": "PASS",
          "reasons": [],
          "metrics": {
            "braking_qualified": true,
            "max_achieved_speed_m_s": 0.4232865571975708,
            "max_ground_tilt_rad": 0.0,
            "sample_count": 273,
            "sample_period_s": 0.016,
            "max_forward_excursion_m": 0.042864441871643066,
            "initial_speed_m_s": 0.4115731120109558,
            "stop_time_s": 0.20799999999999996,
            "observed_command_delay_s": 0.0,
            "request_time_s": 1.856,
            "rollback_m": 0.0,
            "final_speed_m_s": 9.970805856106798e-11
          }
        },
        {
          "case": "case-009",
          "spec": {
            "schema_version": 2,
            "robot": "jackal",
            "target_speed_m_s": 0.41159999999999997,
            "brake_delay_s": 0.0,
            "max_stop_distance_m": 0.11764899999999998,
            "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": 0.0,
            "ground_mu": 0.8,
            "payload_kg": 0.0,
            "payload_height_m": 0.2254,
            "payload_offset_x_m": 0.0
          },
          "kind": "grid",
          "status": "PASS",
          "reasons": [],
          "metrics": {
            "braking_qualified": true,
            "max_achieved_speed_m_s": 0.42237162590026855,
            "max_ground_tilt_rad": 0.0,
            "sample_count": 272,
            "sample_period_s": 0.016,
            "max_forward_excursion_m": 0.04179680347442627,
            "initial_speed_m_s": 0.4114554822444916,
            "stop_time_s": 0.20799999999999996,
            "observed_command_delay_s": 0.0,
            "request_time_s": 1.84,
            "rollback_m": 0.0,
            "final_speed_m_s": 1.2997065245638546e-10
          }
        },
        {
          "case": "case-010",
          "spec": {
            "schema_version": 2,
            "robot": "jackal",
            "target_speed_m_s": 0.41159999999999997,
            "brake_delay_s": 0.0,
            "max_stop_distance_m": 0.11764899999999998,
            "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": 0.0,
            "ground_mu": 0.8,
            "payload_kg": 2.0,
            "payload_height_m": 0.2254,
            "payload_offset_x_m": 0.0
          },
          "kind": "grid",
          "status": "PASS",
          "reasons": [],
          "metrics": {
            "braking_qualified": true,
            "max_achieved_speed_m_s": 0.42348775267601013,
            "max_ground_tilt_rad": 0.0,
            "sample_count": 272,
            "sample_period_s": 0.016,
            "max_forward_excursion_m": 0.042223185300827026,
            "initial_speed_m_s": 0.4114537537097931,
            "stop_time_s": 0.20799999999999996,
            "observed_command_delay_s": 0.0,
            "request_time_s": 1.84,
            "rollback_m": 0.0,
            "final_speed_m_s": 1.5223757396154315e-10
          }
        },
        {
          "case": "case-011",
          "spec": {
            "schema_version": 2,
            "robot": "jackal",
            "target_speed_m_s": 0.41159999999999997,
            "brake_delay_s": 0.0,
            "max_stop_distance_m": 0.11764899999999998,
            "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": 0.0,
            "ground_mu": 0.8,
            "payload_kg": 5.0,
            "payload_height_m": 0.2254,
            "payload_offset_x_m": 0.0
          },
          "kind": "grid",
          "status": "PASS",
          "reasons": [],
          "metrics": {
            "braking_qualified": true,
            "max_achieved_speed_m_s": 0.422995924949646,
            "max_ground_tilt_rad": 0.0,
            "sample_count": 273,
            "sample_period_s": 0.016,
            "max_forward_excursion_m": 0.042862653732299805,
            "initial_speed_m_s": 0.41144898533821106,
            "stop_time_s": 0.20799999999999996,
            "observed_command_delay_s": 0.0,
            "request_time_s": 1.856,
            "rollback_m": 0.0,
            "final_speed_m_s": 1.9102859538820086e-10
          }
        },
        {
          "case": "case-012",
          "spec": {
            "schema_version": 2,
            "robot": "jackal",
            "target_speed_m_s": 0.41159999999999997,
            "brake_delay_s": 0.0,
            "max_stop_distance_m": 0.11764899999999998,
            "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": 5.0,
            "ground_mu": 0.1,
            "payload_kg": 0.0,
            "payload_height_m": 0.2254,
            "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": 0.4137710058468794,
            "max_ground_tilt_rad": 0.0006906948381457431,
            "sample_count": 272,
            "sample_period_s": 0.016,
            "max_forward_excursion_m": 0.6528325519786335,
            "initial_speed_m_s": 0.4135741655291304,
            "stop_time_s": null,
            "observed_command_delay_s": 0.0,
            "request_time_s": 1.84,
            "rollback_m": 0.0,
            "final_speed_m_s": 0.10731340279147165
          }
        },
        {
          "case": "case-013",
          "spec": {
            "schema_version": 2,
            "robot": "jackal",
            "target_speed_m_s": 0.41159999999999997,
            "brake_delay_s": 0.0,
            "max_stop_distance_m": 0.11764899999999998,
            "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": 5.0,
            "ground_mu": 0.1,
            "payload_kg": 2.0,
            "payload_height_m": 0.2254,
            "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": 0.41566449295090147,
            "max_ground_tilt_rad": 0.0007421270092067463,
            "sample_count": 272,
            "sample_period_s": 0.016,
            "max_forward_excursion_m": 0.6502722856495643,
            "initial_speed_m_s": 0.41255766491510976,
            "stop_time_s": null,
            "observed_command_delay_s": 0.0,
            "request_time_s": 1.84,
            "rollback_m": 0.0,
            "final_speed_m_s": 0.10534545258664905
          }
        },
        {
          "case": "case-014",
          "spec": {
            "schema_version": 2,
            "robot": "jackal",
            "target_speed_m_s": 0.41159999999999997,
            "brake_delay_s": 0.0,
            "max_stop_distance_m": 0.11764899999999998,
            "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": 5.0,
            "ground_mu": 0.1,
            "payload_kg": 5.0,
            "payload_height_m": 0.2254,
            "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": 0.41530200548421303,
            "max_ground_tilt_rad": 0.0010080689936796236,
            "sample_count": 272,
            "sample_period_s": 0.016,
            "max_forward_excursion_m": 0.6514595346236424,
            "initial_speed_m_s": 0.41291461360726195,
            "stop_time_s": null,
            "observed_command_delay_s": 0.0,
            "request_time_s": 1.84,
            "rollback_m": 0.0,
            "final_speed_m_s": 0.10706610287371905
          }
        },
        {
          "case": "case-015",
          "spec": {
            "schema_version": 2,
            "robot": "jackal",
            "target_speed_m_s": 0.41159999999999997,
            "brake_delay_s": 0.0,
            "max_stop_distance_m": 0.11764899999999998,
            "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": 5.0,
