{ "createdAt": "2026-10-26T15:21:07.578Z", "sources": { "core/engine.js": "6477c230bdc333a13a09c582154cb99ca774b97207d131a8deedec0f974286da", "core/config.js": "69c9f8cab9ba3946e34be50be095ec94e98ac4f98d5135c2e411f3937909cb43", "core/field-control.js": "cdc54e413bc0c7e20e79404b12302d66a68a0ec845ad5c83b32f8954cad00ec3", "core/terrain.js": "61295c4733d228e5421316887ec3c2a38b03592079eced430c3e1a3fed6e5dca", "core/experiments.js": "0e9968f3cb624da8599899b69fc40bbe5ff6fdbb99fd235c343f95e0eb136a52" }, "definitions": { "scope": "Fresh deterministic software simulations of the current uncalibrated model. No physical measurements or source-video performance figures.", "configuration": "Unless overridden: 18 m rows, 2 rows, 20 Hz integration, dry soil, ST2, low 0.56 m chassis, terrain and field control enabled.", "wheelCrossTrackP95": "Engine metric: maximum absolute wheel-to-corresponding-furrow error of four wheels, sampled every fourth 20 Hz tick (5 Hz), excluding turn and row_exit; quantile index floor((n-1)*0.95). Final metrics update every 0.5 s; raw engine values are preserved.", "centerTrackP95": "Absolute body-center lateral error on the same eligible 5 Hz ticks; distinct from maximum-wheel P95.", "centerEstimateRMSE": "sqrt(mean((estimated center crossTrack - simulation-truth center crossTrack)^2)) on eligible 5 Hz samples; simulation truth used only to score the estimate.", "steerRateP95": "95th percentile of maximum per-wheel absolute angular rate (rad/s), sampled at 5 Hz across phases.", "duration": "Elapsed simulation time including modeled deceleration; not wall-clock runtime.", "faultTiming": "Fault injected after 100 steps (~5.0 s). Latch is first state with safety.latched. Standstill is first subsequent stopped/blocked/complete terminal state; blocked with nonzero speed is never labeled standstill.", "brakeDistance": "Terrain model integrated distance while emergency friction braking is active; not a physical stopping-distance measurement.", "underbodyHits": "Count of integration ticks with negative truth-evaluated clearance in crop rows, not distinct plant contacts.", "statistics": "Three fixed seeds per paired comparison. Small synthetic sample, no claim of physical generalization or significance. Raw API normal-approximation intervals are retained only as API output.", "arrays": "series.rows columns are listed in series.columns; SI units unless *_deg. Fault series at 20 Hz; other series at 5 Hz plus the final state." }, "files": [ "controllers.json", "tuning.json", "experiments-ui.json", "profiles.json", "faults.json", "terrain.json", "validation-102.json" ], "baseConfig": { "vehicle.wheelbase": 1.4, "vehicle.track": 1, "vehicle.steer_max": 0.7853981633974483, "vehicle.steer_rate": 1.0471975511965976, "vehicle.acceleration": 0.8, "vehicle.clearance": 0.56, "vehicle.cg_height": 0.7, "row.speed": 0.6, "row.length": 18, "row.count": 2, "row.pitch": 1, "row.curvature": 0.006, "row.lookahead": 0.85, "row.steer_gain": 0.9, "turn.speed": 0.32, "turn.radius": 1.5, "turn.headland": 6, "entry.speed": 0.3, "entry.crab_gain": 0.9, "field_control.enabled": true, "field_control.overhang": 0.222, "field_control.side_margin": 0.233, "field_control.tire_radius": 0.282, "field_control.tire_half_width": 0.11, "field_control.boundary_margin": 0.15, "field_control.deceleration": 0.35, "field_control.reaction_time": 0.3, "field_control.standstill_speed": 0.015, "field_control.standstill_hold": 0.2, "field_control.steer_tolerance": 0.05235987755982989, "field_control.alignment_trigger": 