shadow-dance-v2 / validation /reference-validation-v2.json
pcrist's picture
Publish shadow-dance-v2
9c7037b verified
Raw
History Blame Contribute Delete
88.8 kB
{
"schema_version": 1,
"dataset_dir": "data/generated-v2",
"mjcf": "gear_sonic/data/assets/robot_description/mjcf/g1_29dof_rev_1_0.xml",
"sequence_count": 54,
"passed": 54,
"failed": 0,
"warning_count": 0,
"overall_pass": true,
"manifest": {
"checked": true,
"missing_from_files": [],
"missing_from_manifest": [],
"id_set_matches": true,
"artifact_failures": [],
"artifact_checks_pass": true
},
"sequences": [
{
"id": "shadow_dip_left_heldout_19",
"pass": true,
"errors": [],
"warnings": [],
"frames": 234,
"duration_s": 4.66,
"fps": 50,
"metrics": {
"root_quaternion_max_norm_error": 0.0,
"pose_aa_contract_max_error_rad": 0.0,
"joint_limit_max_violation_rad": 0.0,
"joint_limit_min_margin_rad": 0.020000004696845985,
"joint_velocity_max_ratio": 0.14912009239196777,
"joint_acceleration_peak_rad_s2": 46.678077697753906,
"pelvis_drop_m": 0.12300002574920654,
"waist_roll_peak_rad": 0.4099999964237213,
"foot_excursion_m": 0.12046400751059178,
"foot_height_max_m": 0.040962261987068996,
"floor_penetration_max_m": 0.0020237769902148733,
"planted_foot_speed_p95_m_s": 0.00946915020859874,
"quasistatic_support_margin_min_m": -0.025537218634284,
"quasistatic_support_margin_min_time_s": 1.14,
"support_feet_at_minimum": 1,
"two_foot_support_margin_min_m": 0.05547773367327581,
"deepest_hold_support_margin_min_m": 0.07860185276374293,
"self_contact_count_max": 0,
"endpoint_joint_rms_rad": 3.488428079387318e-13
},
"file": "heldout/shadow_dip_left_heldout_19.pkl",
"sha256": "1a6641979d803a3e2a9fa9ecf7b23bd29d53391edcbd425d6efaade0a28dd5c7",
"manifest_checks": {
"motion_path_matches": true,
"motion_sha256_matches": true,
"ik_position_within_8mm": true,
"ik_orientation_within_5deg": true,
"source_csv_exists": true,
"source_csv_sha256_matches": true
}
},
{
"id": "shadow_dip_left_heldout_21",
"pass": true,
"errors": [],
"warnings": [],
"frames": 263,
"duration_s": 5.24,
"fps": 50,
"metrics": {
"root_quaternion_max_norm_error": 0.0,
"pose_aa_contract_max_error_rad": 0.0,
"joint_limit_max_violation_rad": 0.0,
"joint_limit_min_margin_rad": 0.020000004696845985,
"joint_velocity_max_ratio": 0.15572764873504638,
"joint_acceleration_peak_rad_s2": 49.76671600341797,
"pelvis_drop_m": 0.14249998331069946,
"waist_roll_peak_rad": 0.4749999940395355,
"foot_excursion_m": 0.1565398141759283,
"foot_height_max_m": 0.04746654491820736,
"floor_penetration_max_m": 0.003579277947056401,
"planted_foot_speed_p95_m_s": 0.00517786756889314,
"quasistatic_support_margin_min_m": -0.028154800957554852,
"quasistatic_support_margin_min_time_s": 1.3,
"support_feet_at_minimum": 1,
"two_foot_support_margin_min_m": 0.05431568426281679,
"deepest_hold_support_margin_min_m": 0.07384561216990594,
"self_contact_count_max": 0,
"endpoint_joint_rms_rad": 8.756162434659862e-14
},
"file": "heldout/shadow_dip_left_heldout_21.pkl",
"sha256": "aa7b3a3c467b38b47353aa3dbe95415017c5ae7ab4b5b1964145ee1e0d5d77e7",
"manifest_checks": {
"motion_path_matches": true,
"motion_sha256_matches": true,
"ik_position_within_8mm": true,
"ik_orientation_within_5deg": true,
"source_csv_exists": true,
"source_csv_sha256_matches": true
}
},
{
"id": "shadow_dip_right_heldout_20",
"pass": true,
"errors": [],
"warnings": [],
"frames": 239,
"duration_s": 4.76,
"fps": 50,
"metrics": {
"root_quaternion_max_norm_error": 0.0,
"pose_aa_contract_max_error_rad": 0.0,
"joint_limit_max_violation_rad": 0.0,
"joint_limit_min_margin_rad": 0.020000004696845985,
"joint_velocity_max_ratio": 0.1461119294166565,
"joint_acceleration_peak_rad_s2": 44.27373504638672,
"pelvis_drop_m": 0.12300002574920654,
"waist_roll_peak_rad": 0.4099999964237213,
"foot_excursion_m": 0.12046400246543369,
"foot_height_max_m": 0.04096383497097311,
"floor_penetration_max_m": 0.0020238912476908018,
"planted_foot_speed_p95_m_s": 0.009411963567609958,
"quasistatic_support_margin_min_m": -0.025651784893740835,
"quasistatic_support_margin_min_time_s": 1.16,
"support_feet_at_minimum": 1,
"two_foot_support_margin_min_m": 0.0554589068197585,
"deepest_hold_support_margin_min_m": 0.07861622150576228,
"self_contact_count_max": 0,
"endpoint_joint_rms_rad": 2.7309196028689475e-13
},
"file": "heldout/shadow_dip_right_heldout_20.pkl",
"sha256": "f275ce038ef8e33e8def6d3b581be6cdef11772586a3f7cc5233558b92136265",
"manifest_checks": {
"motion_path_matches": true,
"motion_sha256_matches": true,
"ik_position_within_8mm": true,
"ik_orientation_within_5deg": true,
"source_csv_exists": true,
"source_csv_sha256_matches": true
}
},
{
"id": "shadow_dip_right_heldout_22",
"pass": true,
"errors": [],
"warnings": [],
"frames": 269,
"duration_s": 5.36,
"fps": 50,
"metrics": {
"root_quaternion_max_norm_error": 0.0,
"pose_aa_contract_max_error_rad": 0.0,
"joint_limit_max_violation_rad": 0.0,
"joint_limit_min_margin_rad": 0.020000004696845985,
"joint_velocity_max_ratio": 0.15113406181335448,
"joint_acceleration_peak_rad_s2": 46.352447509765625,
"pelvis_drop_m": 0.14249998331069946,
"waist_roll_peak_rad": 0.4749999940395355,
"foot_excursion_m": 0.1565398141759283,
"foot_height_max_m": 0.04746668889928384,
"floor_penetration_max_m": 0.003579179455055554,
"planted_foot_speed_p95_m_s": 0.005060448641147762,
"quasistatic_support_margin_min_m": -0.028236493060317454,
"quasistatic_support_margin_min_time_s": 1.32,
"support_feet_at_minimum": 1,
"two_foot_support_margin_min_m": 0.05431362860123947,
"deepest_hold_support_margin_min_m": 0.07386803557373167,
"self_contact_count_max": 0,
"endpoint_joint_rms_rad": 6.71314336043137e-14
},
"file": "heldout/shadow_dip_right_heldout_22.pkl",
"sha256": "f43b423ac7bee93bceadcccdbfb755fae1452703c16edb887fb98f0b62d9bf16",
"manifest_checks": {
"motion_path_matches": true,
"motion_sha256_matches": true,
"ik_position_within_8mm": true,
"ik_orientation_within_5deg": true,
"source_csv_exists": true,
"source_csv_sha256_matches": true
}
},
{
"id": "shadow_gancho_left_heldout_01",
"pass": true,
"errors": [],
"warnings": [],
"frames": 246,
"duration_s": 4.9,
"fps": 50,
"metrics": {
"root_quaternion_max_norm_error": 5.960464477539063e-08,
"pose_aa_contract_max_error_rad": 7.450580596923828e-09,
"joint_limit_max_violation_rad": 0.0,
"joint_limit_min_margin_rad": 0.01999999932479858,
"joint_velocity_max_ratio": 0.4105230331420898,
"joint_acceleration_peak_rad_s2": 213.07012939453125,
"pelvis_drop_m": 0.07999998331069946,
"waist_roll_peak_rad": 0.4449999928474426,
"foot_excursion_m": 0.5530229006233266,
"foot_height_max_m": 0.31059343223955127,
"floor_penetration_max_m": 0.007892121125737988,
"planted_foot_speed_p95_m_s": 0.06481239459367084,
"quasistatic_support_margin_min_m": 0.009050630697705316,
"quasistatic_support_margin_min_time_s": 1.96,
"support_feet_at_minimum": 1,
"two_foot_support_margin_min_m": 0.0296103703163722,
"deepest_hold_support_margin_min_m": 0.018550113485691893,
"self_contact_count_max": 0,
"endpoint_joint_rms_rad": 3.7453978453726524e-16
},
"file": "heldout/shadow_gancho_left_heldout_01.pkl",
"sha256": "371f4e4aa0ccb0ae72e3efbaf2376275cef9813e837bc03333848b8802d421ac",
"manifest_checks": {
"motion_path_matches": true,
"motion_sha256_matches": true,
"ik_position_within_8mm": true,
"ik_orientation_within_5deg": true,
"source_csv_exists": true,
"source_csv_sha256_matches": true
}
},
{
"id": "shadow_gancho_left_heldout_02",
"pass": true,
"errors": [],
"warnings": [],
"frames": 259,
"duration_s": 5.16,
"fps": 50,
"metrics": {
"root_quaternion_max_norm_error": 5.960464477539063e-08,
"pose_aa_contract_max_error_rad": 7.450580596923828e-09,
"joint_limit_max_violation_rad": 0.0,
"joint_limit_min_margin_rad": 0.01999999932479858,
"joint_velocity_max_ratio": 0.40921406745910643,
"joint_acceleration_peak_rad_s2": 209.66017150878906,
"pelvis_drop_m": 0.09333336353302002,
"waist_roll_peak_rad": 0.48500001430511475,
"foot_excursion_m": 0.5505746548642828,
"foot_height_max_m": 0.2972600520172307,
"floor_penetration_max_m": 0.0057023387246601005,
"planted_foot_speed_p95_m_s": 0.05877391393080189,
"quasistatic_support_margin_min_m": 0.012433882244739574,
"quasistatic_support_margin_min_time_s": 2.06,
"support_feet_at_minimum": 1,
"two_foot_support_margin_min_m": 0.025233652633999775,
"deepest_hold_support_margin_min_m": 0.021490129501075293,
"self_contact_count_max": 0,
"endpoint_joint_rms_rad": 2.420826780697691e-16
},
"file": "heldout/shadow_gancho_left_heldout_02.pkl",
"sha256": "69c36381b4bd16d8826f6de6981c18d75e01f795bfd30432248f7ed9d715fe18",
"manifest_checks": {
"motion_path_matches": true,
"motion_sha256_matches": true,
"ik_position_within_8mm": true,
"ik_orientation_within_5deg": true,
"source_csv_exists": true,
"source_csv_sha256_matches": true
}
},
{
"id": "shadow_gancho_right_heldout_01",
"pass": true,
"errors": [],
"warnings": [],
"frames": 250,
"duration_s": 4.98,
"fps": 50,
"metrics": {
"root_quaternion_max_norm_error": 5.960464477539063e-08,
"pose_aa_contract_max_error_rad": 7.450580596923828e-09,
"joint_limit_max_violation_rad": 0.0,
"joint_limit_min_margin_rad": 0.020000004696845985,
"joint_velocity_max_ratio": 0.3801686763763428,
"joint_acceleration_peak_rad_s2": 162.66793823242188,
