{
  "front_end": {
    "reprojection_px": {
      "median": 14.763871790841844,
      "p95": 74.05714753182983
    },
    "initial_retarget_position_error_cm": {
      "cup": {
        "mean": 5.127497692704849,
        "max": 20.271279228242417
      },
      "right_wrist": {
        "mean": 2.827227079929141,
        "max": 17.737211151214748
      }
    },
    "initial_final_sole_gap_mm": [
      153.8613039945962,
      179.44052640752574
    ],
    "current_final_sole_gap_mm": [
      1.9384329869178725,
      1.9414400857660374
    ],
    "continuous_velocity_max_limit_ratio_0to3s": 0.9391008332665133,
    "reference_hold_s": [
      2.42,
      12.42
    ],
    "human_truth_available": false,
    "physics_stepped": false
  },
  "tracker_case": {
    "env": 1,
    "wait_s": 8.0,
    "terminal_hold_start_s": 10.58,
    "reference_reconstruction_check": {
      "position_error_reproduction_max_m": 2.779222814178195e-07,
      "velocity_error_reproduction_max_mps": 1.4953180416110712e-07
    }
  },
  "preparation_cases": [
    {
      "env": 0,
      "wait_s": 0.52,
      "cup_tilt_mean_deg": 1.5539813041687012,
      "cup_tilt_max_deg": 2.190351963043213,
      "cup_speed_rms_mps": 0.24601620435714722,
      "cup_position_error_mean_m": 0.046181127429008484,
      "cup_drift_m": 0.048077695071697235,
      "base_angular_rms_radps": 0.5073895454406738,
      "joint_speed_rms_radps": 0.43130141496658325,
      "double_support_fraction": 0.8181818181818182
    },
    {
      "env": 1,
      "wait_s": 8.0,
      "cup_tilt_mean_deg": 2.898045539855957,
      "cup_tilt_max_deg": 3.3808982372283936,
      "cup_speed_rms_mps": 0.05637441575527191,
      "cup_position_error_mean_m": 0.08780676126480103,
      "cup_drift_m": 0.08566894382238388,
      "base_angular_rms_radps": 0.08129119873046875,
      "joint_speed_rms_radps": 0.0866568461060524,
      "double_support_fraction": 0.9974025974025974
    }
  ],
  "wait_group_rates": {
    "nominal": {
      "0.5": {
        "passed": 0,
        "count": 9
      },
      "0.52": {
        "passed": 0,
        "count": 3
      },
      "1.0": {
        "passed": 0,
        "count": 5
      },
      "1.5": {
        "passed": 5,
        "count": 5
      },
      "2.0": {
        "passed": 9,
        "count": 9
      },
      "2.18": {
        "passed": 6,
        "count": 6
      },
      "2.38": {
        "passed": 6,
        "count": 6
      },
      "4.0": {
        "passed": 7,
        "count": 7
      },
      "8.0": {
        "passed": 5,
        "count": 5
      }
    },
    "dr_fixed": {
      "0.5": {
        "passed": 0,
        "count": 3
      },
      "0.52": {
        "passed": 0,
        "count": 6
      },
      "1.0": {
        "passed": 0,
        "count": 7
      },
      "1.5": {
        "passed": 6,
        "count": 7
      },
      "2.0": {
        "passed": 8,
        "count": 11
      },
      "2.18": {
        "passed": 4,
        "count": 9
      },
      "2.38": {
        "passed": 4,
        "count": 4
      },
      "4.0": {
        "passed": 5,
        "count": 6
      },
      "8.0": {
        "passed": 4,
        "count": 4
      }
    }
  },
  "checkpoint": "model_7400.pt",
  "seed": 81581,
  "uses_saved_data": true,
  "physics_stepped": false,
  "training_started": false,
  "initial_ik_target_is_estimate": true,
  "static_foot_clearance_is_not_contact_force": true
}