0.20943951023931956, "field_control.interlock_timeout": 8, "field_control.crop_margin": 0.02, "controller.type": "mpc", "controller.horizon": 12, "controller.q_lateral": 14, "controller.q_heading": 3, "controller.r_steer": 0.25, "sensor.level": "L2", "sensor.profile": "P2", "sensor.noise": 0.012, "sensor.imu": true, "sensor.gnss": false, "field.stage": "ST2", "field.density": 0.75, "field.bed_height": 0.247, "terrain.enabled": true, "terrain.surface": "dry_soil", "terrain.grade": 0, "terrain.cross_slope": 0, "terrain.roughness": 0, "terrain.traction_scale": 1, "terrain.patch_surface": "none", "terrain.patch_start": 2, "terrain.patch_length": 5, "terrain.ground_sensor": true, "terrain.slip_warn": 0.16, "terrain.slip_stop": 0.55, "terrain.slip_hold": 0.6, "terrain.tilt_warn": 6, "terrain.tilt_stop": 14, "terrain.sensor_timeout": 0.7, "safety.enabled": true, "safety.watchdog": 0.3, "safety.perception_timeout": 0.7, "safety.obstacle_distance": 1.2, "simulation.seed": 42, "simulation.initial_offset": 0.035, "camera.height": 1.15, "camera.pitch": 0.5235987755982988, "contract.version": "ridge-reconstruction-1" }, "seeds": [ 42, 101, 119 ], "controllerComparison": { "pairs": 3, "baseline": { "crossTrackP95": 0.027989540637946286, "crossTrackMax": 0.04476933513635323, "excessP95": 0.027989540637946286, "steerRateP95": 0.14378423817342292, "score": 91.8753601450282, "distance": 44.11426719307807, "clearance": 0.039500000000000035, "underbodyHits": 0, "missionTime": 107.58333333332935, "duration": 107.58333333333333, "slipMax": 0.44831971978995083, "tiltMax": 0.0017498907304374471, "deratedTime": 18.28333333333346, "brakeDistance": 0.00833248476072887, "completionRate": 1 }, "candidate": { "crossTrackP95": 0.02893671670231579, "crossTrackMax": 0.04741636723277981, "excessP95": 0.02893671670231579, "steerRateP95": 0.16925327972968388, "score": 91.55921276389222, "distance": 44.109089625687965, "clearance": 0.039500000000000035, "underbodyHits": 0, "missionTime": 107.48333333332937, "duration": 107.48333333333335, "slipMax": 0.44831828834678783, "tiltMax": 0.0017498907304374471, "deratedTime": 18.16666666666679, "brakeDistance": 0.008328805418038635, "completionRate": 1 }, "delta": { "crossTrackP95": 0.0009471760643695037, "crossTrackMax": 0.0026470320964265825, "excessP95": 0.0009471760643695037, "steerRateP95": 0.025469041556260952, "score": -0.31614738113597696, "distance": -0.005177567390106219, "clearance": 0, "underbodyHits": 0, "missionTime": -0.0999999999999801, "duration": -0.0999999999999801, "slipMax": -0.000001431443163002477, "tiltMax": 0, "deratedTime": -0.1166666666666707, "brakeDistance": -0.0000036793426902350518, "completionRate": 0 }, "confidence": { "crossTrackP95": { "low": -0.009073471113703095, "high": 0.010967823242442103, "method": "normal approximation", "samples": 3 }, "crossTrackMax": { "low": -0.00037142842509264255, "high": 0.005665492617945808, "method": "normal approximation", "samples": 3 }, "excessP95": { "low": -0.009073471113703095, "high": 0.010967823242442103, "method": "normal approximation", "samples": 3 }, "steerRateP95": { "low": -0.008286246117283784, "high": 0.05922432922980574, "method": "normal approximation", "samples": 3 }, "score": { "low": -3.1882525201647107, "high": 2.555957757892738, "method": "normal approximation", "samples": 3 }, "distance": { "low": -0.012714649387079559, "high": 0.002359514606838699, "method": "normal approximation", "samples": 3 }, "clearance": { "low": 