{ "schema": "dvidia.piper-reliability-publication-analysis/v0.5", "source_commit": "e76b2e41256604d5b4314e45ca45959cab9aa571", "analysis_script": { "path": "runs/piper-v05-publication/analyze.py", "bytes": 25257, "sha256": "1e3268e60f12b7cda6b432c1f4725f909361a724b0bf3eb526dde458c24ae7fc" }, "reservation": { "path": "benchmarks/piper-reliability-development-20261011/confirmation-reservation.json", "bytes": 381, "sha256": "f99ec602c7453797f70704c0903ff2006eb42a3ab27d7421f57231c4472254ed" }, "installed_runtime_check": { "path": "runs/piper-v05-installed-check.json", "bytes": 1997, "sha256": "52c9deee54df85fd96cb2b0e14963555701e594aa3ab8dcc12e17a35cfc93b7f" }, "preregistration_check": "Each complete decoded emitted protocol exactly equals its committed preregistration; original file hashes retained, differing whitespace is not byte identity.", "inspection": { "portable_stored_checks_passed": true, "independent_native_policy_audit_repeated": false, "benchmark_native_policy_audit": "Each frozen benchmark command calls its native policy/IK audit before returning success; all three execution receipts are checked for returncode0.", "scope": "Recorded consistency/decision reconstruction, not physical reintegration, authenticity or hardware qualification." }, "seeds": [ 832847, 227037, 862186 ], "independently_sampled_shared_layouts": 6, "attempted": 252, "valid_attempts": 252, "placements": { "recovery": { "attempted": 36, "valid": 36, "success": 15, "failed_or_invalid": 21, "success_fraction": 0.4166666666666667, "failure_stage_counts": { "acquisition_never_qualified": 18, "qualified_without_full_60mm_lift": 3 }, "abort_reason_counts": { "reassessment_timeout_unsettled_or_unknown": 3, "retry_budget_exhausted:object_not_following": 8, "retry_budget_exhausted:relative_slip": 1, "unchanged_grasp_not_following": 9 }, "completion_time_seconds": { "count": 15, "min": 15.451999999996875, "mean": 15.818666666663399, "p50": 15.888999999996633, "p95": 16.344999999996993, "p99": 16.344999999996993, "max": 16.344999999996993, "quantile_method": "nearest_rank" }, "second_probes_started": 0, "second_probes_qualified": 0, "probe_attempts_completed": 0, "probe_attempts_failed_or_invalid": 0, "resumed_completed": 9, "resumed_failed_or_invalid": 0, "unexpected_contact_native_ticks": 0, "attempts_with_prohibited_contact": 0, "attempts_with_warnings": 0, "max_pad_force_n": 1.2613643972768556, "max_sampled_tcp_speed_m_s": 0.20423671082846123 }, "reacquire": { "attempted": 36, "valid": 36, "success": 18, "failed_or_invalid": 18, "success_fraction": 0.5, "failure_stage_counts": { "acquisition_never_qualified": 18 }, "abort_reason_counts": { "retry_budget_exhausted:object_not_following": 8, "retry_budget_exhausted:relative_slip": 1, "unchanged_grasp_not_following": 9 }, "completion_time_seconds": { "count": 18, "min": 15.451999999996875, "mean": 16.015333333330243, "p50": 15.89599999999663, "p95": 17.049999999997855, "p99": 17.049999999997855, "max": 17.049999999997855, "quantile_method": "nearest_rank" }, "second_probes_started": 3, "second_probes_qualified": 3, "probe_attempts_completed": 3, "probe_attempts_failed_or_invalid": 0, "resumed_completed": 12, "resumed_failed_or_invalid": 0, "unexpected_contact_native_ticks": 0, "attempts_with_prohibited_contact": 0, "attempts_with_warnings": 0, "max_pad_force_n": 3.8720586588344057, "max_sampled_tcp_speed_m_s": 0.20434717154629728 }, "reacquire_grasp": { "attempted": 36, "valid": 36, "success": 23, "failed_or_invalid": 13, "success_fraction": 0.6388888888888888, "failure_stage_counts": { "acquisition_never_qualified": 12, "full_lift_but_retention_lost": 1 }, "abort_reason_counts": { "reassessment_timeout_unsettled_or_unknown": 1, "unchanged_grasp_not_following": 12 }, "completion_time_seconds": { "count": 23, "min": 16.44099999999711, "mean": 16.71078260869309, "p50": 16.639999999997354, "p95": 17.18599999999802, "p99": 17.269999999998124, "max": 17.269999999998124, "quantile_method": "nearest_rank" }, "second_probes_started": 0, "second_probes_qualified": 0, "probe_attempts_completed": 0, "probe_attempts_failed_or_invalid": 0, "resumed_completed": 5, "resumed_failed_or_invalid": 1, "unexpected_contact_native_ticks": 0, "attempts_with_prohibited_contact": 0, "attempts_with_warnings": 0, "max_pad_force_n": 1.448088391831627, "max_sampled_tcp_speed_m_s": 0.20530325821286205 } }, "controls": { "attempted": 144, "valid": 144, "success": 0, "per_variant": { "hold": { "attempted": 36, "valid": 36, "success": 0 }, "reacquire_grasp_open_jaw": { "attempted": 36, "valid": 36, "success": 0 }, "reacquire_open_jaw": { "attempted": 36, "valid": 36, "success": 0 }, "recovery_open_jaw": { "attempted": 36, "valid": 36, "success": 0 } } }, "paired_comparisons": [ { "reference": "recovery", "candidate": "reacquire", "attempted_pairs": 36, "common_successes": 15, "gained_successes": 3, "lost_successes": 0, "neither_succeeded": 18, "common_success_delta_seconds": { "count": 15, "min": 0.0, "mean": 0.0, "p50": 0.0, "p95": 0.0, "p99": 0.0, "max": 0.0, "quantile_method": "nearest_rank" }, "common_success_faster": 0, "common_success_unchanged": 15, "common_success_slower": 0, "gained_completion_times_seconds": { "count": 3, "min": 16.902999999997675, "mean": 16.99866666666446, "p50": 17.042999999997846, "p95": 17.049999999997855, "p99": 17.049999999997855, "max": 17.049999999997855, "quantile_method": "nearest_rank" }, "lost_reference_completion_times_seconds": { "count": 0, "min": null, "mean": null, "p50": null, "p95": null, "p99": null, "max": null, "quantile_method": "nearest_rank" }, "gained_without_losses": true, "time_scope": "Candidate minus reference simulated completion time, common successes only. Gains/losses remain separate.", "pairs": [ { "cohort_seed": 227037, "scene_id": "friction015-mass040-layout00", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "retry_budget_exhausted:object_not_following", "candidate_abort_reason": "retry_budget_exhausted:object_not_following", "common_abort_delta_s": 0.0 }, { "cohort_seed": 227037, "scene_id": "friction015-mass040-layout01", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "unchanged_grasp_not_following", "candidate_abort_reason": "unchanged_grasp_not_following", "common_abort_delta_s": 0.0 }, { "cohort_seed": 227037, "scene_id": "friction015-mass060-layout00", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "retry_budget_exhausted:object_not_following", "candidate_abort_reason": "retry_budget_exhausted:object_not_following", "common_abort_delta_s": 0.0 }, { "cohort_seed": 227037, "scene_id": "friction015-mass060-layout01", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "unchanged_grasp_not_following", "candidate_abort_reason": "unchanged_grasp_not_following", "common_abort_delta_s": 0.0 }, { "cohort_seed": 227037, "scene_id": "friction055-mass040-layout00", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 15.810999999996676, "candidate_completion_s": 15.810999999996676, "completion_delta_s": 0.0, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 227037, "scene_id": "friction055-mass040-layout01", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 16.123999999996723, "candidate_completion_s": 16.123999999996723, "completion_delta_s": 0.0, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 227037, "scene_id": "friction055-mass060-layout00", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "retry_budget_exhausted:object_not_following", "candidate_abort_reason": "retry_budget_exhausted:object_not_following", "common_abort_delta_s": 0.0 }, { "cohort_seed": 227037, "scene_id": "friction055-mass060-layout01", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "retry_budget_exhausted:object_not_following", "candidate_abort_reason": "retry_budget_exhausted:object_not_following", "common_abort_delta_s": 0.0 }, { "cohort_seed": 227037, "scene_id": "friction080-mass040-layout00", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 15.451999999996875, "candidate_completion_s": 15.451999999996875, "completion_delta_s": 0.0, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 227037, "scene_id": "friction080-mass040-layout01", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 15.752999999996709, "candidate_completion_s": 15.752999999996709, "completion_delta_s": 0.0, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 227037, "scene_id": "friction080-mass060-layout00", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 15.89599999999663, "candidate_completion_s": 15.89599999999663, "completion_delta_s": 0.0, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 227037, "scene_id": "friction080-mass060-layout01", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 16.344999999996993, "candidate_completion_s": 16.344999999996993, "completion_delta_s": 0.0, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 832847, "scene_id": "friction015-mass040-layout00", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "unchanged_grasp_not_following", "candidate_abort_reason": "unchanged_grasp_not_following", "common_abort_delta_s": 0.0 }, { "cohort_seed": 832847, "scene_id": "friction015-mass040-layout01", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "unchanged_grasp_not_following", "candidate_abort_reason": "unchanged_grasp_not_following", "common_abort_delta_s": 0.0 }, { "cohort_seed": 832847, "scene_id": "friction015-mass060-layout00", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "unchanged_grasp_not_following", "candidate_abort_reason": "unchanged_grasp_not_following", "common_abort_delta_s": 0.0 }, { "cohort_seed": 832847, "scene_id": "friction015-mass060-layout01", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "retry_budget_exhausted:object_not_following", "candidate_abort_reason": "retry_budget_exhausted:object_not_following", "common_abort_delta_s": 0.0 }, { "cohort_seed": 832847, "scene_id": "friction055-mass040-layout00", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 15.888999999996633, "candidate_completion_s": 15.888999999996633, "completion_delta_s": 0.0, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 832847, "scene_id": "friction055-mass040-layout01", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 15.905999999996624, "candidate_completion_s": 15.905999999996624, "completion_delta_s": 0.0, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 832847, "scene_id": "friction055-mass060-layout00", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "retry_budget_exhausted:relative_slip", "candidate_abort_reason": "retry_budget_exhausted:relative_slip", "common_abort_delta_s": 0.0 }, { "cohort_seed": 832847, "scene_id": "friction055-mass060-layout01", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "retry_budget_exhausted:object_not_following", "candidate_abort_reason": "retry_budget_exhausted:object_not_following", "common_abort_delta_s": 0.0 }, { "cohort_seed": 832847, "scene_id": "friction080-mass040-layout00", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 15.471999999996864, "candidate_completion_s": 15.471999999996864, "completion_delta_s": 0.0, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 832847, "scene_id": "friction080-mass040-layout01", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 15.512999999996842, "candidate_completion_s": 15.512999999996842, "completion_delta_s": 0.0, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 832847, "scene_id": "friction080-mass060-layout00", "reference_success": false, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": 16.902999999997675, "completion_delta_s": null, "reference_failure_stage": "qualified_without_full_60mm_lift", "candidate_failure_stage": "completed", "reference_abort_reason": "reassessment_timeout_unsettled_or_unknown", "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 832847, "scene_id": "friction080-mass060-layout01", "reference_success": false, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": 17.042999999997846, "completion_delta_s": null, "reference_failure_stage": "qualified_without_full_60mm_lift", "candidate_failure_stage": "completed", "reference_abort_reason": "reassessment_timeout_unsettled_or_unknown", "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 862186, "scene_id": "friction015-mass040-layout00", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "unchanged_grasp_not_following", "candidate_abort_reason": "unchanged_grasp_not_following", "common_abort_delta_s": 0.0 }, { "cohort_seed": 862186, "scene_id": "friction015-mass040-layout01", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "unchanged_grasp_not_following", "candidate_abort_reason": "unchanged_grasp_not_following", "common_abort_delta_s": 0.0 }, { "cohort_seed": 862186, "scene_id": "friction015-mass060-layout00", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "unchanged_grasp_not_following", "candidate_abort_reason": "unchanged_grasp_not_following", "common_abort_delta_s": 0.0 }, { "cohort_seed": 862186, "scene_id": "friction015-mass060-layout01", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "unchanged_grasp_not_following", "candidate_abort_reason": "unchanged_grasp_not_following", "common_abort_delta_s": 0.0 }, { "cohort_seed": 862186, "scene_id": "friction055-mass040-layout00", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 15.942999999996603, "candidate_completion_s": 15.942999999996603, "completion_delta_s": 0.0, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 862186, "scene_id": "friction055-mass040-layout01", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 16.026999999996605, "candidate_completion_s": 16.026999999996605, "completion_delta_s": 0.0, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 862186, "scene_id": "friction055-mass060-layout00", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "retry_budget_exhausted:object_not_following", "candidate_abort_reason": "retry_budget_exhausted:object_not_following", "common_abort_delta_s": 0.0 }, { "cohort_seed": 862186, "scene_id": "friction055-mass060-layout01", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "retry_budget_exhausted:object_not_following", "candidate_abort_reason": "retry_budget_exhausted:object_not_following", "common_abort_delta_s": 0.0 }, { "cohort_seed": 862186, "scene_id": "friction080-mass040-layout00", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 15.571999999996809, "candidate_completion_s": 15.571999999996809, "completion_delta_s": 0.0, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 862186, "scene_id": "friction080-mass040-layout01", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 15.631999999996776, "candidate_completion_s": 15.631999999996776, "completion_delta_s": 0.0, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 862186, "scene_id": "friction080-mass060-layout00", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 15.944999999996602, "candidate_completion_s": 15.944999999996602, "completion_delta_s": 0.0, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 862186, "scene_id": "friction080-mass060-layout01", "reference_success": false, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": 17.049999999997855, "completion_delta_s": null, "reference_failure_stage": "qualified_without_full_60mm_lift", "candidate_failure_stage": "completed", "reference_abort_reason": "reassessment_timeout_unsettled_or_unknown", "candidate_abort_reason": null, "common_abort_delta_s": null } ] }, { "reference": "recovery", "candidate": "reacquire_grasp", "attempted_pairs": 36, "common_successes": 15, "gained_successes": 8, "lost_successes": 0, "neither_succeeded": 13, "common_success_delta_seconds": { "count": 15, "min": 0.41700000000050963, "mean": 0.7716666666672289, "p50": 0.6570000000007017, "p95": 1.0500000000004182, "p99": 1.0500000000004182, "max": 1.0500000000004182, "quantile_method": "nearest_rank" }, "common_success_faster": 0, "common_success_unchanged": 0, "common_success_slower": 15, "gained_completion_times_seconds": { "count": 8, "min": 16.56199999999726, "mean": 16.936624999997715, "p50": 16.98999999999778, "p95": 17.269999999998124, "p99": 17.269999999998124, "max": 17.269999999998124, "quantile_method": "nearest_rank" }, "lost_reference_completion_times_seconds": { "count": 0, "min": null, "mean": null, "p50": null, "p95": null, "p99": null, "max": null, "quantile_method": "nearest_rank" }, "gained_without_losses": true, "time_scope": "Candidate minus reference simulated completion time, common successes only. Gains/losses remain separate.", "pairs": [ { "cohort_seed": 227037, "scene_id": "friction015-mass040-layout00", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "retry_budget_exhausted:object_not_following", "candidate_abort_reason": "unchanged_grasp_not_following", "common_abort_delta_s": -1.7399999999990357 }, { "cohort_seed": 227037, "scene_id": "friction015-mass040-layout01", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "unchanged_grasp_not_following", "candidate_abort_reason": "unchanged_grasp_not_following", "common_abort_delta_s": 1.1399999999993682 }, { "cohort_seed": 227037, "scene_id": "friction015-mass060-layout00", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "retry_budget_exhausted:object_not_following", "candidate_abort_reason": "unchanged_grasp_not_following", "common_abort_delta_s": -1.7199999999990467 }, { "cohort_seed": 227037, "scene_id": "friction015-mass060-layout01", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "unchanged_grasp_not_following", "candidate_abort_reason": "unchanged_grasp_not_following", "common_abort_delta_s": 1.1399999999993682 }, { "cohort_seed": 227037, "scene_id": "friction055-mass040-layout00", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 15.810999999996676, "candidate_completion_s": 16.44099999999711, "completion_delta_s": 0.6300000000004342, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 227037, "scene_id": "friction055-mass040-layout01", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 16.123999999996723, "candidate_completion_s": 16.71999999999745, "completion_delta_s": 0.5960000000007284, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 227037, "scene_id": "friction055-mass060-layout00", "reference_success": false, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": 16.98999999999778, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "completed", "reference_abort_reason": "retry_budget_exhausted:object_not_following", "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 227037, "scene_id": "friction055-mass060-layout01", "reference_success": false, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": 17.269999999998124, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "completed", "reference_abort_reason": "retry_budget_exhausted:object_not_following", "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 227037, "scene_id": "friction080-mass040-layout00", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 15.451999999996875, "candidate_completion_s": 16.44099999999711, "completion_delta_s": 0.9890000000002352, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 227037, "scene_id": "friction080-mass040-layout01", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 15.752999999996709, "candidate_completion_s": 16.720999999997453, "completion_delta_s": 0.9680000000007443, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 227037, "scene_id": "friction080-mass060-layout00", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 15.89599999999663, "candidate_completion_s": 16.48199999999716, "completion_delta_s": 0.5860000000005314, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 227037, "scene_id": "friction080-mass060-layout01", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 16.344999999996993, "candidate_completion_s": 16.761999999997503, "completion_delta_s": 0.41700000000050963, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 832847, "scene_id": "friction015-mass040-layout00", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "unchanged_grasp_not_following", "candidate_abort_reason": "unchanged_grasp_not_following", "common_abort_delta_s": 1.2399999999993128 }, { "cohort_seed": 832847, "scene_id": "friction015-mass040-layout01", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "unchanged_grasp_not_following", "candidate_abort_reason": "unchanged_grasp_not_following", "common_abort_delta_s": 1.2599999999993017 }, { "cohort_seed": 832847, "scene_id": "friction015-mass060-layout00", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "unchanged_grasp_not_following", "candidate_abort_reason": "unchanged_grasp_not_following", "common_abort_delta_s": 1.2399999999993128 }, { "cohort_seed": 832847, "scene_id": "friction015-mass060-layout01", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "retry_budget_exhausted:object_not_following", "candidate_abort_reason": "unchanged_grasp_not_following", "common_abort_delta_s": -1.639999999999091 }, { "cohort_seed": 832847, "scene_id": "friction055-mass040-layout00", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 15.888999999996633, "candidate_completion_s": 16.52099999999721, "completion_delta_s": 0.6320000000005752, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 832847, "scene_id": "friction055-mass040-layout01", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 15.905999999996624, "candidate_completion_s": 16.560999999997257, "completion_delta_s": 0.6550000000006335, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 832847, "scene_id": "friction055-mass060-layout00", "reference_success": false, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": 17.07099999999788, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "completed", "reference_abort_reason": "retry_budget_exhausted:relative_slip", "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 832847, "scene_id": "friction055-mass060-layout01", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "full_lift_but_retention_lost", "reference_abort_reason": "retry_budget_exhausted:object_not_following", "candidate_abort_reason": "reassessment_timeout_unsettled_or_unknown", "common_abort_delta_s": 1.4799999999991797 }, { "cohort_seed": 832847, "scene_id": "friction080-mass040-layout00", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 15.471999999996864, "candidate_completion_s": 16.52199999999721, "completion_delta_s": 1.0500000000003453, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 832847, "scene_id": "friction080-mass040-layout01", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 15.512999999996842, "candidate_completion_s": 16.56299999999726, "completion_delta_s": 1.0500000000004182, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 832847, "scene_id": "friction080-mass060-layout00", "reference_success": false, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": 16.56199999999726, "completion_delta_s": null, "reference_failure_stage": "qualified_without_full_60mm_lift", "candidate_failure_stage": "completed", "reference_abort_reason": "reassessment_timeout_unsettled_or_unknown", "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 832847, "scene_id": "friction080-mass060-layout01", "reference_success": false, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": 16.601999999997307, "completion_delta_s": null, "reference_failure_stage": "qualified_without_full_60mm_lift", "candidate_failure_stage": "completed", "reference_abort_reason": "reassessment_timeout_unsettled_or_unknown", "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 862186, "scene_id": "friction015-mass040-layout00", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "unchanged_grasp_not_following", "candidate_abort_reason": "unchanged_grasp_not_following", "common_abort_delta_s": 1.2199999999993238 }, { "cohort_seed": 862186, "scene_id": "friction015-mass040-layout01", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "unchanged_grasp_not_following", "candidate_abort_reason": "unchanged_grasp_not_following", "common_abort_delta_s": 1.159999999999357 }, { "cohort_seed": 862186, "scene_id": "friction015-mass060-layout00", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "unchanged_grasp_not_following", "candidate_abort_reason": "unchanged_grasp_not_following", "common_abort_delta_s": 1.2199999999993238 }, { "cohort_seed": 862186, "scene_id": "friction015-mass060-layout01", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "unchanged_grasp_not_following", "candidate_abort_reason": "unchanged_grasp_not_following", "common_abort_delta_s": 1.159999999999357 }, { "cohort_seed": 862186, "scene_id": "friction055-mass040-layout00", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 15.942999999996603, "candidate_completion_s": 16.599999999997305, "completion_delta_s": 0.6570000000007017, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 862186, "scene_id": "friction055-mass040-layout01", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 16.026999999996605, "candidate_completion_s": 16.639999999997354, "completion_delta_s": 0.6130000000007492, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 862186, "scene_id": "friction055-mass060-layout00", "reference_success": false, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": 17.149999999997977, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "completed", "reference_abort_reason": "retry_budget_exhausted:object_not_following", "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 862186, "scene_id": "friction055-mass060-layout01", "reference_success": false, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": 17.18599999999802, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "completed", "reference_abort_reason": "retry_budget_exhausted:object_not_following", "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 862186, "scene_id": "friction080-mass040-layout00", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 15.571999999996809, "candidate_completion_s": 16.599999999997305, "completion_delta_s": 1.028000000000496, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 862186, "scene_id": "friction080-mass040-layout01", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 15.631999999996776, "candidate_completion_s": 16.639999999997354, "completion_delta_s": 1.0080000000005782, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 862186, "scene_id": "friction080-mass060-layout00", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 15.944999999996602, "candidate_completion_s": 16.640999999997355, "completion_delta_s": 0.6960000000007529, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 862186, "scene_id": "friction080-mass060-layout01", "reference_success": false, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": 16.66199999999738, "completion_delta_s": null, "reference_failure_stage": "qualified_without_full_60mm_lift", "candidate_failure_stage": "completed", "reference_abort_reason": "reassessment_timeout_unsettled_or_unknown", "candidate_abort_reason": null, "common_abort_delta_s": null } ] }, { "reference": "reacquire", "candidate": "reacquire_grasp", "attempted_pairs": 36, "common_successes": 18, "gained_successes": 5, "lost_successes": 0, "neither_succeeded": 13, "common_success_delta_seconds": { "count": 18, "min": -0.44100000000053896, "mean": 0.5780555555559447, "p50": 0.6320000000005752, "p95": 1.0500000000004182, "p99": 1.0500000000004182, "max": 1.0500000000004182, "quantile_method": "nearest_rank" }, "common_success_faster": 3, "common_success_unchanged": 0, "common_success_slower": 15, "gained_completion_times_seconds": { "count": 5, "min": 16.98999999999778, "mean": 17.133399999997955, "p50": 17.149999999997977, "p95": 17.269999999998124, "p99": 17.269999999998124, "max": 17.269999999998124, "quantile_method": "nearest_rank" }, "lost_reference_completion_times_seconds": { "count": 0, "min": null, "mean": null, "p50": null, "p95": null, "p99": null, "max": null, "quantile_method": "nearest_rank" }, "gained_without_losses": true, "time_scope": "Candidate minus reference simulated completion time, common successes only. Gains/losses remain separate.", "pairs": [ { "cohort_seed": 227037, "scene_id": "friction015-mass040-layout00", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "retry_budget_exhausted:object_not_following", "candidate_abort_reason": "unchanged_grasp_not_following", "common_abort_delta_s": -1.7399999999990357 }, { "cohort_seed": 227037, "scene_id": "friction015-mass040-layout01", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "unchanged_grasp_not_following", "candidate_abort_reason": "unchanged_grasp_not_following", "common_abort_delta_s": 1.1399999999993682 }, { "cohort_seed": 227037, "scene_id": "friction015-mass060-layout00", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "retry_budget_exhausted:object_not_following", "candidate_abort_reason": "unchanged_grasp_not_following", "common_abort_delta_s": -1.7199999999990467 }, { "cohort_seed": 227037, "scene_id": "friction015-mass060-layout01", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "unchanged_grasp_not_following", "candidate_abort_reason": "unchanged_grasp_not_following", "common_abort_delta_s": 1.1399999999993682 }, { "cohort_seed": 227037, "scene_id": "friction055-mass040-layout00", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 15.810999999996676, "candidate_completion_s": 16.44099999999711, "completion_delta_s": 0.6300000000004342, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 227037, "scene_id": "friction055-mass040-layout01", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 16.123999999996723, "candidate_completion_s": 16.71999999999745, "completion_delta_s": 0.5960000000007284, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 227037, "scene_id": "friction055-mass060-layout00", "reference_success": false, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": 16.98999999999778, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "completed", "reference_abort_reason": "retry_budget_exhausted:object_not_following", "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 227037, "scene_id": "friction055-mass060-layout01", "reference_success": false, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": 17.269999999998124, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "completed", "reference_abort_reason": "retry_budget_exhausted:object_not_following", "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 227037, "scene_id": "friction080-mass040-layout00", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 15.451999999996875, "candidate_completion_s": 16.44099999999711, "completion_delta_s": 0.9890000000002352, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 227037, "scene_id": "friction080-mass040-layout01", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 15.752999999996709, "candidate_completion_s": 16.720999999997453, "completion_delta_s": 0.9680000000007443, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 227037, "scene_id": "friction080-mass060-layout00", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 15.89599999999663, "candidate_completion_s": 16.48199999999716, "completion_delta_s": 0.5860000000005314, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 227037, "scene_id": "friction080-mass060-layout01", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 16.344999999996993, "candidate_completion_s": 16.761999999997503, "completion_delta_s": 0.41700000000050963, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 832847, "scene_id": "friction015-mass040-layout00", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "unchanged_grasp_not_following", "candidate_abort_reason": "unchanged_grasp_not_following", "common_abort_delta_s": 1.2399999999993128 }, { "cohort_seed": 832847, "scene_id": "friction015-mass040-layout01", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "unchanged_grasp_not_following", "candidate_abort_reason": "unchanged_grasp_not_following", "common_abort_delta_s": 1.2599999999993017 }, { "cohort_seed": 832847, "scene_id": "friction015-mass060-layout00", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "unchanged_grasp_not_following", "candidate_abort_reason": "unchanged_grasp_not_following", "common_abort_delta_s": 1.2399999999993128 }, { "cohort_seed": 832847, "scene_id": "friction015-mass060-layout01", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "retry_budget_exhausted:object_not_following", "candidate_abort_reason": "unchanged_grasp_not_following", "common_abort_delta_s": -1.639999999999091 }, { "cohort_seed": 832847, "scene_id": "friction055-mass040-layout00", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 15.888999999996633, "candidate_completion_s": 16.52099999999721, "completion_delta_s": 0.6320000000005752, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 832847, "scene_id": "friction055-mass040-layout01", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 15.905999999996624, "candidate_completion_s": 16.560999999997257, "completion_delta_s": 0.6550000000006335, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 832847, "scene_id": "friction055-mass060-layout00", "reference_success": false, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": 17.07099999999788, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "completed", "reference_abort_reason": "retry_budget_exhausted:relative_slip", "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 832847, "scene_id": "friction055-mass060-layout01", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "full_lift_but_retention_lost", "reference_abort_reason": "retry_budget_exhausted:object_not_following", "candidate_abort_reason": "reassessment_timeout_unsettled_or_unknown", "common_abort_delta_s": 1.4799999999991797 }, { "cohort_seed": 832847, "scene_id": "friction080-mass040-layout00", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 15.471999999996864, "candidate_completion_s": 16.52199999999721, "completion_delta_s": 1.0500000000003453, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 832847, "scene_id": "friction080-mass040-layout01", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 15.512999999996842, "candidate_completion_s": 16.56299999999726, "completion_delta_s": 1.0500000000004182, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 832847, "scene_id": "friction080-mass060-layout00", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 16.902999999997675, "candidate_completion_s": 16.56199999999726, "completion_delta_s": -0.34100000000041675, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 832847, "scene_id": "friction080-mass060-layout01", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 17.042999999997846, "candidate_completion_s": 16.601999999997307, "completion_delta_s": -0.44100000000053896, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 862186, "scene_id": "friction015-mass040-layout00", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "unchanged_grasp_not_following", "candidate_abort_reason": "unchanged_grasp_not_following", "common_abort_delta_s": 1.2199999999993238 }, { "cohort_seed": 862186, "scene_id": "friction015-mass040-layout01", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "unchanged_grasp_not_following", "candidate_abort_reason": "unchanged_grasp_not_following", "common_abort_delta_s": 1.159999999999357 }, { "cohort_seed": 862186, "scene_id": "friction015-mass060-layout00", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "unchanged_grasp_not_following", "candidate_abort_reason": "unchanged_grasp_not_following", "common_abort_delta_s": 1.2199999999993238 }, { "cohort_seed": 862186, "scene_id": "friction015-mass060-layout01", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "unchanged_grasp_not_following", "candidate_abort_reason": "unchanged_grasp_not_following", "common_abort_delta_s": 1.159999999999357 }, { "cohort_seed": 862186, "scene_id": "friction055-mass040-layout00", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 15.942999999996603, "candidate_completion_s": 16.599999999997305, "completion_delta_s": 0.6570000000007017, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 862186, "scene_id": "friction055-mass040-layout01", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 16.026999999996605, "candidate_completion_s": 16.639999999997354, "completion_delta_s": 0.6130000000007492, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 862186, "scene_id": "friction055-mass060-layout00", "reference_success": false, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": 17.149999999997977, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "completed", "reference_abort_reason": "retry_budget_exhausted:object_not_following", "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 862186, "scene_id": "friction055-mass060-layout01", "reference_success": false, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": 17.18599999999802, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "completed", "reference_abort_reason": "retry_budget_exhausted:object_not_following", "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 862186, "scene_id": "friction080-mass040-layout00", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 15.571999999996809, "candidate_completion_s": 16.599999999997305, "completion_delta_s": 1.028000000000496, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 862186, "scene_id": "friction080-mass040-layout01", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 15.631999999996776, "candidate_completion_s": 16.639999999997354, "completion_delta_s": 1.0080000000005782, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 862186, "scene_id": "friction080-mass060-layout00", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 15.944999999996602, "candidate_completion_s": 16.640999999997355, "completion_delta_s": 0.6960000000007529, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 862186, "scene_id": "friction080-mass060-layout01", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 17.049999999997855, "candidate_completion_s": 16.66199999999738, "completion_delta_s": -0.3880000000004742, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null } ] } ], "strata": [ { "mode": "recovery", "friction": 0.8, "mass_kg": 0.04, "attempted": 6, "valid": 6, "success": 6, "failed_or_invalid": 0, "success_fraction": 1.0, "failure_stage_counts": {}, "abort_reason_counts": {}, "completion_time_seconds": { "count": 6, "min": 15.451999999996875, "mean": 15.56566666666348, "p50": 15.512999999996842, "p95": 15.752999999996709, "p99": 15.752999999996709, "max": 15.752999999996709, "quantile_method": "nearest_rank" }, "second_probes_started": 0, "second_probes_qualified": 0, "probe_attempts_completed": 0, "probe_attempts_failed_or_invalid": 0, "resumed_completed": 0, "resumed_failed_or_invalid": 0, "unexpected_contact_native_ticks": 0, "attempts_with_prohibited_contact": 0, "attempts_with_warnings": 0, "max_pad_force_n": 1.048458569810441, "max_sampled_tcp_speed_m_s": 0.19533025161248768 }, { "mode": "recovery", "friction": 0.8, "mass_kg": 0.06, "attempted": 6, "valid": 6, "success": 3, "failed_or_invalid": 3, "success_fraction": 0.5, "failure_stage_counts": { "qualified_without_full_60mm_lift": 3 }, "abort_reason_counts": { "reassessment_timeout_unsettled_or_unknown": 3 }, "completion_time_seconds": { "count": 3, "min": 15.89599999999663, "mean": 16.06199999999674, "p50": 15.944999999996602, "p95": 16.344999999996993, "p99": 16.344999999996993, "max": 16.344999999996993, "quantile_method": "nearest_rank" }, "second_probes_started": 0, "second_probes_qualified": 0, "probe_attempts_completed": 0, "probe_attempts_failed_or_invalid": 0, "resumed_completed": 3, "resumed_failed_or_invalid": 0, "unexpected_contact_native_ticks": 0, "attempts_with_prohibited_contact": 0, "attempts_with_warnings": 0, "max_pad_force_n": 1.2613643972768556, "max_sampled_tcp_speed_m_s": 0.20423671082846123 }, { "mode": "recovery", "friction": 0.55, "mass_kg": 0.04, "attempted": 6, "valid": 6, "success": 6, "failed_or_invalid": 0, "success_fraction": 1.0, "failure_stage_counts": {}, "abort_reason_counts": {}, "completion_time_seconds": { "count": 6, "min": 15.810999999996676, "mean": 15.949999999996644, "p50": 15.905999999996624, "p95": 16.123999999996723, "p99": 16.123999999996723, "max": 16.123999999996723, "quantile_method": "nearest_rank" }, "second_probes_started": 0, "second_probes_qualified": 0, "probe_attempts_completed": 0, "probe_attempts_failed_or_invalid": 0, "resumed_completed": 6, "resumed_failed_or_invalid": 0, "unexpected_contact_native_ticks": 0, "attempts_with_prohibited_contact": 0, "attempts_with_warnings": 0, "max_pad_force_n": 0.8180840562118772, "max_sampled_tcp_speed_m_s": 0.19907552321386926 }, { "mode": "recovery", "friction": 0.55, "mass_kg": 0.06, "attempted": 6, "valid": 6, "success": 0, "failed_or_invalid": 6, "success_fraction": 0.0, "failure_stage_counts": { "acquisition_never_qualified": 6 }, "abort_reason_counts": { "retry_budget_exhausted:object_not_following": 5, "retry_budget_exhausted:relative_slip": 1 }, "completion_time_seconds": { "count": 0, "min": null, "mean": null, "p50": null, "p95": null, "p99": null, "max": null, "quantile_method": "nearest_rank" }, "second_probes_started": 0, "second_probes_qualified": 0, "probe_attempts_completed": 0, "probe_attempts_failed_or_invalid": 0, "resumed_completed": 0, "resumed_failed_or_invalid": 0, "unexpected_contact_native_ticks": 0, "attempts_with_prohibited_contact": 0, "attempts_with_warnings": 0, "max_pad_force_n": 1.0933324749550866, "max_sampled_tcp_speed_m_s": 0.16342165872658276 }, { "mode": "recovery", "friction": 0.15, "mass_kg": 0.04, "attempted": 