{
  "method": "Read original 20 Hz state traces; reconstruct terminal contacts with mj_forward, never mj_step.",
  "behavior": {
    "baseline-mujoco": {
      "invalid_phases": {
        "seat with fingers closed": 13,
        "push": 3,
        "reposition": 1
      },
      "goal_before_push": [],
      "max_abs_command_correction_mm_mm_mm_mm_N": [
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ]
    },
    "baseline-newton": {
      "invalid_phases": {
        "seat with fingers closed": 3
      },
      "goal_before_push": [
        {
          "seed": 10117,
          "goal_time_s": 3.184
        },
        {
          "seed": 10120,
          "goal_time_s": 3.3040000000000003
        }
      ],
      "max_abs_command_correction_mm_mm_mm_mm_N": [
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ]
    },
    "eval-mujoco-s11-on-mujoco": {
      "invalid_phases": {
        "seat with fingers closed": 10,
        "push": 8
      },
      "goal_before_push": [],
      "max_abs_command_correction_mm_mm_mm_mm_N": [
        2.7586808800697327,
        1.6129015386104584,
        2.019984722137451,
        1.0512102842330933,
        0.29753047227859497
      ]
    },
    "eval-mujoco-s11-on-newton": {
      "invalid_phases": {
        "seat with fingers closed": 1
      },
      "goal_before_push": [
        {
          "seed": 10100,
          "goal_time_s": 3.3200000000000003
        },
        {
          "seed": 10101,
          "goal_time_s": 3.463
        },
        {
          "seed": 10113,
          "goal_time_s": 3.334
        }
      ],
      "max_abs_command_correction_mm_mm_mm_mm_N": [
        2.1394000947475433,
        1.596885472536087,
        2.531891107559204,
        1.2105183899402618,
        0.29794371128082275
      ]
    },
    "eval-mujoco-s29-on-mujoco": {
      "invalid_phases": {
        "push": 3,
        "seat with fingers closed": 13
      },
      "goal_before_push": [],
      "max_abs_command_correction_mm_mm_mm_mm_N": [
        2.515769600868225,
        1.4832134544849396,
        3.3100547790527344,
        3.275878071784973,
        0.37732815742492676
      ]
    },
    "eval-mujoco-s29-on-newton": {
      "invalid_phases": {
        "seat with fingers closed": 2,
        "grasp/lift/transport": 2
      },
      "goal_before_push": [
        {
          "seed": 10120,
          "goal_time_s": 3.341
        },
        {
          "seed": 10123,
          "goal_time_s": 2.992
        }
      ],
      "max_abs_command_correction_mm_mm_mm_mm_N": [
        2.0658783614635468,
        1.4818626642227173,
        3.6285226345062256,
        3.597050428390503,
        0.4233434200286865
      ]
    },
    "eval-mujoco-s47-on-mujoco": {
      "invalid_phases": {
        "seat with fingers closed": 24
      },
      "goal_before_push": [],
      "max_abs_command_correction_mm_mm_mm_mm_N": [
        2.4535907804965973,
        1.0828828066587448,
        2.3491430282592773,
        1.6590279936790466,
        0.2354704737663269
      ]
    },
    "eval-mujoco-s47-on-newton": {
      "invalid_phases": {
        "seat with fingers closed": 2
      },
      "goal_before_push": [
        {
          "seed": 10113,
          "goal_time_s": 3.238
        },
        {
          "seed": 10117,
          "goal_time_s": 3.235
        },
        {
          "seed": 10123,
          "goal_time_s": 3.363
        }
      ],
      "max_abs_command_correction_mm_mm_mm_mm_N": [
        2.0614275336265564,
        1.2683500349521637,
        2.4901576042175293,
        2.3256474137306213,
        0.3108656108379364
      ]
    },
    "eval-newton-s11-on-mujoco": {
      "invalid_phases": {
        "seat with fingers closed": 14,
        "reposition": 1,
        "push": 1
      },
      "goal_before_push": [],
      "max_abs_command_correction_mm_mm_mm_mm_N": [
        0.8645346015691757,
        0.9341577440500259,
        1.2461234331130981,
        0.8556906580924988,
        0.14460697770118713
      ]
    },
    "eval-newton-s11-on-newton": {
      "invalid_phases": {},
      "goal_before_push": [],
      "max_abs_command_correction_mm_mm_mm_mm_N": [
        0.9318167716264725,
        0.9563761204481125,
        1.7948930263519287,
        0.9707664549350739,
        0.15051734447479248
      ]
    },
    "eval-newton-s29-on-mujoco": {
      "invalid_phases": {
        "seat with fingers closed": 18
      },
      "goal_before_push": [],
      "max_abs_command_correction_mm_mm_mm_mm_N": [
        1.060887947678566,
        1.148429736495018,
        1.5397484302520752,
        1.2359353601932526,
        0.15883879363536835
      ]
    },
    "eval-newton-s29-on-newton": {
      "invalid_phases": {
        "grasp/lift/transport": 2,
        "seat with fingers closed": 2
      },
      "goal_before_push": [
        {
          "seed": 10103,
          "goal_time_s": 3.336
        },
        {
          "seed": 10117,
          "goal_time_s": 3.348
        }
      ],
      "max_abs_command_correction_mm_mm_mm_mm_N": [
        1.185436025261879,
        1.430671513080597,
        1.816295862197876,
        1.4025662541389465,
        0.46844372153282166
      ]
    },
    "eval-newton-s47-on-mujoco": {
      "invalid_phases": {
        "push": 3,
        "seat with fingers closed": 12
      },