"pelvis_drop_m": 0.07999998331069946,
"waist_roll_peak_rad": 0.4449999928474426,
"foot_excursion_m": 0.5530231810725649,
"foot_height_max_m": 0.31059343223955127,
"floor_penetration_max_m": 0.007922735675900572,
"planted_foot_speed_p95_m_s": 0.06437932413107691,
"quasistatic_support_margin_min_m": 0.008904539499802511,
"quasistatic_support_margin_min_time_s": 2.0,
"support_feet_at_minimum": 1,
"two_foot_support_margin_min_m": 0.02977136791001639,
"deepest_hold_support_margin_min_m": 0.018404772283579875,
"self_contact_count_max": 0,
"endpoint_joint_rms_rad": 3.0470911781619984e-16
},
"file": "heldout/shadow_gancho_right_heldout_01.pkl",
"sha256": "0255bc15f0c64232b54ebf8c66f1b154fb9fdc8af93b29816342e9ad2689c91b",
"manifest_checks": {
"motion_path_matches": true,
"motion_sha256_matches": true,
"ik_position_within_8mm": true,
"ik_orientation_within_5deg": true,
"source_csv_exists": true,
"source_csv_sha256_matches": true
}
},
{
"id": "shadow_gancho_right_heldout_02",
"pass": true,
"errors": [],
"warnings": [],
"frames": 262,
"duration_s": 5.22,
"fps": 50,
"metrics": {
"root_quaternion_max_norm_error": 5.960464477539063e-08,
"pose_aa_contract_max_error_rad": 7.450580596923828e-09,
"joint_limit_max_violation_rad": 0.0,
"joint_limit_min_margin_rad": 0.020000004696845985,
"joint_velocity_max_ratio": 0.3619466066360474,
"joint_acceleration_peak_rad_s2": 172.97030639648438,
"pelvis_drop_m": 0.09333336353302002,
"waist_roll_peak_rad": 0.48500001430511475,
"foot_excursion_m": 0.550574657761598,
"foot_height_max_m": 0.2972600520172307,
"floor_penetration_max_m": 0.00569950684477517,
"planted_foot_speed_p95_m_s": 0.0681223444934103,
"quasistatic_support_margin_min_m": 0.01229125971049471,
"quasistatic_support_margin_min_time_s": 2.08,
"support_feet_at_minimum": 1,
"two_foot_support_margin_min_m": 0.025370803321134432,
"deepest_hold_support_margin_min_m": 0.021261686766195602,
"self_contact_count_max": 0,
"endpoint_joint_rms_rad": 2.1625465827451533e-16
},
"file": "heldout/shadow_gancho_right_heldout_02.pkl",
"sha256": "315dbab8e1ae3b4a8834b8faacf02a8a999fd6e681ef91409cd1183b0193e84a",
"manifest_checks": {
"motion_path_matches": true,
"motion_sha256_matches": true,
"ik_position_within_8mm": true,
"ik_orientation_within_5deg": true,
"source_csv_exists": true,
"source_csv_sha256_matches": true
}
},
{
"id": "shadow_dip_left_test_23",
"pass": true,
"errors": [],
"warnings": [],
"frames": 253,
"duration_s": 5.04,
"fps": 50,
"metrics": {
"root_quaternion_max_norm_error": 0.0,
"pose_aa_contract_max_error_rad": 0.0,
"joint_limit_max_violation_rad": 0.0,
"joint_limit_min_margin_rad": 0.020000004696845985,
"joint_velocity_max_ratio": 0.1375445008277893,
"joint_acceleration_peak_rad_s2": 39.26031494140625,
"pelvis_drop_m": 0.11699998378753662,
"waist_roll_peak_rad": 0.38999998569488525,
"foot_excursion_m": 0.11823934642573289,
"foot_height_max_m": 0.03896931266511859,
"floor_penetration_max_m": 0.0014183562162815855,
"planted_foot_speed_p95_m_s": 0.008113967633929294,
"quasistatic_support_margin_min_m": -0.02441660630943946,
"quasistatic_support_margin_min_time_s": 1.22,
"support_feet_at_minimum": 1,
"two_foot_support_margin_min_m": 0.055855417402044194,
"deepest_hold_support_margin_min_m": 0.08306071104684498,
"self_contact_count_max": 0,
"endpoint_joint_rms_rad": 1.3916342037068041e-13
},
"file": "preflight/shadow_dip_left_test_23.pkl",
"sha256": "21e5da4b0a2baeb1f06580196a87a52991a20372ab6e0308ea024628c4fadf02",
"manifest_checks": {
"motion_path_matches": true,
"motion_sha256_matches": true,
"ik_position_within_8mm": true,
"ik_orientation_within_5deg": true,
"source_csv_exists": true,
"source_csv_sha256_matches": true
}
},
{
"id": "shadow_dip_left_test_25",
"pass": true,
"errors": [],
"warnings": [],
"frames": 273,
"duration_s": 5.44,
"fps": 50,
"metrics": {
"root_quaternion_max_norm_error": 0.0,
"pose_aa_contract_max_error_rad": 0.0,
"joint_limit_max_violation_rad": 0.0,
"joint_limit_min_margin_rad": 0.019999986095428413,
"joint_velocity_max_ratio": 0.15727856159210205,
"joint_acceleration_peak_rad_s2": 50.59596252441406,
"pelvis_drop_m": 0.1470000147819519,
"waist_roll_peak_rad": 0.49000000953674316,
"foot_excursion_m": 0.1629802287676901,
"foot_height_max_m": 0.048967773125863645,
"floor_penetration_max_m": 0.004240013264237338,
"planted_foot_speed_p95_m_s": 0.0067193967876059075,
"quasistatic_support_margin_min_m": -0.028581335922256583,
"quasistatic_support_margin_min_time_s": 1.36,
"support_feet_at_minimum": 1,
"two_foot_support_margin_min_m": 0.05409229548836488,
"deepest_hold_support_margin_min_m": 0.07237593675360679,
"self_contact_count_max": 0,
"endpoint_joint_rms_rad": 5.616547401861641e-14
},
"file": "preflight/shadow_dip_left_test_25.pkl",
"sha256": "6f3f0ab69f69a8254e95fe8e2eaffc8185b9bf663473b800d1312ad685716951",
"manifest_checks": {
"motion_path_matches": true,
"motion_sha256_matches": true,
"ik_position_within_8mm": true,
"ik_orientation_within_5deg": true,
"source_csv_exists": true,
"source_csv_sha256_matches": true
}
},
{
"id": "shadow_dip_right_test_24",
"pass": true,
"errors": [],
"warnings": [],
"frames": 249,
"duration_s": 4.96,
"fps": 50,
"metrics": {
"root_quaternion_max_norm_error": 0.0,
"pose_aa_contract_max_error_rad": 0.0,
"joint_limit_max_violation_rad": 0.0,
"joint_limit_min_margin_rad": 0.020000004696845985,
"joint_velocity_max_ratio": 0.144780433177948,
"joint_acceleration_peak_rad_s2": 47.95559310913086,
"pelvis_drop_m": 0.1290000081062317,
"waist_roll_peak_rad": 0.4300000071525574,
"foot_excursion_m": 0.13934337934930496,
"foot_height_max_m": 0.04296687261362768,
"floor_penetration_max_m": 0.003200009385058933,
"planted_foot_speed_p95_m_s": 0.007731325411525313,
"quasistatic_support_margin_min_m": -0.027000723932323438,
"quasistatic_support_margin_min_time_s": 1.22,
"support_feet_at_minimum": 1,
"two_foot_support_margin_min_m": 0.05515345991247837,
"deepest_hold_support_margin_min_m": 0.07785526961602804,
"self_contact_count_max": 0,
"endpoint_joint_rms_rad": 1.6801689976374962e-13
},
"file": "preflight/shadow_dip_right_test_24.pkl",
"sha256": "4fd83fc2f4dd9bf4b478b972a4491c2ac4fb2b3863f33e332ae9e2e9559bcd1d",
"manifest_checks": {
"motion_path_matches": true,
"motion_sha256_matches": true,
"ik_position_within_8mm": true,
"ik_orientation_within_5deg": true,
"source_csv_exists": true,
"source_csv_sha256_matches": true
}
},
{
"id": "shadow_dip_right_test_26",
"pass": true,
"errors": [],
"warnings": [],
"frames": 243,
"duration_s": 4.84,
"fps": 50,
"metrics": {
"root_quaternion_max_norm_error": 0.0,
"pose_aa_contract_max_error_rad": 0.0,
"joint_limit_max_violation_rad": 0.0,
"joint_limit_min_margin_rad": 0.020000004696845985,
"joint_velocity_max_ratio": 0.15939221382141114,
"joint_acceleration_peak_rad_s2": 54.71006774902344,
"pelvis_drop_m": 0.13499999046325684,
"waist_roll_peak_rad": 0.44999998807907104,
"foot_excursion_m": 0.1480592777507983,
"foot_height_max_m": 0.04496220662194668,
"floor_penetration_max_m": 0.003993404955987313,
"planted_foot_speed_p95_m_s": 0.006492396201821853,
"quasistatic_support_margin_min_m": -0.028104488348082424,
"quasistatic_support_margin_min_time_s": 1.2,
"support_feet_at_minimum": 1,
"two_foot_support_margin_min_m": 0.054793070753555585,
"deepest_hold_support_margin_min_m": 0.07509982051355882,
"self_contact_count_max": 0,
"endpoint_joint_rms_rad": 2.2472900818894248e-13
},
"file": "preflight/shadow_dip_right_test_26.pkl",
"sha256": "2a186cd65c1f9beac33aee3c6e869bd0a74011f05c10efd90096d7a271ee92c8",
"manifest_checks": {
"motion_path_matches": true,
"motion_sha256_matches": true,
"ik_position_within_8mm": true,
"ik_orientation_within_5deg": true,
"source_csv_exists": true,
"source_csv_sha256_matches": true
}
},
{
"id": "shadow_dip_v2_left_test_01",
"pass": true,
"errors": [],
"warnings": [],
"frames": 259,
"duration_s": 5.16,
"fps": 50,
"metrics": {
"root_quaternion_max_norm_error": 0.0,
"pose_aa_contract_max_error_rad": 0.0,
"joint_limit_max_violation_rad": 0.0,
"joint_limit_min_margin_rad": 0.020000004696845985,
"joint_velocity_max_ratio": 0.13448365926742553,
"joint_acceleration_peak_rad_s2": 40.78459167480469,
"pelvis_drop_m": 0.12000000476837158,
"waist_roll_peak_rad": 0.4000000059604645,
"foot_excursion_m": 0.12478328086348617,
"foot_height_max_m": 0.03996997261988254,
"floor_penetration_max_m": 0.0021057801251315525,
"planted_foot_speed_p95_m_s": 0.0091367361175602,
"quasistatic_support_margin_min_m": -0.02526747255505725,
"quasistatic_support_margin_min_time_s": 1.26,
"support_feet_at_minimum": 1,
"two_foot_support_margin_min_m": 0.05566077848212513,
"deepest_hold_support_margin_min_m": 0.08157214182107937,
"self_contact_count_max": 0,
"endpoint_joint_rms_rad": 1.0714660495653172e-13
},
"file": "test/shadow_dip_v2_left_test_01.pkl",
"sha256": "d32ffb1dda1531efa3363eca57483e022ba885f93e550eeb45afd1cec54d8c66",
"manifest_checks": {
"motion_path_matches": true,
"motion_sha256_matches": true,
"ik_position_within_8mm": true,
"ik_orientation_within_5deg": true,
"source_csv_exists": true,
"source_csv_sha256_matches": true
}
},
{
"id": "shadow_dip_v2_left_test_03",
"pass": true,
"errors": [],
"warnings": [],
"frames": 267,
"duration_s": 5.32,
"fps": 50,
