{
 "schema": "locomotion.kamino-transfer.v1",
 "created": "2026-10-30",
 "note": "Newton Kamino solver (hard-contact PADMM, isotropic Coulomb cone with De Saxce correction, one 5 ms substep, 100 iterations, friction_mix_mode average: foot 0.8 + ground 1.0 -> 0.9). P and N policies are the c0b checkpoints (5 seeds); K policies are cell c10-newton-kamino (3 seeds, 1000 iterations, 4096 envs). Evaluation seed 1000, 64 robots per command. Fresh starts: eval seed 2000, 256 robots per command; compare cone-ablation.json confirm (elliptic 39/6400, pyramidal 12/6400). VBD has no articulation support in Isaac Lab EA; Steel is not in a released Newton (checked to 1.7.0).",
 "kamino_solver_config": "SolverKamino.Config(sparse_jacobian=False, sparse_dynamics=False, use_collision_detector=False, use_fk_solver=False, collision_detector=None, constraints=ConstraintStabilizationConfig(alpha=0.1, beta=0.01, gamma=0.01, delta=1e-06), dynamics=ConstrainedDynamicsConfig(preconditioning=True, linear_solver_type='LLTB', linear_solver_kwargs={}), padmm=PADMMSolverConfig(primal_tolerance=0.0001, dual_tolerance=0.0001, compl_tolerance=0.0001, restart_tolerance=0.999, eta=1e-05, rho_0=0.05, rho_min=1e-05, a_0=1.0, alpha=10.0, tau=1.5, max_iterations=100, penalty_update_freq=1, penalty_update_method='fixed', linear_solver_tolerance=0.0, linear_solver_tolerance_ratio=0.0, use_acceleration=True, use_graph_conditionals=False, warmstart_mode='containers', contact_warmstart_method='geom_pair_net_force'), dvi=DVISolverConfig(tolerance=1e-05, regularization=1e-06, omega=1.0, max_alternating_iterations=20, inequality_sweeps_per_iteration=1, bilateral_solve_interval=1, bilateral_solver_type='LLTB', bilateral_solver_kwargs={}, warmstart_mode='containers', contact_warmstart_method='key_and_position_with_net_force_backup'), fk=ForwardKinematicsSolverConfig(preconditioner='jacobi_block_diagonal', max_newton_iterations=30, max_line_search_iterations=20, tolerance=1e-05, use_sparsity=False, use_adaptive_cg_tolerance=True, reset_state=True, add_axis_joints=True, use_incremental_solve=True, max_linear_incremental_step=0.05, max_angular_incremental_step=0.17453292519943295, use_regularization=True, regularization_weight=1e-05), materials=MaterialManagerConfig(friction_mix_mode='average', restitution_mix_mode='min'), rotation_correction='twopi', integrator='moreau', dynamics_solver='padmm', angular_velocity_damping=0.0, collect_solver_info=False, compute_solution_metrics=False)",
 "kamino_final_training_reward": {
  "0": 21.98,
  "1": 22.97,
  "2": 22.16
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