{
  "revision": "quaternion-recovery-v3-r1",
  "kind": "engineered_repair",
  "status": "complete",
  "parameters": [
    5.5,
    0.05362964520564749,
    10.529456275047036,
    1.6043482505064568,
    3.3213668828904064,
    6.875633825343467,
    12.240409405842126,
    3.0,
    3.079598615616265,
    9.618341804637755,
    3.66025472576611,
    2.9212432349213566,
    1.724789480798923,
    0.09480383834597753,
    0.15535156455516422
  ],
  "settings": {
    "rate_cap": 4.0,
    "capacity_fraction": 0.55,
    "acceleration_cap": 15.0,
    "brake_cap": 12.0,
    "early_rate": 0.15,
    "landing_reserve": 0.25,
    "boost_speed_cap": 10.0,
    "support_ratio": 1.4,
    "descent_speed": 4.5,
    "maximum_descent_speed": 8.0,
    "descent_acceleration_cap": 4.0,
    "vertical_gain": 5.5,
    "touchdown_speed": 0.12,
    "ground_margin": 0.2,
    "heading_slew": 0.6,
    "gyro_feedforward": true,
    "prediction_overlay": true
  },
  "sourceSha256": "aaccd29a34c10f18c866e079000f4432f65e60e45b3f2e8f6f3f8dcaf619ac13",
  "controllerSha256": "5aa754c6891df657ddab8a583b5c9005adeedd531a982c83a3fcef9a695363a2",
  "allocatorSha256": "b27fe8aa3c3c466cabbf5372f56acdf2c9fba1343b43eab07df43574936659a2",
  "canonicalizerSha256": "b74da3e388df7cc6872268bd74af29c6a7be74a1358bcb6c97df5eb249895581",
  "predictorSha256": "81d09e6b66e0f50ae177fd58030855ffe358b5adbaa404c3a2158df973dc1db7",
  "configSha256": "94bee63efcc80ad76b8b9bc8743aed501cbf56b9c71afcb41e919987a0296385",
  "engine": {
    "name": "MuJoCo",
    "version": "3.15.0",
    "dt": 0.002,
    "controlDt": 0.02
  },
  "task": "moving_recovery",
  "notice": "Artificial engineered controller repair. Legacy 15 parameters unchanged from r6 selected generation 74; new explicit settings selected from logged manual development cases. Not generation 101 and not a new CEM training result.",
  "evaluation": {
    "status": "complete",
    "oldFixedRecoveryCount": 40,
    "oldFixedSO3Count": 80,
    "newRecoverySeed": 30417017,
    "newRecoveryCount": 40,
    "newSO3Seed": 30418017,
    "newSO3Count": 80,
    "selection": "Candidate frozen before new seeds were sampled or evaluated. Old fixed evaluation sets have been inspected across versions; they are not novel holdout.",
    "resultsPath": "results.json",
    "casesPath": "evaluation-cases.json",
    "evaluationCount": 360,
    "groups": {
      "old_fixed_recovery": {
        "baselineSummary": {
          "trials": 40,
          "successCount": 0,
          "successRate": 0.0,
          "statusCounts": {
            "hard_contact": 26,
            "body_contact": 14
          }
        },
        "candidateSummary": {
          "trials": 40,
          "successCount": 39,
          "successRate": 0.975,
          "statusCounts": {
            "success": 39,
            "hard_contact": 1
          }
        }
      },
      "old_fixed_SO3": {
        "baselineSummary": {
          "trials": 80,
          "successCount": 0,
          "successRate": 0.0,
          "statusCounts": {
            "hard_contact": 36,
            "body_contact": 44
          }
        },
        "candidateSummary": {
          "trials": 80,
          "successCount": 31,
          "successRate": 0.3875,
          "statusCounts": {
            "hard_contact": 43,
            "success": 31,
            "body_contact": 6
          }
        }
      },
      "new_seed_recovery": {
        "baselineSummary": {
          "trials": 40,
          "successCount": 0,
          "successRate": 0.0,
          "statusCounts": {
            "hard_contact": 27,
            "body_contact": 13
          }
        },
        "candidateSummary": {
          "trials": 40,
          "successCount": 40,
          "successRate": 1.0,
          "statusCounts": {
            "success": 40
          }
        }
      },
      "new_seed_SO3": {
        "baselineSummary": {
          "trials": 80,
          "successCount": 1,
          "successRate": 0.0125,
          "statusCounts": {
            "body_contact": 40,
            "hard_contact": 39,
            "success": 1
          }
        },
        "candidateSummary": {
          "trials": 80,
          "successCount": 29,
          "successRate": 0.3625,
          "statusCounts": {
            "hard_contact": 45,
            "body_contact": 6,
            "success": 29
          }
        }
      }
    },
    "ledgerPath": "evaluation-ledger.jsonl",
    "ledgerSha256": "f8c0fd034b57df69ee1c0dd1799eeaeb83e8d5723e2a8a9cdb29c92af8d7d1f0",
    "newExecutionCount": 360,
    "reusedBaselineCount": 120,
    "failureMetricWindowNotice": "Reused r6 failures stop at first failing window (record=False); new formal recordings retain0.4s after failure. Success/status are comparable. Failed fuelUsed/duration/final states/peak contact metrics must not be interpreted as matched-window savings. New-seed baseline/candidate and eight development comparisons both use record=True."
  },
  "resultsSha256": "ef9515b453c137a2e4f17b2f890f14e9167e279275313896d8e011b64a5bbeca",
  "comparisonPath": "comparisons.json",
  "comparisonsSha256": "41b6a50c5a876a1f5fc9cb06a89879ef6e3bc2dd63faffe8c8198987a5a93c72",
  "failureAuditPath": "failure-audit.json",
  "audit": {
    "status": "complete",
    "nativeChecksPath": "native-checks.json",
    "nativeChecksPassed": 7,
    "frozenPredictorCalibrationPath": "frozen-predictor-calibration.json",
    "stepAuditPath": "step-audit.json",
    "stepComparisonPath": "step-comparison.json",
    "browserFixturesPath": "browser-fixtures.json",
    "notice": "2ms evaluation is complete.1ms full suite and selected0.5ms follow-up are separate audits; see their final status.",
    "path": "audit.json",
    "sha256": "a7772d42313a01703c000419ac9366ff7875104f8ae4974dc457ae60944290f3",
    "dt1msEvaluations": 240,
    "dtHalfmsEvaluations": 4,
    "successClassificationChanges": 4
  },
  "developmentIndexPath": "development-index.json"
}