{
  "protocol": "Seeds 0,1,2; fixed physical initial states; dt=0.0005 s. Seeds do not necessarily affect deterministic solvers or control GPU nondeterminism.",
  "within_engine": [
    {
      "engine": "physx",
      "seeds": [
        0,
        1,
        2
      ],
      "frames_exactly_equal": true,
      "bodies": {
        "sphere": {
          "max_pairwise_path_separation_mm": 0.0,
          "max_pairwise_endpoint_separation_mm": 0.0,
          "max_pairwise_final_orientation_deg": 0.0,
          "endpoint_mean_m": [
            0.13884271681308746,
            -0.13585105538368225,
            0.029999980702996254
          ],
          "final_yaw_deg": [
            285.9343671206805,
            285.9343671206805,
            285.9343671206805
          ],
          "max_step_momentum_residual_Ns": 3.1833134288350864e-07
        },
        "cube": {
          "max_pairwise_path_separation_mm": 0.0,
          "max_pairwise_endpoint_separation_mm": 0.0,
          "max_pairwise_final_orientation_deg": 0.0,
          "endpoint_mean_m": [
            0.11929687857627869,
            0.004931645002216101,
            0.02999998815357685
          ],
          "final_yaw_deg": [
            24.284565671133798,
            24.284565671133798,
            24.284565671133798
          ],
          "max_step_momentum_residual_Ns": 1.803473966184793e-07
        },
        "prism": {
          "max_pairwise_path_separation_mm": 0.0,
          "max_pairwise_endpoint_separation_mm": 0.0,
          "max_pairwise_final_orientation_deg": 0.0,
          "endpoint_mean_m": [
            0.18537494540214539,
            0.04225898161530495,
            0.029999990016222
          ],
          "final_yaw_deg": [
            22.989168064999657,
            22.989168064999657,
            22.989168064999657
          ],
          "max_step_momentum_residual_Ns": 1.1352323850723272e-07
        }
      }
    },
    {
      "engine": "newton_mjwarp",
      "seeds": [
        0,
        1,
        2
      ],
      "frames_exactly_equal": false,
      "bodies": {
        "sphere": {
          "max_pairwise_path_separation_mm": 4.403312609867687,
          "max_pairwise_endpoint_separation_mm": 4.403312609867687,
          "max_pairwise_final_orientation_deg": 6.483696340302106,
          "endpoint_mean_m": [
            0.15268529454867044,
            -0.14861352741718292,
            0.02999003231525421
          ],
          "final_yaw_deg": [
            199.67796764848217,
            281.37874652154653,
            237.91516591834608
          ],
          "max_step_momentum_residual_Ns": 1.8787460232462485e-06
        },
        "cube": {
          "max_pairwise_path_separation_mm": 0.8794519416346999,
          "max_pairwise_endpoint_separation_mm": 0.8794519416346999,
          "max_pairwise_final_orientation_deg": 0.8488991431760845,
          "endpoint_mean_m": [
            0.1364557296037674,
            -0.0025947874722381434,
            0.029997479791442554
          ],
          "final_yaw_deg": [
            28.77676019147954,
            27.927860494624458,
            28.41951060430264
          ],
          "max_step_momentum_residual_Ns": 4.120015002923781e-06
        },
        "prism": {
          "max_pairwise_path_separation_mm": 1.6998162897256093,
          "max_pairwise_endpoint_separation_mm": 1.3159753343531788,
          "max_pairwise_final_orientation_deg": 0.11243169568910916,
          "endpoint_mean_m": [
            0.17542752623558044,
            0.04773110896348953,
            0.02999666767815749
          ],
          "final_yaw_deg": [
            55.559653931018474,
            55.447222779923436,
            55.498028097558205
          ],
          "max_step_momentum_residual_Ns": 5.652962514597552e-06
        }
      }
    },
    {
      "engine": "mujoco_cpu",
      "seeds": [
        0,
        1,
        2
      ],
      "frames_exactly_equal": true,
      "bodies": {
        "sphere": {
          "max_pairwise_path_separation_mm": 0.0,
          "max_pairwise_endpoint_separation_mm": 0.0,
          "max_pairwise_final_orientation_deg": 1.7075472925031877e-06,
          "endpoint_mean_m": [
            0.17201720269615914,
            -0.15329490031007345,
            0.029990012655348928
          ],
          "final_yaw_deg": [
            481.7965898164954,
            481.7965898164954,
            481.7965898164954
          ],
          "max_step_momentum_residual_Ns": 1.747568277678987e-08
        },
        "cube": {
          "max_pairwise_path_separation_mm": 0.0,
          "max_pairwise_endpoint_separation_mm": 0.0,
          "max_pairwise_final_orientation_deg": 0.0,
          "endpoint_mean_m": [
            0.13898448871854885,
            -0.0031194332508860064,
            0.02999750273500434
          ],
          "final_yaw_deg": [
            33.1114768943981,
            33.1114768943981,
            33.1114768943981
          ],
          "max_step_momentum_residual_Ns": 2.0928985311870712e-08
        },