6, "valid": 6, "success": 0, "failed_or_invalid": 6, "success_fraction": 0.0, "failure_stage_counts": { "acquisition_never_qualified": 6 }, "abort_reason_counts": { "retry_budget_exhausted:object_not_following": 1, "unchanged_grasp_not_following": 5 }, "completion_time_seconds": { "count": 0, "min": null, "mean": null, "p50": null, "p95": null, "p99": null, "max": null, "quantile_method": "nearest_rank" }, "second_probes_started": 0, "second_probes_qualified": 0, "probe_attempts_completed": 0, "probe_attempts_failed_or_invalid": 0, "resumed_completed": 0, "resumed_failed_or_invalid": 0, "unexpected_contact_native_ticks": 0, "attempts_with_prohibited_contact": 0, "attempts_with_warnings": 0, "max_pad_force_n": 0.4145177253043538, "max_sampled_tcp_speed_m_s": 0.1634216007227268 }, { "mode": "recovery", "friction": 0.15, "mass_kg": 0.06, "attempted": 6, "valid": 6, "success": 0, "failed_or_invalid": 6, "success_fraction": 0.0, "failure_stage_counts": { "acquisition_never_qualified": 6 }, "abort_reason_counts": { "retry_budget_exhausted:object_not_following": 2, "unchanged_grasp_not_following": 4 }, "completion_time_seconds": { "count": 0, "min": null, "mean": null, "p50": null, "p95": null, "p99": null, "max": null, "quantile_method": "nearest_rank" }, "second_probes_started": 0, "second_probes_qualified": 0, "probe_attempts_completed": 0, "probe_attempts_failed_or_invalid": 0, "resumed_completed": 0, "resumed_failed_or_invalid": 0, "unexpected_contact_native_ticks": 0, "attempts_with_prohibited_contact": 0, "attempts_with_warnings": 0, "max_pad_force_n": 0.43648935467366085, "max_sampled_tcp_speed_m_s": 0.16342165873986964 }, { "mode": "reacquire", "friction": 0.8, "mass_kg": 0.04, "attempted": 6, "valid": 6, "success": 6, "failed_or_invalid": 0, "success_fraction": 1.0, "failure_stage_counts": {}, "abort_reason_counts": {}, "completion_time_seconds": { "count": 6, "min": 15.451999999996875, "mean": 15.56566666666348, "p50": 15.512999999996842, "p95": 15.752999999996709, "p99": 15.752999999996709, "max": 15.752999999996709, "quantile_method": "nearest_rank" }, "second_probes_started": 0, "second_probes_qualified": 0, "probe_attempts_completed": 0, "probe_attempts_failed_or_invalid": 0, "resumed_completed": 0, "resumed_failed_or_invalid": 0, "unexpected_contact_native_ticks": 0, "attempts_with_prohibited_contact": 0, "attempts_with_warnings": 0, "max_pad_force_n": 1.048458569810441, "max_sampled_tcp_speed_m_s": 0.19533025161248768 }, { "mode": "reacquire", "friction": 0.8, "mass_kg": 0.06, "attempted": 6, "valid": 6, "success": 6, "failed_or_invalid": 0, "success_fraction": 1.0, "failure_stage_counts": {}, "abort_reason_counts": {}, "completion_time_seconds": { "count": 6, "min": 15.89599999999663, "mean": 16.5303333333306, "p50": 16.344999999996993, "p95": 17.049999999997855, "p99": 17.049999999997855, "max": 17.049999999997855, "quantile_method": "nearest_rank" }, "second_probes_started": 3, "second_probes_qualified": 3, "probe_attempts_completed": 3, "probe_attempts_failed_or_invalid": 0, "resumed_completed": 6, "resumed_failed_or_invalid": 0, "unexpected_contact_native_ticks": 0, "attempts_with_prohibited_contact": 0, "attempts_with_warnings": 0, "max_pad_force_n": 3.8720586588344057, "max_sampled_tcp_speed_m_s": 0.20434717154629728 }, { "mode": "reacquire", "friction": 0.55, "mass_kg": 0.04, "attempted": 6, "valid": 6, "success": 6, "failed_or_invalid": 0, "success_fraction": 1.0, "failure_stage_counts": {}, "abort_reason_counts": {}, "completion_time_seconds": { "count": 6, "min": 15.810999999996676, "mean": 15.949999999996644, "p50": 15.905999999996624, "p95": 16.123999999996723, "p99": 16.123999999996723, "max": 16.123999999996723, "quantile_method": "nearest_rank" }, "second_probes_started": 0, "second_probes_qualified": 0, "probe_attempts_completed": 0, "probe_attempts_failed_or_invalid": 0, "resumed_completed": 6, "resumed_failed_or_invalid": 0, "unexpected_contact_native_ticks": 0, "attempts_with_prohibited_contact": 0, "attempts_with_warnings": 0, "max_pad_force_n": 0.8180840562118772, "max_sampled_tcp_speed_m_s": 0.19907552321386926 }, { "mode": "reacquire", "friction": 0.55, "mass_kg": 0.06, "attempted": 6, "valid": 6, "success": 0, "failed_or_invalid": 6, "success_fraction": 0.0, "failure_stage_counts": { "acquisition_never_qualified": 6 }, "abort_reason_counts": { "retry_budget_exhausted:object_not_following": 5, "retry_budget_exhausted:relative_slip": 1 }, "completion_time_seconds": { "count": 0, "min": null, "mean": null, "p50": null, "p95": null, "p99": null, "max": null, "quantile_method": "nearest_rank" }, "second_probes_started": 0, "second_probes_qualified": 0, "probe_attempts_completed": 0, "probe_attempts_failed_or_invalid": 0, "resumed_completed": 0, "resumed_failed_or_invalid": 0, "unexpected_contact_native_ticks": 0, "attempts_with_prohibited_contact": 0, "attempts_with_warnings": 0, "max_pad_force_n": 1.0933324749550866, "max_sampled_tcp_speed_m_s": 0.16342165872658276 }, { "mode": "reacquire", "friction": 0.15, "mass_kg": 0.04, "attempted": 6, "valid": 6, "success": 0, "failed_or_invalid": 6, "success_fraction": 0.0, "failure_stage_counts": { "acquisition_never_qualified": 6 }, "abort_reason_counts": { "retry_budget_exhausted:object_not_following": 1, "unchanged_grasp_not_following": 5 }, "completion_time_seconds": { "count": 0, "min": null, "mean": null, "p50": null, "p95": null, "p99": null, "max": null, "quantile_method": "nearest_rank" }, "second_probes_started": 0, "second_probes_qualified": 0, "probe_attempts_completed": 0, "probe_attempts_failed_or_invalid": 0, "resumed_completed": 0, "resumed_failed_or_invalid": 0, "unexpected_contact_native_ticks": 0, "attempts_with_prohibited_contact": 0, "attempts_with_warnings": 0, "max_pad_force_n": 0.4145177253043538, "max_sampled_tcp_speed_m_s": 0.1634216007227268 }, { "mode": "reacquire", "friction": 0.15, "mass_kg": 0.06, "attempted": 6, "valid": 6, "success": 0, "failed_or_invalid": 6, "success_fraction": 0.0, "failure_stage_counts": { "acquisition_never_qualified": 6 }, "abort_reason_counts": { "retry_budget_exhausted:object_not_following": 2, "unchanged_grasp_not_following": 4 }, "completion_time_seconds": { "count": 0, "min": null, "mean": null, "p50": null, "p95": null, "p99": null, "max": null, "quantile_method": "nearest_rank" }, "second_probes_started": 0, "second_probes_qualified": 0, "probe_attempts_completed": 0, "probe_attempts_failed_or_invalid": 0, "resumed_completed": 0, "resumed_failed_or_invalid": 0, "unexpected_contact_native_ticks": 0, "attempts_with_prohibited_contact": 0, "attempts_with_warnings": 0, "max_pad_force_n": 0.43648935467366085, "max_sampled_tcp_speed_m_s": 0.16342165873986964 }, { "mode": "reacquire_grasp", "friction": 0.8, "mass_kg": 0.04, "attempted": 6, "valid": 6, "success": 6, "failed_or_invalid": 0, "success_fraction": 1.0, "failure_stage_counts": {}, "abort_reason_counts": {}, "completion_time_seconds": { "count": 6, "min": 16.44099999999711, "mean": 16.58116666666395, "p50": 16.56299999999726, "p95": 16.720999999997453, "p99": 16.720999999997453, "max": 16.720999999997453, "quantile_method": "nearest_rank" }, "second_probes_started": 0, "second_probes_qualified": 0, "probe_attempts_completed": 0, "probe_attempts_failed_or_invalid": 0, "resumed_completed": 0, "resumed_failed_or_invalid": 0, "unexpected_contact_native_ticks": 0, "attempts_with_prohibited_contact": 0, "attempts_with_warnings": 0, "max_pad_force_n": 1.313923030494943, "max_sampled_tcp_speed_m_s": 0.20422809101320857 }, { "mode": "reacquire_grasp", "friction": 0.8, "mass_kg": 0.06, "attempted": 6, "valid": 6, "success": 6, "failed_or_invalid": 0, "success_fraction": 1.0, "failure_stage_counts": {}, "abort_reason_counts": {}, "completion_time_seconds": { "count": 6, "min": 16.48199999999716, "mean": 16.61849999999733, "p50": 16.601999999997307, "p95": 16.761999999997503, "p99": 16.761999999997503, "max": 16.761999999997503, "quantile_method": "nearest_rank" }, "second_probes_started": 0, "second_probes_qualified": 0, "probe_attempts_completed": 0, "probe_attempts_failed_or_invalid": 0, "resumed_completed": 0, "resumed_failed_or_invalid": 0, "unexpected_contact_native_ticks": 0, "attempts_with_prohibited_contact": 0, "attempts_with_warnings": 0, "max_pad_force_n": 1.448088391831627, "max_sampled_tcp_speed_m_s": 0.20410402860340227 }, { "mode": "reacquire_grasp", "friction": 0.55, "mass_kg": 0.04, "attempted": 6, "valid": 6, "success": 6, "failed_or_invalid": 0, "success_fraction": 1.0, "failure_stage_counts": {}, "abort_reason_counts": {}, "completion_time_seconds": { "count": 6, "min": 16.44099999999711, "mean": 16.580499999997283, "p50": 16.560999999997257, "p95": 16.71999999999745, "p99": 16.71999999999745, "max": 16.71999999999745, "quantile_method": "nearest_rank" }, "second_probes_started": 0, "second_probes_qualified": 0, "probe_attempts_completed": 0, "probe_attempts_failed_or_invalid": 0, "resumed_completed": 0, "resumed_failed_or_invalid": 0, "unexpected_contact_native_ticks": 0, "attempts_with_prohibited_contact": 0, "attempts_with_warnings": 0, "max_pad_force_n": 1.0481971631679248, "max_sampled_tcp_speed_m_s": 0.20426629638933566 }, { "mode": "reacquire_grasp", "friction": 0.55, "mass_kg": 0.06, "attempted": 6, "valid": 6, "success": 5, "failed_or_invalid": 1, "success_fraction": 0.8333333333333334, "failure_stage_counts": { "full_lift_but_retention_lost": 1 }, "abort_reason_counts": { "reassessment_timeout_unsettled_or_unknown": 1 }, "completion_time_seconds": { "count": 5, "min": 16.98999999999778, "mean": 17.133399999997955, "p50": 17.149999999997977, "p95": 17.269999999998124, "p99": 17.269999999998124, "max": 17.269999999998124, "quantile_method": "nearest_rank" }, "second_probes_started": 0, "second_probes_qualified": 0, "probe_attempts_completed": 0, "probe_attempts_failed_or_invalid": 0, "resumed_completed": 5, "resumed_failed_or_invalid": 1, "unexpected_contact_native_ticks": 0, "attempts_with_prohibited_contact": 0, "attempts_with_warnings": 0, "max_pad_force_n": 1.403877987486204, "max_sampled_tcp_speed_m_s": 0.20530325821286205 }, { "mode": "reacquire_grasp", "friction": 0.15, "mass_kg": 0.04, "attempted": 6, "valid": 6, "success": 0, "failed_or_invalid": 6, "success_fraction": 0.0, "failure_stage_counts": { "acquisition_never_qualified": 6 }, "abort_reason_counts": { "unchanged_grasp_not_following": 6 }, "completion_time_seconds": { "count": 0, "min": null, "mean": null, "p50": null, "p95": null, "p99": null, "max": null, "quantile_method": "nearest_rank" }, "second_probes_started": 0, "second_probes_qualified": 0, "probe_attempts_completed": 0, "probe_attempts_failed_or_invalid": 0, "resumed_completed": 0, "resumed_failed_or_invalid": 0, "unexpected_contact_native_ticks": 0, "attempts_with_prohibited_contact": 0, "attempts_with_warnings": 0, "max_pad_force_n": 0.5873240525637443, "max_sampled_tcp_speed_m_s": 0.176276266960353 }, { "mode": "reacquire_grasp", "friction": 0.15, "mass_kg": 0.06, "attempted": 6, "valid": 6, "success": 0, "failed_or_invalid": 6, "success_fraction": 0.0, "failure_stage_counts": { "acquisition_never_qualified": 6 }, "abort_reason_counts": { "unchanged_grasp_not_following": 6 }, "completion_time_seconds": { "count": 0, "min": null, "mean": null, "p50": null, "p95": null, "p99": null, "max": null, "quantile_method": "nearest_rank" }, "second_probes_started": 0, "second_probes_qualified": 0, "probe_attempts_completed": 0, "probe_attempts_failed_or_invalid": 0, "resumed_completed": 0, "resumed_failed_or_invalid": 0, "unexpected_contact_native_ticks": 0, "attempts_with_prohibited_contact": 0, "attempts_with_warnings": 0, "max_pad_force_n": 0.5867941535097797, "max_sampled_tcp_speed_m_s": 0.17627629521659544 } ], "cohorts": [ { "seed": 832847, "attempted": 84, "valid_attempts": 84, "placements": { "recovery": { "attempted": 12, "valid": 12, "success": 4, "failed_or_invalid": 8, "success_fraction": 0.3333333333333333, "failure_stage_counts": { "acquisition_never_qualified": 6, "qualified_without_full_60mm_lift": 2 }, "abort_reason_counts": { "reassessment_timeout_unsettled_or_unknown": 2, "retry_budget_exhausted:object_not_following": 2, "retry_budget_exhausted:relative_slip": 1, "unchanged_grasp_not_following": 3 }, "completion_time_seconds": { "count": 4, "min": 15.471999999996864, "mean": 15.69499999999674, "p50": 15.512999999996842, "p95": 15.905999999996624, "p99": 15.905999999996624, "max": 15.905999999996624, "quantile_method": "nearest_rank" }, "second_probes_started": 0, "second_probes_qualified": 0, "probe_attempts_completed": 0, "probe_attempts_failed_or_invalid": 0, "resumed_completed": 2, "resumed_failed_or_invalid": 0, "unexpected_contact_native_ticks": 0, "attempts_with_prohibited_contact": 0, "attempts_with_warnings": 0, "max_pad_force_n": 1.048458569810441, "max_sampled_tcp_speed_m_s": 0.19907552321386926 }, "reacquire": { "attempted": 12, "valid": 12, "success": 6, "failed_or_invalid": 6, "success_fraction": 0.5, "failure_stage_counts": { "acquisition_never_qualified": 6 }, "abort_reason_counts": { "retry_budget_exhausted:object_not_following": 2, "retry_budget_exhausted:relative_slip": 1, "unchanged_grasp_not_following": 3 }, "completion_time_seconds": { "count": 6, "min": 15.471999999996864, "mean": 16.120999999997082, "p50": 15.888999999996633, "p95": 17.042999999997846, "p99": 17.042999999997846, "max": 17.042999999997846, "quantile_method": "nearest_rank" }, "second_probes_started": 2, "second_probes_qualified": 2, "probe_attempts_completed": 2, "probe_attempts_failed_or_invalid": 0, "resumed_completed": 4, "resumed_failed_or_invalid": 0, "unexpected_contact_native_ticks": 0, "attempts_with_prohibited_contact": 0, "attempts_with_warnings": 0, "max_pad_force_n": 3.8720586588344057, "max_sampled_tcp_speed_m_s": 0.20434717154629728 }, "reacquire_grasp": { "attempted": 12, "valid": 12, "success": 7, "failed_or_invalid": 5, "success_fraction": 0.5833333333333334, "failure_stage_counts": { "acquisition_never_qualified": 4, "full_lift_but_retention_lost": 1 }, "abort_reason_counts": { "reassessment_timeout_unsettled_or_unknown": 1, "unchanged_grasp_not_following": 4 }, "completion_time_seconds": { "count": 7, "min": 16.52099999999721, "mean": 16.628857142854482, "p50": 16.56199999999726, "p95": 17.07099999999788, "p99": 17.07099999999788, "max": 17.07099999999788, "quantile_method": "nearest_rank" }, "second_probes_started": 0, "second_probes_qualified": 0, "probe_attempts_completed": 0, "probe_attempts_failed_or_invalid": 0, "resumed_completed": 1, "resumed_failed_or_invalid": 1, "unexpected_contact_native_ticks": 0, "attempts_with_prohibited_contact": 0, "attempts_with_warnings": 0, "max_pad_force_n": 1.37776054794205, "max_sampled_tcp_speed_m_s": 0.20189558276083586 } }, "controls": { "attempted": 48, "valid": 48, "success": 0 }, "paired_comparisons": [ { "reference": "recovery", "candidate": "reacquire", "attempted_pairs": 12, "common_successes": 4, "gained_successes": 2, "lost_successes": 0, "neither_succeeded": 6, "common_success_delta_seconds": { "count": 4, "min": 0.0, "mean": 0.0, "p50": 0.0, "p95": 0.0, "p99": 0.0, "max": 0.0, "quantile_method": "nearest_rank" }, "common_success_faster": 0, "common_success_unchanged": 4, "common_success_slower": 0, "gained_completion_times_seconds": { "count": 2, "min": 16.902999999997675, "mean": 16.97299999999776, "p50": 16.902999999997675, "p95": 17.042999999997846, "p99": 17.042999999997846, "max": 17.042999999997846, "quantile_method": "nearest_rank" }, "lost_reference_completion_times_seconds": { "count": 0, "min": null, "mean": null, "p50": null, "p95": null, "p99": null, "max": null, "quantile_method": "nearest_rank" }, "gained_without_losses": true, "time_scope": "Candidate minus reference simulated completion time, common successes only. Gains/losses remain separate.", "pairs": [ { "cohort_seed": 832847, "scene_id": "friction015-mass040-layout00", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "unchanged_grasp_not_following", "candidate_abort_reason": "unchanged_grasp_not_following", "common_abort_delta_s": 0.0 }, { "cohort_seed": 832847, "scene_id": "friction015-mass040-layout01", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "unchanged_grasp_not_following", "candidate_abort_reason": "unchanged_grasp_not_following", "common_abort_delta_s": 0.0 }, { "cohort_seed": 832847, "scene_id": "friction015-mass060-layout00", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "unchanged_grasp_not_following", "candidate_abort_reason": "unchanged_grasp_not_following", "common_abort_delta_s": 0.0 }, { "cohort_seed": 832847, "scene_id": "friction015-mass060-layout01", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "retry_budget_exhausted:object_not_following", "candidate_abort_reason": "retry_budget_exhausted:object_not_following", "common_abort_delta_s": 0.0 }, { "cohort_seed": 832847, "scene_id": "friction055-mass040-layout00", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 15.888999999996633, "candidate_completion_s": 15.888999999996633, "completion_delta_s": 0.0, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 832847, "scene_id": "friction055-mass040-layout01", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 15.905999999996624, "candidate_completion_s": 15.905999999996624, "completion_delta_s": 0.0, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 832847, "scene_id": "friction055-mass060-layout00", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "retry_budget_exhausted:relative_slip", "candidate_abort_reason": "retry_budget_exhausted:relative_slip", "common_abort_delta_s": 0.0 }, { "cohort_seed": 832847, "scene_id": "friction055-mass060-layout01", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "retry_budget_exhausted:object_not_following", "candidate_abort_reason": "retry_budget_exhausted:object_not_following", "common_abort_delta_s": 0.0 }, { "cohort_seed": 832847, "scene_id": "friction080-mass040-layout00", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 15.471999999996864, "candidate_completion_s": 15.471999999996864, "completion_delta_s": 0.0, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 832847, "scene_id": "friction080-mass040-layout01", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 15.512999999996842, "candidate_completion_s": 15.512999999996842, "completion_delta_s": 0.0, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 832847, "scene_id": "friction080-mass060-layout00", "reference_success": false, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": 16.902999999997675, "completion_delta_s": null, "reference_failure_stage": "qualified_without_full_60mm_lift", "candidate_failure_stage": "completed", "reference_abort_reason": "reassessment_timeout_unsettled_or_unknown", "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 832847, "scene_id": "friction080-mass060-layout01", "reference_success": false, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": 17.042999999997846, "completion_delta_s": null, "reference_failure_stage": "qualified_without_full_60mm_lift", "candidate_failure_stage": "completed", "reference_abort_reason": "reassessment_timeout_unsettled_or_unknown", "candidate_abort_reason": null, "common_abort_delta_s": null } ] }, { "reference": "recovery", "candidate": "reacquire_grasp", "attempted_pairs": 12, "common_successes": 4, "gained_successes": 3, "lost_successes": 0, "neither_succeeded": 5, "common_success_delta_seconds": { "count": 4, "min": 0.6320000000005752, "mean": 0.846750000000493, "p50": 0.6550000000006335, "p95": 1.0500000000004182, "p99": 1.0500000000004182, "max": 1.0500000000004182, "quantile_method": "nearest_rank" }, "common_success_faster": 0, "common_success_unchanged": 0, "common_success_slower": 4, "gained_completion_times_seconds": { "count": 3, "min": 16.56199999999726, "mean": 16.744999999997482, "p50": 16.601999999997307, "p95": 17.07099999999788, "p99": 17.07099999999788, "max": 17.07099999999788, "quantile_method": "nearest_rank" }, "lost_reference_completion_times_seconds": { "count": 0, "min": null, "mean": null, "p50": null, "p95": null, "p99": null, "max": null, "quantile_method": "nearest_rank" }, "gained_without_losses": true, "time_scope": "Candidate minus reference simulated completion time, common successes only. Gains/losses remain separate.", "pairs": [ { "cohort_seed": 832847, "scene_id": "friction015-mass040-layout00", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "unchanged_grasp_not_following", "candidate_abort_reason": "unchanged_grasp_not_following", "common_abort_delta_s": 1.2399999999993128 }, { "cohort_seed": 832847, "scene_id": "friction015-mass040-layout01", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "unchanged_grasp_not_following", "candidate_abort_reason": "unchanged_grasp_not_following", "common_abort_delta_s": 