{
  "schema_version": 1,
  "record_version": "q1-evidence-20261026.1",
  "verified_on": "2026-10-26",
  "timezone": "Asia/Shanghai",
  "classification": "reproduced_offline_dynamics_simulation",
  "hardware_validated": false,
  "native_ros2_040_end_to_end_validated": false,
  "engine": "MuJoCo 3.3.7",
  "model": "Q1 Dynamics R2",
  "visual_model": "V1.3 exterior; rendering only",
  "controller": "Private control.py: constrained contact-force optimization and joint torque control; MuJoCo mj_step integration, with external body forces cleared.",
  "runtime_difference": {
    "public_ros2_commit": "91527ae222a4b1cb40f1eaddfd8ce39fca784285",
    "public_ros2_speed_range_m_s": [
      0.02,
      0.16
    ],
    "server_speed_range_m_s": [
      0.02,
      0.4
    ],
    "built_in_stable_speed_m_s": 0.04,
    "cloud_initial_speed_m_s": 0.4,
    "cloud_parameter_run_duration_s": 7,
    "offline_video_duration_s": 30,
    "adapter_difference": "Only two speed-validation lines differ from the public repository. simulate_30s.py separately sets DURATIONS['walk']=30."
  },
  "original_run_id": "20261026T084616-ecf11cf6",
  "original_run_started_at": "2026-10-26T08:46:16Z",
  "parameters": {
    "schema_version": 1,
    "robot": "Q1",
    "gait": {
      "speed_m_s": 0.4,
      "step_height_m": 0.02,
      "period_s": 1.5,
      "stance_ratio": 0.9,
      "phases": [
        0,
        0.5,
        0.25,
        0.75
      ]
    }
  },
  "parameters_sha256": "86dfd20056adcd5d881324ebdec6d3119172e464479f5455f96285fc792a2cd3",
  "model_files_sha256": {
    "control.py": "c5f5d36a01b0fc80231fdfdda5345f500d2065d42d31af6bb9c5bc3cd69c103a",
    "v12_physics.xml": "641ac8c7f4ce2361cc2d09159bd20a408ade24888b7afe29058aa14ea951c64e",
    "source_kinematics.json": "cfb69de2be7017da12ba21bb90d87f9cf7d9a7ed146fa6a95ae259d0f58ac6f6",
    "model_metadata.json": "1921eba0ebb5d38392f805ba6cda9f8f81a30e899e45e1a10505dbb30c1d8e25"
  },
  "compiled_physics_sha256": "88f285c5f86b655954e1f600ac857ab48acc271b592a789966215bb0373333af",
  "adapter_sha256": "49ee871cb3523283cfe5fbbeec2a3aa15f1d52a2320182d54da5bc5e979412c4",
  "physics": {
    "time_step_s": 0.001,
    "steps": 30000,
    "duration_s": 30,
    "completed": true,
    "dx_m": 11.237622778259372,
    "mean_forward_speed_3_to_30_s_m_s": 0.4009886645571255,
    "max_tilt_deg": 3.014924828235263,
    "max_closure_m": 0.0000532814969283604,
    "max_torque_nm": 60,
    "min_base_height_m": 0.33671139781210657,
    "near_torque_limit": {
      "threshold_nm": 59.9,
      "steps_with_any_actuator_at_or_above_threshold": 2168,
      "total_steps": 30000,
      "fraction": 0.07226666666666667
    }
  },
  "rerun": {
    "performed": true,
    "hardware_active": false,
    "network": "disabled",
    "metrics_and_parameter_manifest_exact_match": true,
    "wall_seconds": 69.91863819211721
  },
  "render": {
    "width": 1920,
    "height": 1080,
    "fps": 25,
    "frames": 750,
    "duration_s": 30,
    "all_frames_qpos_qvel_match_physics_log": true,
    "render_states_sha256": "13ca09fc94b5d7708cdf5ab640790136cf7730fdbcc8cb73c48abea96075c5d9",
    "raw_video_sha256": "50635f31678a0fcf51da874bf6c89484d7f46a78c0e5073b69dc69fb519df3da",
    "branding": "OmindOS Cloud overlay; no speed change or time remapping in the branding command",
    "public_video_sha256": "70ab938a2a84303e364172cc2366d780483788118a39cf285d77ae1ec3805160",
    "retained_earlier_video_sha256": "e4c558877833381e831b45fac69cb1697ef582333944b333abe40aa71de68651"
  },
  "limits": [
    "Peak actuator torque reaches the 60 N m model limit.",
    "Completion uses existing bounded-scenario checks: finite state, no recorded solver/controller failure, tilt below 15 degrees, closure below 2 mm and base height above 0.22 m.",
    "This single configuration does not validate all accepted inputs, constant-speed operation, long-duration robustness, native ROS2 0.40 m/s end-to-end behavior, or hardware performance.",
    "Mass, inertia, contact and actuator parameters are provisional; real hardware calibration remains pending."
  ],
  "references": {
    "ros2_pr": "https://github.com/Omind-Robotics/OmindOS-Navigation/pull/30",
    "ros2_parameters": "https://github.com/Omind-Robotics/OmindOS-Navigation/blob/main/docs/Q1_SIMULATION_PARAMETERS.zh-CN.md",
    "video": "https://omindos.cn/cn/assets/demos/20261026/OmindOS-Cloud-Q1-040-30s-1080p.mp4"
  }
}