{
  "schema": "niua.g1-production/v1",
  "session": "g1-motion-2026-10-15",
  "recorded_at": "2026-10-15T19:52:49.826Z",
  "api": "https://api.ohao.tech",
  "contract": "motion.g1-safe@1",
  "checks": {
    "source.csv": {
      "check_id": "c00faeec-1254-4cf6-8e6b-137b1cc14261",
      "verdict": "pass",
      "artifact_sha256": "fe721bdb71a546aa7c0230ea22e28000e5f66f16a977a22c310adf4aaabcf1f5",
      "duration_ms": 1294,
      "rules": [],
      "failures": [],
      "metrics": {
        "duration_s": 3.5,
        "fps": 50,
        "frames": 176,
        "ground_penetration_m": 0.00194,
        "max_foot_skate_mps": 0.0608,
        "max_velocity_ratio": 0.271,
        "replay": {
          "max_tilt_deg": 5.31,
          "max_tracking_error_rad": 0.1358,
          "min_pelvis_m": 0.7481
        },
        "self_collision_depth_m": 0.00235,
        "simulator": {
          "controller": {
            "dampratio": 1,
            "kind": "joint PD position tracking, root unactuated",
            "kp": 500,
            "kv": 10.3186
          },
          "engine": "mujoco",
          "integrator": "implicitfast",
          "model": "mujoco_menagerie/unitree_g1 (g1_29dof_rev_1_0)",
          "timestep_s": 0.002,
          "version": "3.16.0"
        }
      },
      "receipt_id": "728c7d30-d348-4e39-968b-25cdbbbe9482",
      "receipt_valid": true
    },
    "raw.csv": {
      "check_id": "9843c40c-4502-417b-a7bf-46d8d065e0fa",
      "verdict": "fail",
      "artifact_sha256": "827600942b42b272f1662b1214668253432ad374948874c02fd01c688b719ecd",
      "duration_ms": 1473,
      "rules": [
        "contact.ground_penetration",
        "feet.skate",
        "joints.position_limits",
        "joints.velocity_limits"
      ],
      "failures": [
        {
          "expected": "within [-0.5200, 0.5200] rad",
          "fix": "Keep the joint inside its range: clamp it, or retarget so the pose needs less of it.",
          "got": "0.7841 rad at 2.64 s",
          "path": "/joints/waist_pitch_joint",
          "rule": "joints.position_limits",
          "severity": "error",
          "subject": "waist_pitch_joint"
        },
        {
          "expected": "within [-1.0472, 2.0944] rad",
          "fix": "Keep the joint inside its range: clamp it, or retarget so the pose needs less of it.",
          "got": "2.1585 rad at 2.00 s",
          "path": "/joints/right_elbow_joint",
          "rule": "joints.position_limits",
          "severity": "error",
          "subject": "right_elbow_joint"
        },
        {
          "expected": "at most 37.0 rad/s (1× Unitree's 37 rad/s)",
          "fix": "Slow the move down (retime it), or remove the one-frame pop with a short median filter.",
          "got": "50.1 rad/s at 2.00 s",
          "path": "/joints/right_elbow_joint",
          "rule": "joints.velocity_limits",
          "severity": "error",
          "subject": "right_elbow_joint"
        },
        {
          "expected": "no geometry deeper than 0.010 m into the floor",
          "fix": "Lift the root on those frames so the lowest foot point rests on the floor.",
          "got": "0.040 m deep at 1.00 s",
          "path": "/contact/floor",
          "rule": "contact.ground_penetration",
          "severity": "error",
          "subject": "left_ankle_roll_link"
        },
        {
          "expected": "a planted contact point (within 0.02 m of the floor) slides at most 0.2 m/s",
          "fix": "Lock the planted foot: remove the root drift on frames where the foot is on the floor.",
          "got": "0.34 m/s at 0.86 s",
          "path": "/feet/left_ankle_roll_link",
          "rule": "feet.skate",
          "severity": "error",
          "subject": "left_ankle_roll_link"
        },
        {
          "expected": "a planted contact point (within 0.02 m of the floor) slides at most 0.2 m/s",
          "fix": "Lock the planted foot: remove the root drift on frames where the foot is on the floor.",
          "got": "0.32 m/s at 0.88 s",
          "path": "/feet/right_ankle_roll_link",
          "rule": "feet.skate",
          "severity": "error",
          "subject": "right_ankle_roll_link"
        }
      ],
      "metrics": {
        "duration_s": 3.5,
        "fps": 50,
        "frames": 176,
        "ground_penetration_m": 0.04011,
        "max_foot_skate_mps": 0.3445,
        "max_velocity_ratio": 1.355,
        "replay": {
          "max_tilt_deg": 4.04,
          "max_tracking_error_rad": 0.8876,
          "min_pelvis_m": 0.7506
        },
        "self_collision_depth_m": 0.00235,
        "simulator": {
          "controller": {
            "dampratio": 1,
            "kind": "joint PD position tracking, root unactuated",
            "kp": 500,
            "kv": 10.3186
          },
          "engine": "mujoco",
          "integrator": "implicitfast",
          "model": "mujoco_menagerie/unitree_g1 (g1_29dof_rev_1_0)",
          "timestep_s": 0.002,
          "version": "3.16.0"
        }
      },
      "receipt_id": null,
      "receipt_valid": null
    },
    "fixed.csv": {
      "check_id": "2facbe67-25fa-4e39-90cd-cec3dbe148d6",
      "verdict": "pass",
      "artifact_sha256": "349ca008168b1c184dccf2df4f07e98b4972dd4ea2abdf0740ad575c8e7f6016",
      "duration_ms": 1470,
      "rules": [],
      "failures": [],
      "metrics": {
        "duration_s": 3.5,
        "fps": 50,
        "frames": 176,
        "ground_penetration_m": 0,
        "max_foot_skate_mps": 0.0415,
        "max_velocity_ratio": 0.271,
        "replay": {
          "max_tilt_deg": 3.97,
          "max_tracking_error_rad": 0.1351,
          "min_pelvis_m": 0.7504
        },
        "self_collision_depth_m": 0.00235,
        "simulator": {
          "controller": {
            "dampratio": 1,
            "kind": "joint PD position tracking, root unactuated",
            "kp": 500,
            "kv": 10.3186
          },
          "engine": "mujoco",
          "integrator": "implicitfast",
          "model": "mujoco_menagerie/unitree_g1 (g1_29dof_rev_1_0)",
          "timestep_s": 0.002,
          "version": "3.16.0"
        }
      },
      "receipt_id": "55b8224b-7908-4c74-8f81-4738cd1c906f",
      "receipt_valid": true
    }
  }
}