{
  "recipe_version": 4,
  "checkpoint": "/home/z/bridge/rl/bridge_amp_v4/logs/2026-10-20_17-44-53_t800_v4_stand_turn_fresh_4096/model_6000.pt",
  "checkpoint_sha256": "db996d1541fffc942fb9b7778e7c424466763187489af5cce2615aa1b4104416",
  "num_envs": 4,
  "duration_s": 20.0,
  "start": "neutral standing, no expert initial pose or velocity",
  "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.",
  "tests": {
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      "full_duration_completed": true,
      "completed_envs": 4,
      "failures_at_stop": 0,
      "failed_env_ids": [],
      "protocol": "Stop the whole batch at the first failure, no credit for partial survivors.",
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      "foot_link_contact_speed_proxy_m_s": 0.04762006530863682,
      "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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  "stop_transition_command_times_s": {
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  "untrained_turn_diagnostic": false,
  "contact_foot_order": [
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    "yaw_deceleration": 0.8,
    "adapter_version": 3,
    "mode": "command_deceleration_only",
    "joint_actions": "all 21 from the policy, no pose override",
    "gains_and_model": "unchanged"
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}