{
  "benchmark": "KrumpRobot Closed-Loop Floating-Base MuJoCo Contact-Dynamics Verification",
  "audit_gate": "G_MuJoCo_ClosedLoop",
  "status": "VERIFIED (PASS)",
  "timestamp_utc": "2026-11-12T21:18:00Z",
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    "foot_ground_friction_mu": 0.6,
    "hardware_torque_limits_nm": {
      "hip_roll_and_knee": 139.0,
      "hip_pitch_yaw_and_waist_yaw": 88.0,
      "ankle_and_waist_roll_pitch": 50.0,
      "shoulder_elbow_wrist_roll": 25.0,
      "wrist_pitch_yaw": 5.0
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    "host_platform": "Darwin arm64"
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}