      "goal_before_push": [],
      "max_abs_command_correction_mm_mm_mm_mm_N": [
        0.6667640805244446,
        0.9309503436088562,
        1.675893783569336,
        0.9676381051540375,
        0.16224662959575653
      ]
    },
    "eval-newton-s47-on-newton": {
      "invalid_phases": {
        "seat with fingers closed": 2
      },
      "goal_before_push": [
        {
          "seed": 10112,
          "goal_time_s": 3.1790000000000003
        },
        {
          "seed": 10120,
          "goal_time_s": 3.323
        },
        {
          "seed": 10123,
          "goal_time_s": 3.331
        }
      ],
      "max_abs_command_correction_mm_mm_mm_mm_N": [
        0.8386421948671341,
        1.341550052165985,
        1.9733716249465942,
        1.3315152525901794,
        0.37122461199760437
      ]
    }
  },
  "example_failure": {
    "stage": "baseline-mujoco",
    "seed": 10102,
    "time_s": 3.347,
    "inverted_elements": [
      290
    ],
    "signed_volumes_m3": [
      -5.499360492324169e-10
    ],
    "nearby_reconstructed_contacts": [
      {
        "geoms": [
          "rounded_aperture_0_1",
          "flex"
        ],
        "distance_m": -0.00034769824497200277,
        "position_m": [
          0.3353536063626634,
          0.15308364596095195,
          0.6097093475363082
        ],
        "elements": [
          -1,
          288
        ]
      },
      {
        "geoms": [
          "rounded_aperture_0_1",
          "flex"
        ],
        "distance_m": -0.0005138148857609958,
        "position_m": [
          0.3349587230504254,
          0.15318345273658923,
          0.608876439065694
        ],
        "elements": [
          -1,
          290
        ]
      },
      {
        "geoms": [
          "rounded_aperture_0_1",
          "flex"
        ],
        "distance_m": -0.0005138148857609958,
        "position_m": [
          0.33495872305042534,
          0.15318345273658923,
          0.608876439065694
        ],
        "elements": [
          -1,
          312
        ]
      },
      {
        "geoms": [
          "rounded_aperture_0_1",
          "flex"
        ],
        "distance_m": -0.0005138148857609958,
        "position_m": [
          0.33495872305042534,
          0.15318345273658923,
          0.608876439065694
        ],
        "elements": [
          -1,
          313
        ]
      },
      {
        "geoms": [
          "rounded_aperture_0_1",
          "flex"
        ],
        "distance_m": -0.0005247361819047574,
        "position_m": [
          0.334947982425554,
          0.1636505258741132,
          0.6088375613354797
        ],
        "elements": [
          -1,
          314
        ]
      },
      {
        "geoms": [
          "rounded_aperture_0_1",
          "flex"
        ],
        "distance_m": -0.0005247361819047574,
        "position_m": [
          0.334947982425554,
          0.16365052587411316,
          0.6088375613354797
        ],
        "elements": [
          -1,
          336
        ]
      },
      {
        "geoms": [
          "rounded_aperture_0_1",
          "flex"
        ],
        "distance_m": -0.0005247361819047574,
        "position_m": [
          0.334947982425554,
          0.16365052587411316,
          0.6088375613354797
        ],
        "elements": [
          -1,
          337
        ]
      }
    ]
  },
  "caveats": [
    "Newton invalid traces store the last accepted state, not the inverted state.",
    "20 Hz saved traces do not isolate substep contact impulses or the unique solver cause.",
    "Displayed examples illustrate observed differences; they are not estimates of behavior frequencies."
  ],
  "replay_audits": [
    {
      "stage": "baseline-newton",
      "seed": 10103,
      "max_vertex_error_m": 0.0,
      "max_body_error_m": 2.015772236420338e-06,
      "max_body_rotation_error_rad": 3.053829302179697e-07
    },
    {
      "stage": "eval-newton-s29-on-newton",
      "seed": 10103,
      "max_vertex_error_m": 0.0,
      "max_body_error_m": 2.089910253112828e-06,
      "max_body_rotation_error_rad": 2.3276357876976306e-07
    },
    {
      "stage": "eval-newton-s29-on-mujoco",
      "seed": 10103,
      "max_vertex_error_m": 0.0,
      "max_body_error_m": 0.0,
      "max_body_rotation_error_rad": 0.0
    },
    {
      "stage": "baseline-newton",
      "seed": 10117,
      "max_vertex_error_m": 0.0,
      "max_body_error_m": 2.0428575278756543e-06,
      "max_body_rotation_error_rad": 1.976862424823881e-07
    },
    {
      "stage": "eval-newton-s11-on-newton",
      "seed": 10117,
      "max_vertex_error_m": 0.0,
      "max_body_error_m": 2.1112950956630634e-06,
      "max_body_rotation_error_rad": 3.436971484026554e-07
    },
    {
      "stage": "eval-newton-s11-on-mujoco",
      "seed": 10117,
      "max_vertex_error_m": 0.0,
      "max_body_error_m": 0.0,
      "max_body_rotation_error_rad": 0.0
    },
    {
      "stage": "baseline-mujoco",
      "seed": 10102,
      "max_vertex_error_m": 0.0,
      "max_body_error_m": 0.0,
      "max_body_rotation_error_rad": 0.0
    },
    {
      "stage": "baseline-newton",
      "seed": 10102,
      "max_vertex_error_m": 0.0,
      "max_body_error_m": 2.1134593687020452e-06,
      "max_body_rotation_error_rad": 3.31864617039563e-07
    }
  ]
}