            "ground_mu": 0.2,
            "payload_kg": 0.0,
            "payload_height_m": 0.2254,
            "payload_offset_x_m": 0.0
          },
          "kind": "grid",
          "status": "PASS",
          "reasons": [],
          "metrics": {
            "braking_qualified": true,
            "max_achieved_speed_m_s": 0.4209736029052162,
            "max_ground_tilt_rad": 0.00038931115480983166,
            "sample_count": 271,
            "sample_period_s": 0.016,
            "max_forward_excursion_m": 0.07823453414897957,
            "initial_speed_m_s": 0.4121992450919177,
            "stop_time_s": 0.3680000000000001,
            "observed_command_delay_s": 0.0,
            "request_time_s": 1.824,
            "rollback_m": 0.0,
            "final_speed_m_s": 0.0006052033250013619
          }
        },
        {
          "case": "case-016",
          "spec": {
            "schema_version": 2,
            "robot": "jackal",
            "target_speed_m_s": 0.41159999999999997,
            "brake_delay_s": 0.0,
            "max_stop_distance_m": 0.11764899999999998,
            "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": 5.0,
            "ground_mu": 0.2,
            "payload_kg": 2.0,
            "payload_height_m": 0.2254,
            "payload_offset_x_m": 0.0
          },
          "kind": "grid",
          "status": "PASS",
          "reasons": [],
          "metrics": {
            "braking_qualified": true,
            "max_achieved_speed_m_s": 0.4193075569251974,
            "max_ground_tilt_rad": 0.0003756765564257249,
            "sample_count": 271,
            "sample_period_s": 0.016,
            "max_forward_excursion_m": 0.07839192284475682,
            "initial_speed_m_s": 0.412237807290506,
            "stop_time_s": 0.3680000000000001,
            "observed_command_delay_s": 0.0,
            "request_time_s": 1.824,
            "rollback_m": 0.0,
            "final_speed_m_s": 0.0006438541317859536
          }
        },
        {
          "case": "case-017",
          "spec": {
            "schema_version": 2,
            "robot": "jackal",
            "target_speed_m_s": 0.41159999999999997,
            "brake_delay_s": 0.0,
            "max_stop_distance_m": 0.11764899999999998,
            "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": 5.0,
            "ground_mu": 0.2,
            "payload_kg": 5.0,
            "payload_height_m": 0.2254,
            "payload_offset_x_m": 0.0
          },
          "kind": "grid",
          "status": "PASS",
          "reasons": [],
          "metrics": {
            "braking_qualified": true,
            "max_achieved_speed_m_s": 0.420592412241945,
            "max_ground_tilt_rad": 0.0005701731499369188,
            "sample_count": 271,
            "sample_period_s": 0.016,
            "max_forward_excursion_m": 0.07856714201296927,
            "initial_speed_m_s": 0.412299883550963,
            "stop_time_s": 0.3680000000000001,
            "observed_command_delay_s": 0.0,
            "request_time_s": 1.824,
            "rollback_m": 0.0,
            "final_speed_m_s": 0.0007061302881030356
          }
        },
        {
          "case": "case-018",
          "spec": {
            "schema_version": 2,
            "robot": "jackal",
            "target_speed_m_s": 0.41159999999999997,
            "brake_delay_s": 0.0,
            "max_stop_distance_m": 0.11764899999999998,
            "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": 5.0,
            "ground_mu": 0.4,
            "payload_kg": 0.0,
            "payload_height_m": 0.2254,
            "payload_offset_x_m": 0.0
          },
          "kind": "grid",
          "status": "PASS",
          "reasons": [],
          "metrics": {
            "braking_qualified": true,
            "max_achieved_speed_m_s": 0.42057600131380857,
            "max_ground_tilt_rad": 0.00038638920940806083,
            "sample_count": 271,
            "sample_period_s": 0.016,
            "max_forward_excursion_m": 0.046008574943997405,
            "initial_speed_m_s": 0.41220582665412764,
            "stop_time_s": 0.22399999999999998,
            "observed_command_delay_s": 0.0,
            "request_time_s": 1.824,
            "rollback_m": 0.0,
            "final_speed_m_s": 0.000631405869074456
          }
        },
        {
          "case": "case-019",
          "spec": {
            "schema_version": 2,
            "robot": "jackal",
            "target_speed_m_s": 0.41159999999999997,
            "brake_delay_s": 0.0,
            "max_stop_distance_m": 0.11764899999999998,
            "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": 5.0,
            "ground_mu": 0.4,
            "payload_kg": 2.0,
            "payload_height_m": 0.2254,
            "payload_offset_x_m": 0.0
          },
          "kind": "grid",
          "status": "PASS",
          "reasons": [],
          "metrics": {
            "braking_qualified": true,
            "max_achieved_speed_m_s": 0.4187140550388215,
            "max_ground_tilt_rad": 0.00036220387212585115,
            "sample_count": 271,
            "sample_period_s": 0.016,
            "max_forward_excursion_m": 0.0471088614930989,
            "initial_speed_m_s": 0.4122434613533641,
            "stop_time_s": 0.22399999999999998,
            "observed_command_delay_s": 0.0,
            "request_time_s": 1.824,
            "rollback_m": 0.0,
            "final_speed_m_s": 0.0006693347623240878
          }
        },
        {
          "case": "case-020",
          "spec": {
            "schema_version": 2,
            "robot": "jackal",
            "target_speed_m_s": 0.41159999999999997,
            "brake_delay_s": 0.0,
            "max_stop_distance_m": 0.11764899999999998,
            "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": 5.0,
            "ground_mu": 0.4,
            "payload_kg": 5.0,
            "payload_height_m": 0.2254,
            "payload_offset_x_m": 0.0
          },
          "kind": "grid",
          "status": "PASS",
          "reasons": [],
          "metrics": {
            "braking_qualified": true,
            "max_achieved_speed_m_s": 0.41955635586707524,
            "max_ground_tilt_rad": 0.00041529114237038656,
            "sample_count": 271,
            "sample_period_s": 0.016,
            "max_forward_excursion_m": 0.04879242341806994,
            "initial_speed_m_s": 0.41230443068225403,
            "stop_time_s": 0.22399999999999998,
            "observed_command_delay_s": 0.0,
            "request_time_s": 1.824,
            "rollback_m": 0.0,
            "final_speed_m_s": 0.0007312062900174715
          }
        },
        {
          "case": "case-021",
          "spec": {
            "schema_version": 2,
            "robot": "jackal",
            "target_speed_m_s": 0.41159999999999997,
            "brake_delay_s": 0.0,
            "max_stop_distance_m": 0.11764899999999998,
            "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": 5.0,
            "ground_mu": 0.8,
            "payload_kg": 0.0,
            "payload_height_m": 0.2254,
            "payload_offset_x_m": 0.0
          },
          "kind": "grid",
          "status": "PASS",
          "reasons": [],
          "metrics": {
            "braking_qualified": true,
            "max_achieved_speed_m_s": 0.41995195612105335,
