{
  "checks_passed": 66,
  "checks": [
    "Same configuration, velocity and control dimensions",
    "Preserved names and order: mjOBJ_JOINT",
    "Preserved names and order: mjOBJ_ACTUATOR",
    "Preserved names and order: mjOBJ_SENSOR",
    "Preserved body_parentid",
    "Preserved body_pos",
    "Preserved body_quat",
    "Preserved jnt_range",
    "Preserved jnt_axis",
    "Preserved jnt_pos",
    "Preserved jnt_qposadr",
    "Preserved jnt_dofadr",
    "Preserved actuator_trnid",
    "Preserved actuator_ctrlrange",
    "Preserved actuator_forcerange",
    "Preserved sensor_type",
    "Preserved sensor_dim",
    "Preserved sensor_objid",
    "GLB retains distinct material colors",
    "Closed positive-volume STL: skull_cheek_left",
    "Editable STEP exists: skull_cheek_left",
    "Closed positive-volume STL: teeth_left",
    "Editable STEP exists: teeth_left",
    "Closed positive-volume STL: brow_left",
    "Editable STEP exists: brow_left",
    "Closed positive-volume STL: skull_cheek_right",
    "Editable STEP exists: skull_cheek_right",
    "Closed positive-volume STL: teeth_right",
    "Editable STEP exists: teeth_right",
    "Closed positive-volume STL: brow_right",
    "Editable STEP exists: brow_right",
    "Closed positive-volume STL: head_bridge_1",
    "Editable STEP exists: head_bridge_1",
    "Closed positive-volume STL: head_bridge_2",
    "Editable STEP exists: head_bridge_2",
    "Closed positive-volume STL: tail_segment_1",
    "Editable STEP exists: tail_segment_1",
    "Closed positive-volume STL: tail_segment_2",
    "Editable STEP exists: tail_segment_2",
    "Closed positive-volume STL: tail_segment_3",
    "Editable STEP exists: tail_segment_3",
    "Closed positive-volume STL: tail_saddle",
    "Editable STEP exists: tail_saddle",
    "Closed positive-volume STL: forearm_left",
    "Editable STEP exists: forearm_left",
    "Closed positive-volume STL: arm_standoff_left",
    "Editable STEP exists: arm_standoff_left",
    "Closed positive-volume STL: forearm_right",
    "Editable STEP exists: forearm_right",
    "Closed positive-volume STL: arm_standoff_right",
    "Editable STEP exists: arm_standoff_right",
    "Added mass is included in dynamics",
    "microduck: 3 s finite CPU dynamics",
    "micro_rex: 3 s finite CPU dynamics",
    "Current policy test model vendor/microduck/robot_walk.xml",
    "Current policy test model models/micro_rex.xml",
    "Policy replay dimensions microduck",
    "Policy replay finite microduck",
    "Policy replay dimensions micro_rex",
    "Policy replay finite micro_rex",
    "Current retention_check.json models/step/skull_cheek_left.step",
    "Current retention_check.json models/step/brow_left.step",
    "Current retention_check.json models/step/skull_cheek_right.step",
    "Current retention_check.json models/step/brow_right.step",
    "Current balance_study.json vendor/microduck/robot_walk.xml",
    "Current balance_study.json models/micro_rex.xml"
  ],
  "nq": 21,
  "nv": 20,
  "nu": 14,
  "states": {
    "microduck": {
      "mass_kg": 0.7372431799999999,
      "reference_com_m": [
        0.0017355729041564861,
        -1.3633213022525097e-05,
        0.14620301649997733
      ],
      "hold_3s_trunk_z_m": -0.10549271893505542,
      "hold_3s_tilt_deg": 177.19549683194683,
      "upright_3s": false
    },
    "micro_rex": {
      "mass_kg": 0.7837700178987861,
      "reference_com_m": [
        0.0012905994205603952,
        -1.282385302960691e-05,
        0.1506193394832888
      ],
      "hold_3s_trunk_z_m": 0.04351481868759607,
      "hold_3s_tilt_deg": 80.43020569908305,
      "upright_3s": false
    }
  },
  "added_mass_g": 46.5268378987862,
  "hardware_fit": "UNVERIFIED",
  "policy_performance": "Scoped ONNX/BAM simulation results in policy_evaluation.json; command tracking and hardware compatibility are not established",
  "manufacturing": "Prototype CAD; physical fit, tolerances and fasteners require validation",
  "policy_simulation_report": "artifacts/policy_evaluation.json"
}