{
  "schema_version": "1",
  "skill_id": "mujoco-unitree-go2-stand-control",
  "recorded_at": "2026-10-20T04:41:10.501784+00:00",
  "hub_commit": "cd2f10d281001dfe75ea7fac03c5a6274830bcf9",
  "adapter_sha256": "6363f37aae7bffabee77bcd279130f0ab55a8fa90320e5284fa3070fbb54f6b7",
  "source_commit": "62ab00f2bc44f6f20c1c9b7a13f3fb1dd41a4e35",
  "archive_sha256": "6866543ef9f07fd24f3fa4d134c06b30f5276f48daf412022b6edbaf6b2f0152",
  "case_plan_sha256": "0e83ee88b07ba4acec6e36795c4ca7ae59e060f7ef2ea63970fe762bda3598b2",
  "source_guards_sha256": "114983cb9bf449beab22bae23a06c2411498a73c39001ca63ded31e8ee15231a",
  "environment": {
    "runtime": "mujoco",
    "runtime_version": "3.3.7",
    "robot": "unitree_go2",
    "controller": "torque_limited_joint_PD",
    "observation": "joint_and_base_state",
    "os": "linux",
    "architecture": "x86_64",
    "python": "3.10"
  },
  "packages": {
    "mujoco": "3.3.7",
    "numpy": "1.26.4"
  },
  "cases": [
    {
      "exit_code": 0,
      "result": {
        "schema_version": "1",
        "skill_id": "mujoco-unitree-go2-stand-control",
        "status": "task_complete",
        "success": true,
        "outputs": {
          "base_xyz_m": [
            -0.013851559301099834,
            7.381298305439381e-10,
            0.26233320789125697
          ],
          "minimum_base_height_m": 0.26233320789125697,
          "upright_z": 0.9999879358780652,
          "max_joint_error_rad": 0.0742355263151444
        },
        "checks": {
          "standing_height": true,
          "upright": true,
          "joint_tracking": true,
          "finite_state": true
        },
        "execution_domain": "simulation",
        "source_commit": "62ab00f2bc44f6f20c1c9b7a13f3fb1dd41a4e35",
        "interface_version": "1",
        "hardware_execution": false
      },
      "elapsed_seconds": 1.74,
      "stderr_tail": "",
      "input": {
        "seed": 0,
        "push_velocity_m_s": 0
      },
      "passed": true
    },
    {
      "exit_code": 0,
      "result": {
        "schema_version": "1",
        "skill_id": "mujoco-unitree-go2-stand-control",
        "status": "task_complete",
        "success": true,
        "outputs": {
          "base_xyz_m": [
            -0.013003329752455876,
            1.9246061758854555e-09,
            0.2623328884944026
          ],
          "minimum_base_height_m": 0.2623328884944026,
          "upright_z": 0.9999880913580982,
          "max_joint_error_rad": 0.07420881245566857
        },
        "checks": {
          "standing_height": true,
          "upright": true,
          "joint_tracking": true,
          "finite_state": true
        },
        "execution_domain": "simulation",
        "source_commit": "62ab00f2bc44f6f20c1c9b7a13f3fb1dd41a4e35",
        "interface_version": "1",
        "hardware_execution": false
      },
      "elapsed_seconds": 1.742,
      "stderr_tail": "",
      "input": {
        "seed": 1,
        "push_velocity_m_s": 0.1
      },
      "passed": true
    },
    {
      "exit_code": 0,
      "result": {
        "schema_version": "1",
        "skill_id": "mujoco-unitree-go2-stand-control",
        "status": "task_complete",
        "success": true,
        "outputs": {
          "base_xyz_m": [
            -0.014783669206793132,
            3.1049894348986246e-09,
            0.2623202619742998
          ],
          "minimum_base_height_m": 0.2623202619742998,
          "upright_z": 0.9999875797753365,
          "max_joint_error_rad": 0.07428172110785991
        },
        "checks": {
          "standing_height": true,
          "upright": true,
          "joint_tracking": true,
          "finite_state": true
        },
        "execution_domain": "simulation",
        "source_commit": "62ab00f2bc44f6f20c1c9b7a13f3fb1dd41a4e35",
        "interface_version": "1",
        "hardware_execution": false
      },
      "elapsed_seconds": 1.742,
      "stderr_tail": "",
      "input": {
        "seed": 2,
        "push_velocity_m_s": -0.1
      },
      "passed": true
    }
  ],
  "passed": 3,
  "failed": 0,
  "negative_unknown_field_rejected": true,
  "negative_source_drift_rejected": true,
  "hardware_execution": false,
  "scope": "Authored bounded simulation cases; not general accuracy or physical compatibility."
}