0, "high": 0, "method": "normal approximation", "samples": 3 }, "underbodyHits": { "low": 0, "high": 0, "method": "normal approximation", "samples": 3 }, "missionTime": { "low": -0.5419064757766128, "high": 0.3419064757766242, "method": "normal approximation", "samples": 3 }, "duration": { "low": -0.5419064757766413, "high": 0.3419064757766432, "method": "normal approximation", "samples": 3 }, "slipMax": { "low": -0.000003682849316002805, "high": 8.199629900718659e-7, "method": "normal approximation", "samples": 3 }, "tiltMax": { "low": 0, "high": 0, "method": "normal approximation", "samples": 3 }, "deratedTime": { "low": -0.837557165363333, "high": 0.6042238320299963, "method": "normal approximation", "samples": 3 }, "brakeDistance": { "low": -0.000010908157380048956, "high": 0.0000035494719995811652, "method": "normal approximation", "samples": 3 } } }, "tuning": { "algorithm": "bounded covariance-adapting evolutionary search", "candidates": 21, "evaluations": 63, "selectionSeeds": [ 11, 29, 47 ], "heldoutSeeds": [ 42, 101, 119 ], "bestParameters": { "lookahead": 0.4915525364379344, "steerGain": 0.9957190484792239 }, "initialTrainingObjective": 0.026110519822800524, "bestTrainingObjective": 0.020873174110708218, "heldout": { "pairs": 3, "baseline": { "crossTrackP95": 0.027989540637946286, "crossTrackMax": 0.04476933513635323, "excessP95": 0.027989540637946286, "steerRateP95": 0.14378423817342292, "score": 91.8753601450282, "distance": 44.11426719307807, "clearance": 0.039500000000000035, "underbodyHits": 0, "missionTime": 107.58333333332935, "duration": 107.58333333333333, "slipMax": 0.44831971978995083, "tiltMax": 0.0017498907304374471, "deratedTime": 18.28333333333346, "brakeDistance": 0.00833248476072887, "completionRate": 1 }, "candidate": { "crossTrackP95": 0.026458982755264832, "crossTrackMax": 0.05043797431539243, "excessP95": 0.026458982755264832, "steerRateP95": 0.22340182702833586, "score": 92.14468117446917, "distance": 44.1286763815861, "clearance": 0.039500000000000035, "underbodyHits": 0, "missionTime": 107.69999999999602, "duration": 107.7, "slipMax": 0.44855472780724637, "tiltMax": 0.0017498907304374471, "deratedTime": 18.36666666666679, "brakeDistance": 0.00832880542040252, "completionRate": 1 }, "delta": { "crossTrackP95": -0.001530557882681454, "crossTrackMax": 0.005668639179039203, "excessP95": -0.001530557882681454, "steerRateP95": 0.07961758885491294, "score": 0.2693210294409738, "distance": 0.01440918850802575, "clearance": 0, "underbodyHits": 0, "missionTime": 0.11666666666667425, "duration": 0.11666666666667425, "slipMax": 0.0002350080172955349, "tiltMax": 0, "deratedTime": 0.08333333333333215, "brakeDistance": -0.0000036793403263499225, "completionRate": 0 }, "confidence": { "crossTrackP95": { "low": -0.006450666463839849, "high": 0.003389550698476943, "method": "normal approximation", "samples": 3 }, "crossTrackMax": { "low": 0.004211911875216766, "high": 0.007125366482861641, "method": "normal approximation", "samples": 3 }, "excessP95": { "low": -0.006450666463839849, "high": 0.003389550698476943, "method": "normal approximation", "samples": 3 }, "steerRateP95": { "low": 0.061171980727853, "high": 0.0980631969819729, "method": "normal approximation", "samples": 3 }, "score": { "low": -1.1218975671889093, "high": 1.6605396260708476, "method": "normal approximation", "samples": 3 }, "distance": { "low": -0.0008583139522736708, "high": 0.029676690968301486, "method": "normal approximation", "samples": 3 }, "clearance": { "low": 