{
  "method": "CPU forward kinematics of recorded dynamic qpos, no additional policy rollout; sole box minimum corner clearance, not measured contact forces",
  "robot_model_sha256": "f0411693eb0586eab4d27a9d027bbd619ca3050efa3a051491fcb9a3421c0805",
  "official_bridge_artifact": false,
  "straight": {
    "left": {
      "max_sole_clearance_m": 0.006533023995567147,
      "p95_sole_clearance_m": 0.004354279765781674,
      "fraction_clearance_gt_5mm": 0.03777777777777778,
      "fraction_clearance_gt_10mm": 0.0,
      "sole_center_speed_when_clearance_lt_3mm_m_s": 0.1388755880561916
    },
    "right": {
      "max_sole_clearance_m": 0.006384613566218873,
      "p95_sole_clearance_m": 0.004569039748496973,
      "fraction_clearance_gt_5mm": 0.03666666666666667,
      "fraction_clearance_gt_10mm": 0.0,
      "sole_center_speed_when_clearance_lt_3mm_m_s": 0.12657682740449785
    },
    "joint_range_deg": {
      "right_hip_pitch": 6.309335708618164,
      "right_hip_roll": 2.908189058303833,
      "right_hip_yaw": 3.3939011096954346,
      "right_knee_pitch": 14.151528358459473,
      "right_ankle_pitch": 6.119174003601074,
      "right_ankle_roll": 5.871306896209717,
      "left_hip_pitch": 6.705099105834961,
      "left_hip_roll": 2.264845132827759,
      "left_hip_yaw": 1.5106199979782104,
      "left_knee_pitch": 15.432031631469727,
      "left_ankle_pitch": 6.91019344329834,
      "left_ankle_roll": 2.639331817626953,
      "waist_yaw": 2.5870704650878906,
      "right_shoulder_pitch": 5.758846282958984,
      "right_shoulder_roll": 1.5366063117980957,
      "right_shoulder_yaw": 1.6606694459915161,
      "right_elbow_pitch": 0.6554248929023743,
      "left_shoulder_pitch": 6.623953342437744,
      "left_shoulder_roll": 1.670042634010315,
      "left_shoulder_yaw": 3.7613303661346436,
      "left_elbow_pitch": 3.8331053256988525
    }
  },
  "reference": {
    "left": {
      "max_sole_clearance_m": 0.0206000502061838,
      "p95_sole_clearance_m": 0.018157384019743636,
      "fraction_clearance_gt_5mm": 0.27,
      "fraction_clearance_gt_10mm": 0.15428571428571428,
      "sole_center_speed_when_clearance_lt_3mm_m_s": 0.04302317634049339
    },
    "right": {
      "max_sole_clearance_m": 0.011657365776666014,
      "p95_sole_clearance_m": 0.009498436855674006,
      "fraction_clearance_gt_5mm": 0.21714285714285714,
      "fraction_clearance_gt_10mm": 0.02142857142857143,
      "sole_center_speed_when_clearance_lt_3mm_m_s": 0.055534868139305374
    },
    "joint_range_deg": {
      "right_hip_pitch": 31.465273863202096,
      "right_hip_roll": 12.143432856593453,
      "right_hip_yaw": 11.283868967773532,
      "right_knee_pitch": 56.00671295805211,
      "right_ankle_pitch": 28.184979673870778,
      "right_ankle_roll": 12.180894778708653,
      "left_hip_pitch": 37.09745684026411,
      "left_hip_roll": 11.180546652306498,
      "left_hip_yaw": 8.15120853274335,
      "left_knee_pitch": 64.76853368192613,
      "left_ankle_pitch": 27.34352345395695,
      "left_ankle_roll": 11.705134152090807,
      "waist_yaw": 5.128953332987344,
      "right_shoulder_pitch": 22.189023233198046,
      "right_shoulder_roll": 5.993307124046451,
      "right_shoulder_yaw": 7.265460455259412,
      "right_elbow_pitch": 4.085924307932509,
      "left_shoulder_pitch": 26.478408165950707,
      "left_shoulder_roll": 4.905098766848417,
      "left_shoulder_yaw": 5.487348006058905,
      "left_elbow_pitch": 5.519008520131093
    }
  }
}