{
 "scope": "Analysis lives in tools/tip_study_lib.py.",
 "pose": "policy HOME",
 "method": "quasi-static rocking: rotate, drop to the floor, recompute contacts, fall when every contact is behind the centre of mass",
 "model_sha256": {
  "models/micro_cat_14.xml": "5f7d89943d9e37684e3c5346673889f2ef1b46030e02ff4029e13b363d80ba71",
  "/Users/parksik/micro-trex/micro-rex/vendor/microduck/robot_walk.xml": "80fc4424ed71e430ec4919110dfdb5c714dc1c4e1138e1832a16865cf31eb8c8",
  "/Users/parksik/micro-trex/micro-x/models/micro_x_14.xml": "e68b7735f9ede610309209ac71d81a16f58724300d28687b65b7670ba060021a"
 },
 "results": [
  {
   "model": "models/micro_cat_14.xml",
   "mass_g": 872.5,
   "com_height_above_sole_mm": 135.7,
   "tip_fwd_deg": 19.25,
   "tip_fwd_detail": {
    "settle_deg": 0.0,
    "fall_deg": 19.25,
    "margin_deg": 19.25
   },
   "tip_aft_deg": 17.65,
   "tip_aft_detail": {
    "settle_deg": 0.0,
    "fall_deg": 17.65,
    "margin_deg": 17.65
   },
   "tip_lat_deg": 25.25,
   "tip_lat_detail": {
    "settle_deg": 0.0,
    "fall_deg": 25.25,
    "margin_deg": 25.25
   }
  },
  {
   "model": "/Users/parksik/micro-trex/micro-rex/vendor/microduck/robot_walk.xml",
   "mass_g": 737.2,
   "com_height_above_sole_mm": 141.1,
   "tip_fwd_deg": 13.25,
   "tip_fwd_detail": {
    "settle_deg": 0.1,
    "fall_deg": 13.35,
    "margin_deg": 13.25
   },
   "tip_aft_deg": 8.5,
   "tip_aft_detail": {
    "settle_deg": 0.0,
    "fall_deg": 8.5,
    "margin_deg": 8.5
   },
   "tip_lat_deg": 23.8,
   "tip_lat_detail": {
    "settle_deg": 0.0,
    "fall_deg": 23.8,
    "margin_deg": 23.8
   }
  },
  {
   "model": "/Users/parksik/micro-trex/micro-x/models/micro_x_14.xml",
   "mass_g": 834.3,
   "com_height_above_sole_mm": 138.0,
   "tip_fwd_deg": 18.0,
   "tip_fwd_detail": {
    "settle_deg": 0.0,
    "fall_deg": 18.0,
    "margin_deg": 18.0
   },
   "tip_aft_deg": 5.5,
   "tip_aft_detail": {
    "settle_deg": 0.0,
    "fall_deg": 5.5,
    "margin_deg": 5.5
   },
   "tip_lat_deg": 24.9,
   "tip_lat_detail": {
    "settle_deg": 0.0,
    "fall_deg": 24.9,
    "margin_deg": 24.9
   }
  }
 ],
 "contact_tested": false,
 "walking_tested": false,
 "physical_validation": false
}