0, "high": 0, "method": "normal approximation", "samples": 3 }, "underbodyHits": { "low": 0, "high": 0, "method": "normal approximation", "samples": 3 }, "missionTime": { "low": -0.19495347246285777, "high": 0.42828680579617784, "method": "normal approximation", "samples": 3 }, "duration": { "low": -0.1949534724628716, "high": 0.4282868057962011, "method": "normal approximation", "samples": 3 }, "slipMax": { "low": -0.00023100690530753344, "high": 0.0007010229398986032, "method": "normal approximation", "samples": 3 }, "tiltMax": { "low": 0, "high": 0, "method": "normal approximation", "samples": 3 }, "deratedTime": { "low": -0.49459899642317534, "high": 0.6612656630898444, "method": "normal approximation", "samples": 3 }, "brakeDistance": { "low": -0.00001811965398365623, "high": 0.000010760973330958699, "method": "normal approximation", "samples": 3 } } } }, "profiles": [ { "profile": "P0", "completed": 3, "total": 3, "wheelCrossTrackP95Mean": 0.024983657698656386, "centerEstimateRMSEMean": 0.0028780255514555333, "validFractionMean": 1, "availableCues": [ "furrow" ] }, { "profile": "P1", "completed": 3, "total": 3, "wheelCrossTrackP95Mean": 0.025121138297681127, "centerEstimateRMSEMean": 0.0029695651885198494, "validFractionMean": 1, "availableCues": [ "furrow" ] }, { "profile": "P2", "completed": 3, "total": 3, "wheelCrossTrackP95Mean": 0.02893671670231579, "centerEstimateRMSEMean": 0.003176179284509814, "validFractionMean": 0.9991364421416234, "availableCues": [ "furrow" ] }, { "profile": "P3", "completed": 3, "total": 3, "wheelCrossTrackP95Mean": 0.02811061596074686, "centerEstimateRMSEMean": 0.0028424128926879118, "validFractionMean": 0.9991386735572783, "availableCues": [ "furrow", "crop row" ] }, { "profile": "P4", "completed": 3, "total": 3, "wheelCrossTrackP95Mean": 0.026882558013007023, "centerEstimateRMSEMean": 0.0027007426984187667, "validFractionMean": 1, "availableCues": [ "furrow", "parallel row" ] }, { "profile": "P5", "completed": 3, "total": 3, "wheelCrossTrackP95Mean": 0.02502291422020882, "centerEstimateRMSEMean": 0.0029229144119242087, "validFractionMean": 0.9991386735572783, "availableCues": [ "furrow", "GNSS model" ] } ], "faults": [ { "kind": "acu_timeout", "stopped": 3, "total": 3, "detectDelayRange": [ 0.34999999999999876, 0.34999999999999876 ], "stopDelayRange": [ 0.3999999999999986, 0.3999999999999986 ], "brakeDistanceRange": [ 0.02322424038461518, 0.023244539321206723 ], "representative": { "kind": "acu_timeout", "injectedAt": 4.99999999999999, "latchedAt": 5.349999999999989, "standstillAt": 5.399999999999989, "detectDelay": 0.34999999999999876, "stopDelay": 0.3999999999999986, "latchSpeed": 0.1927540384615361, "latchPosition": { "x": 0.01899869535089913, "y": 2.8842536724149683 }, "finalPosition": { "x": 0.019064552487748413, "y": 2.889072073335092 }, "finalSpeed": 0, "brakeDistance": 0.02322424038461521 } }, { "kind": "perception_dropout", "stopped": 3, "total": 3, "detectDelayRange": [ 0.6999999999999975, 0.6999999999999975 ], "stopDelayRange": [ 0.7499999999999973, 0.7499999999999973 ], "brakeDistanceRange": [ 0.023224240384615367, 0.023244604391674466 ], "representative": { "kind": "perception_dropout", "injectedAt": 4.99999999999999, "latchedAt": 5.699999999999988, "standstillAt": 5.749999999999988, "detectDelay": 0.6999999999999975, "stopDelay": 0.7499999999999973, "latchSpeed": 0.1930255585556595, "latchPosition": { "x": 0.021730629153541618, "y": 3.0744537645387084 }, "finalPosition": { "x": 0.02164269688094882, "y": 