"metrics": {
"root_quaternion_max_norm_error": 0.0,
"pose_aa_contract_max_error_rad": 0.0,
"joint_limit_max_violation_rad": 0.0,
"joint_limit_min_margin_rad": 0.020000004696845985,
"joint_velocity_max_ratio": 0.15277594327926636,
"joint_acceleration_peak_rad_s2": 49.104469299316406,
"pelvis_drop_m": 0.13950002193450928,
"waist_roll_peak_rad": 0.4650000035762787,
"foot_excursion_m": 0.15448136347302252,
"foot_height_max_m": 0.046490013723508375,
"floor_penetration_max_m": 0.004211684279445346,
"planted_foot_speed_p95_m_s": 0.005116109682425891,
"quasistatic_support_margin_min_m": -0.028409656575158596,
"quasistatic_support_margin_min_time_s": 1.32,
"support_feet_at_minimum": 1,
"two_foot_support_margin_min_m": 0.05446631482715593,
"deepest_hold_support_margin_min_m": 0.07375838567539125,
"self_contact_count_max": 0,
"endpoint_joint_rms_rad": 7.386758170196614e-14
},
"file": "test/shadow_dip_v2_left_test_03.pkl",
"sha256": "a40a531e9c079a96bc39767307d617b77bad8dd13a810f5e296b47c9ca479b97",
"manifest_checks": {
"motion_path_matches": true,
"motion_sha256_matches": true,
"ik_position_within_8mm": true,
"ik_orientation_within_5deg": true,
"source_csv_exists": true,
"source_csv_sha256_matches": true
}
},
{
"id": "shadow_dip_v2_right_test_02",
"pass": true,
"errors": [],
"warnings": [],
"frames": 255,
"duration_s": 5.08,
"fps": 50,
"metrics": {
"root_quaternion_max_norm_error": 0.0,
"pose_aa_contract_max_error_rad": 0.0,
"joint_limit_max_violation_rad": 0.0,
"joint_limit_min_margin_rad": 0.020000004696845985,
"joint_velocity_max_ratio": 0.13631582260131836,
"joint_acceleration_peak_rad_s2": 42.849369049072266,
"pelvis_drop_m": 0.12599998712539673,
"waist_roll_peak_rad": 0.41999998688697815,
"foot_excursion_m": 0.13388520204519402,
"foot_height_max_m": 0.041993136827970914,
"floor_penetration_max_m": 0.0028109122108244365,
"planted_foot_speed_p95_m_s": 0.008174007743439574,
"quasistatic_support_margin_min_m": -0.02640526817103183,
"quasistatic_support_margin_min_time_s": 1.24,
"support_feet_at_minimum": 1,
"two_foot_support_margin_min_m": 0.05532875101901872,
"deepest_hold_support_margin_min_m": 0.07900809885670482,
"self_contact_count_max": 0,
"endpoint_joint_rms_rad": 1.2563080187700387e-13
},
"file": "test/shadow_dip_v2_right_test_02.pkl",
"sha256": "bb4596d4567e96ab7dc3a46fbe6633000327437238de38bd4fff6e2cd7631151",
"manifest_checks": {
"motion_path_matches": true,
"motion_sha256_matches": true,
"ik_position_within_8mm": true,
"ik_orientation_within_5deg": true,
"source_csv_exists": true,
"source_csv_sha256_matches": true
}
},
{
"id": "shadow_dip_v2_right_test_04",
"pass": true,
"errors": [],
"warnings": [],
"frames": 270,
"duration_s": 5.38,
"fps": 50,
"metrics": {
"root_quaternion_max_norm_error": 0.0,
"pose_aa_contract_max_error_rad": 0.0,
"joint_limit_max_violation_rad": 0.0,
"joint_limit_min_margin_rad": 0.019999986095428413,
"joint_velocity_max_ratio": 0.15412412881851195,
"joint_acceleration_peak_rad_s2": 48.344215393066406,
"pelvis_drop_m": 0.14399999380111694,
"waist_roll_peak_rad": 0.47999998927116394,
"foot_excursion_m": 0.15955375384500156,
"foot_height_max_m": 0.047991822234995846,
"floor_penetration_max_m": 0.0036308754022414437,
"planted_foot_speed_p95_m_s": 0.004810622844894362,
"quasistatic_support_margin_min_m": -0.02847557104898626,
"quasistatic_support_margin_min_time_s": 1.34,
"support_feet_at_minimum": 1,
"two_foot_support_margin_min_m": 0.054238096354787775,
"deepest_hold_support_margin_min_m": 0.07359434143040797,
"self_contact_count_max": 0,
"endpoint_joint_rms_rad": 6.575758004518512e-14
},
"file": "test/shadow_dip_v2_right_test_04.pkl",
"sha256": "09d9b29495e9f365153a2fe2a01413aef54cef3e4a53820089cff34e0b207335",
"manifest_checks": {
"motion_path_matches": true,
"motion_sha256_matches": true,
"ik_position_within_8mm": true,
"ik_orientation_within_5deg": true,
"source_csv_exists": true,
"source_csv_sha256_matches": true
}
},
{
"id": "shadow_gancho_left_test_01",
"pass": true,
"errors": [],
"warnings": [],
"frames": 266,
"duration_s": 5.3,
"fps": 50,
"metrics": {
"root_quaternion_max_norm_error": 5.960464477539063e-08,
"pose_aa_contract_max_error_rad": 7.450580596923828e-09,
"joint_limit_max_violation_rad": 0.0,
"joint_limit_min_margin_rad": 0.020000004696845985,
"joint_velocity_max_ratio": 0.44463682174682617,
"joint_acceleration_peak_rad_s2": 221.53709411621094,
"pelvis_drop_m": 0.08333331346511841,
"waist_roll_peak_rad": 0.45500001311302185,
"foot_excursion_m": 0.5523741204318254,
"foot_height_max_m": 0.3072601020851323,
"floor_penetration_max_m": 0.0071863957316828375,
"planted_foot_speed_p95_m_s": 0.05898589105666963,
"quasistatic_support_margin_min_m": 0.009863626721656282,
"quasistatic_support_margin_min_time_s": 2.12,
"support_feet_at_minimum": 1,
"two_foot_support_margin_min_m": 0.028463529440252298,
"deepest_hold_support_margin_min_m": 0.019244475737173573,
"self_contact_count_max": 0,
"endpoint_joint_rms_rad": 1.5003985609127033e-16
},
"file": "test/shadow_gancho_left_test_01.pkl",
"sha256": "010d2f68306904f607333621a9d81be2bf4c24050e7c9c6a69fb8dad24e2635d",
"manifest_checks": {
"motion_path_matches": true,
"motion_sha256_matches": true,
"ik_position_within_8mm": true,
"ik_orientation_within_5deg": true,
"source_csv_exists": true,
"source_csv_sha256_matches": true
}
},
{
"id": "shadow_gancho_left_test_02",
"pass": true,
"errors": [],
"warnings": [],
"frames": 249,
"duration_s": 4.96,
"fps": 50,
"metrics": {
"root_quaternion_max_norm_error": 5.960464477539063e-08,
"pose_aa_contract_max_error_rad": 7.450580596923828e-09,
"joint_limit_max_violation_rad": 0.0,
"joint_limit_min_margin_rad": 0.020000004696845985,
"joint_velocity_max_ratio": 0.4451451778411865,
"joint_acceleration_peak_rad_s2": 213.5782012939453,
"pelvis_drop_m": 0.09666669368743896,
"waist_roll_peak_rad": 0.4950000047683716,
"foot_excursion_m": 0.5500232873360432,
"foot_height_max_m": 0.29392672186281177,
"floor_penetration_max_m": 0.0054827532610068515,
"planted_foot_speed_p95_m_s": 0.07288097826175816,
"quasistatic_support_margin_min_m": 0.013336322742283371,
"quasistatic_support_margin_min_time_s": 1.98,
"support_feet_at_minimum": 1,
"two_foot_support_margin_min_m": 0.02421341319810667,
"deepest_hold_support_margin_min_m": 0.02224517767958407,
"self_contact_count_max": 0,
"endpoint_joint_rms_rad": 4.0054163137516333e-16
},
"file": "test/shadow_gancho_left_test_02.pkl",
"sha256": "803c4ae6e954af34c47d1368b43bd598c0bd768b00d1d6e4bd482659b67e2c37",
"manifest_checks": {
"motion_path_matches": true,
"motion_sha256_matches": true,
"ik_position_within_8mm": true,
"ik_orientation_within_5deg": true,
"source_csv_exists": true,
"source_csv_sha256_matches": true
}
},
{
"id": "shadow_gancho_right_test_01",
"pass": true,
"errors": [],
"warnings": [],
"frames": 271,
"duration_s": 5.4,
"fps": 50,
"metrics": {
"root_quaternion_max_norm_error": 5.960464477539063e-08,
"pose_aa_contract_max_error_rad": 7.450580596923828e-09,
"joint_limit_max_violation_rad": 0.0,
"joint_limit_min_margin_rad": 0.01999999932479858,
"joint_velocity_max_ratio": 0.34836292266845703,
"joint_acceleration_peak_rad_s2": 206.88832092285156,
"pelvis_drop_m": 0.08333331346511841,
"waist_roll_peak_rad": 0.45500001311302185,
"foot_excursion_m": 0.5523741535016617,
"foot_height_max_m": 0.30726010208513244,
"floor_penetration_max_m": 0.007199752844709674,
"planted_foot_speed_p95_m_s": 0.06018570526315656,
"quasistatic_support_margin_min_m": 0.009718169367164815,
"quasistatic_support_margin_min_time_s": 2.16,
"support_feet_at_minimum": 1,
"two_foot_support_margin_min_m": 0.0286242330524929,
"deepest_hold_support_margin_min_m": 0.019000518520463392,
"self_contact_count_max": 0,
"endpoint_joint_rms_rad": 1.2946489640687134e-16
},
"file": "test/shadow_gancho_right_test_01.pkl",
"sha256": "0aabafeb5762e41ac8462ed4aeaa322185e2c02aaa6109b1c1635097026656d0",
"manifest_checks": {
"motion_path_matches": true,
"motion_sha256_matches": true,
"ik_position_within_8mm": true,
"ik_orientation_within_5deg": true,
"source_csv_exists": true,
"source_csv_sha256_matches": true
}
},
{
"id": "shadow_gancho_right_test_02",
"pass": true,
"errors": [],
"warnings": [],
"frames": 253,
"duration_s": 5.04,
"fps": 50,
"metrics": {
"root_quaternion_max_norm_error": 5.960464477539063e-08,
"pose_aa_contract_max_error_rad": 7.450580596923828e-09,
"joint_limit_max_violation_rad": 0.0,
"joint_limit_min_margin_rad": 0.020000004696845985,
"joint_velocity_max_ratio": 0.3725815534591675,
"joint_acceleration_peak_rad_s2": 184.22056579589844,
"pelvis_drop_m": 0.09666669368743896,
"waist_roll_peak_rad": 0.4950000047683716,
"foot_excursion_m": 0.5500239027035817,
"foot_height_max_m": 0.2939267249988106,
"floor_penetration_max_m": 0.005477946043695267,
"planted_foot_speed_p95_m_s": 0.06384028851177963,
"quasistatic_support_margin_min_m": 0.013194593819562587,
"quasistatic_support_margin_min_time_s": 2.02,
"support_feet_at_minimum": 1,
"two_foot_support_margin_min_m": 0.024376490960986097,
"deepest_hold_support_margin_min_m": 0.02210259933555539,
"self_contact_count_max": 0,
"endpoint_joint_rms_rad": 3.2748233975696055e-16
},
"file": "test/shadow_gancho_right_test_02.pkl",