            "max_ground_tilt_rad": 0.00013874571302282813,
            "sample_count": 271,
            "sample_period_s": 0.016,
            "max_forward_excursion_m": 0.04534530328146841,
            "initial_speed_m_s": 0.4122159084432537,
            "stop_time_s": 0.20799999999999996,
            "observed_command_delay_s": 0.0,
            "request_time_s": 1.824,
            "rollback_m": 0.0,
            "final_speed_m_s": 0.0007597061688805827
          }
        },
        {
          "case": "case-022",
          "spec": {
            "schema_version": 2,
            "robot": "jackal",
            "target_speed_m_s": 0.41159999999999997,
            "brake_delay_s": 0.0,
            "max_stop_distance_m": 0.11764899999999998,
            "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": 5.0,
            "ground_mu": 0.8,
            "payload_kg": 2.0,
            "payload_height_m": 0.2254,
            "payload_offset_x_m": 0.0
          },
          "kind": "grid",
          "status": "PASS",
          "reasons": [],
          "metrics": {
            "braking_qualified": true,
            "max_achieved_speed_m_s": 0.4184414316646574,
            "max_ground_tilt_rad": 0.00010872656853811714,
            "sample_count": 271,
            "sample_period_s": 0.016,
            "max_forward_excursion_m": 0.04611758928740356,
            "initial_speed_m_s": 0.4122536028450017,
            "stop_time_s": 0.22399999999999998,
            "observed_command_delay_s": 0.0,
            "request_time_s": 1.824,
            "rollback_m": 0.0,
            "final_speed_m_s": 0.0007990736751358627
          }
        },
        {
          "case": "case-023",
          "spec": {
            "schema_version": 2,
            "robot": "jackal",
            "target_speed_m_s": 0.41159999999999997,
            "brake_delay_s": 0.0,
            "max_stop_distance_m": 0.11764899999999998,
            "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": 5.0,
            "ground_mu": 0.8,
            "payload_kg": 5.0,
            "payload_height_m": 0.2254,
            "payload_offset_x_m": 0.0
          },
          "kind": "grid",
          "status": "PASS",
          "reasons": [],
          "metrics": {
            "braking_qualified": true,
            "max_achieved_speed_m_s": 0.4197732519673484,
            "max_ground_tilt_rad": 0.00012510387364002626,
            "sample_count": 271,
            "sample_period_s": 0.016,
            "max_forward_excursion_m": 0.04730346615883069,
            "initial_speed_m_s": 0.41231481130861825,
            "stop_time_s": 0.22399999999999998,
            "observed_command_delay_s": 0.0,
            "request_time_s": 1.824,
            "rollback_m": 0.0,
            "final_speed_m_s": 0.0008650379934964311
          }
        },
        {
          "case": "case-024",
          "spec": {
            "schema_version": 2,
            "robot": "jackal",
            "target_speed_m_s": 0.41159999999999997,
            "brake_delay_s": 0.0,
            "max_stop_distance_m": 0.11764899999999998,
            "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": 10.0,
            "ground_mu": 0.1,
            "payload_kg": 0.0,
            "payload_height_m": 0.2254,
            "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": 3.841633539444273,
            "max_ground_tilt_rad": 0.0035788259154158953,
            "sample_count": 326,
            "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": "jackal",
            "target_speed_m_s": 0.41159999999999997,
            "brake_delay_s": 0.0,
            "max_stop_distance_m": 0.11764899999999998,
            "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": 10.0,
            "ground_mu": 0.1,
            "payload_kg": 2.0,
            "payload_height_m": 0.2254,
            "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": 3.8426808416216254,
            "max_ground_tilt_rad": 0.002965805305607533,
            "sample_count": 326,
            "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": "jackal",
            "target_speed_m_s": 0.41159999999999997,
            "brake_delay_s": 0.0,
            "max_stop_distance_m": 0.11764899999999998,
            "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": 10.0,
            "ground_mu": 0.1,
            "payload_kg": 5.0,
            "payload_height_m": 0.2254,
            "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": 3.8478908277498247,
            "max_ground_tilt_rad": 0.00300533027075325,
            "sample_count": 326,
            "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": "jackal",
            "target_speed_m_s": 0.41159999999999997,
            "brake_delay_s": 0.0,
            "max_stop_distance_m": 0.11764899999999998,
            "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": 10.0,
            "ground_mu": 0.2,
            "payload_kg": 0.0,
            "payload_height_m": 0.2254,
            "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": 0.4256124452916417,
            "max_ground_tilt_rad": 0.0009154424322457724,
            "sample_count": 269,
            "sample_period_s": 0.016,
            "max_forward_excursion_m": 0.3754844400989727,
            "initial_speed_m_s": 0.4133895191065591,
            "stop_time_s": 1.728,
            "observed_command_delay_s": 0.0,
            "request_time_s": 1.792,
            "rollback_m": 0.0,
            "final_speed_m_s": 0.002969735563339857
          }
        },
        {
          "case": "case-028",
          "spec": {
            "schema_version": 2,
            "robot": "jackal",
            "target_speed_m_s": 0.41159999999999997,
            "brake_delay_s": 0.0,
            "max_stop_distance_m": 0.11764899999999998,
            "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": 10.0,
            "ground_mu": 0.2,
            "payload_kg": 2.0,
            "payload_height_m": 0.2254,
            "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": 0.4275833051945565,
            "max_ground_tilt_rad": 0.000872094994780127,
            "sample_count": 269,
            "sample_period_s": 0.016,
            "max_forward_excursion_m": 0.3770292832829001,
            "initial_speed_m_s": 0.4135157397214417,
            "stop_time_s": 1.728,
            "observed_command_delay_s": 0.0,
            "request_time_s": 1.792,
            "rollback_m": 0.0,
            "final_speed_m_s": 0.0030987157854121344
          }
        },
        {
          "case": "case-029",
          "spec": {
            "schema_version": 2,
            "robot": "jackal",
            "target_speed_m_s": 0.41159999999999997,
            "brake_delay_s": 0.0,
            "max_stop_distance_m": 0.11764899999999998,
            "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": 10.0,
            "ground_mu": 0.2,
            "payload_kg": 5.0,
            "payload_height_m": 0.2254,
            "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": 0.42728171904731393,
            "max_ground_tilt_rad": 0.0007095470502714713,
            "sample_count": 269,
            "sample_period_s": 0.016,
            "max_forward_excursion_m": 0.38083291403813085,
            "initial_speed_m_s": 0.4154880329775537,
            "stop_time_s": 1.744,