3.079278602289894 }, "finalSpeed": 0, "brakeDistance": 0.023244604391674466 } }, { "kind": "steering_stuck", "stopped": 3, "total": 3, "detectDelayRange": [ 0.4499999999999984, 0.4499999999999984 ], "stopDelayRange": [ 0.4999999999999982, 0.4999999999999982 ], "brakeDistanceRange": [ 0.023245421904507943, 0.023247879203510763 ], "representative": { "kind": "steering_stuck", "injectedAt": 4.99999999999999, "latchedAt": 5.449999999999989, "standstillAt": 5.4999999999999885, "detectDelay": 0.4499999999999984, "stopDelay": 0.4999999999999982, "latchSpeed": 0.19306922271347685, "latchPosition": { "x": 0.013870105095733802, "y": 2.938678556087434 }, "finalPosition": { "x": 0.013784441315997762, "y": 2.9435045264241984 }, "finalSpeed": 0, "brakeDistance": 0.023247879203510763 } }, { "kind": "ground_speed_dropout", "stopped": 3, "total": 3, "detectDelayRange": [ 0.6999999999999975, 0.6999999999999975 ], "stopDelayRange": [ 0.6999999999999975, 0.6999999999999975 ], "brakeDistanceRange": [ 0.004021758362598596, 0.004024518382033056 ], "representative": { "kind": "ground_speed_dropout", "injectedAt": 4.99999999999999, "latchedAt": 5.699999999999988, "standstillAt": 5.699999999999988, "detectDelay": 0.6999999999999975, "stopDelay": 0.6999999999999975, "latchSpeed": 0, "latchPosition": { "x": 0.020644298712585114, "y": 2.944921178439562 }, "finalPosition": { "x": 0.020644298712585114, "y": 2.944921178439562 }, "finalSpeed": 0, "brakeDistance": 0.004021961744789182 } }, { "kind": "imu_dropout", "stopped": 3, "total": 3, "detectDelayRange": [ 0.6999999999999975, 0.6999999999999975 ], "stopDelayRange": [ 0.6999999999999975, 0.6999999999999975 ], "brakeDistanceRange": [ 0.004021758362598596, 0.004024518382033056 ], "representative": { "kind": "imu_dropout", "injectedAt": 4.99999999999999, "latchedAt": 5.699999999999988, "standstillAt": 5.699999999999988, "detectDelay": 0.6999999999999975, "stopDelay": 0.6999999999999975, "latchSpeed": 0, "latchPosition": { "x": 0.020644298712585114, "y": 2.944921178439562 }, "finalPosition": { "x": 0.020644298712585114, "y": 2.944921178439562 }, "finalSpeed": 0, "brakeDistance": 0.004021961744789182 } }, { "kind": "obstacle", "stopped": 3, "total": 3, "detectDelayRange": [ 2.9999999999999893, 2.9999999999999893 ], "stopDelayRange": [ 3.049999999999989, 3.049999999999989 ], "brakeDistanceRange": [ 0.023224240384615392, 0.023244571830435923 ], "representative": { "kind": "obstacle", "injectedAt": 4.99999999999999, "latchedAt": 7.99999999999998, "standstillAt": 8.04999999999998, "detectDelay": 2.9999999999999893, "stopDelay": 3.049999999999989, "latchSpeed": 0.19302469060335492, "latchPosition": { "x": 0.04648341490913785, "y": 4.324172391637857 }, "finalPosition": { "x": 0.04643061646707987, "y": 4.32899772005296 }, "finalSpeed": 0, "brakeDistance": 0.02324453929525162 } } ], "terrain": [ { "name": "firm", "status": "complete", "reason": "", "time": 105.09999999999617, "metrics": { "distance": 44.14069124714535, "crossTrackP95": 0.026514621334202015, "crossTrackMax": 0.04166655368027844, "centerTrackP95": 0.010349109912985544, "excessP95": 0.026514621334202015, "steerRateP95": 0.1396682493449148, "score": 92.29656952773361, "underbodyHits": 0, "clearance": 0.04300000000000004, "missionTime": 105.09999999999617, "slipMax": 0.4631582950324757, "tiltMax": 0.0014045957968207006, "deratedTime": 19.35000000000014, "brakeDistance": 0.008565705443650437 } }, { "name": "dry_soil", "status": "complete", "reason": "", "time": 