{
  "scenario": "obstacle_course",
  "model": "robot/simulation/scenes/obstacle_course.xml",
  "seed": 42,
  "duration_requested_s": 190.0,
  "duration_simulated_s": 190.0000000001791,
  "physics_timestep_s": 0.002,
  "controller_rate_hz": 50.0,
  "dependencies": {
    "mujoco": "3.10.0",
    "numpy": "2.5.1"
  },
  "initial_head_xy_m": [
    0.0,
    0.0
  ],
  "final_head_xy_m": [
    2.9439448341002077,
    -0.08190936597416935
  ],
  "displacement_xy_m": [
    2.9439448341002077,
    -0.08190936597416935
  ],
  "forward_progress_m": 2.9439448341002077,
  "net_displacement_m": 2.94508409565153,
  "max_abs_joint_position_rad": 0.5891115349853244,
  "max_abs_joint_velocity_rad_s": 3.3782545229165537,
  "max_abs_joint_command_rad": 0.5825468905991216,
  "joint_tracking_rmse_rad": 0.11971718891218873,
  "obstacle_contact_steps": 0,
  "minimum_pivot_to_obstacle_surface_clearance_m": 0.10608640707937143,
  "sensor_triggered_avoidance": true,
  "terminal_route_heading_rad": 0.16903830570059122,
  "sensor_estimated_obstacle_surface_xy_m": [
    0.6350181325247751,
    0.022488738982015165
  ],
  "detour_completed": true,
  "state_transitions": [
    {
      "time_s": 9.059999999999695,
      "from": "slither",
      "to": "avoid_left"
    },
    {
      "time_s": 102.40199999994275,
      "from": "avoid_left",
      "to": "recover"
    },
    {
      "time_s": 117.06199999990858,
      "from": "recover",
      "to": "slither"
    }
  ],
  "checks": {
    "finite_state": true,
    "joint_limits_respected": true,
    "joint_velocity_limits_respected": true,
    "command_limits_respected": true,
    "controller_tracking_rmse_below_0_35_rad": true,
    "no_safe_stop": true,
    "range_triggered_avoidance": true,
    "no_obstacle_contact": true,
    "forward_progress_at_least_1_30_m": true,
    "entire_body_cleared_obstacle_x": true,
    "returned_to_slither": true,
    "terminal_route_heading_error_below_0_20_rad": true,
    "final_cross_track_error_below_0_30_m": true
  },
  "passed": true,
  "modeled_assumptions": [
    "directional pad friction and viscous resistive drag approximate smooth-floor traction",
    "a bounded activity-scaled net force and steering moment stand in for unresolved belly-floor propulsion",
    "range rays are idealized and noise-free",
    "position actuators approximate an unidentified inner servo loop",
    "obstacle geometry and floor are rigid"
  ]
}