{
  "recipe_version": 4,
  "checkpoint": "/home/z/bridge/rl/bridge_amp_v4/logs/2026-10-20_15-49-21_t800_v4_forward_knee_fresh_4096/model_4000.pt",
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  "duration_s": 20.0,
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  "automatic_resets": false,
  "official_bridge_artifact": false,
  "physical_robot_validation": false,
  "scope": "Nominal deterministic repeated environments, not independent robustness trials. Style remains subject to actual video review.",
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      "contact_speed_note": "Foot link origin speed while force>1N; rolling contact can move the origin. This is a proxy, not direct slip of the contact point.",
      "gait_geometry": "/home/z/bridge/rl/bridge_amp_v4/logs/2026-10-20_15-49-21_t800_v4_forward_knee_fresh_4096/evaluations/model_4000/gait_geometry.json"
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      "failed_env_ids": [],
      "protocol": "Stop the whole batch at the first failure, no credit for partial survivors.",
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      "contact_speed_note": "Foot link origin speed while force>1N; rolling contact can move the origin. This is a proxy, not direct slip of the contact point.",
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  "contact_foot_order": [
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    "left_ankle_roll_link"
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}