107.64999999999603, "metrics": { "distance": 44.10191576374499, "crossTrackP95": 0.03392094448716826, "crossTrackMax": 0.0501985601540329, "centerTrackP95": 0.019096049655960828, "excessP95": 0.03392094448716826, "steerRateP95": 0.19076964480132325, "score": 90.12059625399024, "underbodyHits": 0, "clearance": 0.039500000000000035, "missionTime": 107.64999999999603, "slipMax": 0.4519436023793047, "tiltMax": 0.0014045957968207006, "deratedTime": 18.450000000000127, "brakeDistance": 0.008325120192323709 } }, { "name": "wet_soil", "status": "complete", "reason": "", "time": 134.44999999999632, "metrics": { "distance": 44.228577370271445, "crossTrackP95": 0.01702354632272407, "crossTrackMax": 0.04402095831179381, "centerTrackP95": 0.010503913864916467, "excessP95": 0.01702354632272407, "steerRateP95": 0.11890753055939264, "score": 94.99559196851848, "underbodyHits": 0, "clearance": 0.026000000000000037, "missionTime": 134.44999999999632, "slipMax": 0.3867706034215792, "tiltMax": 0.0014045957968207006, "deratedTime": 128.599999999995, "brakeDistance": 0.012329081484685873 } }, { "name": "sand", "status": "complete", "reason": "", "time": 154.80000000000095, "metrics": { "distance": 45.24762178967522, "crossTrackP95": 0.049506163418752136, "crossTrackMax": 0.07432280117630152, "centerTrackP95": 0.03192324069852592, "excessP95": 0.049506163418752136, "steerRateP95": 0.16817224852752563, "score": 85.80192974569435, "underbodyHits": 2198, "clearance": 0.00600000000000004, "missionTime": 154.80000000000095, "slipMax": 0.39388108184431786, "tiltMax": 0.0014045957968207006, "deratedTime": 150.6, "brakeDistance": 0.006215654468235729 } }, { "name": "mud", "status": "stopped", "reason": "Sustained terrain slip", "time": 1.0500000000000003, "metrics": { "distance": 0.06481973425446992, "crossTrackP95": 0.03524002503238438, "crossTrackMax": 0.03673785008569641, "centerTrackP95": 0.03398776764344248, "excessP95": 0.03524002503238438, "steerRateP95": 0.15647979966317088, "score": 89.81983339160602, "underbodyHits": 20, "clearance": -0.026499999999999968, "missionTime": 1.0500000000000003, "slipMax": 0.7144952488170926, "tiltMax": 0.0013849576166442053, "deratedTime": 0.8500000000000002, "brakeDistance": 0.00043054121821845177 } }, { "name": "ice", "status": "stopped", "reason": "Sustained terrain slip", "time": 1.3000000000000005, "metrics": { "distance": 0.050199250733142256, "crossTrackP95": 0.03535419473310786, "crossTrackMax": 0.03554842751196785, "centerTrackP95": 0.03465449554854598, "excessP95": 0.03535419473310786, "steerRateP95": 0.16587360010472382, "score": 89.76907827452035, "underbodyHits": 0, "clearance": 0.04300000000000004, "missionTime": 1.3000000000000005, "slipMax": 0.6356264321533566, "tiltMax": 0.0013849576166442053, "deratedTime": 1.1000000000000003, "brakeDistance": 0.0007767199375744987 } }, { "name": "uphill_8deg_ST0", "status": "complete", "reason": "", "time": 128.39999999999495, "metrics": { "distance": 44.06303496824857, "crossTrackP95": 0.02059129456205916, "crossTrackMax": 0.045257156627215744, "centerTrackP95": 0.010676076428825398, "excessP95": 0.02059129456205916, "steerRateP95": 0.13956132923983372, "score": 93.95531486414377, "underbodyHits": 0, "clearance": 0.13800047927950163, "missionTime": 128.39999999999495, "slipMax": 0.3868303127286218, "tiltMax": 0.14101129777573437, "deratedTime": 126.89999999999493, "brakeDistance": 0.006525147986145442 } }, { "name": "downhill_8deg_ST0", "status": "complete", "reason": "", "time": 