gpt-6-astra-real2sim-workflow/docs/example/evidence/A/loading_test_audit.json at main · Roboparty/gpt-6-astra-real2sim-workflow · GitHub

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{
  "status": "passed",
  "engine": "MuJoCo",
  "version": "3.13.0",
  "steps": 4000,
  "timestep_s": 0.0005,
  "actual_duration_s": 1.9999999999998352,
  "hinge_observed_range_rad": [
    0.0,
    0.9084236927586692
  ],
  "upper_limit_exercised": true,
  "max_cloth_displacement_m": 0.0607353780550946,
  "max_pad_displacement_m": 0.0029508344950929188,
  "minimum_contact_distance_m": -0.0024996014539808253,
  "allowed_penetration_m": 0.005,
  "solver_warnings": [
    0,
    0,
    0,
    0,
    0,
    0,
    0
  ],
  "physical_parameters": "assumed, not measured",
  "load_description": "0-300N distributed on cushion top then released; <=0.12N total gentle wind on unpinned garment vertices; 8Nm hinge torque for 1.3s",
  "geometry_exaggeration": false,
  "video": "dynamics_demo.mp4",
  "reference_pose_preserved_in_separate_static_files": true,
  "deformation_checks": [
    {
      "id": "red_garment_cloth",
      "maximum_sampled_edge_strain": 0.04080230329099055,
      "minimum_sampled_volume_ratio": null
    },
    {
      "id": "chair_pad_volume",
      "maximum_sampled_edge_strain": 0.08503709046225538,
      "minimum_sampled_volume_ratio": 0.9271903003101588
    }
  ],
  "deformation_sample_interval_s": 0.025,
  "contacts_limits_warnings_checked_every_step": true,
  "video_playback_speed_vs_physical_time": 0.75
}