            "observed_command_delay_s": 0.0,
            "request_time_s": 1.792,
            "rollback_m": 0.0,
            "final_speed_m_s": 0.00206917566947216
          }
        },
        {
          "case": "case-030",
          "spec": {
            "schema_version": 2,
            "robot": "jackal",
            "target_speed_m_s": 0.41159999999999997,
            "brake_delay_s": 0.0,
            "max_stop_distance_m": 0.11764899999999998,
            "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": 10.0,
            "ground_mu": 0.4,
            "payload_kg": 0.0,
            "payload_height_m": 0.2254,
            "payload_offset_x_m": 0.0
          },
          "kind": "grid",
          "status": "PASS",
          "reasons": [],
          "metrics": {
            "braking_qualified": true,
            "max_achieved_speed_m_s": 0.42522229153828184,
            "max_ground_tilt_rad": 0.00039167736746277,
            "sample_count": 270,
            "sample_period_s": 0.016,
            "max_forward_excursion_m": 0.0533378360053996,
            "initial_speed_m_s": 0.41288943547663814,
            "stop_time_s": 0.24,
            "observed_command_delay_s": 0.0,
            "request_time_s": 1.808,
            "rollback_m": 0.0,
            "final_speed_m_s": 0.001315938163875362
          }
        },
        {
          "case": "case-031",
          "spec": {
            "schema_version": 2,
            "robot": "jackal",
            "target_speed_m_s": 0.41159999999999997,
            "brake_delay_s": 0.0,
            "max_stop_distance_m": 0.11764899999999998,
            "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": 10.0,
            "ground_mu": 0.4,
            "payload_kg": 2.0,
            "payload_height_m": 0.2254,
            "payload_offset_x_m": 0.0
          },
          "kind": "grid",
          "status": "PASS",
          "reasons": [],
          "metrics": {
            "braking_qualified": true,
            "max_achieved_speed_m_s": 0.42575274236300525,
            "max_ground_tilt_rad": 0.000634211647061947,
            "sample_count": 269,
            "sample_period_s": 0.016,
            "max_forward_excursion_m": 0.055439505828088764,
            "initial_speed_m_s": 0.4129736562803718,
            "stop_time_s": 0.256,
            "observed_command_delay_s": 0.0,
            "request_time_s": 1.792,
            "rollback_m": 0.0,
            "final_speed_m_s": 0.0014004379196300475
          }
        },
        {
          "case": "case-032",
          "spec": {
            "schema_version": 2,
            "robot": "jackal",
            "target_speed_m_s": 0.41159999999999997,
            "brake_delay_s": 0.0,
            "max_stop_distance_m": 0.11764899999999998,
            "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": 10.0,
            "ground_mu": 0.4,
            "payload_kg": 5.0,
            "payload_height_m": 0.2254,
            "payload_offset_x_m": 0.0
          },
          "kind": "grid",
          "status": "PASS",
          "reasons": [],
          "metrics": {
            "braking_qualified": true,
            "max_achieved_speed_m_s": 0.4266355196181283,
            "max_ground_tilt_rad": 0.0004925442637799972,
            "sample_count": 269,
            "sample_period_s": 0.016,
            "max_forward_excursion_m": 0.05823544854098234,
            "initial_speed_m_s": 0.41310856425409564,
            "stop_time_s": 0.256,
            "observed_command_delay_s": 0.0,
            "request_time_s": 1.792,
            "rollback_m": 0.0,
            "final_speed_m_s": 0.0015361580067982969
          }
        },
        {
          "case": "case-033",
          "spec": {
            "schema_version": 2,
            "robot": "jackal",
            "target_speed_m_s": 0.41159999999999997,
            "brake_delay_s": 0.0,
            "max_stop_distance_m": 0.11764899999999998,
            "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": 10.0,
            "ground_mu": 0.8,
            "payload_kg": 0.0,
            "payload_height_m": 0.2254,
            "payload_offset_x_m": 0.0
          },
          "kind": "grid",
          "status": "PASS",
          "reasons": [],
          "metrics": {
            "braking_qualified": true,
            "max_achieved_speed_m_s": 0.42493030033492546,
            "max_ground_tilt_rad": 0.00018540973118834459,
            "sample_count": 269,
            "sample_period_s": 0.016,
            "max_forward_excursion_m": 0.04932511776813725,
            "initial_speed_m_s": 0.4129716277585484,
            "stop_time_s": 0.22399999999999998,
            "observed_command_delay_s": 0.0,
            "request_time_s": 1.792,
            "rollback_m": 0.0,
            "final_speed_m_s": 0.0015136266707402118
          }
        },
        {
          "case": "case-034",
          "spec": {
            "schema_version": 2,
            "robot": "jackal",
            "target_speed_m_s": 0.41159999999999997,
            "brake_delay_s": 0.0,
            "max_stop_distance_m": 0.11764899999999998,
            "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": 10.0,
            "ground_mu": 0.8,
            "payload_kg": 2.0,
            "payload_height_m": 0.2254,
            "payload_offset_x_m": 0.0
          },
          "kind": "grid",
          "status": "PASS",
          "reasons": [],
          "metrics": {
            "braking_qualified": true,
            "max_achieved_speed_m_s": 0.425297842771365,
            "max_ground_tilt_rad": 0.00020317032021679378,
            "sample_count": 269,
            "sample_period_s": 0.016,
            "max_forward_excursion_m": 0.05046602910488662,
            "initial_speed_m_s": 0.4130484328028612,
            "stop_time_s": 0.22399999999999998,
            "observed_command_delay_s": 0.0,
            "request_time_s": 1.792,
            "rollback_m": 0.0,
            "final_speed_m_s": 0.0015920386454922914
          }
        },
        {
          "case": "case-035",
          "spec": {
            "schema_version": 2,
            "robot": "jackal",
            "target_speed_m_s": 0.41159999999999997,
            "brake_delay_s": 0.0,
            "max_stop_distance_m": 0.11764899999999998,
            "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": 10.0,
            "ground_mu": 0.8,
            "payload_kg": 5.0,
            "payload_height_m": 0.2254,
            "payload_offset_x_m": 0.0
          },
          "kind": "grid",
          "status": "PASS",
          "reasons": [],
          "metrics": {
            "braking_qualified": true,
            "max_achieved_speed_m_s": 0.42579770280103696,
            "max_ground_tilt_rad": 0.00026873359050438644,
            "sample_count": 269,
            "sample_period_s": 0.016,
            "max_forward_excursion_m": 0.052245832147760074,
            "initial_speed_m_s": 0.4131751705777346,
            "stop_time_s": 0.24,
            "observed_command_delay_s": 0.0,
            "request_time_s": 1.792,
            "rollback_m": 0.0,
            "final_speed_m_s": 0.001723429815612144
          }
        },
        {
          "case": "case-036",
          "spec": {
            "schema_version": 2,
            "robot": "jackal",
            "target_speed_m_s": 0.41159999999999997,
            "brake_delay_s": 0.0,
            "max_stop_distance_m": 0.11764899999999998,
