{
  "schema_version": "1",
  "interpretation": "data_only",
  "hub_commit": "ede75c00118e9808e5099da43c26f4619cc3bc37",
  "skill_id": "mujoco-unitree-go2-stand-control",
  "name": "Unitree Go2 torque-limited standing control",
  "example_input": {
    "seed": 0,
    "push_velocity_m_s": 0
  },
  "environment": [
    {
      "runtime": "mujoco",
      "runtime_version": "3.3.7",
      "robot": "unitree_go2",
      "controller": "torque_limited_joint_PD",
      "observation": "joint_and_base_state",
      "os": "linux",
      "architecture": "x86_64",
      "python": "3.10",
      "status": "hub_verified"
    }
  ],
  "interface": {
    "version": "1",
    "kind": "controller",
    "abstraction_level": 1,
    "execution_domain": "simulation",
    "language": "python",
    "input_transport": "json_file_or_inline",
    "output_transport": "json_stdout",
    "output_selector": "outputs",
    "conventions": {
      "linear_unit": "m",
      "angular_unit": "rad",
      "time_unit": "s",
      "coordinate_frame": "right_handed_world_xyz; +z_up",
      "joint_order": "FL_hip_joint,FL_thigh_joint,FL_calf_joint,FR_hip_joint,FR_thigh_joint,FR_calf_joint,RL_hip_joint,RL_thigh_joint,RL_calf_joint,RR_hip_joint,RR_thigh_joint,RR_calf_joint",
      "quaternion_order": "not_used"
    },
    "input_schema": {
      "type": "object",
      "required": [
        "seed",
        "push_velocity_m_s"
      ],
      "additionalProperties": false,
      "properties": {
        "seed": {
          "type": "integer",
          "minimum": 0,
          "maximum": 10000
        },
        "push_velocity_m_s": {
          "type": "number",
          "minimum": -0.2,
          "maximum": 0.2,
          "x-unit": "m/s"
        }
      }
    },
    "output_schema": {
      "type": "object",
      "required": [
        "base_xyz_m",
        "minimum_base_height_m",
        "upright_z",
        "max_joint_error_rad"
      ],
      "additionalProperties": false,
      "properties": {
        "base_xyz_m": {
          "type": "array",
          "minItems": 3,
          "maxItems": 3,
          "items": {
            "type": "number",
            "minimum": -20,
            "maximum": 20
          },
          "x-unit": "m",
          "x-frame": "right_handed_world_xyz; +z_up",
          "x-order": [
            "x",
            "y",
            "z"
          ]
        },
        "minimum_base_height_m": {
          "type": "number",
          "minimum": -5,
          "maximum": 5,
          "x-unit": "m"
        },
        "upright_z": {
          "type": "number",
          "minimum": -1,
          "maximum": 1
        },
        "max_joint_error_rad": {
          "type": "number",
          "minimum": 0,
          "maximum": 50,
          "x-unit": "rad"
        }
      }
    },
    "preconditions": [
      "Use the exact recorded source, Linux Python 3.10 environment and pinned direct packages.",
      "No physical robot, network actuation or external robot credentials."
    ],
    "postconditions": [
      "All reported checks must be true and all output numbers finite.",
      "Success covers the declared goal and frozen cases, not arbitrary tasks or physical hardware."
    ],
    "failure_codes": [
      "invalid_input_or_environment",
      "execution_failed",
      "task_failed"
    ],
    "composition": {
      "depends_on": [],
      "automatic_frame_conversion": false,
      "automatic_hardware_execution": false
    },
    "origin_reference_ids": [
      "mujoco-menagerie-artifact-unitree-go2-scene-xml"
    ],
    "origin_relationship": "prepared_from_the_same_pinned_model; inspect the declared controller and goal; no physical compatibility is inferred"
  },
  "source_commit": "62ab00f2bc44f6f20c1c9b7a13f3fb1dd41a4e35",
  "record_version": "1.0.0",
  "evidence": {
    "level": "task_complete",
    "verified_by": "Hub finite-case Lambda execution harness",
    "date": "2026-10-20",
    "environment": {
      "scope": "simulation",
      "physical_robot": false,
      "platforms": [
        "linux"
      ]
    },
    "commands": [
      "python tools/verify_runtime_expansion.py --backend menagerie --source-cache SOURCE_CACHE --output OUTPUT"
    ],
    "result": "All 3 frozen cases completed against this exact adapter and source.",
    "artifacts": [
      "https://raw.githubusercontent.com/Superfast-Robotics/robot-skill-hub/ede75c00118e9808e5099da43c26f4619cc3bc37/evidence/runtime/diverse-sim-v1/mujoco-unitree-go2-stand-control.json"
    ],
    "runtime_verification": "task_complete",
    "contributor_reported": null,
    "hub_verification": {
      "runtime": "task_complete",
      "scope": "simulation",
      "adapter_sha256": "6363f37aae7bffabee77bcd279130f0ab55a8fa90320e5284fa3070fbb54f6b7",
      "source_commit": "62ab00f2bc44f6f20c1c9b7a13f3fb1dd41a4e35",
      "record_version": "1.0.0",
      "case_count": 3,
      "retained_failed_cases": 0
    }
  },
  "record_url": "https://hub.superfastrobotics.com/skills/mujoco-unitree-go2-stand-control/skill.json",
  "inspect_url": "https://api.superfastrobotics.com/v1/skills/mujoco-unitree-go2-stand-control?hub_commit=ede75c00118e9808e5099da43c26f4619cc3bc37&record_version=1.0.0&include=experience",
  "execution_performed": false
}