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python_full_version >= '3.11'`, but `2.5.1` is installed", "The package `isaacsim-robot-schema` requires `usd-exchange==2.3.0`, but `3.0.1` is installed" ], "qualification_scope": "The unchanged converter, native support fixture and three full policy repeats ran; other installed package paths remain unqualified.", "audit_sha256": "08eb6a0c238a75a2936502ec290e5a1e5936466b83d04b7467dd8489a63b509f" }, "cases": [ { "case": "policy-repeat-1", "input_sha256": { "contact_forces_200hz.npz": "429aec7cf55e8ed2a92fb773ad15d1aee15ea678eb76666050bf1266986c4fde", "native_contacts.npz": "a0d403d193fdef215f31c8f2f473d4cd1da292bbeb9f8b13554176fe8c2a2488", "native_metadata.json": "27f52b16f390ed6c2be06ebc9dda8d8e0802c9d98a569a165d503de583857092", "native_model.mjb": "7b4d5c733c92867f72671f9603bfff1cc68872c7ec9ad79c181230e7a0831b9f", "rollout.npz": "0d6aea439693cbd96269d85ea223fc3cbec05fadf54a4927fc5672a21297f1d2", "warp_candidates.npz": "f8312107bd1ba588818e909af32f9a8bebb5bd930928f0d6b3139eee576c8989", "audit.json": "7004e47c11fcc75011f13f78bdc27382a39e0c8f36e13988c17155f693c494af", "invocation.json": "fecb14f61e39ba651486c2c4fd42b17db3dd068dcb3c7c8ef1b42be2208e21ad", "protocol.json": "659ff4587f07ac3c3fe7ff155907490cf7d48b17245d31729f5eaa07da81408c", "metrics.json": "84b00ca95e46349ac9c7eb8a30af8ecdc150ec5eee044e0ab1f4a9ee9fad0593" }, "upstream_strict_success": true, "upstream_legacy_gate_pass": true, "upstream_quality_checks": { "zero_initial_speed": true, "full_backward_turn": true, "aerial_rotation": true, "no_nonfoot_contact": true, "stable_last_two_seconds": true, "tracking_return": true, "reference_leg_posture": true }, "normalized_return": 0.9315162755525743, "first_failure_step": null, "last_2s_horizontal_drift_m": 0.0014160503633320332, "last_2s_linear_speed_rms_m_s": 0.0009779658867046237, "state_alignment": { "controls": 571, "native_substeps": 2284, "physics_dt_s": 0.005, "control_dt_s": 0.02, "native_order_for_reference": [ 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28 ], "joint_order_identical": true, "unmapped_joint_position_max_rad": 0.0, "mapped_max_errors": { "root_position_m": 0.0, "root_quaternion_chord": 1.687930637480198e-07, "joint_position_rad": 0.0, "root_linear_velocity_m_s": 1.1920928955078125e-07, "root_angular_velocity_rad_s": 3.814697265625e-06, "joint_velocity_rad_s": 0.0 }, "mismatched_control_frames": [], "aligned": true, "limitation": "Agreement of exposed states does not establish solver-cache equality or physical success." }, "native_clock": { "initial_time_s": 0.0, "final_time_s": 11.42021369934082, "max_step_duration_error_s": 1.2397766113291658e-07, "max_boundary_discontinuity_s": 0.0, "nonadvancing_substeps": [], "contact_epoch": "A native clock alone does not timestamp the collision cache" }, "native_pairs": { "contacts": 17014, "complete_substeps": 2284, "active_contacts": 12650, "unfiltered_candidates": 17014, "candidate_type_counts": { "1": 17014 }, "copy_filter": "get_data_into exports CONSTRAINT|PASSIVE; 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"_World_envs_env_0_Robot_Geometry_pelvis_waist_yaw_link_waist_roll_link_torso_link_right_shoulder_pitch_link_right_shoulder_roll_link_right_shoulder_yaw_link_right_elbow_link_right_elbow_joint", "declared_cpu_range": [ -25.0, 25.0 ], "measured_range": [ -11.182084083557129, 4.04591178894043 ], "samples_exactly_at_bound": 0, "samples_outside_declared_range": 0 }, { "joint": "_World_envs_env_0_Robot_Geometry_pelvis_waist_yaw_link_waist_roll_link_torso_link_right_shoulder_pitch_link_right_shoulder_roll_link_right_shoulder_yaw_link_right_elbow_link_right_wrist_roll_link_right_wrist_roll_joint", "declared_cpu_range": [ -25.0, 25.0 ], "measured_range": [ -4.591724872589111, 2.1276769638061523 ], "samples_exactly_at_bound": 0, "samples_outside_declared_range": 0 }, { "joint": "_World_envs_env_0_Robot_Geometry_pelvis_waist_yaw_link_waist_roll_link_torso_link_right_shoulder_pitch_link_right_shoulder_roll_link_right_shoulder_yaw_link_right_elbow_link_right_wrist_roll_link_right_wrist_pitch_link_right_wrist_pitch_joint", "declared_cpu_range": [ -5.0, 5.0 ], "measured_range": [ -3.057075023651123, 1.507775902748108 ], "samples_exactly_at_bound": 0, "samples_outside_declared_range": 0 }, { "joint": "_World_envs_env_0_Robot_Geometry_pelvis_waist_yaw_link_waist_roll_link_torso_link_right_shoulder_pitch_link_right_shoulder_roll_link_right_shoulder_yaw_link_right_elbow_link_right_wrist_roll_link_right_wrist_pitch_link_right_wrist_yaw_link_right_wrist_yaw_joint", "declared_cpu_range": [ -5.0, 5.0 ], "measured_range": [ -1.352644681930542, 1.4966132640838623 ], "samples_exactly_at_bound": 0, "samples_outside_declared_range": 0 } ], "whole_system_momentum_balance": "unavailable: whole-system COM momentum was not recorded; root velocity is not substituted" }, "geometry": { "complete_substeps": 2284, "same_common_native_pair_set_substeps": 2142, "pre_closer_substeps": 2142, "post_closer_substeps": 0, "equal_error_substeps": 0, "max_pre_distance_error_m": 2.2382004200363625e-07, "max_post_distance_error_m": 0.02013152138989051, "pre_nonfoot_penetration_samples": 0, "post_nonfoot_penetration_samples": 0, "native_nonfoot_active_samples": 0, "native_nonfoot_loaded_samples": 0, "interpretation": "Distance agreement on identical pairs supports a pre-step geometry association in these records; it does not identify the cause of the historical nonfoot discrepancy." }, "resources": { "receipt_sha256": "0cbe300513eae5a798d307ab5cdf1d44b384069d0b8068187a5ec4ddf344bb48", "whole_window_wall_s": 29.77181909000501, "bounded_child_wall_s": 29.618696874007583, "peak_ram_bytes": 2208768000, "effective_limits": { "memory.max": "34359738368", "memory.high": "33285996544", "memory.swap.max": "0", "cpu.max": "400000 100000", "pids.max": "128", "io.max": "8:0 rbps=33554432 wbps=16777216 riops=max wiops=max" }, "oom_events": { "low": "0", "high": "0", "max": "0", "oom": "0", "oom_kill": "0", "oom_group_kill": "0" }, "sampled_gpu_guard": { "uuid": "GPU-9674a5eb-facd-7f69-0ed8-e57cb00fffab", "limit_mib": 20480, "sampling_interval_s": 2, "scope": "Whole-device sampled stop threshold, not a hard allocation limit" }, "gpu_stop_reason": null } } ], "native_budget": { "manifest_sha256": "ab2f0f8c086a6615c650dafa0671057f74904e2352763765ef81ac5afcc2eb12", "starts_used": 4, "wall_charged_or_reserved_s": 156.06826111394912, "wall_limit_s": 3600.0, "distinct_processes": 4, "clock_scope": "Ledger reservations begin after input/runtime identity checks; full bounded-window durations are reported separately.", "attempts": [ { "case": "support-probe", "outcome": "recorded", "wall_s": 73.67132960900199, "invocation_sha256": "a2089a44006b151fa5782fc5ba6adf578456cb6bc28f991d48a277320ce30afe" }, { "case": "policy-repeat-1", "outcome": "recorded", "wall_s": 27.926651501096785, "invocation_sha256": "fecb14f61e39ba651486c2c4fd42b17db3dd068dcb3c7c8ef1b42be2208e21ad" }, { "case": "policy-repeat-2", "outcome": "recorded", "wall_s": 27.147477280930616, "invocation_sha256": "d6e7d1ff33697c98481a2360ffe584db1590e8bf5db4a2b4fbcaa4b71b735df8" }, { "case": "policy-repeat-3", "outcome": "recorded", "wall_s": 27.322802722919732, "invocation_sha256": "24ac5477537a7451eac5e9dc4061793af133b4a8c93175587a609b62344f1dd9" } ] }, "failure_frequency": { "failed": 0, "total": 3, "two_sided_clopper_pearson_95": [ 0.0, 0.7075982261787133 ], "interpretation": "Binomial-model interval for the requested descriptive report. Independence is not established; same-seed process repeats do not estimate random-initial-condition reliability." }, "historical_comparison": "The author archive flags geometric frame119 but lacks its original model and complete pair stream. No nonfoot discrepancy was reproduced in this distinct hardware cohort; no historical solver-failure attribution follows.", "conditional_interventions": "Not run: no localized historical mismatch supports a preregistered intervention.", "scientific_scope": "Source task gates, record integrity, geometry association and physical validity remain separate. No hardware validation, new training, all-engine comparison or production UniSim adapter." }