1.2599999999993017 }, { "cohort_seed": 832847, "scene_id": "friction015-mass060-layout00", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "unchanged_grasp_not_following", "candidate_abort_reason": "unchanged_grasp_not_following", "common_abort_delta_s": 1.2399999999993128 }, { "cohort_seed": 832847, "scene_id": "friction015-mass060-layout01", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "retry_budget_exhausted:object_not_following", "candidate_abort_reason": "unchanged_grasp_not_following", "common_abort_delta_s": -1.639999999999091 }, { "cohort_seed": 832847, "scene_id": "friction055-mass040-layout00", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 15.888999999996633, "candidate_completion_s": 16.52099999999721, "completion_delta_s": 0.6320000000005752, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 832847, "scene_id": "friction055-mass040-layout01", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 15.905999999996624, "candidate_completion_s": 16.560999999997257, "completion_delta_s": 0.6550000000006335, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 832847, "scene_id": "friction055-mass060-layout00", "reference_success": false, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": 17.07099999999788, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "completed", "reference_abort_reason": "retry_budget_exhausted:relative_slip", "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 832847, "scene_id": "friction055-mass060-layout01", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "full_lift_but_retention_lost", "reference_abort_reason": "retry_budget_exhausted:object_not_following", "candidate_abort_reason": "reassessment_timeout_unsettled_or_unknown", "common_abort_delta_s": 1.4799999999991797 }, { "cohort_seed": 832847, "scene_id": "friction080-mass040-layout00", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 15.471999999996864, "candidate_completion_s": 16.52199999999721, "completion_delta_s": 1.0500000000003453, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 832847, "scene_id": "friction080-mass040-layout01", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 15.512999999996842, "candidate_completion_s": 16.56299999999726, "completion_delta_s": 1.0500000000004182, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 832847, "scene_id": "friction080-mass060-layout00", "reference_success": false, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": 16.56199999999726, "completion_delta_s": null, "reference_failure_stage": "qualified_without_full_60mm_lift", "candidate_failure_stage": "completed", "reference_abort_reason": "reassessment_timeout_unsettled_or_unknown", "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 832847, "scene_id": "friction080-mass060-layout01", "reference_success": false, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": 16.601999999997307, "completion_delta_s": null, "reference_failure_stage": "qualified_without_full_60mm_lift", "candidate_failure_stage": "completed", "reference_abort_reason": "reassessment_timeout_unsettled_or_unknown", "candidate_abort_reason": null, "common_abort_delta_s": null } ] }, { "reference": "reacquire", "candidate": "reacquire_grasp", "attempted_pairs": 12, "common_successes": 6, "gained_successes": 1, "lost_successes": 0, "neither_succeeded": 5, "common_success_delta_seconds": { "count": 6, "min": -0.44100000000053896, "mean": 0.43416666666683607, "p50": 0.6320000000005752, "p95": 1.0500000000004182, "p99": 1.0500000000004182, "max": 1.0500000000004182, "quantile_method": "nearest_rank" }, "common_success_faster": 2, "common_success_unchanged": 0, "common_success_slower": 4, "gained_completion_times_seconds": { "count": 1, "min": 17.07099999999788, "mean": 17.07099999999788, "p50": 17.07099999999788, "p95": 17.07099999999788, "p99": 17.07099999999788, "max": 17.07099999999788, "quantile_method": "nearest_rank" }, "lost_reference_completion_times_seconds": { "count": 0, "min": null, "mean": null, "p50": null, "p95": null, "p99": null, "max": null, "quantile_method": "nearest_rank" }, "gained_without_losses": true, "time_scope": "Candidate minus reference simulated completion time, common successes only. Gains/losses remain separate.", "pairs": [ { "cohort_seed": 832847, "scene_id": "friction015-mass040-layout00", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "unchanged_grasp_not_following", "candidate_abort_reason": "unchanged_grasp_not_following", "common_abort_delta_s": 1.2399999999993128 }, { "cohort_seed": 832847, "scene_id": "friction015-mass040-layout01", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "unchanged_grasp_not_following", "candidate_abort_reason": "unchanged_grasp_not_following", "common_abort_delta_s": 1.2599999999993017 }, { "cohort_seed": 832847, "scene_id": "friction015-mass060-layout00", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "unchanged_grasp_not_following", "candidate_abort_reason": "unchanged_grasp_not_following", "common_abort_delta_s": 1.2399999999993128 }, { "cohort_seed": 832847, "scene_id": "friction015-mass060-layout01", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "retry_budget_exhausted:object_not_following", "candidate_abort_reason": "unchanged_grasp_not_following", "common_abort_delta_s": -1.639999999999091 }, { "cohort_seed": 832847, "scene_id": "friction055-mass040-layout00", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 15.888999999996633, "candidate_completion_s": 16.52099999999721, "completion_delta_s": 0.6320000000005752, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 832847, "scene_id": "friction055-mass040-layout01", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 15.905999999996624, "candidate_completion_s": 16.560999999997257, "completion_delta_s": 0.6550000000006335, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 832847, "scene_id": "friction055-mass060-layout00", "reference_success": false, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": 17.07099999999788, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "completed", "reference_abort_reason": "retry_budget_exhausted:relative_slip", "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 832847, "scene_id": "friction055-mass060-layout01", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "full_lift_but_retention_lost", "reference_abort_reason": "retry_budget_exhausted:object_not_following", "candidate_abort_reason": "reassessment_timeout_unsettled_or_unknown", "common_abort_delta_s": 1.4799999999991797 }, { "cohort_seed": 832847, "scene_id": "friction080-mass040-layout00", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 15.471999999996864, "candidate_completion_s": 16.52199999999721, "completion_delta_s": 1.0500000000003453, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 832847, "scene_id": "friction080-mass040-layout01", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 15.512999999996842, "candidate_completion_s": 16.56299999999726, "completion_delta_s": 1.0500000000004182, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 832847, "scene_id": "friction080-mass060-layout00", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 16.902999999997675, "candidate_completion_s": 16.56199999999726, "completion_delta_s": -0.34100000000041675, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 832847, "scene_id": "friction080-mass060-layout01", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 17.042999999997846, "candidate_completion_s": 16.601999999997307, "completion_delta_s": -0.44100000000053896, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null } ] } ], "report_quality_gates": { "complete_planned_denominator": true, "all_native_attempts_valid": true, "all_controls_fail": true, "native_integrity_clean": true, "gained_without_lost_completions": true, "selected_candidate": "reacquire_grasp", "reference_comparisons": [ { "candidate": "reacquire", "gained_successes": 2, "lost_successes": 0, "gained_without_lost_completions": true }, { "candidate": "reacquire_grasp", "gained_successes": 3, "lost_successes": 0, "gained_without_lost_completions": true } ], "scope": "Descriptive pilot gates; a valid negative result is retained. Native policy audit and prior-success regression are separate release checks, not inferred from these flags." }, "report_execution_metrics": [ { "variant": "recovery_placement", "attempted": 12, "control_windows": 12000, "p50_seconds": 0.00496883294545114, "p95_seconds": 0.014503458049148321, "p99_seconds": 0.027573375031352043, "max_seconds": 0.2934769589919597, "missed_20ms_windows": 248, "missed_20ms_fraction": 0.020666666666666667, "episode_wall_seconds": 102.29143137577921, "simulated_seconds": 240.0000000000175, "simulated_seconds_per_episode_wall_second": 2.3462375760326415, "scope": "Observed host computation including native integration/state collection; no sensor-to-actuator or hard-real-time guarantee." }, { "variant": "recovery_open_jaw", "attempted": 12, "control_windows": 12000, "p50_seconds": 0.003636915935203433, "p95_seconds": 0.009518499951809645, "p99_seconds": 0.017459125025197864, "max_seconds": 0.5070447090547532, "missed_20ms_windows": 98, "missed_20ms_fraction": 0.008166666666666666, "episode_wall_seconds": 60.06413595704362, "simulated_seconds": 240.0000000000175, "simulated_seconds_per_episode_wall_second": 3.995728835118174, "scope": "Observed host computation including native integration/state collection; no sensor-to-actuator or hard-real-time guarantee." }, { "variant": "reacquire_placement", "attempted": 12, "control_windows": 12000, "p50_seconds": 0.00467087491415441, "p95_seconds": 0.014796874951571226, "p99_seconds": 0.030948375118896365, "max_seconds": 3.0821377499960363, "missed_20ms_windows": 289, "missed_20ms_fraction": 0.024083333333333335, "episode_wall_seconds": 100.39431070815772, "simulated_seconds": 240.0000000000175, "simulated_seconds_per_episode_wall_second": 2.3905737118678765, "scope": "Observed host computation including native integration/state collection; no sensor-to-actuator or hard-real-time guarantee." }, { "variant": "reacquire_open_jaw", "attempted": 12, "control_windows": 12000, "p50_seconds": 0.0036362081300467253, "p95_seconds": 0.010911041870713234, "p99_seconds": 0.017727792030200362, "max_seconds": 0.11483187507838011, "missed_20ms_windows": 82, "missed_20ms_fraction": 0.006833333333333334, "episode_wall_seconds": 63.53713133279234, "simulated_seconds": 240.0000000000175, "simulated_seconds_per_episode_wall_second": 3.7773187892754354, "scope": "Observed host computation including native integration/state collection; no sensor-to-actuator or hard-real-time guarantee." }, { "variant": "reacquire_grasp_placement", "attempted": 12, "control_windows": 12000, "p50_seconds": 0.003906833007931709, "p95_seconds": 0.011071084067225456, "p99_seconds": 0.02466920902952552, "max_seconds": 0.603786583058536, "missed_20ms_windows": 164, "missed_20ms_fraction": 0.013666666666666667, "episode_wall_seconds": 69.8991812071763, "simulated_seconds": 240.0000000000175, "simulated_seconds_per_episode_wall_second": 3.4335166142887172, "scope": "Observed host computation including native integration/state collection; no sensor-to-actuator or hard-real-time guarantee." }, { "variant": "reacquire_grasp_open_jaw", "attempted": 12, "control_windows": 12000, "p50_seconds": 0.00315829087048769, "p95_seconds": 0.008826167089864612, "p99_seconds": 0.014663291862234473, "max_seconds": 0.1641546250320971, "missed_20ms_windows": 62, "missed_20ms_fraction": 0.005166666666666667, "episode_wall_seconds": 56.78598191519268, "simulated_seconds": 240.0000000000175, "simulated_seconds_per_episode_wall_second": 4.226395175458034, "scope": "Observed host computation including native integration/state collection; no sensor-to-actuator or hard-real-time guarantee." }, { "variant": "hold", "attempted": 12, "control_windows": 12000, "p50_seconds": 0.003183332970365882, "p95_seconds": 0.008846291806548834, "p99_seconds": 0.015209208941087127, "max_seconds": 0.7549079591408372, "missed_20ms_windows": 55, "missed_20ms_fraction": 0.004583333333333333, "episode_wall_seconds": 56.31524199992418, "simulated_seconds": 240.0000000000175, "simulated_seconds_per_episode_wall_second": 4.261723673323478, "scope": "Observed host computation including native integration/state collection; no sensor-to-actuator or hard-real-time guarantee." } ], "native_environment": { "platform": "macOS-26.5.2-arm64-arm-64bit", "machine": "arm64", "python": "3.12.9", "logical_cpu_count": 10, "gpu_used": false, "process_lifetime_peak_rss_bytes": 769654784, "episode_runtimes": [ { "system": "Darwin", "machine": "arm64", "python": "3.12.9", "mujoco_version": "3.15.0", "numpy_version": "2.5.3" } ], "memory_scope": "Process lifetime high-water RSS before inspection; not per-episode or minimum RAM." }, "execution": { "schema": "dvidia.local-benchmark-execution/v1", "source_commit": "e76b2e41256604d5b4314e45ca45959cab9aa571", "cohort": "confirmation", "seed": 832847, "returncode": 0, "execution": "Installed wheel built from a committed source archive; runtime source paths clean; OS process-level network denial with EPERM socket self-check; local pinned assets; PYTHONPATH unset", "threads": { "OPENBLAS_NUM_THREADS": "1", "OMP_NUM_THREADS": "1" }, "command_wall_seconds": 568.9491918750573, "child_lifetime_peak_rss_bytes": 830291968, "memory_scope": "macOS RUSAGE_CHILDREN high-water RSS including benchmark and native policy inspection; preceding Git children also belong to child lifetime", "wall_scope": "Whole installed command including startup, 84 native attempts, evaluation, compression, serialization, portable inspection and native policy/IK audit. Excludes wheel installation, asset provisioning, browser rendering and publication. Host load uncontrolled." }, "preregistration": { "path": "benchmarks/piper-reliability-development-20261011/preregistration/protocol-832847.json", "bytes": 66435, "sha256": "463f98574e3eb9201af93e25a28d5be6ba9e1349872175b34c6a4a197af92de5" }, "emitted_protocol": { "path": "runs/piper-reliability-confirmation-832847/protocol.json", "bytes": 52974, "sha256": "da000443d24521208e125144587b32ee121bf00a4b0cb74d07d15edb3274e43c" }, "preregistered_json_exactly_equal": true, "canonical_protocol_sha256": "568d55368b94080f10463936e93e6ba362ab67db6eca6af07ddc3cce4ac93b8c", "protocol_byte_identical": false, "report_file": { "path": "runs/piper-reliability-confirmation-832847/report.json", "bytes": 3585203, "sha256": "fada95d16e09c7458c7ef96b1edeb9075c360716c08007b9d5ce558a44d0216f" }, "seal_file": { "path": "runs/piper-reliability-confirmation-832847/integrity.json", "bytes": 24729, "sha256": "585fa82bd4f77401d1278cf3698d0f4a6f4157051d961c378094f83fa99c378d" }, "execution_file": { "path": "runs/piper-reliability-confirmation-832847-execution.json", "bytes": 993, "sha256": "f17a605c0d71c7b637cb3cc65c609737a5fcd5e210ec6049b6cdb93fc02d545c" }, "cli_summary_file": { "path": "runs/piper-reliability-confirmation-832847-summary.json", "bytes": 22970, "sha256": "a9dd51ec4b723021d3a8998441564fe4eff7cc5e758f7fd26e282e2e277eceac" }, "progress_log_file": { "path": "runs/piper-reliability-confirmation-832847-progress.log", "bytes": 7797, "sha256": "fc1afc540e31947e5c5c1f322923e33b6840481ac4cae07b872771ea137eba87" }, "storage": { "total_files_including_seal": 90, "sealed_files_excluding_seal": 89, "stored_bytes_including_seal": 59469572, "stored_bytes_excluding_seal": 59444843, "decoded_bytes_excluding_seal": 341090165, "canonical_complete_inventory_sha256": "a1bd3497f4120fa0f014b899db022158514acf85f0a98afe9b59608a2d76ebbf" }, "artifact_inventory": [ { "path": "attempts/friction015-mass040-layout00--hold.json.gz", "bytes": 348177, "sha256": "5e2c757ab6459f0152263397acf51fadb0e34c6e48e832514dfee857bb4402cb" }, { "path": "attempts/friction015-mass040-layout00--reacquire_grasp_open_jaw.json.gz", "bytes": 621206, "sha256": "72735704e00342f673377989c17d224cee29147b714cd59d9794522d79c462ae" }, { "path": "attempts/friction015-mass040-layout00--reacquire_grasp_placement.json.gz", "bytes": 719375, "sha256": "14c785bdcc90914aa0aec52f3b9a3734e63e9d5606e315e7b36bbc2c9684f561" }, { "path": "attempts/friction015-mass040-layout00--reacquire_open_jaw.json.gz", "bytes": 608707, "sha256": "0ec1fe9c7b566993e2c2df7c4b7d272a0877c41373c383958941a854c35ea507" }, { "path": "attempts/friction015-mass040-layout00--reacquire_placement.json.gz", "bytes": 738978, "sha256": "34dc6c2c65b954a058e62b8007e51c6a7d046d45b597302c618c04408ac750bc" }, { "path": "attempts/friction015-mass040-layout00--recovery_open_jaw.json.gz", "bytes": 608394, "sha256": "f68769ce4204675bcbe00ca4e4a9e5e6e5a35abb975515b6f8f08da924bae460" }, { "path": "attempts/friction015-mass040-layout00--recovery_placement.json.gz", "bytes": 733567, "sha256": "21090a90c5dcee0cb1436c53880215b994a02482938f5293753e7aacbe53d7f2" }, { "path": "attempts/friction015-mass040-layout01--hold.json.gz", "bytes": 347771, "sha256": "ec43ffd0bca0e8d821ca7edc5917582c0fbfca17cd50adf3bc0e2b71862c1551" }, { "path": "attempts/friction015-mass040-layout01--reacquire_grasp_open_jaw.json.gz", "bytes": 620619, "sha256": "53a7a846e2fb0073aa242f3efacbde9d3a0bcc1a10a2ab16e8727e32bb04209c" }, { "path": "attempts/friction015-mass040-layout01--reacquire_grasp_placement.json.gz", "bytes": 719443, "sha256": "8f076c529dd7d98a62a9586b79d0f76d071b7e2eacd0aee8aa98e6a2e5d36808" }, { "path": "attempts/friction015-mass040-layout01--reacquire_open_jaw.json.gz", "bytes": 607700, "sha256": "0d24fed2b7d041be3956af945d14c63a10fbf3f334b85bd209cfa354e53f8a0c" }, { "path": "attempts/friction015-mass040-layout01--reacquire_placement.json.gz", "bytes": 738956, "sha256": "fcc4dbcc7339dc643e8e269b5d9e82538050d0e787e183fa0090111ac073d01e" }, { "path": "attempts/friction015-mass040-layout01--recovery_open_jaw.json.gz", "bytes": 607167, "sha256": "5471f4f5ae7f4501c2a73074bf241df0bd3f3ddecc045a748cd91e2ace2aea23" }, { "path": "attempts/friction015-mass040-layout01--recovery_placement.json.gz", "bytes": 733136, "sha256": "5792e14405d30cb1dd89b58f55de494d5e1ecf9c4a29744b010c8d94c9a869b2" }, { "path": "attempts/friction015-mass060-layout00--hold.json.gz", "bytes": 347123, "sha256": "07d5fc0b11e928f8e81c365f8420e42c92fecb3b81168332f4c027d2058956b6" }, { "path": "attempts/friction015-mass060-layout00--reacquire_grasp_open_jaw.json.gz", "bytes": 620304, "sha256": "fbb0b8adfbc9e11cb9c26e86162607e36bd92e510b01928346e8d2bb435d840e" }, { "path": "attempts/friction015-mass060-layout00--reacquire_grasp_placement.json.gz", "bytes": 715798, "sha256": "ddfcb16f13dad8a236edb4f9338f1c8c6e07b3896a50c75d83d3bd485524c2dd" }, { "path": "attempts/friction015-mass060-layout00--reacquire_open_jaw.json.gz", "bytes": 608282, "sha256": "ab35859a9bd40a15e65f2e49e18122fd5274bef49499b591fef5db46b50a1cd2" }, { "path": "attempts/friction015-mass060-layout00--reacquire_placement.json.gz", "bytes": 738898, "sha256": "c4a660d01aa92315dd394f506dd922f96a3e789c5404f4400c1c004554f2397a" }, { "path": "attempts/friction015-mass060-layout00--recovery_open_jaw.json.gz", "bytes": 607706, "sha256": "59ccada71cba89bff1871d5f030295d12026b2c2eab98ded7916a2b750e9bdb3" }, { "path": "attempts/friction015-mass060-layout00--recovery_placement.json.gz", "bytes": 733388, "sha256": "b6aec5fafca5cd8e65d5275f8c631ba09e96fa144335fd28165f667a1f362695" }, { "path": "attempts/friction015-mass060-layout01--hold.json.gz", "bytes": 347677, "sha256": "904cc191e1a58856b1c633de75f06706c8feb84c379e510b3ffd5f82988c0e30" }, { "path": "attempts/friction015-mass060-layout01--reacquire_grasp_open_jaw.json.gz", "bytes": 619809, "sha256": "714e0df5a3b43cb9ea4d5bb82b5ccf7d3f58ce8d0b6f89b82e41b601a354370c" }, { "path": "attempts/friction015-mass060-layout01--reacquire_grasp_placement.json.gz", "bytes": 715274, "sha256": "f25f7a5e991a8c8c12cb3cbf33d42b163e7286865484796f8cdba4ee8ee8b4a3" }, { "path": "attempts/friction015-mass060-layout01--reacquire_open_jaw.json.gz", "bytes": 630301, "sha256": "23885a4146ad29f175cd563474bf6331626106bff3a4e8fe79790ce698728606" }, { "path": "attempts/friction015-mass060-layout01--reacquire_placement.json.gz", "bytes": 753210, "sha256": "47741375600c4254f945edad37911cd38c1d28ee415f3f392d8f99dee1462ecf" }, { "path": "attempts/friction015-mass060-layout01--recovery_open_jaw.json.gz", "bytes": 629701, "sha256": "c92f74d1fcb96dcb9ba0b4e61c477a5de42d89a375790287a528525bdd6c7ee0" }, { "path": "attempts/friction015-mass060-layout01--recovery_placement.json.gz", "bytes": 747169, "sha256": "92fae623bda962b9d04c42be47241da5e9874a2073867a0ac9c1648ce974a8d9" }, { "path": "attempts/friction055-mass040-layout00--hold.json.gz", "bytes": 352308, "sha256": "a27cbc33aee2e94f408ff7e2d95f9713843ac522e58ae77536733a4f3ba52e8c" }, { "path": "attempts/friction055-mass040-layout00--reacquire_grasp_open_jaw.json.gz", "bytes": 