{
 "schema": "locomotion.study-c.replay-provenance.v1",
 "geometry": "anymal-d-visuals.json",
 "geometry_sha256": "15134db7285bed4b5fc4af6811725f0850362ee8118978a346967f89e4ddfa7c",
 "geometry_note": "ANYbotics anymal_d_simple_description visual meshes (BSD-3-Clause), display only",
 "bundles": {
  "locomotion-transfer-forward1.json.gz": {
   "sha256": "ff477d23f5d80539f864e7c2ccce3430a38935c1db940e745626bcc5393d3da2",
   "notice": "Seed-0 policies trained at Isaac Lab defaults, 1 m/s forward command, one fixed randomized starting state (robot 22 of 64). Selected after inspecting outcomes: one of 4 PhysX-to-Newton falls for this seed.",
   "sources": [
    {
     "folder": "replays-05",
     "run": "c0b-P0-on-P",
     "command": "forward_1.0",
     "env": "22",
     "checkpoint": "logs/rsl_rl/c0b-baseline/2026-10-21_07-33-34_isaacsim_physx-seed0/model_999.pt",
     "hydra": [
      "physics=isaacsim_physx"
     ],
     "recording_sha256": "bdf7ede9a31e3699b432430cf60a0a8e2fb7acace6c4afc546a6919df4f5714e",
     "fell": false,
     "fall_time_s": null
    },
    {
     "folder": "replays-05",
     "run": "c0b-P0-on-N",
     "command": "forward_1.0",
     "env": "22",
     "checkpoint": "logs/rsl_rl/c0b-baseline/2026-10-21_07-33-34_isaacsim_physx-seed0/model_999.pt",
     "hydra": [
      "physics=newton_mjwarp"
     ],
     "recording_sha256": "443a2bb72800c514f36b8e6cb53dfcce5b9cf8467eedcc742255e4fb0afebee4",
     "fell": true,
     "fall_time_s": 1.3799999952316284
    },
    {
     "folder": "replays-05",
     "run": "c0b-N0-on-N",
     "command": "forward_1.0",
     "env": "22",
     "checkpoint": "logs/rsl_rl/c0b-baseline/2026-10-21_07-33-32_newton_mjwarp-seed0/model_999.pt",
     "hydra": [
      "physics=newton_mjwarp"
     ],
     "recording_sha256": "ec7f56e6b02e84ea18f24a648a6c9db6c23214024ffb1d2bdd5a96d804f9ae2b",
     "fell": false,
     "fall_time_s": null
    },
    {
     "folder": "replays-05",
     "run": "c0b-N0-on-P",
     "command": "forward_1.0",
     "env": "22",
     "checkpoint": "logs/rsl_rl/c0b-baseline/2026-10-21_07-33-32_newton_mjwarp-seed0/model_999.pt",
     "hydra": [
      "physics=isaacsim_physx"
     ],
     "recording_sha256": "f1877be4aed7322523322c93eddbcfa9fc3d5e5ce596aaf39306cf6b0f7c0070",
     "fell": false,
     "fall_time_s": null
    }
   ]
  },
  "locomotion-joint-order.json.gz": {
   "sha256": "f9e8f48b69322cf644c4a8ef2154ca0a82959fa36c1a122f157f06a178923a14",
   "notice": "The same Newton-trained policy and starting state in PhysX. Without name matching, joint observations and leg commands are silently permuted.",
   "sources": [
    {
     "folder": "replays-03",
     "run": "c0b-N0-on-P",
     "command": "forward_1.0",
     "env": "22",
     "checkpoint": "logs/rsl_rl/c0b-baseline/2026-10-21_07-33-32_newton_mjwarp-seed0/model_999.pt",
     "hydra": [
      "physics=isaacsim_physx"
     ],
     "recording_sha256": "1b93e80aa0cabb56d1e62b5ba7bd0b8705214861f6eac8e3e084e5c9fcff9ff9",
     "fell": false,
     "fall_time_s": null
    },
    {
     "folder": "replays-03",
     "run": "c0b-N0-on-P-unmapped",
     "command": "forward_1.0",
