[
  {
    "engine": "physx",
    "max_mass_error_kg": 1.6012573222923265e-07,
    "max_com_error_m": 2.588748937437657e-09,
    "max_inertia_component_error_kgm2": 4.909329143210073e-08,
    "max_dynamic_fk_error_m": 4.4372271318192076e-07,
    "max_joint_difference_vs_cpu_deg": 0.02397596511272627,
    "max_hand_difference_vs_cpu_mm": 0.03503123877555563,
    "half_dt_max_joint_difference_vs_cpu_deg": 0.057823882798397286,
    "half_dt_max_hand_difference_vs_cpu_mm": 0.2132933135326287,
    "max_seed_joint_spread_deg": 0.0,
    "frames_exactly_repeat": true
  },
  {
    "engine": "newton_mjwarp",
    "max_mass_error_kg": 8.346557622829209e-08,
    "max_com_error_m": 2.588748937437657e-09,
    "max_inertia_component_error_kgm2": 2.4909975526732353e-08,
    "max_dynamic_fk_error_m": 1.7240484811795612e-06,
    "max_joint_difference_vs_cpu_deg": 0.00047276517681089025,
    "max_hand_difference_vs_cpu_mm": 0.003097705804542203,
    "half_dt_max_joint_difference_vs_cpu_deg": 0.0007268525531228609,
    "half_dt_max_hand_difference_vs_cpu_mm": 0.0039755042678787985,
    "max_seed_joint_spread_deg": 0.0,
    "frames_exactly_repeat": true
  },
  {
    "engine": "mujoco_cpu",
    "max_mass_error_kg": 0.0,
    "max_com_error_m": 0.0,
    "max_inertia_component_error_kgm2": 1.734723475976807e-18,
    "max_dynamic_fk_error_m": 0.0,
    "max_joint_difference_vs_cpu_deg": 0.0,
    "max_hand_difference_vs_cpu_mm": 0.0,
    "half_dt_max_joint_difference_vs_cpu_deg": 0.0,
    "half_dt_max_hand_difference_vs_cpu_mm": 0.0,
    "max_seed_joint_spread_deg": 0.0,
    "frames_exactly_repeat": true
  },
  {
    "engine": "genesis",
    "max_mass_error_kg": 0.0,
    "max_com_error_m": 0.0,
    "max_inertia_component_error_kgm2": 1.734723475976807e-18,
    "max_dynamic_fk_error_m": 7.582150673783725e-16,
    "max_joint_difference_vs_cpu_deg": 2.5444437451708134e-13,
    "max_hand_difference_vs_cpu_mm": 1.449278735439954e-12,
    "half_dt_max_joint_difference_vs_cpu_deg": 1.526666247102488e-13,
    "half_dt_max_hand_difference_vs_cpu_mm": 1.058295422029371e-12,
    "max_seed_joint_spread_deg": 0.0,
    "frames_exactly_repeat": true
  }
]