{
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  "fk_errors": {
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      "orientation_max_deg": 3.9292143640599777e-05
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  "position_tolerance_mm": 0.01,
  "orientation_tolerance_deg": 0.01,
  "fk_root_frame": "named pelvis body (not assumed actor root)",
  "actor_vs_pelvis_max_mm": 6.98026704788208,
  "actor_vs_pelvis_max_deg": 3.1712542395477685,
  "decisions": 25,
  "actual_policy_switches": 0,
  "initial_policy_selections": 1,
  "expert_queries": 25,
  "policy_step_counts": {
    "act": 0,
    "groot": 1000
  },
  "routing_trace_verified": true,
  "policy_input_alignment_verified": true,
  "videos": [
    {
      "file": "episode-000.mp4",
      "frames": 1000,
      "fps": 50.0,
      "width": 1280,
      "height": 720,
      "pts_matches_step_clock": true,
      "sha256": "3aab77c68c977cd2fbc265d783af6588cbf293160f2888c2ea4a834cc917c860"
    }
  ],
  "passed": true,
  "task": "LMBoxLift",
  "steps": 1000,
  "complete_episode": true,
  "episode_end_terms": [
    {
      "time_out": true,
      "success": false
    }
  ],
  "native_episode_records": [
    {
      "job_name": "factory_benchmark",
      "env_id": 0,
      "episode_in_env": 0,
      "seed": 42,
      "success": false,
      "episode_length": 1000,
      "language_instruction": null,
      "timestamp": "2026-11-13T03:56:33.481001"
    }
  ],
  "finite_physics_verified": true,
  "common_to_wbc_action_mapping_verified": true,
  "kinematics_sha256": "accb8aaab1e37e2f8bbb1f7de034e9206b81562e0e9879522c9e8a81d2e6e92a",
  "kinematics_source": {
    "asset_sha256": "c2f363dd19e72c11db5f01818d110932d1834970fbabc7395f4ff71b8774cf3e",
    "asset_uri": "https://huggingface.co/datasets/nvidia/G1-Factory/resolve/e005c6be4e8b5522c7efe1040764b97df7fcdc38/g1_robot/g1_29dof_with_hand_rev_1_0.usd",
    "root_link": "pelvis",
    "quaternion_convention": "wxyz",
    "format": "g1_usd_kinematics_json"
  },
  "source_sha256": {
    "metadata.json": "10a184c435cd034aa87f507fed8aca0481f9c6a21f3c7d7935a08f611265e729",
    "results.json": "c99d29c3e542bec0d71627f924233b4cb72ab3dd9944d6369ed8436544d0e94b",
    "trajectories.npz": "d6e07c28f7dda034883a6fa53c448cc035c2f82921ce0115fc45e111f2b14e7f",
    "steps.jsonl": "88b0f9cc7797a5039a26a0ce646f7ac182b2ca2597eb15b3b1871f2700e550d7",
    "articulated_objects.json": "44136fa355b3678a1146ad16f7e8649e94fb4fc21fe77e8310c060f61caaff8a",
    "native_episode_results.jsonl": "86f797cd0d672d046f4b0eb147941bf82a7bb72631e9e23713ea0e7951729071"
  },
  "limitations": [
    "Synchronous simulator RPC; no real-time, WAN or Jetson claim.",
    "Predicted action disagreement is not error against an oracle.",
    "Native geometric/proximity success proxies are not replaced by this audit.",
    "Video and trajectory samples precede each command; terminal conditions follow it."
  ]
}