     "env": "22",
     "checkpoint": "logs/rsl_rl/c0b-baseline/2026-10-21_07-33-32_newton_mjwarp-seed0/model_999.pt",
     "hydra": [
      "physics=isaacsim_physx"
     ],
     "recording_sha256": "834695516d0f402c35a09a34e7c81efb5a79f0807e43346140380b070ef45f60",
     "fell": true,
     "fall_time_s": 0.800000011920929
    }
   ]
  },
  "locomotion-coarse-steps.json.gz": {
   "sha256": "179a37309408b37aac3b030f2ed0cc7b4cd7b790fd6367f5e5710e191858f578",
   "notice": "Seed-0 policies, each trained and run in its own engine and step size, 1 m/s forward command, robot 0 of 16. At 20 ms, Newton feet sink about 1 cm into the soft contact the step forces, and PhysX feet jitter up to 3.3 cm into the floor. Selected after inspecting outcomes.",
   "sources": [
    {
     "folder": "replays-03",
     "run": "c0b-N0-on-N-steps",
     "command": "forward_1.0",
     "env": "0",
     "checkpoint": "logs/rsl_rl/c0b-baseline/2026-10-21_07-33-32_newton_mjwarp-seed0/model_999.pt",
     "hydra": [
      "physics=newton_mjwarp"
     ],
     "recording_sha256": "660528cbc4f41924b54f572d0a4a6b7456fbdb721e598c0033834ed68c199fe2",
     "fell": false,
     "fall_time_s": null
    },
    {
     "folder": "replays-03",
     "run": "c4-N0-on-N",
     "command": "forward_1.0",
     "env": "0",
     "checkpoint": "logs/rsl_rl/c4-step-10ms/2026-10-21_18-38-47_newton_mjwarp-seed0/model_999.pt",
     "hydra": [
      "physics=newton_mjwarp",
      "env.sim.dt=0.01",
      "env.decimation=2",
      "env.sim.render_interval=2",
      "env.scene.contact_forces.update_period=0.01"
     ],
     "recording_sha256": "779673d0c02dc53561cf407ef398abd46ccfba4f03b05fe7e84f83a0017cb928",
     "fell": false,
     "fall_time_s": null
    },
    {
     "folder": "replays-03",
     "run": "c5-N0-on-N",
     "command": "forward_1.0",
     "env": "0",
     "checkpoint": "logs/rsl_rl/c5-step-20ms/2026-10-21_20-04-43_newton_mjwarp-seed0/model_999.pt",
     "hydra": [
      "physics=newton_mjwarp",
      "env.sim.dt=0.02",
      "env.decimation=1",
      "env.sim.render_interval=1",
      "env.scene.contact_forces.update_period=0.02"
     ],
     "recording_sha256": "68d6b6ed52a43b596ade1502293dae9392dbe19a478b44b5267e4f8e12869edc",
     "fell": true,
     "fall_time_s": 1.2999999523162842
    },
    {
     "folder": "replays-03",
     "run": "c5-P0-on-P",
     "command": "forward_1.0",
     "env": "0",
     "checkpoint": "logs/rsl_rl/c5-step-20ms/2026-10-21_22-58-19_isaacsim_physx-seed0/model_999.pt",
     "hydra": [
      "physics=isaacsim_physx",
      "env.sim.dt=0.02",
      "env.decimation=1",
      "env.sim.render_interval=1",
      "env.scene.contact_forces.update_period=0.02"
     ],
     "recording_sha256": "d80ffe964fb16a4830cac38cdd9f33f5bb6cf16f0511244e8fcfd02645740822",
     "fell": false,
     "fall_time_s": null
    }
   ]
  },
  "locomotion-stance-c1.json.gz": {
   "sha256": "7b5feabd6e744eb9e1e1391b5688e911379f53862930955b885292492589b222",
   "notice": "Friction-matched cell, seed 1, the only seed with standing falls (8/64 in PhysX, 22/64 in Newton in the evaluation). Stand command, robot 49, which fell in both engines in the evaluation and again in this recording run. Selected after inspecting outcomes.",