"sha256": "7307977b8e7fba5dbf408736082ffca7cd6c6ad1744f7833f85b5fc173b1342d",
"manifest_checks": {
"motion_path_matches": true,
"motion_sha256_matches": true,
"ik_position_within_8mm": true,
"ik_orientation_within_5deg": true,
"source_csv_exists": true,
"source_csv_sha256_matches": true
}
},
{
"id": "retention_squat_left",
"pass": true,
"errors": [],
"warnings": [],
"frames": 201,
"duration_s": 4.0,
"fps": 50,
"metrics": {
"root_quaternion_max_norm_error": 0.0,
"pose_aa_contract_max_error_rad": 0.0,
"joint_limit_max_violation_rad": 0.0,
"joint_limit_min_margin_rad": 0.2617999999996215,
"joint_velocity_max_ratio": 0.09421616792678833,
"joint_acceleration_peak_rad_s2": 12.154263496398926,
"pelvis_drop_m": 0.0756000280380249,
"waist_roll_peak_rad": 0.0,
"foot_excursion_m": 3.674521895621013e-08,
"foot_height_max_m": 3.0306984078604104e-08,
"floor_penetration_max_m": 3.395712414727692e-08,
"planted_foot_speed_p95_m_s": 4.044371126193936e-07,
"quasistatic_support_margin_min_m": 0.0769974766692352,
"quasistatic_support_margin_min_time_s": 0.0,
"support_feet_at_minimum": 2,
"two_foot_support_margin_min_m": 0.0769974766692352,
"deepest_hold_support_margin_min_m": 0.07998925890545727,
"self_contact_count_max": 0,
"endpoint_joint_rms_rad": 4.6734629274449745e-18
},
"file": "train/retention_squat_left.pkl",
"sha256": "6ba676896060ba9de40c9d9b726f9558917c89a4f4cd8101d770927879a152bd",
"manifest_checks": {
"motion_path_matches": true,
"motion_sha256_matches": true,
"ik_position_within_8mm": true,
"ik_orientation_within_5deg": true,
"source_csv_exists": true,
"source_csv_sha256_matches": true
}
},
{
"id": "retention_stand_left",
"pass": true,
"errors": [],
"warnings": [],
"frames": 201,
"duration_s": 4.0,
"fps": 50,
"metrics": {
"root_quaternion_max_norm_error": 0.0,
"pose_aa_contract_max_error_rad": 0.0,
"joint_limit_max_violation_rad": 0.0,
"joint_limit_min_margin_rad": 0.2618,
"joint_velocity_max_ratio": 9.5367431640625e-08,
"joint_acceleration_peak_rad_s2": 0.0001430511474609375,
"pelvis_drop_m": 0.0,
"waist_roll_peak_rad": 0.0,
"foot_excursion_m": 0.0,
"foot_height_max_m": 4.850530237882067e-09,
"floor_penetration_max_m": 0.0,
"planted_foot_speed_p95_m_s": 0.0,
"quasistatic_support_margin_min_m": 0.0769974766692352,
"quasistatic_support_margin_min_time_s": 0.0,
"support_feet_at_minimum": 2,
"two_foot_support_margin_min_m": 0.0769974766692352,
"deepest_hold_support_margin_min_m": 0.0769974766692352,
"self_contact_count_max": 0,
"endpoint_joint_rms_rad": 0.0
},
"file": "train/retention_stand_left.pkl",
"sha256": "d6ca8ab9c423a1866e198edf71263eedee480bc97047eda1eec75e9c06b84635",
"manifest_checks": {
"motion_path_matches": true,
"motion_sha256_matches": true,
"ik_position_within_8mm": true,
"ik_orientation_within_5deg": true,
"source_csv_exists": true,
"source_csv_sha256_matches": true
}
},
{
"id": "retention_sway_left",
"pass": true,
"errors": [],
"warnings": [],
"frames": 201,
"duration_s": 4.0,
"fps": 50,
"metrics": {
"root_quaternion_max_norm_error": 0.0,
"pose_aa_contract_max_error_rad": 0.0,
"joint_limit_max_violation_rad": 0.0,
"joint_limit_min_margin_rad": 0.2214600644290447,
"joint_velocity_max_ratio": 0.011056470709878046,
"joint_acceleration_peak_rad_s2": 1.948904275894165,
"pelvis_drop_m": 0.0,
"waist_roll_peak_rad": 0.14000000059604645,
"foot_excursion_m": 1.5819201657190797e-08,
"foot_height_max_m": 5.949874305050118e-09,
"floor_penetration_max_m": 0.0,
"planted_foot_speed_p95_m_s": 2.0451716406883754e-07,
"quasistatic_support_margin_min_m": 0.07679346613708311,
"quasistatic_support_margin_min_time_s": 1.12,
"support_feet_at_minimum": 2,
"two_foot_support_margin_min_m": 0.07679346613708311,
"deepest_hold_support_margin_min_m": 0.07679346613708311,
"self_contact_count_max": 0,
"endpoint_joint_rms_rad": 7.585615295624404e-12
},
"file": "train/retention_sway_left.pkl",
"sha256": "60c6b0528d80e1aea7130feae6cf000f1e7f913fdc27664d0a13b39c686ad3cf",
"manifest_checks": {
"motion_path_matches": true,
"motion_sha256_matches": true,
"ik_position_within_8mm": true,
"ik_orientation_within_5deg": true,
"source_csv_exists": true,
"source_csv_sha256_matches": true
}
},
{
"id": "retention_sway_right",
"pass": true,
"errors": [],
"warnings": [],
"frames": 201,
"duration_s": 4.0,
"fps": 50,
"metrics": {
"root_quaternion_max_norm_error": 0.0,
"pose_aa_contract_max_error_rad": 0.0,
"joint_limit_max_violation_rad": 0.0,
"joint_limit_min_margin_rad": 0.2214600644290447,
"joint_velocity_max_ratio": 0.011056470709878046,
"joint_acceleration_peak_rad_s2": 1.948904275894165,
"pelvis_drop_m": 0.0,
"waist_roll_peak_rad": 0.14000000059604645,
"foot_excursion_m": 1.581920165601053e-08,
"foot_height_max_m": 5.949874305050118e-09,
"floor_penetration_max_m": 0.0,
"planted_foot_speed_p95_m_s": 2.045171639741506e-07,
"quasistatic_support_margin_min_m": 0.07679346613959383,
"quasistatic_support_margin_min_time_s": 1.12,
"support_feet_at_minimum": 2,
"two_foot_support_margin_min_m": 0.07679346613959383,
"deepest_hold_support_margin_min_m": 0.07679346613959383,
"self_contact_count_max": 0,
"endpoint_joint_rms_rad": 7.587027360533849e-12
},
"file": "train/retention_sway_right.pkl",
"sha256": "1b154552d87af5c43088b9aebb0d2fad9f3f484d87025a6fe02e506d494aa76c",
"manifest_checks": {
"motion_path_matches": true,
"motion_sha256_matches": true,
"ik_position_within_8mm": true,
"ik_orientation_within_5deg": true,
"source_csv_exists": true,
"source_csv_sha256_matches": true
}
},
{
"id": "retention_torso_turn_left",
"pass": true,
"errors": [],
"warnings": [],
"frames": 201,
"duration_s": 4.0,
"fps": 50,
"metrics": {
"root_quaternion_max_norm_error": 0.0,
"pose_aa_contract_max_error_rad": 0.0,
"joint_limit_max_violation_rad": 0.0,
"joint_limit_min_margin_rad": 0.2618,
"joint_velocity_max_ratio": 0.031046966090798378,
"joint_acceleration_peak_rad_s2": 4.733026027679443,
"pelvis_drop_m": 0.0,
"waist_roll_peak_rad": 0.0,
"foot_excursion_m": 0.0,
"foot_height_max_m": 4.850530237882067e-09,
"floor_penetration_max_m": 0.0,
"planted_foot_speed_p95_m_s": 0.0,
"quasistatic_support_margin_min_m": 0.07629805239113505,
"quasistatic_support_margin_min_time_s": 1.12,
"support_feet_at_minimum": 2,
"two_foot_support_margin_min_m": 0.07629805239113505,
"deepest_hold_support_margin_min_m": 0.07629805239113505,
"self_contact_count_max": 0,
"endpoint_joint_rms_rad": 0.0
},
"file": "train/retention_torso_turn_left.pkl",
"sha256": "c774a2fd1dcbf52e7c757dc20e5aba2bfe9706970a99fc82fe9e16e08ebd80d3",
"manifest_checks": {
"motion_path_matches": true,
"motion_sha256_matches": true,
"ik_position_within_8mm": true,
"ik_orientation_within_5deg": true,
"source_csv_exists": true,
"source_csv_sha256_matches": true
}
},
{
"id": "retention_torso_turn_right",
"pass": true,
"errors": [],
"warnings": [],
"frames": 201,
"duration_s": 4.0,
"fps": 50,
"metrics": {
"root_quaternion_max_norm_error": 0.0,
"pose_aa_contract_max_error_rad": 0.0,
"joint_limit_max_violation_rad": 0.0,
"joint_limit_min_margin_rad": 0.2618,
"joint_velocity_max_ratio": 0.031046966090798378,
"joint_acceleration_peak_rad_s2": 4.733026027679443,
"pelvis_drop_m": 0.0,
"waist_roll_peak_rad": 0.0,
"foot_excursion_m": 0.0,
"foot_height_max_m": 4.850530237882067e-09,
"floor_penetration_max_m": 0.0,
"planted_foot_speed_p95_m_s": 0.0,
"quasistatic_support_margin_min_m": 0.07629539677103066,
"quasistatic_support_margin_min_time_s": 1.12,
"support_feet_at_minimum": 2,
"two_foot_support_margin_min_m": 0.07629539677103066,
"deepest_hold_support_margin_min_m": 0.07629539677103066,
"self_contact_count_max": 0,
"endpoint_joint_rms_rad": 0.0
},
"file": "train/retention_torso_turn_right.pkl",
"sha256": "985805f65c64ffeb5f49e421952fa4630957023c97f912ff280ce91877969f27",
"manifest_checks": {
"motion_path_matches": true,
"motion_sha256_matches": true,
"ik_position_within_8mm": true,
"ik_orientation_within_5deg": true,
"source_csv_exists": true,
"source_csv_sha256_matches": true
}
},
{
"id": "retention_turn_left",
"pass": true,
"errors": [],
"warnings": [],
"frames": 221,
"duration_s": 4.4,
"fps": 50,
"metrics": {
"root_quaternion_max_norm_error": 5.960464477539063e-08,
"pose_aa_contract_max_error_rad": 2.9802322387695312e-08,
"joint_limit_max_violation_rad": 0.0,
"joint_limit_min_margin_rad": 0.05986919395923612,
"joint_velocity_max_ratio": 0.0746801495552063,
"joint_acceleration_peak_rad_s2": 19.31498146057129,
"pelvis_drop_m": 0.009999990463256836,
"waist_roll_peak_rad": 0.0,
"foot_excursion_m": 0.044272965440256586,
"foot_height_max_m": 0.030100014899925764,
"floor_penetration_max_m": 3.1113497792056855e-08,
"planted_foot_speed_p95_m_s": 0.022563866437042564,
"quasistatic_support_margin_min_m": -0.003075721815141508,
"quasistatic_support_margin_min_time_s": 2.92,
"support_feet_at_minimum": 1,
"two_foot_support_margin_min_m": 0.05321064896546321,
"deepest_hold_support_margin_min_m": -0.003075721815141508,
"self_contact_count_max": 0,
"endpoint_joint_rms_rad": 1.2797807565175423e-16
},
"file": "train/retention_turn_left.pkl",
"sha256": "e58700893f746e0f750652869541559787c35383a3976bc63b0450b8a52d5318",
"manifest_checks": {
"motion_path_matches": true,
"motion_sha256_matches": true,
"ik_position_within_8mm": true,
"ik_orientation_within_5deg": true,
"source_csv_exists": true,
