{
  "passed": true,
  "passed_checks": 17,
  "check_count": 17,
  "checks": [
    {
      "name": "Ordered ROS-to-native-SDK Move payloads",
      "passed": true,
      "measurements": {
        "ros_publications": 2210,
        "sdk_handlers": 2210,
        "max_error": 1.4674168380413022e-08
      }
    },
    {
      "name": "Native SDK handlers returned success",
      "passed": true,
      "measurements": {
        "handler_count": 2223,
        "stop_handlers": 13
      }
    },
    {
      "name": "Native DDS feedback matches measured physics",
      "passed": true,
      "measurements": {
        "samples": 3084,
        "matched": 3084,
        "max_scalar_error": 5.957745163875927e-08
      }
    },
    {
      "name": "Actual body-mounted 3D rays intersect the fixture geometry",
      "passed": true,
      "measurements": {
        "sampled_rays": 1651,
        "max_range_error": 8.881784197001252e-16,
        "scan_samples": 1569
      }
    },
    {
      "name": "AMCL map pose agrees with independent physics feedback",
      "passed": true,
      "measurements": {
        "asynchronous_samples": 771,
        "median_xy_error": 0.029030516784536067,
        "p95_xy_error": 0.043324465586987326,
        "max_xy_error": 0.05304382815371942
      }
    },
    {
      "name": "AMCL heading agrees with measured physics feedback",
      "passed": true,
      "measurements": {
        "p95_heading_error_deg": 1.3783132863077334,
        "max_heading_error_deg": 6.107686065633024
      }
    },
    {
      "name": "Four inspection-route goals completed via real Nav2 actions",
      "passed": true,
      "measurements": {
        "goals": [
          {
            "name": "pump",
            "status": 4,
            "xy_error": 0.11982325148025921,
            "yaw_error": 0.13107157893210628,
            "nav_action_attempts": 1
          },
          {
            "name": "valve",
            "status": 4,
            "xy_error": 0.0953610168213244,
            "yaw_error": 0.16471179370652989,
            "nav_action_attempts": 1
          },
          {
            "name": "electrical",
            "status": 4,
            "xy_error": 0.20077579230857423,
            "yaw_error": 0.11371249093176442,
            "nav_action_attempts": 1
          },
          {
            "name": "home",
            "status": 4,
            "xy_error": 0.1844813399619534,
            "yaw_error": 0.11051336592518834,
            "nav_action_attempts": 1
          }
        ]
      }
    },
    {
      "name": "Navigation goal error bounds",
      "passed": true,
      "measurements": {
        "max_xy_error": 0.20077579230857423,
        "max_yaw_error": 0.16471179370652989
      }
    },
    {
      "name": "Stopped robot reaches targets in measured physics coordinates",
      "passed": true,
      "measurements": {
        "world_xy_errors": [
          0.11333070935673523,
          0.10098529420194537,
          0.230958686244109,
          0.19003055982136594
        ],
        "world_yaw_errors_deg": [
          7.2625341202754194,
          9.498739936940924,
          6.341230456549292,
          5.235307814869523
        ]
      }
    },
    {
      "name": "Three conditions from fresh actual camera frames",
      "passed": true,
      "measurements": {
        "inspections": [
          {
            "name": "pump",
            "condition": "healthy",
            "frames": 14,
            "votes": {
              "healthy": 14,
              "warning": 0,
              "unable_to_inspect": 0
            }
          },
          {
            "name": "valve",
            "condition": "healthy",
            "frames": 14,
            "votes": {
              "healthy": 14,
              "warning": 0,
              "unable_to_inspect": 0
            }
          },
          {
            "name": "electrical",
            "condition": "warning",
            "frames": 13,
            "votes": {
              "healthy": 0,
              "warning": 13,
              "unable_to_inspect": 0
            }
          }
        ]
      }
    },
    {
      "name": "Upright locomotion and no reported obstacle contacts",
      "passed": true,
      "measurements": {
        "obstacle_contact_samples": 0,
        "min_height": 0.3100881129412042,
        "max_abs_roll_or_pitch_deg": 5.088132407062814
      }
    },
    {
      "name": "No relay/watchdog/API fault during nominal route",
      "passed": true,
      "measurements": {
        "fault_events": 0
      }
    },
    {
      "name": "Returned home and measured settling after stop",
      "passed": true,
      "measurements": {
        "final_second_mean_planar_speed": 0.008096520542850889,
        "final_second_mean_abs_yaw_rate": 0.018468312881378568
      }
    },
    {
      "name": "Graceful SDK shutdown StopMove",
      "passed": true,
      "measurements": {
        "backend_stopped": true
      }
    },
    {
      "name": "Independent ROS sensor delivery and unchanged encoded payloads",
      "passed": true,
      "measurements": {
        "cloud_messages": 1534,
        "matching_cloud_payloads": 1534,
        "rgb_messages": 438,
        "published_rgb_frames": 441,
        "matching_rgb_payloads": 438,
        "published_cloud_frames": 1544,
        "scan_messages": 1534
      }
    },
    {
      "name": "Inspection re-read from received ROS RGB pixels",
      "passed": true,
      "measurements": {
        "stations": [
          {
            "station": "pump",
            "received_frames": 15,
            "correct": 15
          },
          {
            "station": "valve",
            "received_frames": 14,
            "correct": 14
          },
          {
            "station": "electrical",
            "received_frames": 14,
            "correct": 14
          }
        ]
      }
    },
    {
      "name": "Final home alignment avoids repeated approach/turn boundary hunting",
      "passed": true,
      "measurements": {
        "phase_samples": 256,
        "alignment_engagements": 1,
        "boundary_releases": 0,
        "alignment_wall_seconds": 8.440580061,
        "command_direction_reversals": 0,
        "enter_radius": 0.18,
        "release_radius": 0.26,
        "goal_xy_tolerance_unchanged": 0.18
      }
    }
  ],
  "simulation_wall_ratio": 0.9999953923599989,
  "wall_mission_seconds": 143.21057230799943,
  "map_method": "supplied geometry-derived floorplan; not SLAM",
  "odometry_method": "native SDK feedback of measured simulator truth; not estimated hardware odometry",
  "controller": "custom Sport API simulation server + credited reused walking policy",
  "limitations": [
    "No hardware deployment or proprietary Unitree Sport controller",
    "No Go2 SLAM demonstrated; supplied floorplan and simulator-derived odometry",
    "Not a reliability, rough-terrain, hard-real-time or precise velocity tracking guarantee"
  ]
}