            "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": 20.0,
            "ground_mu": 0.1,
            "payload_kg": 0.0,
            "payload_height_m": 0.2254,
            "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": 7.007425015230594,
            "max_ground_tilt_rad": 0.014669879272889185,
            "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": "jackal",
            "target_speed_m_s": 0.41159999999999997,
            "brake_delay_s": 0.0,
            "max_stop_distance_m": 0.11764899999999998,
            "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": 20.0,
            "ground_mu": 0.1,
            "payload_kg": 2.0,
            "payload_height_m": 0.2254,
            "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": 7.012954581393457,
            "max_ground_tilt_rad": 0.006332577445962107,
            "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": "jackal",
            "target_speed_m_s": 0.41159999999999997,
            "brake_delay_s": 0.0,
            "max_stop_distance_m": 0.11764899999999998,
            "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": 20.0,
            "ground_mu": 0.1,
            "payload_kg": 5.0,
            "payload_height_m": 0.2254,
            "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": 7.011755420241752,
            "max_ground_tilt_rad": 0.007464228258320823,
            "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": "jackal",
            "target_speed_m_s": 0.41159999999999997,
            "brake_delay_s": 0.0,
            "max_stop_distance_m": 0.11764899999999998,
            "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": 20.0,
            "ground_mu": 0.2,
            "payload_kg": 0.0,
            "payload_height_m": 0.2254,
            "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": 5.512298425551645,
            "max_ground_tilt_rad": 0.012369591230356762,
            "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": "jackal",
            "target_speed_m_s": 0.41159999999999997,
            "brake_delay_s": 0.0,
            "max_stop_distance_m": 0.11764899999999998,
            "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": 20.0,
            "ground_mu": 0.2,
            "payload_kg": 2.0,
            "payload_height_m": 0.2254,
            "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": 5.505761200908538,
            "max_ground_tilt_rad": 0.03011968093753123,
            "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": "jackal",
            "target_speed_m_s": 0.41159999999999997,
            "brake_delay_s": 0.0,
            "max_stop_distance_m": 0.11764899999999998,
            "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": 20.0,
            "ground_mu": 0.2,
            "payload_kg": 5.0,
            "payload_height_m": 0.2254,
            "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": 5.500446443436725,
            "max_ground_tilt_rad": 0.013080693210667455,
            "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": "jackal",
            "target_speed_m_s": 0.41159999999999997,
            "brake_delay_s": 0.0,
            "max_stop_distance_m": 0.11764899999999998,
            "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": 20.0,
            "ground_mu": 0.4,
            "payload_kg": 0.0,
            "payload_height_m": 0.2254,
            "payload_offset_x_m": 0.0
          },
          "kind": "grid",
          "status": "FAIL",
          "reasons": [
            "stopping_distance_exceeded"
          ],
          "metrics": {
            "braking_qualified": true,
            "max_achieved_speed_m_s": 0.4280096023313663,
            "max_ground_tilt_rad": 0.0005581677296992427,
            "sample_count": 265,
            "sample_period_s": 0.016,
            "max_forward_excursion_m": 0.26916191860973304,
            "initial_speed_m_s": 0.4160182629644504,
            "stop_time_s": 1.232,
            "observed_command_delay_s": 0.0,
            "request_time_s": 1.728,
            "rollback_m": 0.0,
            "final_speed_m_s": 0.005603180410460163
          }
        },
        {
          "case": "case-043",
          "spec": {
            "schema_version": 2,
            "robot": "jackal",
            "target_speed_m_s": 0.41159999999999997,
            "brake_delay_s": 0.0,
            "max_stop_distance_m": 0.11764899999999998,
            "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": 20.0,
            "ground_mu": 0.4,
            "payload_kg": 2.0,
            "payload_height_m": 0.2254,
            "payload_offset_x_m": 0.0
          },
          "kind": "grid",
          "status": "FAIL",
          "reasons": [
            "stopping_distance_exceeded"
          ],
          "metrics": {
            "braking_qualified": true,
            "max_achieved_speed_m_s": 0.4298646150964432,
            "max_ground_tilt_rad": 0.0006646989731181376,
            "sample_count": 265,
            "sample_period_s": 0.016,
            "max_forward_excursion_m": 0.2734770852164327,
            "initial_speed_m_s": 0.4165902153584055,
            "stop_time_s": 1.264,
            "observed_command_delay_s": 0.0,
            "request_time_s": 1.728,
            "rollback_m": 0.0,
            "final_speed_m_s": 0.011226657239792092
          }
        },
        {
          "case": "case-044",
          "spec": {
            "schema_version": 2,
            "robot": "jackal",
            "target_speed_m_s": 0.41159999999999997,
            "brake_delay_s": 0.0,
            "max_stop_distance_m": 0.11764899999999998,
            "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": 20.0,
            "ground_mu": 0.4,
            "payload_kg": 5.0,
            "payload_height_m": 0.2254,
            "payload_offset_x_m": 0.0
          },
          "kind": "grid",
          "status": "FAIL",
          "reasons": [
            "stopping_distance_exceeded"
          ],
          "metrics": {
            "braking_qualified": true,
            "max_achieved_speed_m_s": 0.43022184837671995,
            "max_ground_tilt_rad": 0.0009445640733009674,
            "sample_count": 264,
            "sample_period_s": 0.016,
            "max_forward_excursion_m": 0.2838590644621844,
            "initial_speed_m_s": 0.42025828788351166,
            "stop_time_s": 1.296,
            "observed_command_delay_s": 0.0,
            "request_time_s": 1.712,
            "rollback_m": 0.0,
            "final_speed_m_s": 0.006518184424193961
          }
        },
        {
          "case": "case-045",
          "spec": {
            "schema_version": 2,
            "robot": "jackal",
            "target_speed_m_s": 0.41159999999999997,
            "brake_delay_s": 0.0,
            "max_stop_distance_m": 0.11764899999999998,
            "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": 20.0,
            "ground_mu": 0.8,
            "payload_kg": 0.0,
            "payload_height_m": 0.2254,
            "payload_offset_x_m": 0.0
          },
          "kind": "grid",
          "status": "PASS",
          "reasons": [],
          "metrics": {
            "braking_qualified": true,
            "max_achieved_speed_m_s": 0.4288614805986358,
            "max_ground_tilt_rad": 0.00037256766751638854,
