{
  "schema_version": 1,
  "scope": "simulation-only",
  "protocol_sha256": "b537ea78e004a0258ffca891dfd10cff8a283249f712f1503d7afd7caa591f05",
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    "unchanged": true,
    "sha256": "da3768113aa3aa7dde139bb963880c36958f8075d4369967e090cd8edc2965ff",
    "text": "Environment gate unchanged: loaded bilateral/table-free >=55mm lift retained100ms; released jaws; TCP>=100mm above object; table support, target tolerance, linear/angular settling and250ms default dwell."
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  "controls": {
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      "episodes": 6,
      "unexpected_successes": 0,
      "engine_warning_episodes": 0,
      "checks": [
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          "control": "idle",
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        {
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        {
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        {
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          "max_object_displacement_m": 6.094524282218994e-12
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        {
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        {
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          "max_object_displacement_m": 6.003297679664053e-12
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      "episodes": 6,
      "unexpected_successes": 0,
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      "checks": [
        {
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        {
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        {
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        {
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          "success": false,
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        {
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        {
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  "timing": {
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      "episode_wall_seconds": 33.95611328771338,
      "simulated_seconds": 417.09399999995134,
      "simulated_seconds_per_wall_second": 12.283325728886407,
      "episode_real_time_factor_p50": 12.961395038453109,
      "control_latency_p50_seconds_median": 0.0014042920083738863,
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  },
  "timing_scope": "Single-world instrumented CPU episode: compilation, reset/settling, controller/IK, native stepping, observations and control-cadence diagnostics; excludes interpreter startup, imports, source copying, JSON I/O, installation, rendering and web UI. No GPU measurement or real-robot transfer claim.",
  "metric_sampling": "Native joint/force/contact diagnostic maxima sampled after each20ms control step; env max pad force tracks1ms substeps. Sampled maxima are not continuous physical force peaks.",
  "uncertainty_note": "Wilson 95% binomial reference intervals for a small fixed heterogeneous engineering suite; this is not an iid population sample or a real-world reliability interval.",
  "rejection_probe_count": 7,
  "limits": [
    "Rigid axis-aligned boxes at reset, upright tool goal; no obstacle/selfcollision, cup handle, perception, deformable, orientation-generalization or physical-transfer qualification.",
    "Equal-priority geom max mixing: jaw mu=max(1,object_friction), table mu=max(.8,object_friction). Raw friction below floors is not low-friction grasp coverage.",
    "One execution per controller per frozen heldout case; no repeated controlled timing experiment or GPU measurement."
  ],
  "measurement_harness_hashes": {
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    "final": "b45bce3072d6a3c0c5b67307b31c184907cd0c8f08f910c004fea79a4cb44412"
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  "controller_extensions": {
    "joint_target_rate_limit_rad_s": 3.0,
    "jaw_width_rate_limit_m_s": 0.16,
    "scope": "Round2 target trajectory ramps before gravity feedforward; actual joint/jaw velocities are measured, not clamped."
  }
}