{
  "identifier": "HR30-MUJOCO-DYNAMICS-VALIDATION-P0.1",
  "warning": "PRELIMINARY - IDEAL-FIXTURE SIMULATION ONLY - NOT APPROVED FOR CONNECTION, POWERED TESTING, MOTION, WALKING, OR ENERGIZATION",
  "executed_utc": "2026-08-19T12:08:11.295055+00:00",
  "python": "3.12.13 (main, Aug  7 2026, 02:26:41) [MSC v.1944 64 bit (AMD64)]",
  "mujoco_version": "3.10.0",
  "numpy_version": "2.4.6",
  "official_runtime_source": "https://pypi.org/project/mujoco/3.10.0/",
  "official_source_accessed": "2026-08-17",
  "integration_timestep_s": 0.002,
  "settle_time_s": 0.5,
  "integrator": "implicitfast",
  "solver": "Newton",
  "simulation_wall_time_s": 11.269746,
  "controller": {
    "rotary_kp": "40 * candidate endpoint Nm per rad",
    "rotary_kd": "2 * candidate endpoint Nm per rad/s",
    "gripper_kp_n_m": 100,
    "gripper_kd_n_s_m": 5
  },
  "fixture": "ideal six-degree-of-freedom mocap body welded numerically to base_link; not physical hardware"
}