            "sample_count": 267,
            "sample_period_s": 0.016,
            "max_forward_excursion_m": 0.06487420535174204,
            "initial_speed_m_s": 0.4148304644355876,
            "stop_time_s": 0.272,
            "observed_command_delay_s": 0.0,
            "request_time_s": 1.76,
            "rollback_m": 0.0,
            "final_speed_m_s": 0.003377568679351935
          }
        },
        {
          "case": "case-046",
          "spec": {
            "schema_version": 2,
            "robot": "jackal",
            "target_speed_m_s": 0.41159999999999997,
            "brake_delay_s": 0.0,
            "max_stop_distance_m": 0.11764899999999998,
            "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": 20.0,
            "ground_mu": 0.8,
            "payload_kg": 2.0,
            "payload_height_m": 0.2254,
            "payload_offset_x_m": 0.0
          },
          "kind": "grid",
          "status": "PASS",
          "reasons": [],
          "metrics": {
            "braking_qualified": true,
            "max_achieved_speed_m_s": 0.42880101061248543,
            "max_ground_tilt_rad": 0.0003549990542517217,
            "sample_count": 266,
            "sample_period_s": 0.016,
            "max_forward_excursion_m": 0.06914439583415544,
            "initial_speed_m_s": 0.41504051700906053,
            "stop_time_s": 0.28800000000000003,
            "observed_command_delay_s": 0.0,
            "request_time_s": 1.744,
            "rollback_m": 0.0,
            "final_speed_m_s": 0.00358937785236414
          }
        },
        {
          "case": "case-047",
          "spec": {
            "schema_version": 2,
            "robot": "jackal",
            "target_speed_m_s": 0.41159999999999997,
            "brake_delay_s": 0.0,
            "max_stop_distance_m": 0.11764899999999998,
            "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": 20.0,
            "ground_mu": 0.8,
            "payload_kg": 5.0,
            "payload_height_m": 0.2254,
            "payload_offset_x_m": 0.0
          },
          "kind": "grid",
          "status": "PASS",
          "reasons": [],
          "metrics": {
            "braking_qualified": true,
            "max_achieved_speed_m_s": 0.42863352578674196,
            "max_ground_tilt_rad": 0.0007245471507061038,
            "sample_count": 266,
            "sample_period_s": 0.016,
            "max_forward_excursion_m": 0.07600577955083376,
            "initial_speed_m_s": 0.41537526131296976,
            "stop_time_s": 0.32000000000000006,
            "observed_command_delay_s": 0.0,
            "request_time_s": 1.744,
            "rollback_m": 0.0,
            "final_speed_m_s": 0.00392876652645358
          }
        },
        {
          "case": "case-048",
          "spec": {
            "schema_version": 2,
            "robot": "jackal",
            "target_speed_m_s": 0.41159999999999997,
            "brake_delay_s": 0.0,
            "max_stop_distance_m": 0.11764899999999998,
            "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": 20.0,
            "ground_mu": 0.6000000000000001,
            "payload_kg": 0.0,
            "payload_height_m": 0.2254,
            "payload_offset_x_m": 0.0
          },
          "kind": "refinement",
          "status": "PASS",
          "reasons": [],
          "metrics": {
            "braking_qualified": true,
            "max_achieved_speed_m_s": 0.42882784843148974,
            "max_ground_tilt_rad": 0.000590713634582986,
            "sample_count": 267,
            "sample_period_s": 0.016,
            "max_forward_excursion_m": 0.06943250054540634,
            "initial_speed_m_s": 0.41475809169240824,
            "stop_time_s": 0.28800000000000003,
            "observed_command_delay_s": 0.0,
            "request_time_s": 1.76,
            "rollback_m": 0.0,
            "final_speed_m_s": 0.003207935618554148
          }
        },
        {
          "case": "case-049",
          "spec": {
            "schema_version": 2,
            "robot": "jackal",
            "target_speed_m_s": 0.41159999999999997,
            "brake_delay_s": 0.0,
            "max_stop_distance_m": 0.11764899999999998,
            "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": 20.0,
            "ground_mu": 0.6000000000000001,
            "payload_kg": 2.0,
            "payload_height_m": 0.2254,
            "payload_offset_x_m": 0.0
          },
          "kind": "refinement",
          "status": "PASS",
          "reasons": [],
          "metrics": {
            "braking_qualified": true,
            "max_achieved_speed_m_s": 0.4287343190319619,
            "max_ground_tilt_rad": 0.0005380984349493392,
            "sample_count": 266,
            "sample_period_s": 0.016,
            "max_forward_excursion_m": 0.07378463994321488,
            "initial_speed_m_s": 0.41491546116190736,
            "stop_time_s": 0.30400000000000005,
            "observed_command_delay_s": 0.0,
            "request_time_s": 1.744,
            "rollback_m": 0.0,
            "final_speed_m_s": 0.0033751653957350765
          }
        },
        {
          "case": "case-050",
          "spec": {
            "schema_version": 2,
            "robot": "jackal",
            "target_speed_m_s": 0.41159999999999997,
            "brake_delay_s": 0.0,
            "max_stop_distance_m": 0.11764899999999998,
            "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": 20.0,
            "ground_mu": 0.6000000000000001,
            "payload_kg": 5.0,
            "payload_height_m": 0.2254,
            "payload_offset_x_m": 0.0
          },
          "kind": "refinement",
          "status": "PASS",
          "reasons": [],
          "metrics": {
            "braking_qualified": true,
            "max_achieved_speed_m_s": 0.4288083022761776,
            "max_ground_tilt_rad": 0.0007835979492935088,
            "sample_count": 266,
            "sample_period_s": 0.016,
            "max_forward_excursion_m": 0.07910543190151081,
            "initial_speed_m_s": 0.41522372769823424,
            "stop_time_s": 0.3360000000000001,
            "observed_command_delay_s": 0.0,
            "request_time_s": 1.744,
            "rollback_m": 0.0,
            "final_speed_m_s": 0.0036902395900328833
          }
        },
        {
          "case": "case-051",
          "spec": {
            "schema_version": 2,
            "robot": "jackal",
            "target_speed_m_s": 0.41159999999999997,
            "brake_delay_s": 0.0,
            "max_stop_distance_m": 0.11764899999999998,
            "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": 20.0,
            "ground_mu": 0.5,
            "payload_kg": 0.0,
            "payload_height_m": 0.2254,
            "payload_offset_x_m": 0.0
          },
          "kind": "refinement",
          "status": "PASS",
          "reasons": [],
          "metrics": {
            "braking_qualified": true,
            "max_achieved_speed_m_s": 0.427924124087653,
            "max_ground_tilt_rad": 0.00043430987283886376,
            "sample_count": 266,
            "sample_period_s": 0.016,
            "max_forward_excursion_m": 0.0787365445384306,
            "initial_speed_m_s": 0.41577591300765476,
            "stop_time_s": 0.3360000000000001,
            "observed_command_delay_s": 0.0,
