{
  "method": "Recorded env0 geometric diagnostics; box clearance and joint excursion, not contact-force/slip measurement.",
  "policy": {
    "sole_clearance_p95_m": [
      0.027156810845901453,
      0.00970770380785435
    ],
    "sole_clearance_max_m": [
      0.029999760037231454,
      0.016116295423896136
    ],
    "fraction_clearance_gt_5mm": [
      0.2777777777777778,
      0.1938888888888889
    ],
    "joint_excursion_deg": {
      "right_hip_pitch": 34.668357849121094,
      "right_hip_roll": 11.301631927490234,
      "right_hip_yaw": 11.15671443939209,
      "right_knee_pitch": 61.829750061035156,
      "right_ankle_pitch": 30.90074348449707,
      "right_ankle_roll": 12.928781509399414,
      "left_hip_pitch": 45.075233459472656,
      "left_hip_roll": 11.964974403381348,
      "left_hip_yaw": 9.044599533081055,
      "left_knee_pitch": 73.03240966796875,
      "left_ankle_pitch": 28.4156551361084,
      "left_ankle_roll": 12.863667488098145,
      "waist_yaw": 2.402418613433838,
      "right_shoulder_pitch": 25.37000274658203,
      "right_shoulder_roll": 6.698753833770752,
      "right_shoulder_yaw": 0.3096773326396942,
      "right_elbow_pitch": 5.384634017944336,
      "left_shoulder_pitch": 29.397003173828125,
      "left_shoulder_roll": 5.096611976623535,
      "left_shoulder_yaw": 5.861220836639404,
      "left_elbow_pitch": 6.851258277893066
    },
    "knee_geometry": {
      "left": {
        "joint_deg_min_mean_max": [
          6.263096332550049,
          34.1180419921875,
          86.37642669677734
        ],
        "geometric_flexion_deg_min_mean_max": [
          2.12030239352408,
          30.110177296857227,
          82.1699527767836
        ],
        "reverse_flexion_fraction_below_minus_1_deg": 0.0,
        "knee_behind_hip_ankle_line_gt_5mm_fraction": 0.0,
        "knee_forward_bow_m_min_mean_max": [
          0.004030477003383266,
          0.054092967023221625,
          0.14323069075514347
        ]
      },
      "right": {
        "joint_deg_min_mean_max": [
          6.9129533767700195,
          27.580230712890625,
          69.74630737304688
        ],
        "geometric_flexion_deg_min_mean_max": [
          2.918262570127063,
          24.058892164350357,
          65.63648137473207
        ],
        "reverse_flexion_fraction_below_minus_1_deg": 0.0,
        "knee_behind_hip_ankle_line_gt_5mm_fraction": 0.0,
        "knee_forward_bow_m_min_mean_max": [
          0.005486028606211583,
          0.04337818331884504,
          0.11759684127237836
        ]
      }
    }
  },
  "reference": {
    "sole_clearance_p95_m": [
      0.018318678418416494,
      0.009402708542519417
    ],
    "sole_clearance_max_m": [
      0.020629316175221124,
      0.011729350841423587
    ],
    "fraction_clearance_gt_5mm": [
      0.27071428571428574,
      0.21428571428571427
    ],
    "joint_excursion_deg": {
      "right_hip_pitch": 31.435590994343436,
      "right_hip_roll": 12.157374206529616,
      "right_hip_yaw": 11.302187782066236,
      "right_knee_pitch": 56.782680692971965,
      "right_ankle_pitch": 28.415792374962045,
      "right_ankle_roll": 12.192071272296065,
      "left_hip_pitch": 37.22859127789637,
      "left_hip_roll": 11.22940231235576,
      "left_hip_yaw": 8.233274727018111,
      "left_knee_pitch": 65.41111888733495,
      "left_ankle_pitch": 27.585661670986685,
      "left_ankle_roll": 11.698452383992471,
      "waist_yaw": 5.037646504129802,
      "right_shoulder_pitch": 22.21373713648912,
      "right_shoulder_roll": 5.928374181835729,
      "right_shoulder_yaw": 7.316579708829974,
      "right_elbow_pitch": 4.07066607823664,
      "left_shoulder_pitch": 26.497390259385778,
      "left_shoulder_roll": 4.858397654734121,
      "left_shoulder_yaw": 5.593994890763115,
      "left_elbow_pitch": 5.443262804486298
    },
    "knee_geometry": {
      "left": {
        "joint_deg_min_mean_max": [
          11.026724985475427,
          35.68878318652864,
          80.94969048131499
        ],
        "geometric_flexion_deg_min_mean_max": [
          7.266631701114966,
          31.697297924342678,
          76.74929482661594
        ],
        "reverse_flexion_fraction_below_minus_1_deg": 0.0,
        "knee_behind_hip_ankle_line_gt_5mm_fraction": 0.0,
        "knee_forward_bow_m_min_mean_max": [
          0.013387894984514611,
          0.05742601296236215,
          0.13516708344745285
        ]
      },
      "right": {
        "joint_deg_min_mean_max": [
          6.161981842141367,
          28.437302762154093,
          70.96951442083171
        ],
        "geometric_flexion_deg_min_mean_max": [
          2.267816833163374,
          24.90112899704452,
          66.83700589119641
        ],
        "reverse_flexion_fraction_below_minus_1_deg": 0.0,
        "knee_behind_hip_ankle_line_gt_5mm_fraction": 0.0,
        "knee_forward_bow_m_min_mean_max": [
          0.004023325173068199,
          0.04511501809378469,
          0.11979850573653408
        ]
      }
    }
  }
}