699444, "sha256": "736a3c696282f765d9f148398d6033d6f31875ab97229e7a1e739c096141dfcc" }, { "path": "attempts/friction055-mass040-layout00--reacquire_grasp_placement.json.gz", "bytes": 805813, "sha256": "75de3c421ffb12f6e7766615e02c36f87e674c627a8eeadfa4736cb5cfb7e460" }, { "path": "attempts/friction055-mass040-layout00--reacquire_open_jaw.json.gz", "bytes": 689637, "sha256": "4e38aac29f5fecd5cc61ee72437fffafc68a0351284e8c4bf667d92f34f688b0" }, { "path": "attempts/friction055-mass040-layout00--reacquire_placement.json.gz", "bytes": 826218, "sha256": "197219b12e41ac33b2f67cb4684da5804c7f72c5b4189b863fe8af32b260f570" }, { "path": "attempts/friction055-mass040-layout00--recovery_open_jaw.json.gz", "bytes": 689133, "sha256": "dc643e608a7b507bc5c2d417fd85ad2892fda9cb5a3ac58e20532a34a24ff41a" }, { "path": "attempts/friction055-mass040-layout00--recovery_placement.json.gz", "bytes": 818450, "sha256": "7c713b3b0527e741290caf418b58358a2de301e0b5d8d375f51c832058dad6f9" }, { "path": "attempts/friction055-mass040-layout01--hold.json.gz", "bytes": 351325, "sha256": "6e1e43826ccb4460f341ae5957bff84e5b42467803c0a71fdb4e6cc8e05f1146" }, { "path": "attempts/friction055-mass040-layout01--reacquire_grasp_open_jaw.json.gz", "bytes": 697520, "sha256": "a2eb6331c3f202e5c13dd1639800cd753034bf205cc6ea31ff4bb37d1748b7a1" }, { "path": "attempts/friction055-mass040-layout01--reacquire_grasp_placement.json.gz", "bytes": 805234, "sha256": "b25c198cf91f295502e70bdbffda65e85240b7aa7f2404fb34ab125ed082c92f" }, { "path": "attempts/friction055-mass040-layout01--reacquire_open_jaw.json.gz", "bytes": 688190, "sha256": "1912882ee71ad7e5b594d344070b6d0e57e08c2443b2baefda09daea20b3dca0" }, { "path": "attempts/friction055-mass040-layout01--reacquire_placement.json.gz", "bytes": 824940, "sha256": "88290ee114b5331744901858a2a939f79cd8250e9dc76f60994110722dc6a1a9" }, { "path": "attempts/friction055-mass040-layout01--recovery_open_jaw.json.gz", "bytes": 687585, "sha256": "ade8cb751f4f0b740694a52a91f4ac4a03aae7025581228c983381a9982f233d" }, { "path": "attempts/friction055-mass040-layout01--recovery_placement.json.gz", "bytes": 817558, "sha256": "bed4f985e640cb9b8d2a65f49248c7d6a1cf8a8a74687d5626d51952eb9b2381" }, { "path": "attempts/friction055-mass060-layout00--hold.json.gz", "bytes": 351328, "sha256": "75088d259abf30da4486d0533a19968ed8a7985c058f2800f2f2121b3581238e" }, { "path": "attempts/friction055-mass060-layout00--reacquire_grasp_open_jaw.json.gz", "bytes": 688173, "sha256": "2e033901cd4426aa9113e628b5dc89ec2bf8ca58866d42f64ce381174e741d20" }, { "path": "attempts/friction055-mass060-layout00--reacquire_grasp_placement.json.gz", "bytes": 809574, "sha256": "c8330053d600924989e0a104ef47d55367025ddfe475df0f12ce3ce62a35e14b" }, { "path": "attempts/friction055-mass060-layout00--reacquire_open_jaw.json.gz", "bytes": 635950, "sha256": "fd73489ac80d1827baaacdc44f462975f24a133db6cf48585bed0610e7093867" }, { "path": "attempts/friction055-mass060-layout00--reacquire_placement.json.gz", "bytes": 756145, "sha256": "72d5715d54dd6de7ade3c328552505929e3d505c16fbe70605e433598a40fa95" }, { "path": "attempts/friction055-mass060-layout00--recovery_open_jaw.json.gz", "bytes": 635423, "sha256": "c9e975dcee20857b24d3624a28cdfebe8dc47f4c2189f15afabc6950ea587a61" }, { "path": "attempts/friction055-mass060-layout00--recovery_placement.json.gz", "bytes": 750418, "sha256": "d4bc526565a0b4a8238beb9482d0d95d3413f816cb12143469c10e20a6dc43ba" }, { "path": "attempts/friction055-mass060-layout01--hold.json.gz", "bytes": 351313, "sha256": "47cb93d182d362562ba47744fc703975ed06be448193c23ee8ef4ac30d015d45" }, { "path": "attempts/friction055-mass060-layout01--reacquire_grasp_open_jaw.json.gz", "bytes": 646851, "sha256": "1b561cac9bbdfcab69f4ad4d8078f1b9694c8b679af942eea2dc2104ea52991d" }, { "path": "attempts/friction055-mass060-layout01--reacquire_grasp_placement.json.gz", "bytes": 763781, "sha256": "6883cc05a4c7c8ffc76a51abc9dbd2ad3dee0ef77b934ce3ec1938b58fff3611" }, { "path": "attempts/friction055-mass060-layout01--reacquire_open_jaw.json.gz", "bytes": 636002, "sha256": "671b65a45fb1279da82b0655a24082b0ea8d4b93105d53879bfb36ee57070d42" }, { "path": "attempts/friction055-mass060-layout01--reacquire_placement.json.gz", "bytes": 757197, "sha256": "a7698d1ec2283365ac56495cd97dda4c34b3c7e1a3b032705ccd4a5423e21a5b" }, { "path": "attempts/friction055-mass060-layout01--recovery_open_jaw.json.gz", "bytes": 635534, "sha256": "4ea58d03aab1a6ae7351b0acd860eaa11960b3f480491621ede6d2f00cf57105" }, { "path": "attempts/friction055-mass060-layout01--recovery_placement.json.gz", "bytes": 751501, "sha256": "f21b6788390d0bf06ad4f23b57bb5f7b6bff6775a03784bccc7521bdeb5de5be" }, { "path": "attempts/friction080-mass040-layout00--hold.json.gz", "bytes": 353271, "sha256": "5a25ec51e17601294d0a65334c2802bc79c42a0c7c7c50eeb3b0e1bf97a0592f" }, { "path": "attempts/friction080-mass040-layout00--reacquire_grasp_open_jaw.json.gz", "bytes": 701821, "sha256": "1cbaa1cb79fa78ea864760b07370b2c02bf53bf8cc65b21e7f43fe40dec10547" }, { "path": "attempts/friction080-mass040-layout00--reacquire_grasp_placement.json.gz", "bytes": 806129, "sha256": "4407544ee5728c50e7a93a6451bf32b76ad97f30d4527215291e91ff23005a53" }, { "path": "attempts/friction080-mass040-layout00--reacquire_open_jaw.json.gz", "bytes": 691184, "sha256": "f1d2e3b329009393ff865e98167cce342c5597220dfd29b1197fb44e5ee34b9e" }, { "path": "attempts/friction080-mass040-layout00--reacquire_placement.json.gz", "bytes": 826481, "sha256": "f8fda06373027324ff6f56aa5d2a1f717116a57397a9d3dfdf9195f78a3ba349" }, { "path": "attempts/friction080-mass040-layout00--recovery_open_jaw.json.gz", "bytes": 690660, "sha256": "87f916751c4386b85a3eca2498db3314b080c96e488b8b7de04a6224714b3564" }, { "path": "attempts/friction080-mass040-layout00--recovery_placement.json.gz", "bytes": 818815, "sha256": "e599bbab8a2faa7924f53f2c6820249b93a1c7bb8f89725e01354400f847953f" }, { "path": "attempts/friction080-mass040-layout01--hold.json.gz", "bytes": 352562, "sha256": "f0b72a0344bfb16e014942c3adcd1d862b096417cc7461e1539a8b937dbb06ea" }, { "path": "attempts/friction080-mass040-layout01--reacquire_grasp_open_jaw.json.gz", "bytes": 700470, "sha256": "8bd628bca126b1209aad26027f266a9b150da8a0ff53519e05f4fe9ec1452474" }, { "path": "attempts/friction080-mass040-layout01--reacquire_grasp_placement.json.gz", "bytes": 805662, "sha256": "4f00e1f064d9c55228ff3f14c5ca36dc374e39922e58ab0a75076040b0e610a4" }, { "path": "attempts/friction080-mass040-layout01--reacquire_open_jaw.json.gz", "bytes": 690079, "sha256": "d5a949406c3729e786525c9b908cadb8d177a5fcdad6f2aa69be47f188079eeb" }, { "path": "attempts/friction080-mass040-layout01--reacquire_placement.json.gz", "bytes": 826305, "sha256": "7387465a20206203a0749f463b70a6b2c662e4359f374036e01e21e5f291ff79" }, { "path": "attempts/friction080-mass040-layout01--recovery_open_jaw.json.gz", "bytes": 689815, "sha256": "348deb07d7e274504b3dc22f8ba3cdf9d2b0cb27bb4a720bfbce95e669855b63" }, { "path": "attempts/friction080-mass040-layout01--recovery_placement.json.gz", "bytes": 818628, "sha256": "b0f86124aedd82601fdb0d27e576d2e42674426eced03ddcacffd946cc2cd561" }, { "path": "attempts/friction080-mass060-layout00--hold.json.gz", "bytes": 353319, "sha256": "ebfd89e2ff53837caabc72f30ff869de0901a8477ca6230680c38dcc0ab517da" }, { "path": "attempts/friction080-mass060-layout00--reacquire_grasp_open_jaw.json.gz", "bytes": 701431, "sha256": "51786582eabf231f918d1de40e928b14fa4dddfb24583af72e67b7b4f91b4c19" }, { "path": "attempts/friction080-mass060-layout00--reacquire_grasp_placement.json.gz", "bytes": 806366, "sha256": "6f355fa33777a2f2a9a054ca1965a1d20df16f1e5985b7c5242655399edc17e1" }, { "path": "attempts/friction080-mass060-layout00--reacquire_open_jaw.json.gz", "bytes": 691304, "sha256": "01e042ad883e3b241013f912fabd82fbef708cd388bd8237e5ffe0923bac78da" }, { "path": "attempts/friction080-mass060-layout00--reacquire_placement.json.gz", "bytes": 836168, "sha256": "6f6aa720d8b8706503281ce52bfc258b1ff5e36298c3729d56006dc2121f239f" }, { "path": "attempts/friction080-mass060-layout00--recovery_open_jaw.json.gz", "bytes": 618450, "sha256": "601ae7e4b6a960e2dcfaeb38256402b82386b88a57e5a48c6aff4cd163d13c5c" }, { "path": "attempts/friction080-mass060-layout00--recovery_placement.json.gz", "bytes": 754768, "sha256": "19ba0aa9cd6a4a75ecfb2bfef11a262178cc015ee810df2d451496a23355ba90" }, { "path": "attempts/friction080-mass060-layout01--hold.json.gz", "bytes": 352846, "sha256": "ad3c5c84e7b6377fcadf05822bd6a1b4c8ec513c36d98d6be0b209455841b9bf" }, { "path": "attempts/friction080-mass060-layout01--reacquire_grasp_open_jaw.json.gz", "bytes": 701347, "sha256": "bedaa5ffbfff1e66114e71abe72a16d094f149d4b87ee2deadd46abe277e43b9" }, { "path": "attempts/friction080-mass060-layout01--reacquire_grasp_placement.json.gz", "bytes": 805781, "sha256": "f5323b8e349781aefafa2e88670cf73e5f68f6440d230619988c7f6401a04423" }, { "path": "attempts/friction080-mass060-layout01--reacquire_open_jaw.json.gz", "bytes": 690947, "sha256": "72440139e553dc5071169ac101d06ad80e9b6f9ac94e20ce864df0aab57f7133" }, { "path": "attempts/friction080-mass060-layout01--reacquire_placement.json.gz", "bytes": 836731, "sha256": "0607fbfac06ee5da1c61241d2786be8b9156e1f1e55a216afc42bfbd773a167b" }, { "path": "attempts/friction080-mass060-layout01--recovery_open_jaw.json.gz", "bytes": 618017, "sha256": "71995c3f07799e556614184cab19601b0786b2a99ff7f7f0f89069b576eaecc4" }, { "path": "attempts/friction080-mass060-layout01--recovery_placement.json.gz", "bytes": 754903, "sha256": "ba7617e279434db3a55bf06d5463cc30ad9cf956e799c82a880b61e26b3677f8" }, { "path": "integrity.json", "bytes": 24729, "sha256": "585fa82bd4f77401d1278cf3698d0f4a6f4157051d961c378094f83fa99c378d" }, { "path": "licenses/agilex_piper/LICENSE", "bytes": 1065, "sha256": "e32d78fd3761052ab0b2bb42fef8a7a9ad3f298d315d305333c349d2aff1f134" }, { "path": "licenses/agilex_piper/README.md", "bytes": 1681, "sha256": "ab0d218758ec6c298417407962f49179e369236e8f316dbaa7671756d6f8eb77" }, { "path": "protocol.json", "bytes": 52974, "sha256": "da000443d24521208e125144587b32ee121bf00a4b0cb74d07d15edb3274e43c" }, { "path": "report.html", "bytes": 19279, "sha256": "9a16424bb8f16abbe1503fa32546eb4d69bbe50094c5ff9bea88418f3d54229e" }, { "path": "report.json", "bytes": 3585203, "sha256": "fada95d16e09c7458c7ef96b1edeb9075c360716c08007b9d5ce558a44d0216f" } ] }, { "seed": 227037, "attempted": 84, "valid_attempts": 84, "placements": { "recovery": { "attempted": 12, "valid": 12, "success": 6, "failed_or_invalid": 6, "success_fraction": 0.5, "failure_stage_counts": { "acquisition_never_qualified": 6 }, "abort_reason_counts": { "retry_budget_exhausted:object_not_following": 4, "unchanged_grasp_not_following": 2 }, "completion_time_seconds": { "count": 6, "min": 15.451999999996875, "mean": 15.8968333333301, "p50": 15.810999999996676, "p95": 16.344999999996993, "p99": 16.344999999996993, "max": 16.344999999996993, "quantile_method": "nearest_rank" }, "second_probes_started": 0, "second_probes_qualified": 0, "probe_attempts_completed": 0, "probe_attempts_failed_or_invalid": 0, "resumed_completed": 4, "resumed_failed_or_invalid": 0, "unexpected_contact_native_ticks": 0, "attempts_with_prohibited_contact": 0, "attempts_with_warnings": 0, "max_pad_force_n": 1.2418510003274754, "max_sampled_tcp_speed_m_s": 0.20400091038709375 }, "reacquire": { "attempted": 12, "valid": 12, "success": 6, "failed_or_invalid": 6, "success_fraction": 0.5, "failure_stage_counts": { "acquisition_never_qualified": 6 }, "abort_reason_counts": { "retry_budget_exhausted:object_not_following": 4, "unchanged_grasp_not_following": 2 }, "completion_time_seconds": { "count": 6, "min": 15.451999999996875, "mean": 15.8968333333301, "p50": 15.810999999996676, "p95": 16.344999999996993, "p99": 16.344999999996993, "max": 16.344999999996993, "quantile_method": "nearest_rank" }, "second_probes_started": 0, "second_probes_qualified": 0, "probe_attempts_completed": 0, "probe_attempts_failed_or_invalid": 0, "resumed_completed": 4, "resumed_failed_or_invalid": 0, "unexpected_contact_native_ticks": 0, "attempts_with_prohibited_contact": 0, "attempts_with_warnings": 0, "max_pad_force_n": 1.2418510003274754, "max_sampled_tcp_speed_m_s": 0.20400091038709375 }, "reacquire_grasp": { "attempted": 12, "valid": 12, "success": 8, "failed_or_invalid": 4, "success_fraction": 0.6666666666666666, "failure_stage_counts": { "acquisition_never_qualified": 4 }, "abort_reason_counts": { "unchanged_grasp_not_following": 4 }, "completion_time_seconds": { "count": 8, "min": 16.44099999999711, "mean": 16.728374999997463, "p50": 16.71999999999745, "p95": 17.269999999998124, "p99": 17.269999999998124, "max": 17.269999999998124, "quantile_method": "nearest_rank" }, "second_probes_started": 0, "second_probes_qualified": 0, "probe_attempts_completed": 0, "probe_attempts_failed_or_invalid": 0, "resumed_completed": 2, "resumed_failed_or_invalid": 0, "unexpected_contact_native_ticks": 0, "attempts_with_prohibited_contact": 0, "attempts_with_warnings": 0, "max_pad_force_n": 1.448088391831627, "max_sampled_tcp_speed_m_s": 0.2043804019644904 } }, "controls": { "attempted": 48, "valid": 48, "success": 0 }, "paired_comparisons": [ { "reference": "recovery", "candidate": "reacquire", "attempted_pairs": 12, "common_successes": 6, "gained_successes": 0, "lost_successes": 0, "neither_succeeded": 6, "common_success_delta_seconds": { "count": 6, "min": 0.0, "mean": 0.0, "p50": 0.0, "p95": 0.0, "p99": 0.0, "max": 0.0, "quantile_method": "nearest_rank" }, "common_success_faster": 0, "common_success_unchanged": 6, "common_success_slower": 0, "gained_completion_times_seconds": { "count": 0, "min": null, "mean": null, "p50": null, "p95": null, "p99": null, "max": null, "quantile_method": "nearest_rank" }, "lost_reference_completion_times_seconds": { "count": 0, "min": null, "mean": null, "p50": null, "p95": null, "p99": null, "max": null, "quantile_method": "nearest_rank" }, "gained_without_losses": false, "time_scope": "Candidate minus reference simulated completion time, common successes only. Gains/losses remain separate.", "pairs": [ { "cohort_seed": 227037, "scene_id": "friction015-mass040-layout00", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "retry_budget_exhausted:object_not_following", "candidate_abort_reason": "retry_budget_exhausted:object_not_following", "common_abort_delta_s": 0.0 }, { "cohort_seed": 227037, "scene_id": "friction015-mass040-layout01", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "unchanged_grasp_not_following", "candidate_abort_reason": "unchanged_grasp_not_following", "common_abort_delta_s": 0.0 }, { "cohort_seed": 227037, "scene_id": "friction015-mass060-layout00", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "retry_budget_exhausted:object_not_following", "candidate_abort_reason": "retry_budget_exhausted:object_not_following", "common_abort_delta_s": 0.0 }, { "cohort_seed": 227037, "scene_id": "friction015-mass060-layout01", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "unchanged_grasp_not_following", "candidate_abort_reason": "unchanged_grasp_not_following", "common_abort_delta_s": 0.0 }, { "cohort_seed": 227037, "scene_id": "friction055-mass040-layout00", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 15.810999999996676, "candidate_completion_s": 15.810999999996676, "completion_delta_s": 0.0, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 227037, "scene_id": "friction055-mass040-layout01", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 16.123999999996723, "candidate_completion_s": 16.123999999996723, "completion_delta_s": 0.0, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 227037, "scene_id": "friction055-mass060-layout00", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "retry_budget_exhausted:object_not_following", "candidate_abort_reason": "retry_budget_exhausted:object_not_following", "common_abort_delta_s": 0.0 }, { "cohort_seed": 227037, "scene_id": "friction055-mass060-layout01", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "retry_budget_exhausted:object_not_following", "candidate_abort_reason": "retry_budget_exhausted:object_not_following", "common_abort_delta_s": 0.0 }, { "cohort_seed": 227037, "scene_id": "friction080-mass040-layout00", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 15.451999999996875, "candidate_completion_s": 15.451999999996875, "completion_delta_s": 0.0, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 227037, "scene_id": "friction080-mass040-layout01", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 15.752999999996709, "candidate_completion_s": 15.752999999996709, "completion_delta_s": 0.0, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 227037, "scene_id": "friction080-mass060-layout00", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 15.89599999999663, "candidate_completion_s": 15.89599999999663, "completion_delta_s": 0.0, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 227037, "scene_id": "friction080-mass060-layout01", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 16.344999999996993, "candidate_completion_s": 16.344999999996993, "completion_delta_s": 0.0, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null } ] }, { "reference": "recovery", "candidate": "reacquire_grasp", "attempted_pairs": 12, "common_successes": 6, "gained_successes": 2, "lost_successes": 0, "neither_succeeded": 4, "common_success_delta_seconds": { "count": 6, "min": 0.41700000000050963, "mean": 0.6976666666671972, "p50": 0.5960000000007284, "p95": 0.9890000000002352, "p99": 0.9890000000002352, "max": 0.9890000000002352, "quantile_method": "nearest_rank" }, "common_success_faster": 0, "common_success_unchanged": 0, "common_success_slower": 6, "gained_completion_times_seconds": { "count": 2, "min": 16.98999999999778, "mean": 17.129999999997953, "p50": 16.98999999999778, "p95": 17.269999999998124, "p99": 17.269999999998124, "max": 17.269999999998124, "quantile_method": "nearest_rank" }, "lost_reference_completion_times_seconds": { "count": 0, "min": null, "mean": null, "p50": null, "p95": null, "p99": null, "max": null, "quantile_method": "nearest_rank" }, "gained_without_losses": true, "time_scope": "Candidate minus reference simulated completion time, common successes only. Gains/losses remain separate.", "pairs": [ { "cohort_seed": 227037, "scene_id": "friction015-mass040-layout00", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "retry_budget_exhausted:object_not_following", "candidate_abort_reason": "unchanged_grasp_not_following", "common_abort_delta_s": -1.7399999999990357 }, { "cohort_seed": 227037, "scene_id": "friction015-mass040-layout01", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "unchanged_grasp_not_following", "candidate_abort_reason": "unchanged_grasp_not_following", "common_abort_delta_s": 1.1399999999993682 }, { "cohort_seed": 227037, "scene_id": "friction015-mass060-layout00", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "retry_budget_exhausted:object_not_following", "candidate_abort_reason": "unchanged_grasp_not_following", "common_abort_delta_s": -1.7199999999990467 }, { "cohort_seed": 227037, "scene_id": "friction015-mass060-layout01", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "unchanged_grasp_not_following", "candidate_abort_reason": "unchanged_grasp_not_following", "common_abort_delta_s": 1.1399999999993682 }, { "cohort_seed": 227037, "scene_id": "friction055-mass040-layout00", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 15.810999999996676, "candidate_completion_s": 16.44099999999711, "completion_delta_s": 0.6300000000004342, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 227037, "scene_id": "friction055-mass040-layout01", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 16.123999999996723, "candidate_completion_s": 16.71999999999745, "completion_delta_s": 0.5960000000007284, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 227037, "scene_id": "friction055-mass060-layout00", "reference_success": false, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": 16.98999999999778, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "completed", "reference_abort_reason": "retry_budget_exhausted:object_not_following", "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 227037, "scene_id": "friction055-mass060-layout01", "reference_success": false, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": 17.269999999998124, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "completed", "reference_abort_reason": "retry_budget_exhausted:object_not_following", "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 227037, "scene_id": "friction080-mass040-layout00", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 