{
  "date": "2026-09-28",
  "engine": "3.14.0",
  "source": {
    "dt": 0.001,
    "policyHz": 100,
    "modelVersion": "community-12dof-1",
    "mass": 32.37127688334273,
    "pelvisBody": 1,
    "joints": [
      {
        "body": "left_hip_pitch_link",
        "qpos": 7,
        "dof": 6
      },
      {
        "body": "left_hip_roll_link",
        "qpos": 8,
        "dof": 7
      },
      {
        "body": "left_hip_yaw_link",
        "qpos": 9,
        "dof": 8
      },
      {
        "body": "left_knee_link",
        "qpos": 10,
        "dof": 9
      },
      {
        "body": "left_ankle_pitch_link",
        "qpos": 11,
        "dof": 10
      },
      {
        "body": "left_ankle_roll_link",
        "qpos": 12,
        "dof": 11
      },
      {
        "body": "right_hip_pitch_link",
        "qpos": 13,
        "dof": 12
      },
      {
        "body": "right_hip_roll_link",
        "qpos": 14,
        "dof": 13
      },
      {
        "body": "right_hip_yaw_link",
        "qpos": 15,
        "dof": 14
      },
      {
        "body": "right_knee_link",
        "qpos": 16,
        "dof": 15
      },
      {
        "body": "right_ankle_pitch_link",
        "qpos": 17,
        "dof": 16
      },
      {
        "body": "right_ankle_roll_link",
        "qpos": 18,
        "dof": 17
      }
    ],
    "source": "https://github.com/Ma-Dan/asimov_1_train",
    "commit": "f6d525d80e7d6b0fdac3b61f4dbc77544107dfa6",
    "checkpoint": "logs/asimov_stand/exported_policies/20000/policy_dh.jit",
    "checkpointSha256": "ab3c05632554e9f1a0dbeb0f3c727470f2d9d5a52278a5661596c38d265b34ba",
    "onnxSha256": "ed5ade9f1f28feb06d5b560cb7ae12330992ba56098958e9182f069c2cf7eda2",
    "gyroAddress": 0,
    "quatAddress": 9,
    "assumptions": [
      "Independent community checkpoint, not Menlo official firmware or the new Isaac Lab release.",
      "12 actuated leg joints; upper body fixed.",
      "Upstream simulated actuator limits 100/200/300 Nm; not hardware validated.",
      "Backyard dimensions and friction are estimates.",
      "No external pelvis stabilization, root translation or scripted gait.",
      "Stairs, manipulation and hardware transfer not validated."
    ]
  },
  "results": [
    {
      "mode": "learned-physics",
      "scenario": "steps",
      "seconds": 41.86399999999313,
      "distance": 5.659814945743883,
      "displacement": 0.6771580736432966,
      "minPelvisHeight": 0.6038024277091968,
      "maxPelvisHeight": 0.62997057,
      "peakTorque": 100,
      "inferences": 4186,
      "stabilizer": false,
      "routeWaypoints": 2,
      "expectedWaypoints": 9,
      "collected": 0,
      "expectedItems": 0,
      "pickupController": null,
      "status": "stopped",
      "stopReason": "No route progress · policy attempt stopped"
    },
    {
      "mode": "learned-physics",
      "scenario": "toys",
      "seconds": 355.2389999985116,
      "distance": 50.90170699633672,
      "displacement": 4.093961257922672,
      "minPelvisHeight": 0.34879579404220057,
      "maxPelvisHeight": 0.62997057,
      "peakTorque": 100,
      "inferences": 35523,
      "stabilizer": false,
      "routeWaypoints": 15,
      "expectedWaypoints": 18,
      "collected": 2,
      "expectedItems": 3,
      "pickupController": "scripted attachment; no grasp or cloth physics",
      "status": "fell",
      "stopReason": "Fall detected · reset to retry"
    },
    {
      "mode": "learned-physics",
      "scenario": "towels",
      "seconds": 328.00299999915563,
      "distance": 47.46847766831235,
      "displacement": 5.0938601668928625,
      "minPelvisHeight": 0.5705527196236347,
      "maxPelvisHeight": 0.62997057,
      "peakTorque": 100,
      "inferences": 32800,
      "stabilizer": false,
      "routeWaypoints": 12,
      "expectedWaypoints": 12,
      "collected": 2,
      "expectedItems": 2,
      "pickupController": "scripted attachment; no grasp or cloth physics",
      "status": "complete",
      "stopReason": "Routine complete"
    },
    {
      "mode": "learned-physics",
      "scenario": "patrol",
      "seconds": 106.69300000014539,
      "distance": 16.458605629945534,
      "displacement": 7.6929158804132625,
      "minPelvisHeight": 0.6067566215987902,
      "maxPelvisHeight": 0.62997057,
      "peakTorque": 100,
      "inferences": 10669,
      "stabilizer": false,
      "routeWaypoints": 1,
      "expectedWaypoints": 9,
      "collected": 0,
      "expectedItems": 0,
      "pickupController": null,
      "status": "stopped",
      "stopReason": "Lounger"
    },
    {
      "mode": "learned-physics",
      "scenario": "welcome",
      "seconds": 202.16800000060127,
      "distance": 29.45842028528963,
      "displacement": 0.2498170266124914,
      "minPelvisHeight": 0.6064936692101915,
      "maxPelvisHeight": 0.62997057,
      "peakTorque": 100,
      "inferences": 20216,
      "stabilizer": false,
      "routeWaypoints": 4,
      "expectedWaypoints": 4,
      "collected": 0,
      "expectedItems": 0,
      "pickupController": null,
      "status": "complete",
      "stopReason": "Routine complete"
    },
    {
      "mode": "learned-physics",
      "scenario": "rounds",
      "seconds": 387.063999997759,
      "distance": 55.13449235578245,
      "displacement": 0.2496353240143559,
      "minPelvisHeight": 0.605883212284864,
      "maxPelvisHeight": 0.62997057,
      "peakTorque": 100,
      "inferences": 38706,
      "stabilizer": false,
      "routeWaypoints": 15,
      "expectedWaypoints": 15,
      "collected": 0,
      "expectedItems": 0,
      "pickupController": null,
      "status": "complete",
      "stopReason": "Routine complete"
    },
    {
      "mode": "learned-physics",
      "scenario": "closing",
      "seconds": 64.95299999994609,
      "distance": 9.685649882854031,
      "displacement": 4.7087501871314466,
      "minPelvisHeight": 0.34853173908392926,
      "maxPelvisHeight": 0.62997057,
      "peakTorque": 100,
      "inferences": 6495,
      "stabilizer": false,
      "routeWaypoints": 0,
      "expectedWaypoints": 6,
      "collected": 0,
      "expectedItems": 0,
      "pickupController": null,
      "status": "fell",
      "stopReason": "Fall detected · reset to retry"
    }
  ]
}