{
  "schema": "niua.runner-run/v1",
  "runner": "0.1.0",
  "api": "https://api.ohao.tech",
  "recorded_at": "2026-10-15T19:55:32.455Z",
  "receipt": {
    "id": "cb35bd7c-543d-4f80-a49b-eb291349e9b3",
    "file": "landing/playground/g1/fixed.csv",
    "artifact_sha256": "349ca008168b1c184dccf2df4f07e98b4972dd4ea2abdf0740ad575c8e7f6016"
  },
  "steps": [
    {
      "command": "niua-runner check raw.csv --contract motion.g1-safe@1",
      "exit": 1,
      "output": "FAIL motion.g1-safe@1  raw.csv  (6 to fix)\n  joints.position_limits  waist_pitch_joint\n    expected within [-0.5200, 0.5200] rad; got 0.7841 rad at 2.64 s\n    fix: Keep the joint inside its range: clamp it, or retarget so the pose needs less of it.\n  joints.position_limits  right_elbow_joint\n    expected within [-1.0472, 2.0944] rad; got 2.1585 rad at 2.00 s\n    fix: Keep the joint inside its range: clamp it, or retarget so the pose needs less of it.\n  joints.velocity_limits  right_elbow_joint\n    expected at most 37.0 rad/s (1× Unitree's 37 rad/s); got 50.1 rad/s at 2.00 s\n    fix: Slow the move down (retime it), or remove the one-frame pop with a short median filter.\n  contact.ground_penetration  left_ankle_roll_link\n    expected no geometry deeper than 0.010 m into the floor; got 0.040 m deep at 1.00 s\n    fix: Lift the root on those frames so the lowest foot point rests on the floor.\n  feet.skate  left_ankle_roll_link\n    expected a planted contact point (within 0.02 m of the floor) slides at most 0.2 m/s; got 0.34 m/s at 0.86 s\n    fix: Lock the planted foot: remove the root drift on frames where the foot is on the floor.\n  feet.skate  right_ankle_roll_link\n    expected a planted contact point (within 0.02 m of the floor) slides at most 0.2 m/s; got 0.32 m/s at 0.88 s\n    fix: Lock the planted foot: remove the root drift on frames where the foot is on the floor."
    },
    {
      "command": "niua-runner check fixed.csv --contract motion.g1-safe@1 --out receipt.json",
      "exit": 0,
      "output": "PASS motion.g1-safe@1  fixed.csv\n  receipt cb35bd7c-543d-4f80-a49b-eb291349e9b3  signature valid (checked here)  covers this file yes\n  sha256 349ca008168b1c184dccf2df4f07e98b4972dd4ea2abdf0740ad575c8e7f6016\n  wrote receipt.json  ·  anyone can re-check it: https://api.ohao.tech/api/v1/receipts/cb35bd7c-543d-4f80-a49b-eb291349e9b3"
    },
    {
      "command": "niua-runner keys --out keys.json",
      "exit": 0,
      "output": "wrote keys.json (1 key(s) from https://api.ohao.tech/.well-known/niua-receipt-keys.json); verify offline with --keys keys.json"
    },
    {
      "command": "niua-runner verify receipt.json --file fixed.csv --keys keys.json",
      "exit": 0,
      "output": "signature valid  key niua-receipt-2026-10  (offline, keys.json)\n  pass motion.g1-safe@1  issued 2026-10-15T19:55:29Z  checker niua-gate/1.0.0\n  fixed.csv sha256 349ca008168b1c184dccf2df4f07e98b4972dd4ea2abdf0740ad575c8e7f6016 matches the receipt"
    }
  ]
}