15.451999999996875, "candidate_completion_s": 16.44099999999711, "completion_delta_s": 0.9890000000002352, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 227037, "scene_id": "friction080-mass040-layout01", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 15.752999999996709, "candidate_completion_s": 16.720999999997453, "completion_delta_s": 0.9680000000007443, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 227037, "scene_id": "friction080-mass060-layout00", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 15.89599999999663, "candidate_completion_s": 16.48199999999716, "completion_delta_s": 0.5860000000005314, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 227037, "scene_id": "friction080-mass060-layout01", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 16.344999999996993, "candidate_completion_s": 16.761999999997503, "completion_delta_s": 0.41700000000050963, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null } ] }, { "reference": "reacquire", "candidate": "reacquire_grasp", "attempted_pairs": 12, "common_successes": 6, "gained_successes": 2, "lost_successes": 0, "neither_succeeded": 4, "common_success_delta_seconds": { "count": 6, "min": 0.41700000000050963, "mean": 0.6976666666671972, "p50": 0.5960000000007284, "p95": 0.9890000000002352, "p99": 0.9890000000002352, "max": 0.9890000000002352, "quantile_method": "nearest_rank" }, "common_success_faster": 0, "common_success_unchanged": 0, "common_success_slower": 6, "gained_completion_times_seconds": { "count": 2, "min": 16.98999999999778, "mean": 17.129999999997953, "p50": 16.98999999999778, "p95": 17.269999999998124, "p99": 17.269999999998124, "max": 17.269999999998124, "quantile_method": "nearest_rank" }, "lost_reference_completion_times_seconds": { "count": 0, "min": null, "mean": null, "p50": null, "p95": null, "p99": null, "max": null, "quantile_method": "nearest_rank" }, "gained_without_losses": true, "time_scope": "Candidate minus reference simulated completion time, common successes only. Gains/losses remain separate.", "pairs": [ { "cohort_seed": 227037, "scene_id": "friction015-mass040-layout00", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "retry_budget_exhausted:object_not_following", "candidate_abort_reason": "unchanged_grasp_not_following", "common_abort_delta_s": -1.7399999999990357 }, { "cohort_seed": 227037, "scene_id": "friction015-mass040-layout01", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "unchanged_grasp_not_following", "candidate_abort_reason": "unchanged_grasp_not_following", "common_abort_delta_s": 1.1399999999993682 }, { "cohort_seed": 227037, "scene_id": "friction015-mass060-layout00", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "retry_budget_exhausted:object_not_following", "candidate_abort_reason": "unchanged_grasp_not_following", "common_abort_delta_s": -1.7199999999990467 }, { "cohort_seed": 227037, "scene_id": "friction015-mass060-layout01", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "unchanged_grasp_not_following", "candidate_abort_reason": "unchanged_grasp_not_following", "common_abort_delta_s": 1.1399999999993682 }, { "cohort_seed": 227037, "scene_id": "friction055-mass040-layout00", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 15.810999999996676, "candidate_completion_s": 16.44099999999711, "completion_delta_s": 0.6300000000004342, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 227037, "scene_id": "friction055-mass040-layout01", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 16.123999999996723, "candidate_completion_s": 16.71999999999745, "completion_delta_s": 0.5960000000007284, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 227037, "scene_id": "friction055-mass060-layout00", "reference_success": false, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": 16.98999999999778, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "completed", "reference_abort_reason": "retry_budget_exhausted:object_not_following", "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 227037, "scene_id": "friction055-mass060-layout01", "reference_success": false, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": 17.269999999998124, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "completed", "reference_abort_reason": "retry_budget_exhausted:object_not_following", "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 227037, "scene_id": "friction080-mass040-layout00", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 15.451999999996875, "candidate_completion_s": 16.44099999999711, "completion_delta_s": 0.9890000000002352, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 227037, "scene_id": "friction080-mass040-layout01", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 15.752999999996709, "candidate_completion_s": 16.720999999997453, "completion_delta_s": 0.9680000000007443, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 227037, "scene_id": "friction080-mass060-layout00", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 15.89599999999663, "candidate_completion_s": 16.48199999999716, "completion_delta_s": 0.5860000000005314, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 227037, "scene_id": "friction080-mass060-layout01", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 16.344999999996993, "candidate_completion_s": 16.761999999997503, "completion_delta_s": 0.41700000000050963, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null } ] } ], "report_quality_gates": { "complete_planned_denominator": true, "all_native_attempts_valid": true, "all_controls_fail": true, "native_integrity_clean": true, "gained_without_lost_completions": true, "selected_candidate": "reacquire_grasp", "reference_comparisons": [ { "candidate": "reacquire", "gained_successes": 0, "lost_successes": 0, "gained_without_lost_completions": false }, { "candidate": "reacquire_grasp", "gained_successes": 2, "lost_successes": 0, "gained_without_lost_completions": true } ], "scope": "Descriptive pilot gates; a valid negative result is retained. Native policy audit and prior-success regression are separate release checks, not inferred from these flags." }, "report_execution_metrics": [ { "variant": "recovery_placement", "attempted": 12, "control_windows": 12000, "p50_seconds": 0.001910459017381072, "p95_seconds": 0.003924791933968663, "p99_seconds": 0.005336500005796552, "max_seconds": 0.015158583177253604, "missed_20ms_windows": 0, "missed_20ms_fraction": 0.0, "episode_wall_seconds": 28.494174415245652, "simulated_seconds": 240.0000000000175, "simulated_seconds_per_episode_wall_second": 8.422774301248287, "scope": "Observed host computation including native integration/state collection; no sensor-to-actuator or hard-real-time guarantee." }, { "variant": "recovery_open_jaw", "attempted": 12, "control_windows": 12000, "p50_seconds": 0.0016206251457333565, "p95_seconds": 0.0021919161081314087, "p99_seconds": 0.0027644590009003878, "max_seconds": 0.011232457822188735, "missed_20ms_windows": 0, "missed_20ms_fraction": 0.0, "episode_wall_seconds": 22.214064667467028, "simulated_seconds": 240.0000000000175, "simulated_seconds_per_episode_wall_second": 10.803966027500705, "scope": "Observed host computation including native integration/state collection; no sensor-to-actuator or hard-real-time guarantee." }, { "variant": "reacquire_placement", "attempted": 12, "control_windows": 12000, "p50_seconds": 0.0018860420677810907, "p95_seconds": 0.0037642079405486584, "p99_seconds": 0.005568833090364933, "max_seconds": 0.03237599995918572, "missed_20ms_windows": 1, "missed_20ms_fraction": 8.333333333333333e-05, "episode_wall_seconds": 27.645294291432947, "simulated_seconds": 240.0000000000175, "simulated_seconds_per_episode_wall_second": 8.681405141503289, "scope": "Observed host computation including native integration/state collection; no sensor-to-actuator or hard-real-time guarantee." }, { "variant": "reacquire_open_jaw", "attempted": 12, "control_windows": 12000, "p50_seconds": 0.0016179170925170183, "p95_seconds": 0.002943832892924547, "p99_seconds": 0.006722291000187397, "max_seconds": 0.03971483395434916, "missed_20ms_windows": 10, "missed_20ms_fraction": 0.0008333333333333334, "episode_wall_seconds": 24.961994666140527, "simulated_seconds": 240.0000000000175, "simulated_seconds_per_episode_wall_second": 9.614616268048616, "scope": "Observed host computation including native integration/state collection; no sensor-to-actuator or hard-real-time guarantee." }, { "variant": "reacquire_grasp_placement", "attempted": 12, "control_windows": 12000, "p50_seconds": 0.0018983748741447926, "p95_seconds": 0.003545125015079975, "p99_seconds": 0.005231040995568037, "max_seconds": 0.029228332918137312, "missed_20ms_windows": 4, "missed_20ms_fraction": 0.0003333333333333333, "episode_wall_seconds": 27.88622312247753, "simulated_seconds": 240.0000000000175, "simulated_seconds_per_episode_wall_second": 8.606400334169559, "scope": "Observed host computation including native integration/state collection; no sensor-to-actuator or hard-real-time guarantee." }, { "variant": "reacquire_grasp_open_jaw", "attempted": 12, "control_windows": 12000, "p50_seconds": 0.001739166909828782, "p95_seconds": 0.003688541939482093, "p99_seconds": 0.006688541965559125, "max_seconds": 0.2334265410900116, "missed_20ms_windows": 20, "missed_20ms_fraction": 0.0016666666666666668, "episode_wall_seconds": 27.58450958249159, "simulated_seconds": 240.0000000000175, "simulated_seconds_per_episode_wall_second": 8.70053532335953, "scope": "Observed host computation including native integration/state collection; no sensor-to-actuator or hard-real-time guarantee." }, { "variant": "hold", "attempted": 12, "control_windows": 12000, "p50_seconds": 0.0015877499245107174, "p95_seconds": 0.002300749998539686, "p99_seconds": 0.003393749939277768, "max_seconds": 0.06584395910613239, "missed_20ms_windows": 1, "missed_20ms_fraction": 8.333333333333333e-05, "episode_wall_seconds": 22.759739498374984, "simulated_seconds": 240.0000000000175, "simulated_seconds_per_episode_wall_second": 10.5449361587444, "scope": "Observed host computation including native integration/state collection; no sensor-to-actuator or hard-real-time guarantee." } ], "native_environment": { "platform": "macOS-26.5.2-arm64-arm-64bit", "machine": "arm64", "python": "3.12.9", "logical_cpu_count": 10, "gpu_used": false, "process_lifetime_peak_rss_bytes": 774389760, "episode_runtimes": [ { "system": "Darwin", "machine": "arm64", "python": "3.12.9", "mujoco_version": "3.15.0", "numpy_version": "2.5.3" } ], "memory_scope": "Process lifetime high-water RSS before inspection; not per-episode or minimum RAM." }, "execution": { "schema": "dvidia.local-benchmark-execution/v1", "source_commit": "e76b2e41256604d5b4314e45ca45959cab9aa571", "cohort": "confirmation", "seed": 227037, "returncode": 0, "execution": "Installed wheel built from a committed source archive; runtime source paths clean; OS process-level network denial with EPERM socket self-check; local pinned assets; PYTHONPATH unset", "threads": { "OPENBLAS_NUM_THREADS": "1", "OMP_NUM_THREADS": "1" }, "command_wall_seconds": 218.98537025018595, "child_lifetime_peak_rss_bytes": 828555264, "memory_scope": "macOS RUSAGE_CHILDREN high-water RSS including benchmark and native policy inspection; preceding Git children also belong to child lifetime", "wall_scope": "Whole installed command including startup, 84 native attempts, evaluation, compression, serialization, portable inspection and native policy/IK audit. Excludes wheel installation, asset provisioning, browser rendering and publication. Host load uncontrolled." }, "preregistration": { "path": "benchmarks/piper-reliability-development-20261011/preregistration/protocol-227037.json", "bytes": 66447, "sha256": "d21834fb8179e72a31be389d1a50780af71acb041a4f6fbc505c8d72dc1130cd" }, "emitted_protocol": { "path": "runs/piper-reliability-confirmation-227037/protocol.json", "bytes": 52986, "sha256": "65c0fca5cf92d4aae758eb276c7ccb0d0d190db132919ad847fd2d68a816f028" }, "preregistered_json_exactly_equal": true, "canonical_protocol_sha256": "39b5bf395166d7f7f0c329e1a723588aba328fa59492e95f09ff6f3436dcc080", "protocol_byte_identical": false, "report_file": { "path": "runs/piper-reliability-confirmation-227037/report.json", "bytes": 3640731, "sha256": "525ec1f9b87fae472463df58e6b9c7d1976dba73e4ba729f02c53dd73ef0df18" }, "seal_file": { "path": "runs/piper-reliability-confirmation-227037/integrity.json", "bytes": 24729, "sha256": "c74db518aa5fb718facd31ce31922ea9eb4427d339d4719a1d88d46bf2205154" }, "execution_file": { "path": "runs/piper-reliability-confirmation-227037-execution.json", "bytes": 994, "sha256": "e8c171d8de736ce221f37cc1b04baa4c402a39bf6c0baf14c3252e988d817bd5" }, "cli_summary_file": { "path": "runs/piper-reliability-confirmation-227037-summary.json", "bytes": 22970, "sha256": "882f9e33b84282284e0cc8971bbd6866a679a9ff2cfa88af1c2624f3f02e4ab8" }, "progress_log_file": { "path": "runs/piper-reliability-confirmation-227037-progress.log", "bytes": 7794, "sha256": "c61a666563c25f9c0c1a8faee45f14ed5c8cdc417ffe5ff5a85ca498db164498" }, "storage": { "total_files_including_seal": 90, "sealed_files_excluding_seal": 89, "stored_bytes_including_seal": 59893039, "stored_bytes_excluding_seal": 59868310, "decoded_bytes_excluding_seal": 340760262, "canonical_complete_inventory_sha256": "08a068798ac9184a41d73035a7d17c0157c120a77fce1474041b82bc1c847265" }, "artifact_inventory": [ { "path": "attempts/friction015-mass040-layout00--hold.json.gz", "bytes": 348100, "sha256": "b7ea4fa51fac0fabbd332225eb6ac72ac94427d10d884876db923cfd20d613be" }, { "path": "attempts/friction015-mass040-layout00--reacquire_grasp_open_jaw.json.gz", "bytes": 620434, "sha256": "880ba3b16f9e4cfc4a1e0bde8389c2309850122be682f9fee0dabaa82bdf16f5" }, { "path": "attempts/friction015-mass040-layout00--reacquire_grasp_placement.json.gz", "bytes": 719745, "sha256": "a2939186ad9e667d526a9472fcca08a8ff4606580d55b38cbb3b242ade417fed" }, { "path": "attempts/friction015-mass040-layout00--reacquire_open_jaw.json.gz", "bytes": 631436, "sha256": "13025a164052d07b2dcb754c2da03cc1c0ebdf97e2e28b4de7efb6590fc5ee27" }, { "path": "attempts/friction015-mass040-layout00--reacquire_placement.json.gz", "bytes": 755508, "sha256": "b9020eabe61a3fb9e64e312614cfd414e9d7fb5641f6cf3071396793598826f1" }, { "path": "attempts/friction015-mass040-layout00--recovery_open_jaw.json.gz", "bytes": 630775, "sha256": "5432d9f45a23ea0661e750858487d2fcadb4d562044c16eea4c00b312ef70d62" }, { "path": "attempts/friction015-mass040-layout00--recovery_placement.json.gz", "bytes": 749576, "sha256": "caced57a65c3003e60ac180e8ec9876f31d3256984972caa0f966a5710a711cf" }, { "path": "attempts/friction015-mass040-layout01--hold.json.gz", "bytes": 347703, "sha256": "bbd68cb70e30c3348492e7e0a445b7a41832b7cfdc21c8581a0dc22553b0478c" }, { "path": "attempts/friction015-mass040-layout01--reacquire_grasp_open_jaw.json.gz", "bytes": 621204, "sha256": "1c2ddd3939100f3d3175cf2132f3f06715e28eed6eebfdcb3ff53546c8bd46fb" }, { "path": "attempts/friction015-mass040-layout01--reacquire_grasp_placement.json.gz", "bytes": 718656, "sha256": "0ada48c6ed1b8397e7b0a39db669774a6e69ca6f1726503b65b13c8d0ab52303" }, { "path": "attempts/friction015-mass040-layout01--reacquire_open_jaw.json.gz", "bytes": 609684, "sha256": "0ae2ed074cd1a2ace5408609299d53005ad20332b2b8331d5e75f91f799a626c" }, { "path": "attempts/friction015-mass040-layout01--reacquire_placement.json.gz", "bytes": 738073, "sha256": "b10d188246d0794aa8ad47b3e9092bd3b99d3a0b88b32a34ad351798b1a31196" }, { "path": "attempts/friction015-mass040-layout01--recovery_open_jaw.json.gz", "bytes": 609370, "sha256": "a225f7a866c2fdca23d51c87db1ae8dd8337584ffa7d3b16db7da812e22c971a" }, { "path": "attempts/friction015-mass040-layout01--recovery_placement.json.gz", "bytes": 732852, "sha256": "fe7f7418a89434c2e8d0dd09166927e0e4d572429faa1f9bd8e553185dff7c27" }, { "path": "attempts/friction015-mass060-layout00--hold.json.gz", "bytes": 347180, "sha256": "1ad22e8bb689c7898082087b9408aba1aae90a6aa5df64759c1147b7a8b33d47" }, { "path": "attempts/friction015-mass060-layout00--reacquire_grasp_open_jaw.json.gz", "bytes": 619027, "sha256": "111b0a8bfb27f456ca9ace911845d5aaf6b88372d9cf5084e96cd52066878aa2" }, { "path": "attempts/friction015-mass060-layout00--reacquire_grasp_placement.json.gz", "bytes": 714867, "sha256": "f8b0f67e75b5ad2b8146c09f56bec6dd90f2250704192177471100d1e5574322" }, { "path": "attempts/friction015-mass060-layout00--reacquire_open_jaw.json.gz", "bytes": 630459, "sha256": "5a943fcfa2dd8ea42ebfc2928ad2198a85d362d457332c80c708323152f39e7e" }, { "path": "attempts/friction015-mass060-layout00--reacquire_placement.json.gz", "bytes": 753242, "sha256": "1f57dbb7e7a971aef13e72bbe3db8c9b83d0dba09ee72329cb184e3013160101" }, { "path": "attempts/friction015-mass060-layout00--recovery_open_jaw.json.gz", "bytes": 629907, "sha256": "d6856229f611629a599729b04a05efcda572c647a51f1beb461e86758ae558cf" }, { "path": "attempts/friction015-mass060-layout00--recovery_placement.json.gz", "bytes": 747250, "sha256": "d9923f28e3d9f8b8090df7a55a57f858e1de7953ec34ded32dd22779d213b95f" }, { "path": "attempts/friction015-mass060-layout01--hold.json.gz", "bytes": 347562, "sha256": "44449c8c8978fb37c1bb2e9a9c943a705b7c339917f1a49c25c1faf9efdda1f9" }, { "path": "attempts/friction015-mass060-layout01--reacquire_grasp_open_jaw.json.gz", "bytes": 620742, "sha256": "2e6a19db0c66092347a6ebbd49d185695bce88b563debcb63d6edde443448061" }, { "path": "attempts/friction015-mass060-layout01--reacquire_grasp_placement.json.gz", "bytes": 714791, "sha256": "c0fc39a99bda32f6f6d19c5b81623008a9c8e9fc801e08ceb316c6328513be91" }, { "path": "attempts/friction015-mass060-layout01--reacquire_open_jaw.json.gz", "bytes": 609204, "sha256": "27ef7811bfd1bda003b3691e69954ee6d4f38331d7d45f1ec03fef8cd8739d50" }, { "path": "attempts/friction015-mass060-layout01--reacquire_placement.json.gz", "bytes": 736758, "sha256": "3b5e106979dd34f4a90aadaa21ca6d31232a172aa36df8f6cb0926ba8b3f6b35" }, { "path": "attempts/friction015-mass060-layout01--recovery_open_jaw.json.gz", "bytes": 608863, "sha256": "b7a16a4e2b1221b4ad068d5b0b2d1842725498c5ee526b627e340f700bd97b40" }, { "path": "attempts/friction015-mass060-layout01--recovery_placement.json.gz", "bytes": 731494, "sha256": "c72d9dee6b3c35b624c5dd299922629ba45cd588fe13c23974e760c9ec6c9e7e" }, { "path": "attempts/friction055-mass040-layout00--hold.json.gz", "bytes": 351769, "sha256": "da54423624c601cfa68526016f9c0531b617e3acaaab0378257cf3ef9e55eaa5" }, { "path": "attempts/friction055-mass040-layout00--reacquire_grasp_open_jaw.json.gz", "bytes": 698866, "sha256": "a7df03ce042542ed14ed24a2e06653f4c0e5958c36e0390e4c38940923faccab" }, { "path": "attempts/friction055-mass040-layout00--reacquire_grasp_placement.json.gz", "bytes": 806354, "sha256": "4dab9fa8fc1912e42b56f2f2a5239eefb277d09080f15fa1c37eea5ceb6941fe" }, { "path": "attempts/friction055-mass040-layout00--reacquire_open_jaw.json.gz", "bytes": 688615, "sha256": "be3a73e0b216e9e90fa0832230644b7923a36b9aeb458d2c186c3d09ba018786" }, { "path": "attempts/friction055-mass040-layout00--reacquire_placement.json.gz", "bytes": 824512, "sha256": "e1a1324be3e91c9737b5b9f4da5bd1effd4dfcd31f44248ae4e34bd2207846b1" }, { "path": "attempts/friction055-mass040-layout00--recovery_open_jaw.json.gz", "bytes": 688459, "sha256": "f49cbfb09c5eeea12e7578b3b0135a76d6b8fbfcf95eab6e54d6de04fcccf16b" }, { "path": "attempts/friction055-mass040-layout00--recovery_placement.json.gz", "bytes": 817070, "sha256": "f01da380f632446e16fcc1453a1a32558cbef9da347a5b10006d4d2a1e6d97f9" }, { "path": "attempts/friction055-mass040-layout01--hold.json.gz", "bytes": 351255, "sha256": "f5252d3563ac9f49b292ff3daf5d3a717eced65e0d9d2d3338ad672d37bad762" }, { "path": "attempts/friction055-mass040-layout01--reacquire_grasp_open_jaw.json.gz", "bytes": 689672, "sha256": "84c3edaba15c7a241394e21d15303c593e6d7dd1725ccb9c06e2059a660655c3" }, { "path": "attempts/friction055-mass040-layout01--reacquire_grasp_placement.json.gz", "bytes": 803688, "sha256": "e1e9d1ccc07bb1580dd7d6956e0fe3521556e0016f4ed8441e97a4c71dab6eed" }, { "path": "attempts/friction055-mass040-layout01--reacquire_open_jaw.json.gz", "bytes": 688325, "sha256": "c90a0a6532e728565fe34996512258290e51279ba2be1dc16c886d8db7a8ce4f" }, { "path": "attempts/friction055-mass040-layout01--reacquire_placement.json.gz", "bytes": 824482, "sha256": "50abe72adf11bc531f38bb4ce078bbbf93d87d11bc36ee099369604371262fba" }, { "path": "attempts/friction055-mass040-layout01--recovery_open_jaw.json.gz", "bytes": 687728, "sha256": "af45afc2e6156ddd9c27ee79788aeeaad80d54eb3adb3ba2a8ca3e9df7a5cdcc" }, { "path": "attempts/friction055-mass040-layout01--recovery_placement.json.gz", "bytes": 