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          0.015
        ],
        "object_mass": 0.06,
        "object_friction": 0.8,
        "jaw_force_limit": 15.0,
        "joint_torque_limit": 40.0,
        "scene_jitter": 0.0
      }
    },
    {
      "id": "held-17",
      "group": "nominal",
      "seed": 10018,
      "config": {
        "object_position": [
          0.373122,
          -0.172726,
          0.3125
        ],
        "target_position": [
          0.485297,
          -0.040365,
          0.3125
        ],
        "object_half_size": [
          0.02,
          0.015,
          0.0225
        ],
        "object_mass": 0.03,
        "object_friction": 0.7,
        "jaw_force_limit": 15.0,
        "joint_torque_limit": 40.0,
        "scene_jitter": 0.0
      }
    },
    {
      "id": "held-18",
      "group": "nominal",
      "seed": 10019,
      "config": {
        "object_position": [
          0.306634,
          -0.075046,
          0.3075
        ],
        "target_position": [
          0.448238,
          -0.155934,
          0.3075
        ],
        "object_half_size": [
          0.0225,
          0.02,
          0.0175
        ],
        "object_mass": 0.08,
        "object_friction": 0.4,
        "jaw_force_limit": 15.0,
        "joint_torque_limit": 40.0,
        "scene_jitter": 0.0
      }
    },
    {
      "id": "held-19",
      "group": "nominal",
      "seed": 10020,
      "config": {
        "object_position": [
          0.405453,
          0.169566,
          0.315
        ],
        "target_position": [
          0.396749,
          -0.1558,
          0.315
        ],
        "object_half_size": [
          0.025,
          0.025,
          0.025
        ],
        "object_mass": 0.04,
        "object_friction": 1.5,
        "jaw_force_limit": 15.0,
        "joint_torque_limit": 40.0,
        "scene_jitter": 0.0
      }
    },
    {
      "id": "held-20",
      "group": "nominal",
      "seed": 10021,
      "config": {
        "object_position": [
          0.260904,
          0.165401,
          0.31
        ],
        "target_position": [
          0.530761,
          0.106122,
          0.31
        ],
        "object_half_size": [
          0.015,
          0.0175,
          0.02
        ],
        "object_mass": 0.02,
        "object_friction": 1.3,
        "jaw_force_limit": 15.0,
        "joint_torque_limit": 40.0,
        "scene_jitter": 0.0
      }
    },
    {
      "id": "held-21",
      "group": "nominal",
      "seed": 10022,
      "config": {
        "object_position": [
          0.406923,
          -0.145413,
          0.305
        ],
        "target_position": [
          0.267138,
          0.162728,
          0.305
        ],
        "object_half_size": [
          0.0175,
          0.0225,
          0.015
        ],
        "object_mass": 0.06,
        "object_friction": 1.0,
        "jaw_force_limit": 15.0,
        "joint_torque_limit": 40.0,
        "scene_jitter": 0.0
      }
    },
    {
      "id": "held-22",
      "group": "nominal",
      "seed": 10023,
      "config": {
        "object_position": [
          0.454271,
          -0.08574,
          0.3125
        ],
        "target_position": [
          0.261943,
          0.047148,
          0.3125
        ],
        "object_half_size": [
          0.02,
          0.015,
          0.0225
        ],
        "object_mass": 0.03,
        "object_friction": 0.8,
        "jaw_force_limit": 15.0,
        "joint_torque_limit": 40.0,
        "scene_jitter": 0.0
      }
    },
    {
      "id": "held-23",
      "group": "nominal",
      "seed": 10024,
      "config": {
        "object_position": [
          0.49101,
          0.021776,
          0.3075
        ],
        "target_position": [
          0.390214,
          0.008373,
          0.3075
        ],
        "object_half_size": [
          0.0225,
          0.02,
          0.0175
        ],
        "object_mass": 0.08,
        "object_friction": 0.7,
        "jaw_force_limit": 15.0,
        "joint_torque_limit": 40.0,
        "scene_jitter": 0.0
      }
    },
    {
      "id": "held-24",
      "group": "actuator_stress",
      "seed": 10025,
      "config": {
        "object_position": [
          0.427378,
          -0.132477,
          0.315
        ],
        "target_position": [
          0.505867,
          0.052408,
          0.315
        ],
        "object_half_size": [
          0.025,
          0.025,
          0.025
        ],
        "object_mass": 0.04,
        "object_friction": 0.4,
        "jaw_force_limit": 0.12,
        "joint_torque_limit": 0.75,
        "scene_jitter": 0.0
      }
    },
    {
      "id": "held-25",
      "group": "actuator_stress",
      "seed": 10026,
      "config": {
        "object_position": [
          0.532208,
          0.078891,
          0.31
        ],
        "target_position": [
          0.314537,
          -0.125429,
          0.31
        ],
        "object_half_size": [
          0.015,
          0.0175,
          0.02
        ],
        "object_mass": 0.02,
        "object_friction": 1.5,
        "jaw_force_limit": 0.25,
        "joint_torque_limit": 2.0,
        "scene_jitter": 0.0
      }
    },
    {
      "id": "held-26",
      "group": "actuator_stress",
      "seed": 10027,
      "config": {
        "object_position": [
          0.536178,
          -0.022799,
          0.305
        ],
        "target_position": [
          0.355684,