"source_csv_sha256_matches": true
}
},
{
"id": "retention_turn_right",
"pass": true,
"errors": [],
"warnings": [],
"frames": 231,
"duration_s": 4.6,
"fps": 50,
"metrics": {
"root_quaternion_max_norm_error": 5.960464477539063e-08,
"pose_aa_contract_max_error_rad": 2.9802322387695312e-08,
"joint_limit_max_violation_rad": 0.0,
"joint_limit_min_margin_rad": 0.05812057249546049,
"joint_velocity_max_ratio": 0.07664449810981751,
"joint_acceleration_peak_rad_s2": 20.04973602294922,
"pelvis_drop_m": 0.009999990463256836,
"waist_roll_peak_rad": 0.0,
"foot_excursion_m": 0.048340337201540656,
"foot_height_max_m": 0.03290001348234446,
"floor_penetration_max_m": 3.03898121667423e-08,
"planted_foot_speed_p95_m_s": 0.02001959238581456,
"quasistatic_support_margin_min_m": -0.0036905856145260357,
"quasistatic_support_margin_min_time_s": 3.02,
"support_feet_at_minimum": 1,
"two_foot_support_margin_min_m": 0.05321106702348006,
"deepest_hold_support_margin_min_m": -0.0036905856145260357,
"self_contact_count_max": 0,
"endpoint_joint_rms_rad": 3.973712796978191e-17
},
"file": "train/retention_turn_right.pkl",
"sha256": "ed0e418de57973d3c8346370fbf23738c0af8a896826ff39f9fbedfe4f91cf27",
"manifest_checks": {
"motion_path_matches": true,
"motion_sha256_matches": true,
"ik_position_within_8mm": true,
"ik_orientation_within_5deg": true,
"source_csv_exists": true,
"source_csv_sha256_matches": true
}
},
{
"id": "retention_walk_left",
"pass": true,
"errors": [],
"warnings": [],
"frames": 231,
"duration_s": 4.6,
"fps": 50,
"metrics": {
"root_quaternion_max_norm_error": 0.0,
"pose_aa_contract_max_error_rad": 0.0,
"joint_limit_max_violation_rad": 0.0,
"joint_limit_min_margin_rad": 0.10646883540153501,
"joint_velocity_max_ratio": 0.114690101146698,
"joint_acceleration_peak_rad_s2": 32.81529235839844,
"pelvis_drop_m": 0.012000024318695068,
"waist_roll_peak_rad": 0.0,
"foot_excursion_m": 0.17220001329416246,
"foot_height_max_m": 0.036899982336066346,
"floor_penetration_max_m": 2.9930119136573063e-08,
"planted_foot_speed_p95_m_s": 0.05563209721467021,
"quasistatic_support_margin_min_m": -0.017942002720915125,
"quasistatic_support_margin_min_time_s": 3.02,
"support_feet_at_minimum": 1,
"two_foot_support_margin_min_m": 0.06517481886839727,
"deepest_hold_support_margin_min_m": -0.017942002720915125,
"self_contact_count_max": 0,
"endpoint_joint_rms_rad": 2.497921337276613e-17
},
"file": "train/retention_walk_left.pkl",
"sha256": "697d2cee51b600c8c7176cb099d2e98c91a4997adf57640a7e765417c710ee78",
"manifest_checks": {
"motion_path_matches": true,
"motion_sha256_matches": true,
"ik_position_within_8mm": true,
"ik_orientation_within_5deg": true,
"source_csv_exists": true,
"source_csv_sha256_matches": true
}
},
{
"id": "retention_walk_right",
"pass": true,
"errors": [],
"warnings": [],
"frames": 261,
"duration_s": 5.2,
"fps": 50,
"metrics": {
"root_quaternion_max_norm_error": 0.0,
"pose_aa_contract_max_error_rad": 0.0,
"joint_limit_max_violation_rad": 0.0,
"joint_limit_min_margin_rad": 0.10653714232444761,
"joint_velocity_max_ratio": 0.09651564359664917,
"joint_acceleration_peak_rad_s2": 24.591463088989258,
"pelvis_drop_m": 0.012000024318695068,
"waist_roll_peak_rad": 0.0,
"foot_excursion_m": 0.16400001218599683,
"foot_height_max_m": 0.03689998342784742,
"floor_penetration_max_m": 3.091011663985954e-08,
"planted_foot_speed_p95_m_s": 0.05072466737451586,
"quasistatic_support_margin_min_m": -0.018052732426545412,
"quasistatic_support_margin_min_time_s": 3.36,
"support_feet_at_minimum": 1,
"two_foot_support_margin_min_m": 0.06584836550176118,
"deepest_hold_support_margin_min_m": -0.018052732426545412,
"self_contact_count_max": 0,
"endpoint_joint_rms_rad": 9.199731546427975e-18
},
"file": "train/retention_walk_right.pkl",
"sha256": "aff9bf81233c7e32ab13d193c49ef3db66a7c11a190a00849255b5ef17efe95b",
"manifest_checks": {
"motion_path_matches": true,
"motion_sha256_matches": true,
"ik_position_within_8mm": true,
"ik_orientation_within_5deg": true,
"source_csv_exists": true,
"source_csv_sha256_matches": true
}
},
{
"id": "shadow_dip_left_train_01",
"pass": true,
"errors": [],
"warnings": [],
"frames": 286,
"duration_s": 5.7,
"fps": 50,
"metrics": {
"root_quaternion_max_norm_error": 0.0,
"pose_aa_contract_max_error_rad": 0.0,
"joint_limit_max_violation_rad": 0.0,
"joint_limit_min_margin_rad": 0.020000004696845985,
"joint_velocity_max_ratio": 0.12200616598129273,
"joint_acceleration_peak_rad_s2": 25.339950561523438,
"pelvis_drop_m": 0.09299999475479126,
"waist_roll_peak_rad": 0.3100000023841858,
"foot_excursion_m": 0.08736540050033682,
"foot_height_max_m": 0.031000024336121618,
"floor_penetration_max_m": 0.00036828748970185385,
"planted_foot_speed_p95_m_s": 0.009577152308272503,
"quasistatic_support_margin_min_m": -0.021455571585358702,
"quasistatic_support_margin_min_time_s": 1.36,
"support_feet_at_minimum": 1,
"two_foot_support_margin_min_m": 0.05725930198290724,
"deepest_hold_support_margin_min_m": 0.08527552437816371,
"self_contact_count_max": 0,
"endpoint_joint_rms_rad": 3.417291406446199e-14
},
"file": "train/shadow_dip_left_train_01.pkl",
"sha256": "376bcfbfab1fb262cefdb46ed1075956f15ae4123c0a50acf33249b400d93d91",
"manifest_checks": {
"motion_path_matches": true,
"motion_sha256_matches": true,
"ik_position_within_8mm": true,
"ik_orientation_within_5deg": true,
"source_csv_exists": true,
"source_csv_sha256_matches": true
}
},
{
"id": "shadow_dip_left_train_02",
"pass": true,
"errors": [],
"warnings": [],
"frames": 261,
"duration_s": 5.2,
"fps": 50,
"metrics": {
"root_quaternion_max_norm_error": 0.0,
"pose_aa_contract_max_error_rad": 0.0,
"joint_limit_max_violation_rad": 0.0,
"joint_limit_min_margin_rad": 0.020000004696845985,
"joint_velocity_max_ratio": 0.1335939049720764,
"joint_acceleration_peak_rad_s2": 35.36321258544922,
"pelvis_drop_m": 0.11400002241134644,
"waist_roll_peak_rad": 0.3799999952316284,
"foot_excursion_m": 0.1100832229269989,
"foot_height_max_m": 0.03800000924001249,
"floor_penetration_max_m": 0.0014879222204063798,
"planted_foot_speed_p95_m_s": 0.00810469739131789,
"quasistatic_support_margin_min_m": -0.024284190552952722,
"quasistatic_support_margin_min_time_s": 1.26,
"support_feet_at_minimum": 1,
"two_foot_support_margin_min_m": 0.055968281529344736,
"deepest_hold_support_margin_min_m": 0.0819026226678529,
"self_contact_count_max": 0,
"endpoint_joint_rms_rad": 9.624345455793923e-14
},
"file": "train/shadow_dip_left_train_02.pkl",
"sha256": "acbc7b314f747e92b40453a28b9182c7b0521aa61bc426d441f667e6a9c5b705",
"manifest_checks": {
"motion_path_matches": true,
"motion_sha256_matches": true,
"ik_position_within_8mm": true,
"ik_orientation_within_5deg": true,
"source_csv_exists": true,
"source_csv_sha256_matches": true
}
},
{
"id": "shadow_dip_left_train_03",
"pass": true,
"errors": [],
"warnings": [],
"frames": 241,
"duration_s": 4.8,
"fps": 50,
"metrics": {
"root_quaternion_max_norm_error": 0.0,
"pose_aa_contract_max_error_rad": 0.0,
"joint_limit_max_violation_rad": 0.0,
"joint_limit_min_margin_rad": 0.020000004696845985,
"joint_velocity_max_ratio": 0.14489755630493165,
"joint_acceleration_peak_rad_s2": 48.53803634643555,
"pelvis_drop_m": 0.13200002908706665,
"waist_roll_peak_rad": 0.4399999976158142,
"foot_excursion_m": 0.1304457226879646,
"foot_height_max_m": 0.044000018941939834,
"floor_penetration_max_m": 0.0025813062433370157,
"planted_foot_speed_p95_m_s": 0.007960736898573413,
"quasistatic_support_margin_min_m": -0.026724899974340972,
"quasistatic_support_margin_min_time_s": 1.18,
"support_feet_at_minimum": 1,
"two_foot_support_margin_min_m": 0.05491491692029416,
"deepest_hold_support_margin_min_m": 0.07484365031709064,
"self_contact_count_max": 0,
"endpoint_joint_rms_rad": 2.470833054216831e-13
},
"file": "train/shadow_dip_left_train_03.pkl",
"sha256": "3bde873410ede2ba077fe4fb86a9a424360c0dd629f185286099ee97c3528c5b",
"manifest_checks": {
"motion_path_matches": true,
"motion_sha256_matches": true,
"ik_position_within_8mm": true,
"ik_orientation_within_5deg": true,
"source_csv_exists": true,
"source_csv_sha256_matches": true
}
},
{
"id": "shadow_dip_left_train_07",
"pass": true,
"errors": [],
"warnings": [],
"frames": 226,
"duration_s": 4.5,
"fps": 50,
"metrics": {
"root_quaternion_max_norm_error": 0.0,
"pose_aa_contract_max_error_rad": 0.0,
"joint_limit_max_violation_rad": 0.0,
"joint_limit_min_margin_rad": 0.020000004696845985,
"joint_velocity_max_ratio": 0.15381097793579102,
"joint_acceleration_peak_rad_s2": 38.937034606933594,
"pelvis_drop_m": 0.10500001907348633,
"waist_roll_peak_rad": 0.3499999940395355,
"foot_excursion_m": 0.09319002488794548,
"foot_height_max_m": 0.03500002249692666,
"floor_penetration_max_m": 0.0008873459247510027,
"planted_foot_speed_p95_m_s": 0.010593518606600476,
"quasistatic_support_margin_min_m": -0.022994895812878127,
"quasistatic_support_margin_min_time_s": 1.08,
"support_feet_at_minimum": 1,
"two_foot_support_margin_min_m": 0.05649490052629327,
"deepest_hold_support_margin_min_m": 0.08270332324554736,
"self_contact_count_max": 0,
"endpoint_joint_rms_rad": 5.211552218421789e-13
},
"file": "train/shadow_dip_left_train_07.pkl",
"sha256": "780cc3781f65b6bfce2e61f8826de2609b3f3697b871662cdc06ab1b607aef7a",