128.39999999999495, "metrics": { "distance": 44.052291091431094, "crossTrackP95": 0.027502868245206147, "crossTrackMax": 0.04036038296637323, "centerTrackP95": 0.014207039898529655, "excessP95": 0.027502868245206147, "steerRateP95": 0.10223521443571068, "score": 92.09472646247086, "underbodyHits": 0, "clearance": 0.13801309124631933, "missionTime": 128.39999999999495, "slipMax": 0.38313821725662206, "tiltMax": 0.14091923279664198, "deratedTime": 126.69999999999494, "brakeDistance": 0.00654118658873404 } }, { "name": "unsafe_grade_20deg_ST0", "status": "stopped", "reason": "Terrain tilt limit exceeded", "time": 0.05, "metrics": { "distance": 0, "crossTrackP95": 0, "crossTrackMax": 0, "centerTrackP95": 0, "excessP95": 0, "steerRateP95": 0, "score": 100, "underbodyHits": 0, "clearance": 0.23950000000000005, "missionTime": 0, "slipMax": 0, "tiltMax": 0.3503640091738137, "deratedTime": 0.05, "brakeDistance": 0 } }, { "name": "roughness_120mm_ST2", "status": "stopped", "reason": "Modeled crop clearance below minimum", "time": 0.05, "metrics": { "distance": 0, "crossTrackP95": 0, "crossTrackMax": 0, "centerTrackP95": 0, "excessP95": 0, "steerRateP95": 0, "score": 100, "underbodyHits": 0, "clearance": 0.04350000000000004, "missionTime": 0, "slipMax": 0, "tiltMax": 0.03296254853507479, "deratedTime": 0, "brakeDistance": 0 } }, { "name": "downhill_ice_uncontained_ST0", "status": "blocked", "reason": "Uncontained terrain motion: braking did not reach standstill within 10 s", "time": 13.550000000000058, "metrics": { "distance": 66.59689130786983, "crossTrackP95": 0.03982347899839517, "crossTrackMax": 0.04042677310839826, "centerTrackP95": 0.03356797303705014, "excessP95": 0.03982347899839517, "steerRateP95": 0.06694904746508704, "score": 88.71552778551919, "underbodyHits": 0, "clearance": 0.116330056035975, "missionTime": 13.550000000000058, "slipMax": 0.9382731534307271, "tiltMax": 0.1755122966435718, "deratedTime": 13.550000000000058, "brakeDistance": 64.97238473015477 } }, { "name": "narrow_headland", "status": "stopped", "reason": "Headland footprint braking envelope reached", "time": 45.649999999999544, "metrics": { "distance": 20.434504959346114, "crossTrackP95": 0.036998957243971786, "crossTrackMax": 0.04989858478182674, "centerTrackP95": 0.022586861049698644, "excessP95": 0.036998957243971786, "steerRateP95": 0.09571960155510838, "score": 89.44885276857768, "underbodyHits": 0, "clearance": 0.039500000000000035, "missionTime": 45.649999999999544, "slipMax": 0.4519436023793047, "tiltMax": 0.0013849576166442053, "deratedTime": 5.449999999999989, "brakeDistance": 0.007562703077042789 } } ], "validation": { "reused": true, "source": "output/amt-vehicle/control/validation.json", "passed": 102, "total": 102, "sourcesMatch": true }, "verification": { "controllerApiAndIndependentSeriesMatch": true, "sourceHashesUnchanged": true, "noHardwareOrLiveAppCommands": true }, "hashes": { "controllers.json": "5e492e9a41134c934ef6699bc54abc8ecf9c463201ce8bc685f83c1a0a7b0659", "tuning.json": "5f9f41b3902ed88dd97b17a1ce4030e7f22c7407648bb63ec230ab91dee4667a", "experiments-ui.json": "0931a1e42eba4cdbccc4829249e0c5595a70d8c615a4d83cccde53c53d8df908", "profiles.json": "45bd01fb392f8e7a75da60c99c618e173cf4785d60a7c816963910233770d15f", "faults.json": "79675d868a5e034d8f7fac3147b0ecac2c8c2c3566e572887bef2b59dbf71824", "terrain.json": "a84f68c5cc41c10e02219a687c554eb08630a14b09ec08ea20f7ff45794e960c", "validation-102.json": "b5d9e85f5f259772797974eabe3c230c127c79cb9a901a3bbf89ae03d8bd098b" } }