          0.010497,
          0.305
        ],
        "object_half_size": [
          0.0175,
          0.0225,
          0.015
        ],
        "object_mass": 0.06,
        "object_friction": 1.3,
        "jaw_force_limit": 0.5,
        "joint_torque_limit": 5.0,
        "scene_jitter": 0.0
      }
    },
    {
      "id": "held-27",
      "group": "actuator_stress",
      "seed": 10028,
      "config": {
        "object_position": [
          0.271258,
          -0.040269,
          0.3125
        ],
        "target_position": [
          0.289147,
          0.08975,
          0.3125
        ],
        "object_half_size": [
          0.02,
          0.015,
          0.0225
        ],
        "object_mass": 0.03,
        "object_friction": 1.0,
        "jaw_force_limit": 1.0,
        "joint_torque_limit": 10.0,
        "scene_jitter": 0.0
      }
    },
    {
      "id": "held-28",
      "group": "actuator_stress",
      "seed": 10029,
      "config": {
        "object_position": [
          0.543153,
          0.109392,
          0.3075
        ],
        "target_position": [
          0.4801,
          -0.129262,
          0.3075
        ],
        "object_half_size": [
          0.0225,
          0.02,
          0.0175
        ],
        "object_mass": 0.08,
        "object_friction": 0.8,
        "jaw_force_limit": 0.12,
        "joint_torque_limit": 0.75,
        "scene_jitter": 0.0
      }
    },
    {
      "id": "held-29",
      "group": "actuator_stress",
      "seed": 10030,
      "config": {
        "object_position": [
          0.302482,
          0.194105,
          0.315
        ],
        "target_position": [
          0.414219,
          -0.106755,
          0.315
        ],
        "object_half_size": [
          0.025,
          0.025,
          0.025
        ],
        "object_mass": 0.04,
        "object_friction": 0.7,
        "jaw_force_limit": 0.25,
        "joint_torque_limit": 2.0,
        "scene_jitter": 0.0
      }
    },
    {
      "id": "held-30",
      "group": "actuator_stress",
      "seed": 10031,
      "config": {
        "object_position": [
          0.471222,
          0.112264,
          0.31
        ],
        "target_position": [
          0.345643,
          0.094276,
          0.31
        ],
        "object_half_size": [
          0.015,
          0.0175,
          0.02
        ],
        "object_mass": 0.02,
        "object_friction": 0.4,
        "jaw_force_limit": 0.5,
        "joint_torque_limit": 5.0,
        "scene_jitter": 0.0
      }
    },
    {
      "id": "held-31",
      "group": "actuator_stress",
      "seed": 10032,
      "config": {
        "object_position": [
          0.416429,
          -0.043476,
          0.305
        ],
        "target_position": [
          0.349206,
          0.117167,
          0.305
        ],
        "object_half_size": [
          0.0175,
          0.0225,
          0.015
        ],
        "object_mass": 0.06,
        "object_friction": 1.5,
        "jaw_force_limit": 1.0,
        "joint_torque_limit": 10.0,
        "scene_jitter": 0.0
      }
    }
  ],
  "rejection_probes": [
    {
      "id": "reject-radial",
      "override": {
        "object_position": [
          0.6,
          0.2,
          0.31
        ]
      },
      "exception": "ValueError"
    },
    {
      "id": "reject-small-object",
      "override": {
        "object_half_size": [
          0.01,
          0.02,
          0.02
        ]
      },
      "exception": "ValueError"
    },
    {
      "id": "reject-heavy-object",
      "override": {
        "object_mass": 0.1
      },
      "exception": "ValueError"
    },
    {
      "id": "reject-zero-jaw-force",
      "override": {
        "jaw_force_limit": 0.0
      },
      "exception": "ValueError"
    },
    {
      "id": "unsupported-orientation",
      "override": {
        "object_quaternion": [
          1.0,
          0.0,
          0.0,
          0.0
        ]
      },
      "exception": "TypeError"
    },
    {
      "id": "unsupported-obstacles",
      "override": {
        "obstacles": []
      },
      "exception": "TypeError"
    },
    {
      "id": "unsupported-deformable",
      "override": {
        "deformable": true
      },
      "exception": "TypeError"
    }
  ],
  "counts": {
    "dev": 20,
    "heldout": 32,
    "rejection_probes": 7
  },
  "selection": "Fixed dev layouts and independently generated deterministic heldout layouts; no scene jitter. Different seed numbers alone are not coverage.",
  "tuning_rule": "Only development outcomes may guide two engineering rounds. Freeze final exact source before one baseline-versus-final heldout comparison. No heldout feedback tuning.",
  "success_rule": "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.",
  "physics_scope": "Rigid axis-aligned boxes at reset, upright tool goal; no obstacle/selfcollision, cup handle, perception, deformable, orientation-generalization or physical-transfer qualification.",
  "contact_law": "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.",
  "input": "Six joint position targets in radians plus one jaw opening width in metres; two physical jaw joints receive width/2. Actuator values are not an inferred demonstration.",
  "controls": "Idle holds initial six joint targets with jaws open; replay-open uses identical recorded joint-target tape while forcing jaws open. Both retain native bounded servos.",
  "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."
}