# W1 Wriggler — verification report

12/12 gates green. Every number below is recomputed by `wormbot/verify.py`.

### PASS — `gait_self_collision`

- **worst_overlap_mm**: 0.0
- **at**: None
- **hint**: shorten the shell, lengthen the pitch or reduce the gait amplitude - do not just clip the steering range

### PASS — `servo_torque`

- **worst_Nm**: 0.0569
- **working_Nm**: 0.0756
- **stall_Nm**: 0.216
- **margin_x_working**: 1.33
- **margin_x_stall**: 3.8
- **per_joint_mNm**: [38.8, 47.2, 56.9, 45.8, 22.7, 0.6]

### PASS — `locomotion_progress`

- **speed_mm_s**: 159.0
- **required_mm_s**: 40.0
- **body_lengths_per_s**: 0.386
- **forward_mm**: 1272.3
- **net_rotation_deg**: 8.2

### PASS — `drive_mechanism_falsified`

- **wheeled_mm**: 1272.3
- **isotropic_mm**: 138.3
- **belly_mm**: 134.5
- **ratio**: 9.2
- **required_ratio**: 4.0
- **friction_anisotropy**: 9.17
- **note**: travel ratio should track the friction ratio; if it does not, something other than the wheels is doing the work

### PASS — `steering_authority`

- **turn_rate_deg_s**: 18.9
- **required_deg_s**: 8.0
- **at_steer_deg**: 7.0
- **travel_mm**: 872.7

### PASS — `static_stability`

- **cg_height_mm**: 31.1
- **track_half_mm**: 24.0
- **tip_threshold_g**: 0.77
- **worst_gait_lateral_g**: 0.179
- **margin_x**: 4.3

### PASS — `printability`

- **parts**: 4
- **pieces**: 23
- **bed_mm**: [220, 220, 250]
- **wall_mm**: 2.0
- **stacked_print_height_mm**: 334.0
- **problems**: []

### PASS — `budget`

- **total_usd**: 86.12
- **limit_usd**: 200.0
- **headroom_usd**: 113.88
- **confidence**: {'firm': 31.5, 'est': 54.62}
- **note**: single-quantity retail estimates, before shipping and tax

### PASS — `torque_cut_consistency`

- **disagreement_pct**: 3.1
- **allowed_pct**: 8.0
- **disagreement_mNm**: 1.762

### PASS — `timestep_convergence`

- **coarse_mm**: 933.0
- **fine_mm**: 928.7
- **change_pct**: 0.47
- **allowed_pct**: 3.0

### PASS — `obstacle_avoidance`

- **penetrations_off**: 896
- **penetrations_on**: 287
- **reduction_x**: 3.12
- **fields_cleared**: 4/10
- **note**: a large reduction, NOT a guarantee - the body is longer than its turn radius and dense clutter defeats it

### PASS — `come_when_called`

- **arrivals**: 18/18
- **median_seconds**: 13.4
- **sensor**: IR beacon bearing (2x TSSP58038)
- **rejected_alternative**: BLE-RSSI run-and-tumble, measured 2/18 arrivals