"manifest_checks": {
"motion_path_matches": true,
"motion_sha256_matches": true,
"ik_position_within_8mm": true,
"ik_orientation_within_5deg": true,
"source_csv_exists": true,
"source_csv_sha256_matches": true
}
},
{
"id": "shadow_dip_left_train_09",
"pass": true,
"errors": [],
"warnings": [],
"frames": 276,
"duration_s": 5.5,
"fps": 50,
"metrics": {
"root_quaternion_max_norm_error": 0.0,
"pose_aa_contract_max_error_rad": 0.0,
"joint_limit_max_violation_rad": 0.0,
"joint_limit_min_margin_rad": 0.020000004696845985,
"joint_velocity_max_ratio": 0.14851622581481932,
"joint_acceleration_peak_rad_s2": 45.214969635009766,
"pelvis_drop_m": 0.14100003242492676,
"waist_roll_peak_rad": 0.4699999988079071,
"foot_excursion_m": 0.15939051389641068,
"foot_height_max_m": 0.04700117842199635,
"floor_penetration_max_m": 0.003563904861716427,
"planted_foot_speed_p95_m_s": 0.005130229516193992,
"quasistatic_support_margin_min_m": -0.027938921595095482,
"quasistatic_support_margin_min_time_s": 1.36,
"support_feet_at_minimum": 1,
"two_foot_support_margin_min_m": 0.05440871737877462,
"deepest_hold_support_margin_min_m": 0.07557597996616318,
"self_contact_count_max": 0,
"endpoint_joint_rms_rad": 5.1890729126785606e-14
},
"file": "train/shadow_dip_left_train_09.pkl",
"sha256": "2c628a139ae24e5d2368ec463f2ceb85d343b82b5fa0e8bc91eaf981451dbaf9",
"manifest_checks": {
"motion_path_matches": true,
"motion_sha256_matches": true,
"ik_position_within_8mm": true,
"ik_orientation_within_5deg": true,
"source_csv_exists": true,
"source_csv_sha256_matches": true
}
},
{
"id": "shadow_dip_left_train_11",
"pass": true,
"errors": [],
"warnings": [],
"frames": 251,
"duration_s": 5.0,
"fps": 50,
"metrics": {
"root_quaternion_max_norm_error": 0.0,
"pose_aa_contract_max_error_rad": 0.0,
"joint_limit_max_violation_rad": 0.0,
"joint_limit_min_margin_rad": 0.020000004696845985,
"joint_velocity_max_ratio": 0.15736401081085205,
"joint_acceleration_peak_rad_s2": 53.273704528808594,
"pelvis_drop_m": 0.14100003242492676,
"waist_roll_peak_rad": 0.4699999988079071,
"foot_excursion_m": 0.15066645095755196,
"foot_height_max_m": 0.04700101148787111,
"floor_penetration_max_m": 0.0033866220851625738,
"planted_foot_speed_p95_m_s": 0.005763585401699993,
"quasistatic_support_margin_min_m": -0.027962320820558665,
"quasistatic_support_margin_min_time_s": 1.24,
"support_feet_at_minimum": 1,
"two_foot_support_margin_min_m": 0.054426074212581436,
"deepest_hold_support_margin_min_m": 0.07352591823560267,
"self_contact_count_max": 0,
"endpoint_joint_rms_rad": 1.5516059303274238e-13
},
"file": "train/shadow_dip_left_train_11.pkl",
"sha256": "ecd304a3b2aca81f2d0c1d8124155e75c9bb740d9c1bccc90881a052e6ea7b24",
"manifest_checks": {
"motion_path_matches": true,
"motion_sha256_matches": true,
"ik_position_within_8mm": true,
"ik_orientation_within_5deg": true,
"source_csv_exists": true,
"source_csv_sha256_matches": true
}
},
{
"id": "shadow_dip_right_train_04",
"pass": true,
"errors": [],
"warnings": [],
"frames": 286,
"duration_s": 5.7,
"fps": 50,
"metrics": {
"root_quaternion_max_norm_error": 0.0,
"pose_aa_contract_max_error_rad": 0.0,
"joint_limit_max_violation_rad": 0.0,
"joint_limit_min_margin_rad": 0.020000004696845985,
"joint_velocity_max_ratio": 0.12200616598129273,
"joint_acceleration_peak_rad_s2": 25.339950561523438,
"pelvis_drop_m": 0.09299999475479126,
"waist_roll_peak_rad": 0.3100000023841858,
"foot_excursion_m": 0.08736540050033682,
"foot_height_max_m": 0.031000024336121618,
"floor_penetration_max_m": 0.00036828748970185385,
"planted_foot_speed_p95_m_s": 0.009577152308272503,
"quasistatic_support_margin_min_m": -0.021619086321572747,
"quasistatic_support_margin_min_time_s": 1.36,
"support_feet_at_minimum": 1,
"two_foot_support_margin_min_m": 0.05726343522560556,
"deepest_hold_support_margin_min_m": 0.08526003421067685,
"self_contact_count_max": 0,
"endpoint_joint_rms_rad": 3.2560779972875403e-14
},
"file": "train/shadow_dip_right_train_04.pkl",
"sha256": "dc6f3235a6ea992a688f2d523513687543331225b1a72520343e39379fb291cc",
"manifest_checks": {
"motion_path_matches": true,
"motion_sha256_matches": true,
"ik_position_within_8mm": true,
"ik_orientation_within_5deg": true,
"source_csv_exists": true,
"source_csv_sha256_matches": true
}
},
{
"id": "shadow_dip_right_train_05",
"pass": true,
"errors": [],
"warnings": [],
"frames": 261,
"duration_s": 5.2,
"fps": 50,
"metrics": {
"root_quaternion_max_norm_error": 0.0,
"pose_aa_contract_max_error_rad": 0.0,
"joint_limit_max_violation_rad": 0.0,
"joint_limit_min_margin_rad": 0.020000004696845985,
"joint_velocity_max_ratio": 0.1335939049720764,
"joint_acceleration_peak_rad_s2": 35.36321258544922,
"pelvis_drop_m": 0.11400002241134644,
"waist_roll_peak_rad": 0.3799999952316284,
"foot_excursion_m": 0.11008322292699892,
"foot_height_max_m": 0.03800000924001249,
"floor_penetration_max_m": 0.0014879222204063798,
"planted_foot_speed_p95_m_s": 0.008104697391318234,
"quasistatic_support_margin_min_m": -0.02444702629321191,
"quasistatic_support_margin_min_time_s": 1.26,
"support_feet_at_minimum": 1,
"two_foot_support_margin_min_m": 0.05597444744856272,
"deepest_hold_support_margin_min_m": 0.08191608076961206,
"self_contact_count_max": 0,
"endpoint_joint_rms_rad": 9.780306583053247e-14
},
"file": "train/shadow_dip_right_train_05.pkl",
"sha256": "ed8e3740224e8c589a279e71748917e74c2abadc0e382e639495ac5f9dce6804",
"manifest_checks": {
"motion_path_matches": true,
"motion_sha256_matches": true,
"ik_position_within_8mm": true,
"ik_orientation_within_5deg": true,
"source_csv_exists": true,
"source_csv_sha256_matches": true
}
},
{
"id": "shadow_dip_right_train_06",
"pass": true,
"errors": [],
"warnings": [],
"frames": 241,
"duration_s": 4.8,
"fps": 50,
"metrics": {
"root_quaternion_max_norm_error": 0.0,
"pose_aa_contract_max_error_rad": 0.0,
"joint_limit_max_violation_rad": 0.0,
"joint_limit_min_margin_rad": 0.020000004696845985,
"joint_velocity_max_ratio": 0.14489755630493165,
"joint_acceleration_peak_rad_s2": 48.53803634643555,
"pelvis_drop_m": 0.13200002908706665,
"waist_roll_peak_rad": 0.4399999976158142,
"foot_excursion_m": 0.1304457226879646,
"foot_height_max_m": 0.044000018941939834,
"floor_penetration_max_m": 0.0025813062433370157,
"planted_foot_speed_p95_m_s": 0.007960737951560106,
"quasistatic_support_margin_min_m": -0.026886996680210287,
"quasistatic_support_margin_min_time_s": 1.18,
"support_feet_at_minimum": 1,
"two_foot_support_margin_min_m": 0.05492314904259814,
"deepest_hold_support_margin_min_m": 0.0748585240879082,
"self_contact_count_max": 0,
"endpoint_joint_rms_rad": 2.454881187653052e-13
},
"file": "train/shadow_dip_right_train_06.pkl",
"sha256": "c20582d98f72c784286a9f8acc35ee3f37641609984b6f1f1b16d2bca3429919",
"manifest_checks": {
"motion_path_matches": true,
"motion_sha256_matches": true,
"ik_position_within_8mm": true,
"ik_orientation_within_5deg": true,
"source_csv_exists": true,
"source_csv_sha256_matches": true
}
},
{
"id": "shadow_dip_right_train_08",
"pass": true,
"errors": [],
"warnings": [],
"frames": 231,
"duration_s": 4.6,
"fps": 50,
"metrics": {
"root_quaternion_max_norm_error": 0.0,
"pose_aa_contract_max_error_rad": 0.0,
"joint_limit_max_violation_rad": 0.0,
"joint_limit_min_margin_rad": 0.020000004696845985,
"joint_velocity_max_ratio": 0.15090011358261107,
"joint_acceleration_peak_rad_s2": 38.26506423950195,
"pelvis_drop_m": 0.10500001907348633,
"waist_roll_peak_rad": 0.3499999940395355,
"foot_excursion_m": 0.09319002117616948,
"foot_height_max_m": 0.03500002249692666,
"floor_penetration_max_m": 0.0008872695110180573,
"planted_foot_speed_p95_m_s": 0.009175416359822604,
"quasistatic_support_margin_min_m": -0.023108259935092284,
"quasistatic_support_margin_min_time_s": 1.1,
"support_feet_at_minimum": 1,
"two_foot_support_margin_min_m": 0.05648113242835151,
"deepest_hold_support_margin_min_m": 0.08271187751138678,
"self_contact_count_max": 0,
"endpoint_joint_rms_rad": 4.0371292463550756e-13
},
"file": "train/shadow_dip_right_train_08.pkl",
"sha256": "9fd1f3b5aeeb69c8474f249b03a3211b9ff206c2635d88440f4d4bbe493cc033",
"manifest_checks": {
"motion_path_matches": true,
"motion_sha256_matches": true,
"ik_position_within_8mm": true,
"ik_orientation_within_5deg": true,
"source_csv_exists": true,
"source_csv_sha256_matches": true
}
},
{
"id": "shadow_dip_right_train_10",
"pass": true,
"errors": [],
"warnings": [],
"frames": 271,
"duration_s": 5.4,
"fps": 50,
"metrics": {
"root_quaternion_max_norm_error": 0.0,
"pose_aa_contract_max_error_rad": 0.0,
"joint_limit_max_violation_rad": 0.0,
"joint_limit_min_margin_rad": 0.020000004696845985,
"joint_velocity_max_ratio": 0.15189566612243652,
"joint_acceleration_peak_rad_s2": 48.43440246582031,
"pelvis_drop_m": 0.14100003242492676,
"waist_roll_peak_rad": 0.4699999988079071,
"foot_excursion_m": 0.15939051389641068,
"foot_height_max_m": 0.04700117842199635,
"floor_penetration_max_m": 0.00356390508212372,
"planted_foot_speed_p95_m_s": 0.005258173387788779,
"quasistatic_support_margin_min_m": -0.02813713160851926,
"quasistatic_support_margin_min_time_s": 1.34,
"support_feet_at_minimum": 1,
"two_foot_support_margin_min_m": 0.054442718843087747,
"deepest_hold_support_margin_min_m": 0.07560036004287202,