   "sources": [
    {
     "folder": "replays-03",
     "run": "c1-P1-on-P",
     "command": "stand",
     "env": "49",
     "checkpoint": "logs/rsl_rl/c1-friction-matched/2026-10-21_11-20-37_isaacsim_physx-seed1/model_999.pt",
     "hydra": [
      "physics=isaacsim_physx",
      "env.events.physics_material.params.dynamic_friction_range=[0.8,0.8]"
     ],
     "recording_sha256": "d457ab7aa880959ca3207fe7369d7f32de3aff5051e4ac27ecb6dd133e7329a8",
     "fell": true,
     "fall_time_s": 6.639999866485596
    },
    {
     "folder": "replays-03",
     "run": "c1-P1-on-N",
     "command": "stand",
     "env": "49",
     "checkpoint": "logs/rsl_rl/c1-friction-matched/2026-10-21_11-20-37_isaacsim_physx-seed1/model_999.pt",
     "hydra": [
      "physics=newton_mjwarp",
      "env.scene.terrain.physics_material.static_friction=0.8",
      "env.scene.terrain.physics_material.dynamic_friction=0.8",
      "env.events.physics_material.params.dynamic_friction_range=[0.8,0.8]"
     ],
     "recording_sha256": "09b143871b43c0b127b59a0aa245a5a65e60129268b367b509d0cb88a9e6b504",
     "fell": true,
     "fall_time_s": 7.559999942779541
    }
   ]
  },
  "locomotion-cone.json.gz": {
   "sha256": "13bed157239171010b478660c31ce30318149d26b529d71d3a212455532775a3",
   "notice": "The PhysX-trained seed-0 policy at default friction, 1 m/s forward command, robot 22 of 64 (the opening replay's starting state), recorded in one session. Only the Newton friction cone and impratio differ. Of the four seed-0 robots that fall with the default cone (21, 22, 44, 48), 22, 44 and 48 walk with the pyramidal cone, in the evaluation and in this recording run. Selected after inspecting outcomes.",
   "sources": [
    {
     "folder": "replays-04",
     "run": "c0b-P0-on-N",
     "command": "forward_1.0",
     "env": "22",
     "checkpoint": "logs/rsl_rl/c0b-baseline/2026-10-21_07-33-34_isaacsim_physx-seed0/model_999.pt",
     "hydra": [
      "physics=newton_mjwarp"
     ],
     "recording_sha256": "88371c494db7b2f952a9553e8ffbc3bb0efc4fdb44d98fefad3d59fa4f29d98e",
     "fell": true,
     "fall_time_s": 1.3600000143051147
    },
    {
     "folder": "replays-04",
     "run": "c8-P0-on-N",
     "command": "forward_1.0",
     "env": "22",
     "checkpoint": "logs/rsl_rl/c0b-baseline/2026-10-21_07-33-34_isaacsim_physx-seed0/model_999.pt",
     "hydra": [
      "physics=newton_mjwarp",
      "env.sim.physics.solver_cfg.cone=pyramidal",
      "env.sim.physics.solver_cfg.impratio=1.0"
     ],
     "recording_sha256": "52aeb4464fbfab5c8744a6387d8f570583cd6099b9bb36140abee6f7700ed822",
     "fell": false,
     "fall_time_s": null
    }
   ]
  }
 },
 "plots": {
  "locomotion-transfer-torque.json": {
   "bundle": "locomotion-transfer-forward1.json.gz",
   "definition": "Largest absolute applied joint torque over the 12 joints at each 50 Hz policy step (the actuator torque of the last physics substep, the same sample as torque_rms). Colour is the training engine; dashed lines run in the other engine. A trace ends when its robot falls."
  }
 }
}