817225, "sha256": "fb826a207b3b782aac3154394ca8383b20a5294857936fc7c523ed5b75797085" }, { "path": "attempts/friction055-mass060-layout00--hold.json.gz", "bytes": 350845, "sha256": "39cb6a536a589ad6e128f1061204fe44bf9675c1e3e2441ff034dd7e53f8172a" }, { "path": "attempts/friction055-mass060-layout00--reacquire_grasp_open_jaw.json.gz", "bytes": 688994, "sha256": "4576bec40fdd2dcf7dc4cccf587751c81f16c2427e08ca0dc6fad0aee43d6a2d" }, { "path": "attempts/friction055-mass060-layout00--reacquire_grasp_placement.json.gz", "bytes": 810536, "sha256": "97ef1da1810d29bb7cac986a2540be1a70b07b856a635100889ff15a6abe4796" }, { "path": "attempts/friction055-mass060-layout00--reacquire_open_jaw.json.gz", "bytes": 635929, "sha256": "71db38f2fc1d3ec63efbe34ce712777975998a687f6f3997415b15f61194c1dd" }, { "path": "attempts/friction055-mass060-layout00--reacquire_placement.json.gz", "bytes": 756469, "sha256": "a61a75889c7c29a52d36b012ad7dd0ab4f3806fb53c092a2d11173e5f1db4851" }, { "path": "attempts/friction055-mass060-layout00--recovery_open_jaw.json.gz", "bytes": 635590, "sha256": "c44e9b962d01d24a3701cfe4696c777183f0f7141888aa6bc3effc582fcce150" }, { "path": "attempts/friction055-mass060-layout00--recovery_placement.json.gz", "bytes": 750761, "sha256": "6a42baf3b1291146936082ffd4122f9a2914a920880d75010e3285828beb8f68" }, { "path": "attempts/friction055-mass060-layout01--hold.json.gz", "bytes": 350923, "sha256": "ec234247afa9f2a089c2d668a3fee2a35566f7a3693ff9a4498f42c802390cbe" }, { "path": "attempts/friction055-mass060-layout01--reacquire_grasp_open_jaw.json.gz", "bytes": 688480, "sha256": "460aa5fc2696ba7dc666e485eecaa2c663afbcfe4a3ce2e887ba9c8836c604ac" }, { "path": "attempts/friction055-mass060-layout01--reacquire_grasp_placement.json.gz", "bytes": 808892, "sha256": "10b967fce78a2c2d7f11f4acf5f6bf09e69abe90a437d88d8f9516d215e7262d" }, { "path": "attempts/friction055-mass060-layout01--reacquire_open_jaw.json.gz", "bytes": 637122, "sha256": "5fdcb61a777e0eefdf5b68947b37ffa5c5888bd7468f34600c560c30890d77ad" }, { "path": "attempts/friction055-mass060-layout01--reacquire_placement.json.gz", "bytes": 753023, "sha256": "27b4486d89103c5f477fb986f01b4f15bcd9d6aa45164abd22fcb6aa758e43ba" }, { "path": "attempts/friction055-mass060-layout01--recovery_open_jaw.json.gz", "bytes": 636852, "sha256": "b085c90e014c22f3d8d8ceb4698eb66235234730f2f33b5a2aa8b47ecdf26b44" }, { "path": "attempts/friction055-mass060-layout01--recovery_placement.json.gz", "bytes": 747460, "sha256": "1a046cc66eee0505f66b1cd5e265d79e36f0a16ab2972245e42b4bb9af624fce" }, { "path": "attempts/friction080-mass040-layout00--hold.json.gz", "bytes": 353023, "sha256": "9ceeaeccd9eea8675ab631c3fbf91167dd10a12ad1a842594b4f2edbb1ba1f5a" }, { "path": "attempts/friction080-mass040-layout00--reacquire_grasp_open_jaw.json.gz", "bytes": 701206, "sha256": "b21eb591befcd3d732f5e67248add09249606023233cc82e16ef9c2a56ee86ac" }, { "path": "attempts/friction080-mass040-layout00--reacquire_grasp_placement.json.gz", "bytes": 806449, "sha256": "47be52937c651e6e2bf06555bb1faebe14b9d828e7ead5a2f182ea12e719c6b5" }, { "path": "attempts/friction080-mass040-layout00--reacquire_open_jaw.json.gz", "bytes": 691224, "sha256": "5b1c0318dbce70c7b0000703d99ebc1f35a03c7dfe9858c39b05234926de4811" }, { "path": "attempts/friction080-mass040-layout00--reacquire_placement.json.gz", "bytes": 826436, "sha256": "aeffd70dce2caab8dbc54d23113f86699d57b4ca6c2363c98f459d72c3145242" }, { "path": "attempts/friction080-mass040-layout00--recovery_open_jaw.json.gz", "bytes": 689737, "sha256": "c35c6e2b4c1c684b335bc377667e542f4dbc54d1c891e385bff9f270518b2152" }, { "path": "attempts/friction080-mass040-layout00--recovery_placement.json.gz", "bytes": 818754, "sha256": "2b6930a5670285e1b29cc3e0a3b74371a839c75ad4ca48aebc5119ca31ef899b" }, { "path": "attempts/friction080-mass040-layout01--hold.json.gz", "bytes": 352347, "sha256": "bfdded7b3df680ff513d84461aa3b433a695d292f00c03e888d8b0df06d1c83e" }, { "path": "attempts/friction080-mass040-layout01--reacquire_grasp_open_jaw.json.gz", "bytes": 691895, "sha256": "d635c2a59afa56f463c2e77253dc414e8d4b6bb9ada4911d051dd2e3f48da721" }, { "path": "attempts/friction080-mass040-layout01--reacquire_grasp_placement.json.gz", "bytes": 804043, "sha256": "39021a4d1cc4f2769ee90a91e05d7f0cef171d98356a417a93d7d12104dd145d" }, { "path": "attempts/friction080-mass040-layout01--reacquire_open_jaw.json.gz", "bytes": 691048, "sha256": "edd32abdae593f25c74dd532ca4d70386670ff02ad6e7bacb0032686981ea681" }, { "path": "attempts/friction080-mass040-layout01--reacquire_placement.json.gz", "bytes": 826000, "sha256": "938074ec256215b3d4b7fd0aa0bab11b0ac2ed1fc73747718f6d54c1027f70c9" }, { "path": "attempts/friction080-mass040-layout01--recovery_open_jaw.json.gz", "bytes": 690386, "sha256": "ce64cfb2d6419b88036120feec2da9590742efbda72244607716fe86e6478041" }, { "path": "attempts/friction080-mass040-layout01--recovery_placement.json.gz", "bytes": 818564, "sha256": "7e8e3c2e0e986d2255fc46fff9b4786e6786f8c516269f0d4c93db5337ef5fd2" }, { "path": "attempts/friction080-mass060-layout00--hold.json.gz", "bytes": 352874, "sha256": "7d2d20a3d02de51b79eb40fa587b88a1dd54efb380219523a776a4a2256c3b7b" }, { "path": "attempts/friction080-mass060-layout00--reacquire_grasp_open_jaw.json.gz", "bytes": 700796, "sha256": "3b33328666ffe717649a02939f31d90ec34422858d4480f1e585748605c92160" }, { "path": "attempts/friction080-mass060-layout00--reacquire_grasp_placement.json.gz", "bytes": 806227, "sha256": "9825fe0af817f0680b321cefa2ed7e145f29ec231fa17ec20cd0f94728d9cf08" }, { "path": "attempts/friction080-mass060-layout00--reacquire_open_jaw.json.gz", "bytes": 689946, "sha256": "1e55822f8f4a86f07cdfbcec8da5a32828a2c87837c89843957843f60736ace2" }, { "path": "attempts/friction080-mass060-layout00--reacquire_placement.json.gz", "bytes": 826970, "sha256": "213fffcb759961cb70014f261ee7fe059aa2ab5792a81ea56a782315f7d4758a" }, { "path": "attempts/friction080-mass060-layout00--recovery_open_jaw.json.gz", "bytes": 689589, "sha256": "8d7e970db7d1eec72f2bd1d01b79ff8093994ce91eb0e577d4cfba5fce41d7c4" }, { "path": "attempts/friction080-mass060-layout00--recovery_placement.json.gz", "bytes": 819416, "sha256": "3773500458cce1f211d200909ab17704564c55fcf04bb3c2cfd1ef3d9a7f5db7" }, { "path": "attempts/friction080-mass060-layout01--hold.json.gz", "bytes": 352006, "sha256": "3cf51ae68d2a88edfcc44daed46f981b7702ae6e9a609e318a1fbe4e96d72e68" }, { "path": "attempts/friction080-mass060-layout01--reacquire_grasp_open_jaw.json.gz", "bytes": 690770, "sha256": "9d7446d4ea01f9ee1661b2f268f1c3933f7d783bde1bcf9de850c992678b2301" }, { "path": "attempts/friction080-mass060-layout01--reacquire_grasp_placement.json.gz", "bytes": 804172, "sha256": "4fef1d22027d457a669fed9cf790353b9406610b4d88347732ed138f9f479ff5" }, { "path": "attempts/friction080-mass060-layout01--reacquire_open_jaw.json.gz", "bytes": 689778, "sha256": "adc41543dca9c79b3c0325af22d2c94bc00877e7d12d0b45247a4456ec2fa903" }, { "path": "attempts/friction080-mass060-layout01--reacquire_placement.json.gz", "bytes": 826020, "sha256": "9721bfa41eb6665cf490f9f6b48709b661e0d9f79a75fcc32fd9d478ef6fc4eb" }, { "path": "attempts/friction080-mass060-layout01--recovery_open_jaw.json.gz", "bytes": 689438, "sha256": "8c5e02b79d60698eae5f065665939946c6e2425b8cedd91c55611f7f11853de4" }, { "path": "attempts/friction080-mass060-layout01--recovery_placement.json.gz", "bytes": 819087, "sha256": "3a1bb75cf14073da6a661c3bce9adcc623e74be7690f748db38962b94f5c1b49" }, { "path": "integrity.json", "bytes": 24729, "sha256": "c74db518aa5fb718facd31ce31922ea9eb4427d339d4719a1d88d46bf2205154" }, { "path": "licenses/agilex_piper/LICENSE", "bytes": 1065, "sha256": "e32d78fd3761052ab0b2bb42fef8a7a9ad3f298d315d305333c349d2aff1f134" }, { "path": "licenses/agilex_piper/README.md", "bytes": 1681, "sha256": "ab0d218758ec6c298417407962f49179e369236e8f316dbaa7671756d6f8eb77" }, { "path": "protocol.json", "bytes": 52986, "sha256": "65c0fca5cf92d4aae758eb276c7ccb0d0d190db132919ad847fd2d68a816f028" }, { "path": "report.html", "bytes": 19288, "sha256": "bb2aa1473ebc841ee40468cd372d4fe97ba9be76fd939bf3be6bc7604ff2559c" }, { "path": "report.json", "bytes": 3640731, "sha256": "525ec1f9b87fae472463df58e6b9c7d1976dba73e4ba729f02c53dd73ef0df18" } ] }, { "seed": 862186, "attempted": 84, "valid_attempts": 84, "placements": { "recovery": { "attempted": 12, "valid": 12, "success": 5, "failed_or_invalid": 7, "success_fraction": 0.4166666666666667, "failure_stage_counts": { "acquisition_never_qualified": 6, "qualified_without_full_60mm_lift": 1 }, "abort_reason_counts": { "reassessment_timeout_unsettled_or_unknown": 1, "retry_budget_exhausted:object_not_following": 2, "unchanged_grasp_not_following": 4 }, "completion_time_seconds": { "count": 5, "min": 15.571999999996809, "mean": 15.82379999999668, "p50": 15.942999999996603, "p95": 16.026999999996605, "p99": 16.026999999996605, "max": 16.026999999996605, "quantile_method": "nearest_rank" }, "second_probes_started": 0, "second_probes_qualified": 0, "probe_attempts_completed": 0, "probe_attempts_failed_or_invalid": 0, "resumed_completed": 3, "resumed_failed_or_invalid": 0, "unexpected_contact_native_ticks": 0, "attempts_with_prohibited_contact": 0, "attempts_with_warnings": 0, "max_pad_force_n": 1.2613643972768556, "max_sampled_tcp_speed_m_s": 0.20423671082846123 }, "reacquire": { "attempted": 12, "valid": 12, "success": 6, "failed_or_invalid": 6, "success_fraction": 0.5, "failure_stage_counts": { "acquisition_never_qualified": 6 }, "abort_reason_counts": { "retry_budget_exhausted:object_not_following": 2, "unchanged_grasp_not_following": 4 }, "completion_time_seconds": { "count": 6, "min": 15.571999999996809, "mean": 16.02816666666354, "p50": 15.942999999996603, "p95": 17.049999999997855, "p99": 17.049999999997855, "max": 17.049999999997855, "quantile_method": "nearest_rank" }, "second_probes_started": 1, "second_probes_qualified": 1, "probe_attempts_completed": 1, "probe_attempts_failed_or_invalid": 0, "resumed_completed": 4, "resumed_failed_or_invalid": 0, "unexpected_contact_native_ticks": 0, "attempts_with_prohibited_contact": 0, "attempts_with_warnings": 0, "max_pad_force_n": 1.27276680277452, "max_sampled_tcp_speed_m_s": 0.20423671082846123 }, "reacquire_grasp": { "attempted": 12, "valid": 12, "success": 8, "failed_or_invalid": 4, "success_fraction": 0.6666666666666666, "failure_stage_counts": { "acquisition_never_qualified": 4 }, "abort_reason_counts": { "unchanged_grasp_not_following": 4 }, "completion_time_seconds": { "count": 8, "min": 16.599999999997305, "mean": 16.764874999997506, "p50": 16.639999999997354, "p95": 17.18599999999802, "p99": 17.18599999999802, "max": 17.18599999999802, "quantile_method": "nearest_rank" }, "second_probes_started": 0, "second_probes_qualified": 0, "probe_attempts_completed": 0, "probe_attempts_failed_or_invalid": 0, "resumed_completed": 2, "resumed_failed_or_invalid": 0, "unexpected_contact_native_ticks": 0, "attempts_with_prohibited_contact": 0, "attempts_with_warnings": 0, "max_pad_force_n": 1.4149350596239172, "max_sampled_tcp_speed_m_s": 0.20530325821286205 } }, "controls": { "attempted": 48, "valid": 48, "success": 0 }, "paired_comparisons": [ { "reference": "recovery", "candidate": "reacquire", "attempted_pairs": 12, "common_successes": 5, "gained_successes": 1, "lost_successes": 0, "neither_succeeded": 6, "common_success_delta_seconds": { "count": 5, "min": 0.0, "mean": 0.0, "p50": 0.0, "p95": 0.0, "p99": 0.0, "max": 0.0, "quantile_method": "nearest_rank" }, "common_success_faster": 0, "common_success_unchanged": 5, "common_success_slower": 0, "gained_completion_times_seconds": { "count": 1, "min": 17.049999999997855, "mean": 17.049999999997855, "p50": 17.049999999997855, "p95": 17.049999999997855, "p99": 17.049999999997855, "max": 17.049999999997855, "quantile_method": "nearest_rank" }, "lost_reference_completion_times_seconds": { "count": 0, "min": null, "mean": null, "p50": null, "p95": null, "p99": null, "max": null, "quantile_method": "nearest_rank" }, "gained_without_losses": true, "time_scope": "Candidate minus reference simulated completion time, common successes only. Gains/losses remain separate.", "pairs": [ { "cohort_seed": 862186, "scene_id": "friction015-mass040-layout00", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "unchanged_grasp_not_following", "candidate_abort_reason": "unchanged_grasp_not_following", "common_abort_delta_s": 0.0 }, { "cohort_seed": 862186, "scene_id": "friction015-mass040-layout01", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "unchanged_grasp_not_following", "candidate_abort_reason": "unchanged_grasp_not_following", "common_abort_delta_s": 0.0 }, { "cohort_seed": 862186, "scene_id": "friction015-mass060-layout00", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "unchanged_grasp_not_following", "candidate_abort_reason": "unchanged_grasp_not_following", "common_abort_delta_s": 0.0 }, { "cohort_seed": 862186, "scene_id": "friction015-mass060-layout01", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "unchanged_grasp_not_following", "candidate_abort_reason": "unchanged_grasp_not_following", "common_abort_delta_s": 0.0 }, { "cohort_seed": 862186, "scene_id": "friction055-mass040-layout00", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 15.942999999996603, "candidate_completion_s": 15.942999999996603, "completion_delta_s": 0.0, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 862186, "scene_id": "friction055-mass040-layout01", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 16.026999999996605, "candidate_completion_s": 16.026999999996605, "completion_delta_s": 0.0, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 862186, "scene_id": "friction055-mass060-layout00", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "retry_budget_exhausted:object_not_following", "candidate_abort_reason": "retry_budget_exhausted:object_not_following", "common_abort_delta_s": 0.0 }, { "cohort_seed": 862186, "scene_id": "friction055-mass060-layout01", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "retry_budget_exhausted:object_not_following", "candidate_abort_reason": "retry_budget_exhausted:object_not_following", "common_abort_delta_s": 0.0 }, { "cohort_seed": 862186, "scene_id": "friction080-mass040-layout00", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 15.571999999996809, "candidate_completion_s": 15.571999999996809, "completion_delta_s": 0.0, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 862186, "scene_id": "friction080-mass040-layout01", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 15.631999999996776, "candidate_completion_s": 15.631999999996776, "completion_delta_s": 0.0, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 862186, "scene_id": "friction080-mass060-layout00", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 15.944999999996602, "candidate_completion_s": 15.944999999996602, "completion_delta_s": 0.0, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 862186, "scene_id": "friction080-mass060-layout01", "reference_success": false, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": 17.049999999997855, "completion_delta_s": null, "reference_failure_stage": "qualified_without_full_60mm_lift", "candidate_failure_stage": "completed", "reference_abort_reason": "reassessment_timeout_unsettled_or_unknown", "candidate_abort_reason": null, "common_abort_delta_s": null } ] }, { "reference": "recovery", "candidate": "reacquire_grasp", "attempted_pairs": 12, "common_successes": 5, "gained_successes": 3, "lost_successes": 0, "neither_succeeded": 4, "common_success_delta_seconds": { "count": 5, "min": 0.6130000000007492, "mean": 0.8004000000006556, "p50": 0.6960000000007529, "p95": 1.028000000000496, "p99": 1.028000000000496, "max": 1.028000000000496, "quantile_method": "nearest_rank" }, "common_success_faster": 0, "common_success_unchanged": 0, "common_success_slower": 5, "gained_completion_times_seconds": { "count": 3, "min": 16.66199999999738, "mean": 16.999333333331126, "p50": 17.149999999997977, "p95": 17.18599999999802, "p99": 17.18599999999802, "max": 17.18599999999802, "quantile_method": "nearest_rank" }, "lost_reference_completion_times_seconds": { "count": 0, "min": null, "mean": null, "p50": null, "p95": null, "p99": null, "max": null, "quantile_method": "nearest_rank" }, "gained_without_losses": true, "time_scope": "Candidate minus reference simulated completion time, common successes only. Gains/losses remain separate.", "pairs": [ { "cohort_seed": 862186, "scene_id": "friction015-mass040-layout00", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "unchanged_grasp_not_following", "candidate_abort_reason": "unchanged_grasp_not_following", "common_abort_delta_s": 1.2199999999993238 }, { "cohort_seed": 862186, "scene_id": "friction015-mass040-layout01", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "unchanged_grasp_not_following", "candidate_abort_reason": "unchanged_grasp_not_following", "common_abort_delta_s": 1.159999999999357 }, { "cohort_seed": 862186, "scene_id": "friction015-mass060-layout00", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "unchanged_grasp_not_following", "candidate_abort_reason": "unchanged_grasp_not_following", "common_abort_delta_s": 1.2199999999993238 }, { "cohort_seed": 862186, "scene_id": "friction015-mass060-layout01", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "unchanged_grasp_not_following", "candidate_abort_reason": "unchanged_grasp_not_following", "common_abort_delta_s": 1.159999999999357 }, { "cohort_seed": 862186, "scene_id": "friction055-mass040-layout00", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 15.942999999996603, "candidate_completion_s": 16.599999999997305, "completion_delta_s": 0.6570000000007017, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 862186, "scene_id": "friction055-mass040-layout01", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 16.026999999996605, "candidate_completion_s": 16.639999999997354, "completion_delta_s": 0.6130000000007492, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 862186, "scene_id": "friction055-mass060-layout00", "reference_success": false, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": 17.149999999997977, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "completed", "reference_abort_reason": "retry_budget_exhausted:object_not_following", "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 862186, "scene_id": "friction055-mass060-layout01", "reference_success": false, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": 17.18599999999802, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "completed", "reference_abort_reason": "retry_budget_exhausted:object_not_following", "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 862186, "scene_id": "friction080-mass040-layout00", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 15.571999999996809, "candidate_completion_s": 16.599999999997305, "completion_delta_s": 1.028000000000496, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 862186, "scene_id": "friction080-mass040-layout01", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 15.631999999996776, "candidate_completion_s": 16.639999999997354, "completion_delta_s": 1.0080000000005782, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 862186, "scene_id": "friction080-mass060-layout00", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 15.944999999996602, "candidate_completion_s": 16.640999999997355, "completion_delta_s": 0.6960000000007529, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 862186, "scene_id": "friction080-mass060-layout01", "reference_success": false, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": 16.66199999999738, "completion_delta_s": null, "reference_failure_stage": "qualified_without_full_60mm_lift", "candidate_failure_stage": "completed", "reference_abort_reason": "reassessment_timeout_unsettled_or_unknown", "candidate_abort_reason": null, "common_abort_delta_s": null } ] }, { "reference": "reacquire", "candidate": "reacquire_grasp", "attempted_pairs": 12, "common_successes": 6, "gained_successes": 2, "lost_successes": 0, "neither_succeeded": 4, "common_success_delta_seconds": { "count": 6, "min": -0.3880000000004742, "mean": 0.6023333333338007, "p50": 0.6570000000007017, "p95": 1.028000000000496, "p99": 1.028000000000496, "max": 1.028000000000496, "quantile_method": "nearest_rank" }, "common_success_faster": 1, "common_success_unchanged": 0, "common_success_slower": 5, "gained_completion_times_seconds": { "count": 2, "min": 17.149999999997977, "mean": 17.167999999998, "p50": 17.149999999997977, "p95": 17.18599999999802, "p99": 17.18599999999802, "max": 17.18599999999802, "quantile_method": "nearest_rank" }, "lost_reference_completion_times_seconds": { "count": 