"self_contact_count_max": 0,
"endpoint_joint_rms_rad": 6.150102264479776e-14
},
"file": "train/shadow_dip_right_train_10.pkl",
"sha256": "bd8b4028423352ed06b986da2af73fe3579aad306d5bff8b568a7523730b6ea5",
"manifest_checks": {
"motion_path_matches": true,
"motion_sha256_matches": true,
"ik_position_within_8mm": true,
"ik_orientation_within_5deg": true,
"source_csv_exists": true,
"source_csv_sha256_matches": true
}
},
{
"id": "shadow_dip_right_train_12",
"pass": true,
"errors": [],
"warnings": [],
"frames": 256,
"duration_s": 5.1,
"fps": 50,
"metrics": {
"root_quaternion_max_norm_error": 0.0,
"pose_aa_contract_max_error_rad": 0.0,
"joint_limit_max_violation_rad": 0.0,
"joint_limit_min_margin_rad": 0.020000004696845985,
"joint_velocity_max_ratio": 0.15510849952697753,
"joint_acceleration_peak_rad_s2": 50.67967224121094,
"pelvis_drop_m": 0.14100003242492676,
"waist_roll_peak_rad": 0.4699999988079071,
"foot_excursion_m": 0.15066645237143167,
"foot_height_max_m": 0.04700101148787111,
"floor_penetration_max_m": 0.003386579782032814,
"planted_foot_speed_p95_m_s": 0.005703485638670009,
"quasistatic_support_margin_min_m": -0.028083275970736746,
"quasistatic_support_margin_min_time_s": 1.26,
"support_feet_at_minimum": 1,
"two_foot_support_margin_min_m": 0.05440628845220018,
"deepest_hold_support_margin_min_m": 0.07354631519535439,
"self_contact_count_max": 0,
"endpoint_joint_rms_rad": 1.2151911421565131e-13
},
"file": "train/shadow_dip_right_train_12.pkl",
"sha256": "6af7c00bea1c38827b4db191a0508f53a7e697eec396a0793c875531999b4d9f",
"manifest_checks": {
"motion_path_matches": true,
"motion_sha256_matches": true,
"ik_position_within_8mm": true,
"ik_orientation_within_5deg": true,
"source_csv_exists": true,
"source_csv_sha256_matches": true
}
},
{
"id": "shadow_gancho_left_train_01",
"pass": true,
"errors": [],
"warnings": [],
"frames": 271,
"duration_s": 5.4,
"fps": 50,
"metrics": {
"root_quaternion_max_norm_error": 5.960464477539063e-08,
"pose_aa_contract_max_error_rad": 7.450580596923828e-09,
"joint_limit_max_violation_rad": 0.0,
"joint_limit_min_margin_rad": 0.020000004696845985,
"joint_velocity_max_ratio": 0.3703491449356079,
"joint_acceleration_peak_rad_s2": 184.8825225830078,
"pelvis_drop_m": 0.07700002193450928,
"waist_roll_peak_rad": 0.4300000071525574,
"foot_excursion_m": 0.553153729781173,
"foot_height_max_m": 0.31359339361574157,
"floor_penetration_max_m": 0.007772943893073217,
"planted_foot_speed_p95_m_s": 0.059790266957553545,
"quasistatic_support_margin_min_m": 0.007962111069258239,
"quasistatic_support_margin_min_time_s": 2.16,
"support_feet_at_minimum": 1,
"two_foot_support_margin_min_m": 0.03133257380330676,
"deepest_hold_support_margin_min_m": 0.01742433713489195,
"self_contact_count_max": 0,
"endpoint_joint_rms_rad": 1.1634950442603476e-16
},
"file": "train/shadow_gancho_left_train_01.pkl",
"sha256": "6467376c7d5c3e700b8d6ec4fd67b80aa089eb06c6ef03a066c852d82328dde1",
"manifest_checks": {
"motion_path_matches": true,
"motion_sha256_matches": true,
"ik_position_within_8mm": true,
"ik_orientation_within_5deg": true,
"source_csv_exists": true,
"source_csv_sha256_matches": true
}
},
{
"id": "shadow_gancho_left_train_02",
"pass": true,
"errors": [],
"warnings": [],
"frames": 251,
"duration_s": 5.0,
"fps": 50,
"metrics": {
"root_quaternion_max_norm_error": 5.960464477539063e-08,
"pose_aa_contract_max_error_rad": 7.450580596923828e-09,
"joint_limit_max_violation_rad": 0.0,
"joint_limit_min_margin_rad": 0.01999999932479858,
"joint_velocity_max_ratio": 0.4536124229431152,
"joint_acceleration_peak_rad_s2": 226.10401916503906,
"pelvis_drop_m": 0.08166664838790894,
"waist_roll_peak_rad": 0.44999998807907104,
"foot_excursion_m": 0.5526957922894769,
"foot_height_max_m": 0.3089267671623418,
"floor_penetration_max_m": 0.007554874810336738,
"planted_foot_speed_p95_m_s": 0.06087014119329166,
"quasistatic_support_margin_min_m": 0.009454482227806456,
"quasistatic_support_margin_min_time_s": 2.0,
"support_feet_at_minimum": 1,
"two_foot_support_margin_min_m": 0.02903499699542628,
"deepest_hold_support_margin_min_m": 0.018783309463068994,
"self_contact_count_max": 0,
"endpoint_joint_rms_rad": 3.012795078825468e-16
},
"file": "train/shadow_gancho_left_train_02.pkl",
"sha256": "40b42b7d634ac53e8e11445d490ed689c12dba02f6cca57b6c1795557d2dcb8b",
"manifest_checks": {
"motion_path_matches": true,
"motion_sha256_matches": true,
"ik_position_within_8mm": true,
"ik_orientation_within_5deg": true,
"source_csv_exists": true,
"source_csv_sha256_matches": true
}
},
{
"id": "shadow_gancho_left_train_03",
"pass": true,
"errors": [],
"warnings": [],
"frames": 241,
"duration_s": 4.8,
"fps": 50,
"metrics": {
"root_quaternion_max_norm_error": 5.960464477539063e-08,
"pose_aa_contract_max_error_rad": 7.450580596923828e-09,
"joint_limit_max_violation_rad": 0.0,
"joint_limit_min_margin_rad": 0.01999999932479858,
"joint_velocity_max_ratio": 0.3931692361831665,
"joint_acceleration_peak_rad_s2": 209.61837768554688,
"pelvis_drop_m": 0.08499997854232788,
"waist_roll_peak_rad": 0.46000000834465027,
"foot_excursion_m": 0.5520587411963602,
"foot_height_max_m": 0.30559343700792285,
"floor_penetration_max_m": 0.006856943831138985,
"planted_foot_speed_p95_m_s": 0.07516567239248802,
"quasistatic_support_margin_min_m": 0.010278136618609789,
"quasistatic_support_margin_min_time_s": 1.92,
"support_feet_at_minimum": 1,
"two_foot_support_margin_min_m": 0.027866423246629808,
"deepest_hold_support_margin_min_m": 0.019470447745327916,
"self_contact_count_max": 0,
"endpoint_joint_rms_rad": 4.9237966990377355e-16
},
"file": "train/shadow_gancho_left_train_03.pkl",
"sha256": "f0e944ebdfbb404ee1813e44506e2dac04e1d075b7064b20a5731165f5f8ad2f",
"manifest_checks": {
"motion_path_matches": true,
"motion_sha256_matches": true,
"ik_position_within_8mm": true,
"ik_orientation_within_5deg": true,
"source_csv_exists": true,
"source_csv_sha256_matches": true
}
},
{
"id": "shadow_gancho_left_train_04",
"pass": true,
"errors": [],
"warnings": [],
"frames": 261,
"duration_s": 5.2,
"fps": 50,
"metrics": {
"root_quaternion_max_norm_error": 5.960464477539063e-08,
"pose_aa_contract_max_error_rad": 7.450580596923828e-09,
"joint_limit_max_violation_rad": 0.0,
"joint_limit_min_margin_rad": 0.020000004696845985,
"joint_velocity_max_ratio": 0.3854262113571167,
"joint_acceleration_peak_rad_s2": 191.5654296875,
"pelvis_drop_m": 0.08833330869674683,
"waist_roll_peak_rad": 0.4699999988079071,
"foot_excursion_m": 0.5514468561004744,
"foot_height_max_m": 0.30226010685350385,
"floor_penetration_max_m": 0.006313554740171871,
"planted_foot_speed_p95_m_s": 0.06143963559552994,
"quasistatic_support_margin_min_m": 0.011123579982142497,
"quasistatic_support_margin_min_time_s": 2.08,
"support_feet_at_minimum": 1,
"two_foot_support_margin_min_m": 0.026769968879127973,
"deepest_hold_support_margin_min_m": 0.020391956254272436,
"self_contact_count_max": 0,
"endpoint_joint_rms_rad": 2.0940273083148948e-16
},
"file": "train/shadow_gancho_left_train_04.pkl",
"sha256": "3f2bd8095fd625dd4ce2715453e8f1c2fc545124c883337a0ca5e2db6b7ddcea",
"manifest_checks": {
"motion_path_matches": true,
"motion_sha256_matches": true,
"ik_position_within_8mm": true,
"ik_orientation_within_5deg": true,
"source_csv_exists": true,
"source_csv_sha256_matches": true
}
},
{
"id": "shadow_gancho_left_train_05",
"pass": true,
"errors": [],
"warnings": [],
"frames": 236,
"duration_s": 4.7,
"fps": 50,
"metrics": {
"root_quaternion_max_norm_error": 5.960464477539063e-08,
"pose_aa_contract_max_error_rad": 7.450580596923828e-09,
"joint_limit_max_violation_rad": 0.0,
"joint_limit_min_margin_rad": 0.01999999932479858,
"joint_velocity_max_ratio": 0.4344977378845215,
"joint_acceleration_peak_rad_s2": 218.350341796875,
"pelvis_drop_m": 0.09166669845581055,
"waist_roll_peak_rad": 0.47999998927116394,
"foot_excursion_m": 0.550859132042805,
"foot_height_max_m": 0.2989267170944402,
"floor_penetration_max_m": 0.005860034843544276,
"planted_foot_speed_p95_m_s": 0.06781781260502051,
"quasistatic_support_margin_min_m": 0.011991391951730664,
"quasistatic_support_margin_min_time_s": 1.88,
"support_feet_at_minimum": 1,
"two_foot_support_margin_min_m": 0.025745386124969415,
"deepest_hold_support_margin_min_m": 0.02102339984130724,
"self_contact_count_max": 0,
"endpoint_joint_rms_rad": 6.971037216068753e-16
},
"file": "train/shadow_gancho_left_train_05.pkl",
"sha256": "c248470a7bdd82813f314641efcf5981174e4467821287dcf33c28f2ff02adeb",
"manifest_checks": {
"motion_path_matches": true,
"motion_sha256_matches": true,
"ik_position_within_8mm": true,
"ik_orientation_within_5deg": true,
"source_csv_exists": true,
"source_csv_sha256_matches": true
}
},
{
"id": "shadow_gancho_left_train_06",
"pass": true,
"errors": [],
"warnings": [],
"frames": 251,
"duration_s": 5.0,
"fps": 50,
"metrics": {
"root_quaternion_max_norm_error": 5.960464477539063e-08,
"pose_aa_contract_max_error_rad": 7.450580596923828e-09,
"joint_limit_max_violation_rad": 0.0,
"joint_limit_min_margin_rad": 0.020000004696845985,
"joint_velocity_max_ratio": 0.4177076816558838,
"joint_acceleration_peak_rad_s2": 205.19297790527344,
"pelvis_drop_m": 0.09500002861022949,
