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          0.23219836652571718,
          0.2453311643413915,
          0.38788217883116,
          0.002930959604029386,
          0.38129433115320505,
          0.3066284038437192
        ],
        "max_abs_actuator_force": [
          0.1935536124851467,
          2.24423923015064,
          1.324135751585004,
          0.0057543937324638335,
          0.14578736282457072,
          0.04080363764082051,
          0.8629639891347676,
          0.8650011859293896
        ],
        "max_abs_native_ctrl": [
          0.5917404201826207,
          1.7261939674879023,
          2.053025357363895,
          0.00012990816076829243,
          0.547758799132109,
          0.5917657019869474,
          0.04,
          0.04
        ],
        "max_abs_commanded_joint_target_rad": [
          0.591736147258423,
          1.7244621452636246,
          2.055245431266728,
          0.0001304280995842848,
          0.5470790395460666,
          0.5917657020413762
        ],
        "commanded_gripper_width_min_max_m": [
          0.03339446083706762,
          0.08
        ],
        "actual_gripper_width_min_max_m": [
          0.03910201836962534,
          0.08000002096769204
        ],
        "joint_position_min_rad": [
          -0.5979062294043445,
          -1.7243133369323054,
          0.8884991079913905,
          -5.711266902849519e-05,
          -0.547235850658251,
          -0.5880025239477291
        ],
        "joint_position_max_rad": [
          0.5880004305699946,
          -0.8808633269364344,
          2.0547381326813667,
          5.5768368322265596e-05,
          0.19607012340768584,
          0.5967085585208851
        ],
        "actuator_saturation_samples": [
          0,
          0,
          0,
          0,
          0,
          0,
          0,
          0
        ],
        "min_joint_limit_margin_rad": 0.4756866630676948,
        "max_contact_count_sampled": 12,
        "max_contact_penetration_m_sampled": 0.000493845378751314,
        "retained_lift_control_samples": 298,
        "max_object_displacement_m": 0.3868296292326361,
        "max_object_linear_speed_m_s": 0.08498599667349105,
        "max_object_angular_speed_rad_s": 0.08000870071349075,
        "jaw_contact_sliding_mu": [
          1.2
        ],
        "table_contact_sliding_mu": [
          1.2
        ],
        "retained_object_minus_tcp_range_world_m": [
          0.0004882955818168999,
          0.0004879728904343822,
          0.002986471410569902
        ],
        "actuator_force_caps": [
          5.0,
          5.0,
          5.0,
          5.0,
          5.0,
          5.0,
          2.0,
          2.0
        ],
        "actuator_units": [
          "N*m",
          "N*m",
          "N*m",
          "N*m",
          "N*m",
          "N*m",
          "N",
          "N"
        ]
      },
      "control_latency_p50_seconds": 0.001542770944070071,
      "control_latency_p95_seconds": 0.0019573500147089364,
      "model": {
        "nq": 15,
        "nv": 14,
        "nu": 8,
        "nmocap": 0,
        "neq": 0
      },
      "warning_counts": {},
      "episode_wall_seconds": 1.3358388330088928,
      "simulated_seconds_per_wall_second": 12.327834461065944
    }
  ],
  "rejection_checks": [
    {
      "id": "reject-radial",
      "rejected": true,
      "exception": "ValueError",
      "message": "Placement lies outside the raised-tool radial reach envelope (0.56 m)",
      "passed": true
    },
    {
      "id": "reject-small-object",
      "rejected": true,
      "exception": "ValueError",
      "message": "Object full dimensions must lie in [0.03, 0.05] m",
      "passed": true
    },
    {
      "id": "reject-heavy-object",
      "rejected": true,
      "exception": "ValueError",
      "message": "object_mass must lie in [0.02, 0.08]",
      "passed": true
    },
    {
      "id": "reject-zero-jaw-force",
      "rejected": true,
      "exception": "ValueError",
      "message": "jaw_force_limit must be finite and positive",
      "passed": true
    },
    {
      "id": "unsupported-orientation",
      "rejected": true,
      "exception": "TypeError",
      "message": "ArmConfig.__init__() got an unexpected keyword argument 'object_quaternion'",
      "passed": true
    },
    {
      "id": "unsupported-obstacles",
      "rejected": true,
      "exception": "TypeError",
      "message": "ArmConfig.__init__() got an unexpected keyword argument 'obstacles'",
      "passed": true
    },
    {
      "id": "unsupported-deformable",
      "rejected": true,
      "exception": "TypeError",
      "message": "ArmConfig.__init__() got an unexpected keyword argument 'deformable'",
      "passed": true
    }
  ],
  "summary": {
    "successes": 16,
    "cases": 20,
    "groups": {
      "actuator_stress": {
        "successes": 2,
        "cases": 6,
        "failure_categories": {
          "failed_retained_lift": 2,
          "failed_release": 1,
          "success": 2,
          "failed_grasp": 1
        }
      },
      "nominal": {
        "successes": 14,
        "cases": 14,
        "failure_categories": {
          "success": 14
        }
      }
    },
    "reasons": {
      "success": 16,
      "horizon": 4
    },
    "episode_wall_seconds": 26.89024904090911,
    "simulated_seconds": 295.8019999999636
  },
  "harness_sha256": "fb45a71039f3203132b04cd007ba1af553e587aab8918eaaf383a366c0e65075",
  "harness_provenance": "Exact contemporaneous measurement harness archived before reporting extensions."
}