            "request_time_s": 1.744,
            "rollback_m": 0.0,
            "final_speed_m_s": 0.004023688328914514
          }
        },
        {
          "case": "case-052",
          "spec": {
            "schema_version": 2,
            "robot": "jackal",
            "target_speed_m_s": 0.41159999999999997,
            "brake_delay_s": 0.0,
            "max_stop_distance_m": 0.11764899999999998,
            "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": 20.0,
            "ground_mu": 0.5,
            "payload_kg": 2.0,
            "payload_height_m": 0.2254,
            "payload_offset_x_m": 0.0
          },
          "kind": "refinement",
          "status": "PASS",
          "reasons": [],
          "metrics": {
            "braking_qualified": true,
            "max_achieved_speed_m_s": 0.4263570377651927,
            "max_ground_tilt_rad": 0.001750598547525389,
            "sample_count": 266,
            "sample_period_s": 0.016,
            "max_forward_excursion_m": 0.08856737618533617,
            "initial_speed_m_s": 0.4160473255082309,
            "stop_time_s": 0.3680000000000001,
            "observed_command_delay_s": 0.0,
            "request_time_s": 1.744,
            "rollback_m": 0.0,
            "final_speed_m_s": 0.00481074051487645
          }
        },
        {
          "case": "case-053",
          "spec": {
            "schema_version": 2,
            "robot": "jackal",
            "target_speed_m_s": 0.41159999999999997,
            "brake_delay_s": 0.0,
            "max_stop_distance_m": 0.11764899999999998,
            "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": 20.0,
            "ground_mu": 0.5,
            "payload_kg": 5.0,
            "payload_height_m": 0.2254,
            "payload_offset_x_m": 0.0
          },
          "kind": "refinement",
          "status": "PASS",
          "reasons": [],
          "metrics": {
            "braking_qualified": true,
            "max_achieved_speed_m_s": 0.429343806103214,
            "max_ground_tilt_rad": 0.001603767425117662,
            "sample_count": 266,
            "sample_period_s": 0.016,
            "max_forward_excursion_m": 0.09639556201988791,
            "initial_speed_m_s": 0.416513056336526,
            "stop_time_s": 0.40000000000000013,
            "observed_command_delay_s": 0.0,
            "request_time_s": 1.744,
            "rollback_m": 0.0,
            "final_speed_m_s": 0.005282392137481159
          }
        },
        {
          "case": "case-054",
          "spec": {
            "schema_version": 2,
            "robot": "jackal",
            "target_speed_m_s": 0.41159999999999997,
            "brake_delay_s": 0.0,
            "max_stop_distance_m": 0.11764899999999998,
            "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": 10.0,
            "ground_mu": 0.30000000000000004,
            "payload_kg": 0.0,
            "payload_height_m": 0.2254,
            "payload_offset_x_m": 0.0
          },
          "kind": "refinement",
          "status": "PASS",
          "reasons": [],
          "metrics": {
            "braking_qualified": true,
            "max_achieved_speed_m_s": 0.42543017429218527,
            "max_ground_tilt_rad": 0.0005765118110348113,
            "sample_count": 269,
            "sample_period_s": 0.016,
            "max_forward_excursion_m": 0.07428751476588558,
            "initial_speed_m_s": 0.4129877281846651,
            "stop_time_s": 0.3360000000000001,
            "observed_command_delay_s": 0.0,
            "request_time_s": 1.792,
            "rollback_m": 0.0,
            "final_speed_m_s": 0.001398763997983129
          }
        },
        {
          "case": "case-055",
          "spec": {
            "schema_version": 2,
            "robot": "jackal",
            "target_speed_m_s": 0.41159999999999997,
            "brake_delay_s": 0.0,
            "max_stop_distance_m": 0.11764899999999998,
            "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": 10.0,
            "ground_mu": 0.30000000000000004,
            "payload_kg": 2.0,
            "payload_height_m": 0.2254,
            "payload_offset_x_m": 0.0
          },
          "kind": "refinement",
          "status": "PASS",
          "reasons": [],
          "metrics": {
            "braking_qualified": true,
            "max_achieved_speed_m_s": 0.42481871968207735,
            "max_ground_tilt_rad": 0.00040524506097535827,
            "sample_count": 269,
            "sample_period_s": 0.016,
            "max_forward_excursion_m": 0.07585502948093803,
            "initial_speed_m_s": 0.4130649557668096,
            "stop_time_s": 0.3360000000000001,
            "observed_command_delay_s": 0.0,
            "request_time_s": 1.792,
            "rollback_m": 0.0,
            "final_speed_m_s": 0.0014761096058836616
          }
        },
        {
          "case": "case-056",
          "spec": {
            "schema_version": 2,
            "robot": "jackal",
            "target_speed_m_s": 0.41159999999999997,
            "brake_delay_s": 0.0,
            "max_stop_distance_m": 0.11764899999999998,
            "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": 10.0,
            "ground_mu": 0.30000000000000004,
            "payload_kg": 5.0,
            "payload_height_m": 0.2254,
            "payload_offset_x_m": 0.0
          },
          "kind": "refinement",
          "status": "PASS",
          "reasons": [],
          "metrics": {
            "braking_qualified": true,
            "max_achieved_speed_m_s": 0.42609121532527033,
            "max_ground_tilt_rad": 0.0004240501721799279,
            "sample_count": 269,
            "sample_period_s": 0.016,
            "max_forward_excursion_m": 0.07531684748277107,
            "initial_speed_m_s": 0.41319272118359407,
            "stop_time_s": 0.3360000000000001,
            "observed_command_delay_s": 0.0,
            "request_time_s": 1.792,
            "rollback_m": 0.0,
            "final_speed_m_s": 0.0016042219901770012
          }
        },
        {
          "case": "case-057",
          "spec": {
            "schema_version": 2,
            "robot": "jackal",
            "target_speed_m_s": 0.41159999999999997,
            "brake_delay_s": 0.0,
            "max_stop_distance_m": 0.11764899999999998,
            "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": 10.0,
            "ground_mu": 0.25,
            "payload_kg": 0.0,
            "payload_height_m": 0.2254,
            "payload_offset_x_m": 0.0
          },
          "kind": "refinement",
          "status": "FAIL",
          "reasons": [
            "stopping_distance_exceeded"
          ],
          "metrics": {
            "braking_qualified": true,
            "max_achieved_speed_m_s": 0.42610127215366994,
            "max_ground_tilt_rad": 0.0006347407394009907,
            "sample_count": 269,
            "sample_period_s": 0.016,
            "max_forward_excursion_m": 0.12264536507046891,
            "initial_speed_m_s": 0.41313728252342363,
            "stop_time_s": 0.5599999999999998,
            "observed_command_delay_s": 0.0,
            "request_time_s": 1.792,
            "rollback_m": 0.0,
            "final_speed_m_s": 0.001542626368101721
          }
        },
        {
          "case": "case-058",
          "spec": {
            "schema_version": 2,