"waist_roll_peak_rad": 0.49000000953674316,
"foot_excursion_m": 0.5502962132395931,
"foot_height_max_m": 0.29559338694002124,
"floor_penetration_max_m": 0.005553093641665147,
"planted_foot_speed_p95_m_s": 0.0619186914294637,
"quasistatic_support_margin_min_m": 0.012882143551018573,
"quasistatic_support_margin_min_time_s": 2.0,
"support_feet_at_minimum": 1,
"two_foot_support_margin_min_m": 0.02472286760690851,
"deepest_hold_support_margin_min_m": 0.02186531102113875,
"self_contact_count_max": 0,
"endpoint_joint_rms_rad": 3.541636393674546e-16
},
"file": "train/shadow_gancho_left_train_06.pkl",
"sha256": "0944a66f23e9e5c52eb1293da93daa0d9ecaffccbb2193ec95a2ca405adc5478",
"manifest_checks": {
"motion_path_matches": true,
"motion_sha256_matches": true,
"ik_position_within_8mm": true,
"ik_orientation_within_5deg": true,
"source_csv_exists": true,
"source_csv_sha256_matches": true
}
},
{
"id": "shadow_gancho_right_train_01",
"pass": true,
"errors": [],
"warnings": [],
"frames": 275,
"duration_s": 5.48,
"fps": 50,
"metrics": {
"root_quaternion_max_norm_error": 5.960464477539063e-08,
"pose_aa_contract_max_error_rad": 7.450580596923828e-09,
"joint_limit_max_violation_rad": 0.0,
"joint_limit_min_margin_rad": 0.01999999932479858,
"joint_velocity_max_ratio": 0.3592799425125122,
"joint_acceleration_peak_rad_s2": 201.3795928955078,
"pelvis_drop_m": 0.07700002193450928,
"waist_roll_peak_rad": 0.4300000071525574,
"foot_excursion_m": 0.553153913966878,
"foot_height_max_m": 0.31359339361574146,
"floor_penetration_max_m": 0.0077620064552801835,
"planted_foot_speed_p95_m_s": 0.05422888839614274,
"quasistatic_support_margin_min_m": 0.007814674209474392,
"quasistatic_support_margin_min_time_s": 2.2,
"support_feet_at_minimum": 1,
"two_foot_support_margin_min_m": 0.031482897136139304,
"deepest_hold_support_margin_min_m": 0.017279198854246353,
"self_contact_count_max": 0,
"endpoint_joint_rms_rad": 9.948262337414359e-17
},
"file": "train/shadow_gancho_right_train_01.pkl",
"sha256": "ef0ae45801c40e0372300ed70b9e666fd6e8a0081530a150f35d514b7b8267ce",
"manifest_checks": {
"motion_path_matches": true,
"motion_sha256_matches": true,
"ik_position_within_8mm": true,
"ik_orientation_within_5deg": true,
"source_csv_exists": true,
"source_csv_sha256_matches": true
}
},
{
"id": "shadow_gancho_right_train_02",
"pass": true,
"errors": [],
"warnings": [],
"frames": 255,
"duration_s": 5.08,
"fps": 50,
"metrics": {
"root_quaternion_max_norm_error": 5.960464477539063e-08,
"pose_aa_contract_max_error_rad": 7.450580596923828e-09,
"joint_limit_max_violation_rad": 0.0,
"joint_limit_min_margin_rad": 0.020000004696845985,
"joint_velocity_max_ratio": 0.3743875503540039,
"joint_acceleration_peak_rad_s2": 186.89334106445312,
"pelvis_drop_m": 0.08166664838790894,
"waist_roll_peak_rad": 0.44999998807907104,
"foot_excursion_m": 0.5526955126660242,
"foot_height_max_m": 0.3089267671623418,
"floor_penetration_max_m": 0.007556693380623203,
"planted_foot_speed_p95_m_s": 0.0734967721693737,
"quasistatic_support_margin_min_m": 0.009308810014667638,
"quasistatic_support_margin_min_time_s": 2.04,
"support_feet_at_minimum": 1,
"two_foot_support_margin_min_m": 0.029175927739928744,
"deepest_hold_support_margin_min_m": 0.018640396049110955,
"self_contact_count_max": 0,
"endpoint_joint_rms_rad": 2.4287933902644135e-16
},
"file": "train/shadow_gancho_right_train_02.pkl",
"sha256": "63203d18e284fd5440f70f64bbd65c176fb1073f08dbc52a8753cc0ec1aeb854",
"manifest_checks": {
"motion_path_matches": true,
"motion_sha256_matches": true,
"ik_position_within_8mm": true,
"ik_orientation_within_5deg": true,
"source_csv_exists": true,
"source_csv_sha256_matches": true
}
},
{
"id": "shadow_gancho_right_train_03",
"pass": true,
"errors": [],
"warnings": [],
"frames": 245,
"duration_s": 4.88,
"fps": 50,
"metrics": {
"root_quaternion_max_norm_error": 5.960464477539063e-08,
"pose_aa_contract_max_error_rad": 7.450580596923828e-09,
"joint_limit_max_violation_rad": 0.0,
"joint_limit_min_margin_rad": 0.020000004696845985,
"joint_velocity_max_ratio": 0.41931443214416503,
"joint_acceleration_peak_rad_s2": 209.1720428466797,
"pelvis_drop_m": 0.08499997854232788,
"waist_roll_peak_rad": 0.46000000834465027,
"foot_excursion_m": 0.5520591420871136,
"foot_height_max_m": 0.30559343700792285,
"floor_penetration_max_m": 0.006834135797182516,
"planted_foot_speed_p95_m_s": 0.05772567451746208,
"quasistatic_support_margin_min_m": 0.010133378269133473,
"quasistatic_support_margin_min_time_s": 1.96,
"support_feet_at_minimum": 1,
"two_foot_support_margin_min_m": 0.028056271700034358,
"deepest_hold_support_margin_min_m": 0.019328681416957122,
"self_contact_count_max": 0,
"endpoint_joint_rms_rad": 4.2397768306693014e-16
},
"file": "train/shadow_gancho_right_train_03.pkl",
"sha256": "8ecb848a4836967ab64f0ff7004be161a1e310622a86caf629b73087e1c6ee92",
"manifest_checks": {
"motion_path_matches": true,
"motion_sha256_matches": true,
"ik_position_within_8mm": true,
"ik_orientation_within_5deg": true,
"source_csv_exists": true,
"source_csv_sha256_matches": true
}
},
{
"id": "shadow_gancho_right_train_04",
"pass": true,
"errors": [],
"warnings": [],
"frames": 265,
"duration_s": 5.28,
"fps": 50,
"metrics": {
"root_quaternion_max_norm_error": 5.960464477539063e-08,
"pose_aa_contract_max_error_rad": 7.450580596923828e-09,
"joint_limit_max_violation_rad": 0.0,
"joint_limit_min_margin_rad": 0.020000004696845985,
"joint_velocity_max_ratio": 0.43468341827392576,
"joint_acceleration_peak_rad_s2": 207.35484313964844,
"pelvis_drop_m": 0.08833330869674683,
"waist_roll_peak_rad": 0.4699999988079071,
"foot_excursion_m": 0.551446952649708,
"foot_height_max_m": 0.3022601099895026,
"floor_penetration_max_m": 0.006317148989995663,
"planted_foot_speed_p95_m_s": 0.06726831638391499,
"quasistatic_support_margin_min_m": 0.010979679172426985,
"quasistatic_support_margin_min_time_s": 2.12,
"support_feet_at_minimum": 1,
"two_foot_support_margin_min_m": 0.02693412558432325,
"deepest_hold_support_margin_min_m": 0.020247080533772593,
"self_contact_count_max": 0,
"endpoint_joint_rms_rad": 1.7785619308597494e-16
},
"file": "train/shadow_gancho_right_train_04.pkl",
"sha256": "c9c776c6e6b7b5da0e960d944707f23ba92a86d0e45e64f28e450c7c734e0162",
"manifest_checks": {
"motion_path_matches": true,
"motion_sha256_matches": true,
"ik_position_within_8mm": true,
"ik_orientation_within_5deg": true,
"source_csv_exists": true,
"source_csv_sha256_matches": true
}
},
{
"id": "shadow_gancho_right_train_05",
"pass": true,
"errors": [],
"warnings": [],
"frames": 240,
"duration_s": 4.78,
"fps": 50,
"metrics": {
"root_quaternion_max_norm_error": 5.960464477539063e-08,
"pose_aa_contract_max_error_rad": 7.450580596923828e-09,
"joint_limit_max_violation_rad": 0.0,
"joint_limit_min_margin_rad": 0.020000004696845985,
"joint_velocity_max_ratio": 0.4083566188812256,
"joint_acceleration_peak_rad_s2": 203.5828399658203,
"pelvis_drop_m": 0.09166669845581055,
"waist_roll_peak_rad": 0.47999998927116394,
"foot_excursion_m": 0.5508592639075726,
"foot_height_max_m": 0.29892672023043887,
"floor_penetration_max_m": 0.005849306379256094,
"planted_foot_speed_p95_m_s": 0.0697863302480194,
"quasistatic_support_margin_min_m": 0.01184848939434761,
"quasistatic_support_margin_min_time_s": 1.92,
"support_feet_at_minimum": 1,
"two_foot_support_margin_min_m": 0.025874336452233422,
"deepest_hold_support_margin_min_m": 0.02088117401977653,
"self_contact_count_max": 0,
"endpoint_joint_rms_rad": 5.717207166774918e-16
},
"file": "train/shadow_gancho_right_train_05.pkl",
"sha256": "fd301c5ca1a4775ed7a39484b7898425f1c372d68ff9d73d63a15ab3d1915c37",
"manifest_checks": {
"motion_path_matches": true,
"motion_sha256_matches": true,
"ik_position_within_8mm": true,
"ik_orientation_within_5deg": true,
"source_csv_exists": true,
"source_csv_sha256_matches": true
}
},
{
"id": "shadow_gancho_right_train_06",
"pass": true,
"errors": [],
"warnings": [],
"frames": 255,
"duration_s": 5.08,
"fps": 50,
"metrics": {
"root_quaternion_max_norm_error": 5.960464477539063e-08,
"pose_aa_contract_max_error_rad": 7.450580596923828e-09,
"joint_limit_max_violation_rad": 0.0,
"joint_limit_min_margin_rad": 0.020000004696845985,
"joint_velocity_max_ratio": 0.40025715827941893,
"joint_acceleration_peak_rad_s2": 212.81204223632812,
"pelvis_drop_m": 0.09500002861022949,
"waist_roll_peak_rad": 0.49000000953674316,
"foot_excursion_m": 0.5502959253835085,
"foot_height_max_m": 0.2955934316051124,
"floor_penetration_max_m": 0.005558244498776618,
"planted_foot_speed_p95_m_s": 0.07363278936871723,
"quasistatic_support_margin_min_m": 0.01274013858255851,
"quasistatic_support_margin_min_time_s": 2.04,
"support_feet_at_minimum": 1,
"two_foot_support_margin_min_m": 0.02486757220429164,
"deepest_hold_support_margin_min_m": 0.02172226359436231,
"self_contact_count_max": 0,
"endpoint_joint_rms_rad": 2.9469290027535854e-16
},
"file": "train/shadow_gancho_right_train_06.pkl",
"sha256": "750a9fd1fee302117df0c3d1cb0e6939ff162af92329b6387cc73a37ee34c3e2",
"manifest_checks": {
"motion_path_matches": true,
"motion_sha256_matches": true,
"ik_position_within_8mm": true,
"ik_orientation_within_5deg": true,
"source_csv_exists": true,
"source_csv_sha256_matches": true
}
}
]
}