{
  "schema_version": 1,
  "generated_at": "2026-04-24 02:26:46Z",
  "policy_name": "gear_sonic",
  "robot_name": "unitree_g1_gear_sonic",
  "command_kind": "velocity_schedule",
  "command_data": [
    2.0,
    0.0,
    0.0,
    0.0,
    0.6,
    0.0,
    0.0,
    1.0,
    0.6,
    0.0,
    -1.5707964,
    0.6,
    0.0,
    -1.5707964,
    3.0,
    0.6,
    0.0,
    0.0,
    1.0,
    0.0,
    0.0,
    1.0,
    1.0,
    0.0,
    0.0,
    0.0,
    0.0,
    0.0
  ],
  "control_frequency_hz": 50,
  "html_entrypoint": "index.html",
  "metrics_source": "run.json",
  "frame_source": "canonical_replay_trace",
  "transport": {
    "kind": "mujoco",
    "model_path": "assets/robots/unitree_g1/g1_29dof.xml",
    "gain_profile": "default_pd",
    "timestep_secs": 0.002,
    "substeps": 10,
    "robot_config_path": "configs/robots/unitree_g1_gear_sonic.toml"
  },
  "raw_artifacts": {
    "run_report": "run.json",
    "replay_trace": "run_replay_trace.json",
    "rerun_recording": "run.rrd",
    "run_log": "run.log",
    "temp_config": "run.toml"
  },
  "checkpoints": [
    {
      "name": "start_tick_0000",
      "relative_dir": "roboharness_run/trial_001/start_tick_0000",
      "tick": 0,
      "frame_index": 0,
      "sim_time_secs": 0.0,
      "selection_reason": "initial state before meaningful motion",
      "frame_source": "canonical_replay_trace",
      "cameras": [
        "track",
        "side",
        "top"
      ]
    },
    {
      "name": "peak_latency_tick_0002",
      "relative_dir": "roboharness_run/trial_001/peak_latency_tick_0002",
      "tick": 2,
      "frame_index": 2,
      "sim_time_secs": 0.04000000000000002,
      "selection_reason": "highest inference latency (109.511 ms)",
      "frame_source": "canonical_replay_trace",
      "cameras": [
        "track",
        "side",
        "top"
      ]
    },
    {
      "name": "first_motion_tick_0003",
      "relative_dir": "roboharness_run/trial_001/first_motion_tick_0003",
      "tick": 3,
      "frame_index": 3,
      "sim_time_secs": 0.06000000000000004,
      "selection_reason": "first mean joint delta >= 0.08 rad (0.084 rad)",
      "frame_source": "canonical_replay_trace",
      "cameras": [
        "track",
        "side",
        "top"
      ]
    },
    {
      "name": "fallback_mid_25_tick_0100",
      "relative_dir": "roboharness_run/trial_001/fallback_mid_25_tick_0100",
      "tick": 100,
      "frame_index": 100,
      "sim_time_secs": 2.0000000000000013,
      "selection_reason": "deterministic fallback at 25% of the replay because the evidence checkpoints collapsed to the same frame",
      "frame_source": "canonical_replay_trace",
      "cameras": [
        "track",
        "side",
        "top"
      ]
    },
    {
      "name": "furthest_progress_tick_0399",
      "relative_dir": "roboharness_run/trial_001/furthest_progress_tick_0399",
      "tick": 399,
      "frame_index": 399,
      "sim_time_secs": 7.979999999999343,
      "selection_reason": "largest planar displacement from start (3.042 m)",
      "frame_source": "canonical_replay_trace",
      "cameras": [
        "track",
        "side",
        "top"
      ]
    }
  ],
  "capture_status": "ok"
}