        "prism": {
          "max_pairwise_path_separation_mm": 0.0,
          "max_pairwise_endpoint_separation_mm": 0.0,
          "max_pairwise_final_orientation_deg": 0.0,
          "endpoint_mean_m": [
            0.18146251183951642,
            0.05080880255436049,
            0.029185955833736548
          ],
          "final_yaw_deg": [
            57.37319041044658,
            57.37319041044658,
            57.37319041044658
          ],
          "max_step_momentum_residual_Ns": 4.986545121254235e-08
        }
      }
    },
    {
      "engine": "genesis",
      "seeds": [
        0,
        1,
        2
      ],
      "frames_exactly_equal": true,
      "bodies": {
        "sphere": {
          "max_pairwise_path_separation_mm": 0.0,
          "max_pairwise_endpoint_separation_mm": 0.0,
          "max_pairwise_final_orientation_deg": 0.0,
          "endpoint_mean_m": [
            0.14235264353936275,
            -0.14948415153403555,
            0.02994284815388754
          ],
          "final_yaw_deg": [
            459.77658968464567,
            459.77658968464567,
            459.77658968464567
          ],
          "max_step_momentum_residual_Ns": 1.7493917593934587e-11
        },
        "cube": {
          "max_pairwise_path_separation_mm": 0.0,
          "max_pairwise_endpoint_separation_mm": 0.0,
          "max_pairwise_final_orientation_deg": 0.0,
          "endpoint_mean_m": [
            0.13514544025350833,
            -0.00498769999666685,
            0.029985346771147076
          ],
          "final_yaw_deg": [
            27.184283043891288,
            27.184283043891288,
            27.184283043891288
          ],
          "max_step_momentum_residual_Ns": 2.403022909680852e-11
        },
        "prism": {
          "max_pairwise_path_separation_mm": 0.0,
          "max_pairwise_endpoint_separation_mm": 0.0,
          "max_pairwise_final_orientation_deg": 0.0,
          "endpoint_mean_m": [
            0.17435708605122932,
            0.04440889733546218,
            0.02998129907061021
          ],
          "final_yaw_deg": [
            55.2976487694831,
            55.2976487694831,
            55.2976487694831
          ],
          "max_step_momentum_residual_Ns": 4.5411501263292336e-12
        }
      }
    }
  ],
  "between_engine": [
    {
      "engine_a": "physx",
      "engine_b": "newton_mjwarp",
      "body": "sphere",
      "mean_endpoint_distance_mm": 18.828110625922164
    },
    {
      "engine_a": "physx",
      "engine_b": "newton_mjwarp",
      "body": "cube",
      "mean_endpoint_distance_mm": 18.73695174429262
    },
    {
      "engine_a": "physx",
      "engine_b": "newton_mjwarp",
      "body": "prism",
      "mean_endpoint_distance_mm": 11.353208217416936
    },
    {
      "engine_a": "physx",
      "engine_b": "mujoco_cpu",
      "body": "sphere",
      "mean_endpoint_distance_mm": 37.481119764277054
    },
    {
      "engine_a": "physx",
      "engine_b": "mujoco_cpu",
      "body": "cube",
      "mean_endpoint_distance_mm": 21.270210631982422
    },
    {
      "engine_a": "physx",
      "engine_b": "mujoco_cpu",
      "body": "prism",
      "mean_endpoint_distance_mm": 9.43764939601768
    },
    {
      "engine_a": "physx",
      "engine_b": "genesis",
      "body": "sphere",
      "mean_endpoint_distance_mm": 14.077789613315261
    },
    {
      "engine_a": "physx",
      "engine_b": "genesis",
      "body": "cube",
      "mean_endpoint_distance_mm": 18.696805256885355
    },
    {
      "engine_a": "physx",
      "engine_b": "genesis",
      "body": "prism",
      "mean_endpoint_distance_mm": 11.225671990210458
    },
    {
      "engine_a": "newton_mjwarp",
      "engine_b": "mujoco_cpu",
      "body": "sphere",
      "mean_endpoint_distance_mm": 19.89064917959232
    },
    {
      "engine_a": "newton_mjwarp",
      "engine_b": "mujoco_cpu",
      "body": "cube",
      "mean_endpoint_distance_mm": 2.5826102791884247
    },
    {
      "engine_a": "newton_mjwarp",
      "engine_b": "mujoco_cpu",
      "body": "prism",
      "mean_endpoint_distance_mm": 6.822792886618138
    },
    {
      "engine_a": "newton_mjwarp",
      "engine_b": "genesis",
      "body": "sphere",
      "mean_endpoint_distance_mm": 10.369372670421125
    },
    {
      "engine_a": "newton_mjwarp",
      "engine_b": "genesis",
      "body": "cube",
      "mean_endpoint_distance_mm": 2.728192760996109
    },
    {
      "engine_a": "newton_mjwarp",
      "engine_b": "genesis",
      "body": "prism",
      "mean_endpoint_distance_mm": 3.4904395831716886
    },
    {
      "engine_a": "mujoco_cpu",
      "engine_b": "genesis",
      "body": "sphere",
      "mean_endpoint_distance_mm": 29.908361718612152
    },
    {
      "engine_a": "mujoco_cpu",
      "engine_b": "genesis",
      "body": "cube",
      "mean_endpoint_distance_mm": 4.269527083621534
    },
    {
      "engine_a": "mujoco_cpu",
      "engine_b": "genesis",
      "body": "prism",
      "mean_endpoint_distance_mm": 9.595750794397375
    }
  ]
}