            "robot": "jackal",
            "target_speed_m_s": 0.41159999999999997,
            "brake_delay_s": 0.0,
            "max_stop_distance_m": 0.11764899999999998,
            "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": 10.0,
            "ground_mu": 0.25,
            "payload_kg": 2.0,
            "payload_height_m": 0.2254,
            "payload_offset_x_m": 0.0
          },
          "kind": "refinement",
          "status": "FAIL",
          "reasons": [
            "stopping_distance_exceeded"
          ],
          "metrics": {
            "braking_qualified": true,
            "max_achieved_speed_m_s": 0.42617347089024976,
            "max_ground_tilt_rad": 0.00047906147428752817,
            "sample_count": 269,
            "sample_period_s": 0.016,
            "max_forward_excursion_m": 0.12313110187045256,
            "initial_speed_m_s": 0.4132162667186898,
            "stop_time_s": 0.5599999999999998,
            "observed_command_delay_s": 0.0,
            "request_time_s": 1.792,
            "rollback_m": 0.0,
            "final_speed_m_s": 0.0016216568195276423
          }
        },
        {
          "case": "case-059",
          "spec": {
            "schema_version": 2,
            "robot": "jackal",
            "target_speed_m_s": 0.41159999999999997,
            "brake_delay_s": 0.0,
            "max_stop_distance_m": 0.11764899999999998,
            "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": 10.0,
            "ground_mu": 0.25,
            "payload_kg": 5.0,
            "payload_height_m": 0.2254,
            "payload_offset_x_m": 0.0
          },
          "kind": "refinement",
          "status": "FAIL",
          "reasons": [
            "stopping_distance_exceeded"
          ],
          "metrics": {
            "braking_qualified": true,
            "max_achieved_speed_m_s": 0.425782113681991,
            "max_ground_tilt_rad": 0.0006069505332187786,
            "sample_count": 269,
            "sample_period_s": 0.016,
            "max_forward_excursion_m": 0.12399805012568688,
            "initial_speed_m_s": 0.4133489942476805,
            "stop_time_s": 0.5599999999999998,
            "observed_command_delay_s": 0.0,
            "request_time_s": 1.792,
            "rollback_m": 0.0,
            "final_speed_m_s": 0.001754569005702497
          }
        },
        {
          "case": "case-060",
          "spec": {
            "schema_version": 2,
            "robot": "jackal",
            "target_speed_m_s": 0.41159999999999997,
            "brake_delay_s": 0.0,
            "max_stop_distance_m": 0.11764899999999998,
            "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": 5.0,
            "ground_mu": 0.1,
            "payload_kg": 0.0,
            "payload_height_m": 0.2254,
            "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": 0.4137710058468794,
            "max_ground_tilt_rad": 0.0006906948381457431,
            "sample_count": 272,
            "sample_period_s": 0.016,
            "max_forward_excursion_m": 0.6528325519786335,
            "initial_speed_m_s": 0.4135741655291304,
            "stop_time_s": null,
            "observed_command_delay_s": 0.0,
            "request_time_s": 1.84,
            "rollback_m": 0.0,
            "final_speed_m_s": 0.10731340279147165
          }
        },
        {
          "case": "case-061",
          "spec": {
            "schema_version": 2,
            "robot": "jackal",
            "target_speed_m_s": 0.41159999999999997,
            "brake_delay_s": 0.0,
            "max_stop_distance_m": 0.11764899999999998,
            "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": 5.0,
            "ground_mu": 0.1,
            "payload_kg": 0.0,
            "payload_height_m": 0.2254,
            "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": 0.4137710058468794,
            "max_ground_tilt_rad": 0.0006906948381457431,
            "sample_count": 272,
            "sample_period_s": 0.016,
            "max_forward_excursion_m": 0.6528325519786335,
            "initial_speed_m_s": 0.4135741655291304,
            "stop_time_s": null,
            "observed_command_delay_s": 0.0,
            "request_time_s": 1.84,
            "rollback_m": 0.0,
            "final_speed_m_s": 0.10731340279147165
          }
        },
        {
          "case": "case-062",
          "spec": {
            "schema_version": 2,
            "robot": "jackal",
            "target_speed_m_s": 0.41159999999999997,
            "brake_delay_s": 0.0,
            "max_stop_distance_m": 0.11764899999999998,
            "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": 5.0,
            "ground_mu": 0.2,
            "payload_kg": 0.0,
            "payload_height_m": 0.2254,
            "payload_offset_x_m": 0.0
          },
          "kind": "confirmation",
          "status": "PASS",
          "reasons": [],
          "metrics": {
            "braking_qualified": true,
            "max_achieved_speed_m_s": 0.4209736029052162,
            "max_ground_tilt_rad": 0.00038931115480983166,
            "sample_count": 271,
            "sample_period_s": 0.016,
            "max_forward_excursion_m": 0.07823453414897957,
            "initial_speed_m_s": 0.4121992450919177,
            "stop_time_s": 0.3680000000000001,
            "observed_command_delay_s": 0.0,
            "request_time_s": 1.824,
            "rollback_m": 0.0,
            "final_speed_m_s": 0.0006052033250013619
          }
        },
        {
          "case": "case-063",
          "spec": {
            "schema_version": 2,
            "robot": "jackal",
            "target_speed_m_s": 0.41159999999999997,
            "brake_delay_s": 0.0,
            "max_stop_distance_m": 0.11764899999999998,
            "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": 5.0,
            "ground_mu": 0.2,
            "payload_kg": 0.0,
            "payload_height_m": 0.2254,
            "payload_offset_x_m": 0.0
          },
          "kind": "confirmation",
          "status": "PASS",
          "reasons": [],
          "metrics": {
            "braking_qualified": true,
            "max_achieved_speed_m_s": 0.4209736029052162,
            "max_ground_tilt_rad": 0.00038931115480983166,
            "sample_count": 271,
            "sample_period_s": 0.016,
            "max_forward_excursion_m": 0.07823453414897957,
            "initial_speed_m_s": 0.4121992450919177,
            "stop_time_s": 0.3680000000000001,
            "observed_command_delay_s": 0.0,
            "request_time_s": 1.824,
            "rollback_m": 0.0,
            "final_speed_m_s": 0.0006052033250013619
          }
        }
      ],
      "trace_sha256": {
        "jackal-case-013-trace.jsonl": "ec34e6ed72bbf1246506b7cdfe96c24481abe524f767760d878c90da9399cdcd",
        "jackal-case-016-trace.jsonl": "9a701e312bb92ddae12fce99a83239d3488b972c4ba3cbe63dd73d35003fea36"
      },
      "comparison_cases": [
        "case-013",
        "case-016"
      ]
    }
  },
  "source_addon": {
    "file": "omnisim-assessment-source-20261028.zip",
    "sha256": "3d5fcd74afab708df9f240d29e7afef7c30f46168c78cc512d4206a24360c13a",
    "base_public_commit": "3cc41143b1bf06052c70ad0baf3d9064e2e587f3",
    "contains": "Allowlisted assessment source and four example specs. No engine or customer runtime."
  }
}