0, "min": null, "mean": null, "p50": null, "p95": null, "p99": null, "max": null, "quantile_method": "nearest_rank" }, "gained_without_losses": true, "time_scope": "Candidate minus reference simulated completion time, common successes only. Gains/losses remain separate.", "pairs": [ { "cohort_seed": 862186, "scene_id": "friction015-mass040-layout00", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "unchanged_grasp_not_following", "candidate_abort_reason": "unchanged_grasp_not_following", "common_abort_delta_s": 1.2199999999993238 }, { "cohort_seed": 862186, "scene_id": "friction015-mass040-layout01", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "unchanged_grasp_not_following", "candidate_abort_reason": "unchanged_grasp_not_following", "common_abort_delta_s": 1.159999999999357 }, { "cohort_seed": 862186, "scene_id": "friction015-mass060-layout00", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "unchanged_grasp_not_following", "candidate_abort_reason": "unchanged_grasp_not_following", "common_abort_delta_s": 1.2199999999993238 }, { "cohort_seed": 862186, "scene_id": "friction015-mass060-layout01", "reference_success": false, "candidate_success": false, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": null, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "acquisition_never_qualified", "reference_abort_reason": "unchanged_grasp_not_following", "candidate_abort_reason": "unchanged_grasp_not_following", "common_abort_delta_s": 1.159999999999357 }, { "cohort_seed": 862186, "scene_id": "friction055-mass040-layout00", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 15.942999999996603, "candidate_completion_s": 16.599999999997305, "completion_delta_s": 0.6570000000007017, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 862186, "scene_id": "friction055-mass040-layout01", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 16.026999999996605, "candidate_completion_s": 16.639999999997354, "completion_delta_s": 0.6130000000007492, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 862186, "scene_id": "friction055-mass060-layout00", "reference_success": false, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": 17.149999999997977, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "completed", "reference_abort_reason": "retry_budget_exhausted:object_not_following", "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 862186, "scene_id": "friction055-mass060-layout01", "reference_success": false, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": null, "candidate_completion_s": 17.18599999999802, "completion_delta_s": null, "reference_failure_stage": "acquisition_never_qualified", "candidate_failure_stage": "completed", "reference_abort_reason": "retry_budget_exhausted:object_not_following", "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 862186, "scene_id": "friction080-mass040-layout00", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 15.571999999996809, "candidate_completion_s": 16.599999999997305, "completion_delta_s": 1.028000000000496, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 862186, "scene_id": "friction080-mass040-layout01", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 15.631999999996776, "candidate_completion_s": 16.639999999997354, "completion_delta_s": 1.0080000000005782, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 862186, "scene_id": "friction080-mass060-layout00", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 15.944999999996602, "candidate_completion_s": 16.640999999997355, "completion_delta_s": 0.6960000000007529, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null }, { "cohort_seed": 862186, "scene_id": "friction080-mass060-layout01", "reference_success": true, "candidate_success": true, "reference_valid": true, "candidate_valid": true, "reference_completion_s": 17.049999999997855, "candidate_completion_s": 16.66199999999738, "completion_delta_s": -0.3880000000004742, "reference_failure_stage": "completed", "candidate_failure_stage": "completed", "reference_abort_reason": null, "candidate_abort_reason": null, "common_abort_delta_s": null } ] } ], "report_quality_gates": { "complete_planned_denominator": true, "all_native_attempts_valid": true, "all_controls_fail": true, "native_integrity_clean": true, "gained_without_lost_completions": true, "selected_candidate": "reacquire_grasp", "reference_comparisons": [ { "candidate": "reacquire", "gained_successes": 1, "lost_successes": 0, "gained_without_lost_completions": true }, { "candidate": "reacquire_grasp", "gained_successes": 3, "lost_successes": 0, "gained_without_lost_completions": true } ], "scope": "Descriptive pilot gates; a valid negative result is retained. Native policy audit and prior-success regression are separate release checks, not inferred from these flags." }, "report_execution_metrics": [ { "variant": "recovery_placement", "attempted": 12, "control_windows": 12000, "p50_seconds": 0.0015511249657720327, "p95_seconds": 0.003240708028897643, "p99_seconds": 0.004449667176231742, "max_seconds": 0.014515917049720883, "missed_20ms_windows": 0, "missed_20ms_fraction": 0.0, "episode_wall_seconds": 24.28622083272785, "simulated_seconds": 240.0000000000175, "simulated_seconds_per_episode_wall_second": 9.882146821155315, "scope": "Observed host computation including native integration/state collection; no sensor-to-actuator or hard-real-time guarantee." }, { "variant": "recovery_open_jaw", "attempted": 12, "control_windows": 12000, "p50_seconds": 0.0013786670751869678, "p95_seconds": 0.001598582835868001, "p99_seconds": 0.0018462080042809248, "max_seconds": 0.008965292014181614, "missed_20ms_windows": 0, "missed_20ms_fraction": 0.0, "episode_wall_seconds": 18.51136291678995, "simulated_seconds": 240.0000000000175, "simulated_seconds_per_episode_wall_second": 12.965009712079906, "scope": "Observed host computation including native integration/state collection; no sensor-to-actuator or hard-real-time guarantee." }, { "variant": "reacquire_placement", "attempted": 12, "control_windows": 12000, "p50_seconds": 0.001517249969765544, "p95_seconds": 0.0027469578199088573, "p99_seconds": 0.004211124964058399, "max_seconds": 0.011477792169898748, "missed_20ms_windows": 0, "missed_20ms_fraction": 0.0, "episode_wall_seconds": 22.565057042287663, "simulated_seconds": 240.0000000000175, "simulated_seconds_per_episode_wall_second": 10.63591372936703, "scope": "Observed host computation including native integration/state collection; no sensor-to-actuator or hard-real-time guarantee." }, { "variant": "reacquire_open_jaw", "attempted": 12, "control_windows": 12000, "p50_seconds": 0.0013851250987499952, "p95_seconds": 0.001625375123694539, "p99_seconds": 0.0018146249931305647, "max_seconds": 0.012560874922201037, "missed_20ms_windows": 0, "missed_20ms_fraction": 0.0, "episode_wall_seconds": 18.723619625438005, "simulated_seconds": 240.0000000000175, "simulated_seconds_per_episode_wall_second": 12.818034375893445, "scope": "Observed host computation including native integration/state collection; no sensor-to-actuator or hard-real-time guarantee." }, { "variant": "reacquire_grasp_placement", "attempted": 12, "control_windows": 12000, "p50_seconds": 0.0015831668861210346, "p95_seconds": 0.0023928338196128607, "p99_seconds": 0.002972082933411002, "max_seconds": 0.015926667023450136, "missed_20ms_windows": 0, "missed_20ms_fraction": 0.0, "episode_wall_seconds": 22.50262004043907, "simulated_seconds": 240.0000000000175, "simulated_seconds_per_episode_wall_second": 10.665424718042505, "scope": "Observed host computation including native integration/state collection; no sensor-to-actuator or hard-real-time guarantee." }, { "variant": "reacquire_grasp_open_jaw", "attempted": 12, "control_windows": 12000, "p50_seconds": 0.0013851660769432783, "p95_seconds": 0.001526624895632267, "p99_seconds": 0.0016667500603944063, "max_seconds": 0.00955495797097683, "missed_20ms_windows": 0, "missed_20ms_fraction": 0.0, "episode_wall_seconds": 18.8488580416888, "simulated_seconds": 240.0000000000175, "simulated_seconds_per_episode_wall_second": 12.732866864889086, "scope": "Observed host computation including native integration/state collection; no sensor-to-actuator or hard-real-time guarantee." }, { "variant": "hold", "attempted": 12, "control_windows": 12000, "p50_seconds": 0.0013605831190943718, "p95_seconds": 0.0016317081172019243, "p99_seconds": 0.0018528751097619534, "max_seconds": 0.023113791132345796, "missed_20ms_windows": 1, "missed_20ms_fraction": 8.333333333333333e-05, "episode_wall_seconds": 18.85966658499092, "simulated_seconds": 240.0000000000175, "simulated_seconds_per_episode_wall_second": 12.725569612721394, "scope": "Observed host computation including native integration/state collection; no sensor-to-actuator or hard-real-time guarantee." } ], "native_environment": { "platform": "macOS-26.5.2-arm64-arm-64bit", "machine": "arm64", "python": "3.12.9", "logical_cpu_count": 10, "gpu_used": false, "process_lifetime_peak_rss_bytes": 764903424, "episode_runtimes": [ { "system": "Darwin", "machine": "arm64", "python": "3.12.9", "mujoco_version": "3.15.0", "numpy_version": "2.5.3" } ], "memory_scope": "Process lifetime high-water RSS before inspection; not per-episode or minimum RAM." }, "execution": { "schema": "dvidia.local-benchmark-execution/v1", "source_commit": "e76b2e41256604d5b4314e45ca45959cab9aa571", "cohort": "confirmation", "seed": 862186, "returncode": 0, "execution": "Installed wheel built from a committed source archive; runtime source paths clean; OS process-level network denial with EPERM socket self-check; local pinned assets; PYTHONPATH unset", "threads": { "OPENBLAS_NUM_THREADS": "1", "OMP_NUM_THREADS": "1" }, "command_wall_seconds": 176.861830458045, "child_lifetime_peak_rss_bytes": 855916544, "memory_scope": "macOS RUSAGE_CHILDREN high-water RSS including benchmark and native policy inspection; preceding Git children also belong to child lifetime", "wall_scope": "Whole installed command including startup, 84 native attempts, evaluation, compression, serialization, portable inspection and native policy/IK audit. Excludes wheel installation, asset provisioning, browser rendering and publication. Host load uncontrolled." }, "preregistration": { "path": "benchmarks/piper-reliability-development-20261011/preregistration/protocol-862186.json", "bytes": 66453, "sha256": "232ec3fc72cb91c221a0b9c92f104c54b20576c3b51c3b6fc8b214e899678550" }, "emitted_protocol": { "path": "runs/piper-reliability-confirmation-862186/protocol.json", "bytes": 52992, "sha256": "727b17a7f157d6fe682dfeb3d1eaceaa6d045bb97f26feb294082ae9a0d31dc7" }, "preregistered_json_exactly_equal": true, "canonical_protocol_sha256": "2eb0bfa58837d229a3b4559474414016df360c72cfaf436f5b17e0a96117106d", "protocol_byte_identical": false, "report_file": { "path": "runs/piper-reliability-confirmation-862186/report.json", "bytes": 3613462, "sha256": "665b11c4cb35fa200823ad97052bd768b0a72bdc5e2fa05321265a852b80a1f7" }, "seal_file": { "path": "runs/piper-reliability-confirmation-862186/integrity.json", "bytes": 24729, "sha256": "0bbee894ea762b10b37072d44e0cd82eccc93cad887d7004f88c8cff72de2e4f" }, "execution_file": { "path": "runs/piper-reliability-confirmation-862186-execution.json", "bytes": 992, "sha256": "d77254eb98825a8a484ce020019e4259c958bca03816ffb054a19cfa4fc1a1ac" }, "cli_summary_file": { "path": "runs/piper-reliability-confirmation-862186-summary.json", "bytes": 22970, "sha256": "07f69f1e1c7569218011897aa6bd9c4427bf9527d43a94f98f11a552ea9b5451" }, "progress_log_file": { "path": "runs/piper-reliability-confirmation-862186-progress.log", "bytes": 7795, "sha256": "bfbc28813175bd21b1db9d675052b1a07b3365b02606537ea9bb22df6ba4cb9c" }, "storage": { "total_files_including_seal": 90, "sealed_files_excluding_seal": 89, "stored_bytes_including_seal": 59573010, "stored_bytes_excluding_seal": 59548281, "decoded_bytes_excluding_seal": 340967995, "canonical_complete_inventory_sha256": "15fa9a1e33b45c9dff13a447596cb7586a790b7d88af7f731275f6d8f57b5431" }, "artifact_inventory": [ { "path": "attempts/friction015-mass040-layout00--hold.json.gz", "bytes": 347746, "sha256": "68087501856ac1afa23b6718bcf82299acd3a7ac67706311482406f7b10341a8" }, { "path": "attempts/friction015-mass040-layout00--reacquire_grasp_open_jaw.json.gz", "bytes": 621118, "sha256": "cd905dad7b37bf8244b21f0ffb2e0add07fd1ebd5cfca17597edfb65954a6ea4" }, { "path": "attempts/friction015-mass040-layout00--reacquire_grasp_placement.json.gz", "bytes": 719446, "sha256": "3a3ff3fec9495be32e73d4fbcbf5cf9076a5ad02bf1a66dc7ad4b42b9c0911ec" }, { "path": "attempts/friction015-mass040-layout00--reacquire_open_jaw.json.gz", "bytes": 608697, "sha256": "131cb839c0ff68a51812f389f0079fe18faf2a76afc296de1f0f28e2715bf28c" }, { "path": "attempts/friction015-mass040-layout00--reacquire_placement.json.gz", "bytes": 737678, "sha256": "be18909bfa10c0b816cf75a7aab3f83d76d2622a6f1207b6e5b6abf8dd5a9bb0" }, { "path": "attempts/friction015-mass040-layout00--recovery_open_jaw.json.gz", "bytes": 608259, "sha256": "a50d9e41414fa6bd28e60094c35affcfeb2e35cba93a9de9e1b8455b01765dc6" }, { "path": "attempts/friction015-mass040-layout00--recovery_placement.json.gz", "bytes": 732503, "sha256": "186de3677b341c8251f366b4aec1d8158bbb066f12873554b998ac892bfc3dd7" }, { "path": "attempts/friction015-mass040-layout01--hold.json.gz", "bytes": 347877, "sha256": "aee748d1a46833a29bd8817ea6243ecc4d39bce14bc0c392bac31e3d81299f82" }, { "path": "attempts/friction015-mass040-layout01--reacquire_grasp_open_jaw.json.gz", "bytes": 620956, "sha256": "cfd684d244402d7bea07f1963794e5278dcb6d588d90e6d6cf42939d866aa6c2" }, { "path": "attempts/friction015-mass040-layout01--reacquire_grasp_placement.json.gz", "bytes": 719579, "sha256": "cf0e0f255e373ffb751ba651e7d9ff7cb894c5dcb01d3ce33943e3a92bb6fda8" }, { "path": "attempts/friction015-mass040-layout01--reacquire_open_jaw.json.gz", "bytes": 609168, "sha256": "243c295576713d476bb8290b728401496ef7bbeeb7f5a352d1e6f84436a89821" }, { "path": "attempts/friction015-mass040-layout01--reacquire_placement.json.gz", "bytes": 736057, "sha256": "e54c16656592b75d02868520a159de7c8857f3a37d6ee056956d1a446e0fd752" }, { "path": "attempts/friction015-mass040-layout01--recovery_open_jaw.json.gz", "bytes": 608551, "sha256": "bb74d204b7151c49289121f7fd95e9ed6ff06316ece9d98bb69c3d4d01461649" }, { "path": "attempts/friction015-mass040-layout01--recovery_placement.json.gz", "bytes": 730609, "sha256": "3fa472934ad215f2d3a320cfbc546ba3bff569d50e4b55419b4b2014a9f32f5e" }, { "path": "attempts/friction015-mass060-layout00--hold.json.gz", "bytes": 347351, "sha256": "e902cc19d7206ae334a2f226c9418c7a0dbb677a9e17f0bf18df8c307f7ef766" }, { "path": "attempts/friction015-mass060-layout00--reacquire_grasp_open_jaw.json.gz", "bytes": 620211, "sha256": "4e6027e2054af88f5ccc58c0659a3726dfeec2464a70071ddbed09dd2e3e306f" }, { "path": "attempts/friction015-mass060-layout00--reacquire_grasp_placement.json.gz", "bytes": 714785, "sha256": "e39b5d6118e9274519d590c55167c332a8acd32cb7badb49fc4b815a6532bd81" }, { "path": "attempts/friction015-mass060-layout00--reacquire_open_jaw.json.gz", "bytes": 607923, "sha256": "b406b7e7d07c850dbb5ab64c0d1026faddf319cd6aef312ec8a21be855579f68" }, { "path": "attempts/friction015-mass060-layout00--reacquire_placement.json.gz", "bytes": 735371, "sha256": "4d54279724f60b4d45bc8a3c0933f9cdb0eece491803b394fc50774d309f7dad" }, { "path": "attempts/friction015-mass060-layout00--recovery_open_jaw.json.gz", "bytes": 607329, "sha256": "d6656498750f234a53f51b55cf8a2810cad7b67a3b1dcf8edb7d2d4de4df3b69" }, { "path": "attempts/friction015-mass060-layout00--recovery_placement.json.gz", "bytes": 730114, "sha256": "2f0af06130f9de01376a25d2ad04fa60d824042df25ef07ee7f1018c76f91598" }, { "path": "attempts/friction015-mass060-layout01--hold.json.gz", "bytes": 347024, "sha256": "869f8fff6321d03f81b637cfa8f6b89d6865550042db54608ecd0161a9d916af" }, { "path": "attempts/friction015-mass060-layout01--reacquire_grasp_open_jaw.json.gz", "bytes": 619987, "sha256": "3e2d3742cbbc4d30aefb3693905369d16d2d298c9c490cd7c331d4b622a584d1" }, { "path": "attempts/friction015-mass060-layout01--reacquire_grasp_placement.json.gz", "bytes": 714324, "sha256": "56cd933ace5380a55e5384175a23b8f672af5941640b42f183391d855cf69024" }, { "path": "attempts/friction015-mass060-layout01--reacquire_open_jaw.json.gz", "bytes": 608301, "sha256": "c6256a876a2968b24a7105d2e920ab9d0bf64f49d3ace15d0a0e64431bdff3df" }, { "path": "attempts/friction015-mass060-layout01--reacquire_placement.json.gz", "bytes": 736534, "sha256": "5bcd33eeaa0ab2edd88d82575291be8d2fc71d2a73015c8dd72768e9840f7be3" }, { "path": "attempts/friction015-mass060-layout01--recovery_open_jaw.json.gz", "bytes": 607917, "sha256": "d92876ae6ceb6fbd548f782e5acbf87b8e21d1c332adff6faf567e0e9ed5562e" }, { "path": "attempts/friction015-mass060-layout01--recovery_placement.json.gz", "bytes": 731235, "sha256": "06b7128d6a9f18f198d079eef6c70dd2bc9559cc84f068e2e67c4392aad8f223" }, { "path": "attempts/friction055-mass040-layout00--hold.json.gz", "bytes": 351494, "sha256": "f0d7047cc99dd49964ee8de8f7ead3465f0493fa98ed28b3c17a1d7cba6c1c04" }, { "path": "attempts/friction055-mass040-layout00--reacquire_grasp_open_jaw.json.gz", "bytes": 698324, "sha256": "1ed362221173d863e124632052c5aabf63909189280ce04a228f47440761e803" }, { "path": "attempts/friction055-mass040-layout00--reacquire_grasp_placement.json.gz", "bytes": 804606, "sha256": "9329d85b57d2bf5a22979e2b2315918e1999b5d17787c49d27856c4ba8b241b6" }, { "path": "attempts/friction055-mass040-layout00--reacquire_open_jaw.json.gz", "bytes": 688307, "sha256": "8f7f2cfcdb4614db08d51502b67bfbcad95679fface09fada8879b900e1c3d7e" }, { "path": "attempts/friction055-mass040-layout00--reacquire_placement.json.gz", "bytes": 825069, "sha256": "b33b5cbd1ca2ad95b183fba92bb7520b614e54e96eedc7fd60d45c4a57450b2a" }, { "path": "attempts/friction055-mass040-layout00--recovery_open_jaw.json.gz", "bytes": 687973, "sha256": "583434d71d718a0614e1269327411da455237a82f47b6da62c8ae77d377f7079" }, { "path": "attempts/friction055-mass040-layout00--recovery_placement.json.gz", "bytes": 817974, "sha256": "10a693210242bc4786bd7a5578712c5df9e8cc33b9d9208316ab5c2abb0ff1e2" }, { "path": "attempts/friction055-mass040-layout01--hold.json.gz", "bytes": 351594, "sha256": "0192d52d0e30cb2c5e8c554b3cc3ad6398c5bfa4ae3cd52447eabf8bfd87c01e" }, { "path": "attempts/friction055-mass040-layout01--reacquire_grasp_open_jaw.json.gz", "bytes": 696868, "sha256": "7e861c9060bf8d7d27db1f2d506ae11687b33920c0ceee48988b639e5c62c3cf" }, { "path": "attempts/friction055-mass040-layout01--reacquire_grasp_placement.json.gz", "bytes": 804420, "sha256": "982478c0f6bfac9e3dd276df0a5448301c7b6b17fc852d15813f7e843737fe00" }, { "path": "attempts/friction055-mass040-layout01--reacquire_open_jaw.json.gz", "bytes": 688411, "sha256": "35da393a93ad6c1f6e70791866ba3628e867cf1a5716c471f637614c411b83f9" }, { "path": "attempts/friction055-mass040-layout01--reacquire_placement.json.gz", "bytes": 824132, "sha256": "72d78df2b0af112bb986e925ac7beff19e3fa54e3c3963b16570bcd7c25f9985" }, { "path": "attempts/friction055-mass040-layout01--recovery_open_jaw.json.gz", "bytes": 688143, "sha256": "e65008f8eef4f75a998eb5ff297e581b98633dd5bfb4feab094ec2cd76f7619d" }, { "path": "attempts/friction055-mass040-layout01--recovery_placement.json.gz", "bytes": 817116, "sha256": "3dc77cd025f491bc8b06451134ed6cac12518a3c5f4fbab98c614d632f0118c3" }, { "path": "attempts/friction055-mass060-layout00--hold.json.gz", "bytes": 351037, "sha256": "8a8f6ab3223fef36f0a0db25c929c4cc2309a69ee06df138ee68d97027003446" }, { "path": "attempts/friction055-mass060-layout00--reacquire_grasp_open_jaw.json.gz", "bytes": 688365, "sha256": "980163753598429371658cfb88fde46ac8d7dfebc33c441581fe958454f4b344" }, { "path": "attempts/friction055-mass060-layout00--reacquire_grasp_placement.json.gz", "bytes": 809308, "sha256": "147e5d666c45c4446d0ff4e3346123fe8058cb6843a2df66225f48a84beb6132" }, { "path": "attempts/friction055-mass060-layout00--reacquire_open_jaw.json.gz", "bytes": 635959, "sha256": "835dd3846abde806faeb69323fc2ba47eb992908e03dc8c5a58beea1962a76fd" }, { "path": "attempts/friction055-mass060-layout00--reacquire_placement.json.gz", "bytes": 754086, "sha256": "682e16b6d92550d222e32ca8a5e4e824adce331c366cba5eac7ae22b8bc8f1d9" }, { "path": "attempts/friction055-mass060-layout00--recovery_open_jaw.json.gz", "bytes": 635484, "sha256": "bfc2ae46718498f01eee3feefd2d161d1a4049f9afcf5a272c7e0a82aeb4a2d0" }, { "path": "attempts/friction055-mass060-layout00--recovery_placement.json.gz", "bytes": 748282, "sha256": "95c33baaf09dc678ad341efa37e90f0aa30e813a080f7baa03c9d849573d73b1" }, { "path": "attempts/friction055-mass060-layout01--hold.json.gz", "bytes": 351070, "sha256": "aecfeb527b7180a1dc87616e787dbe1d5b53507194d11f522fefd52f645eda79" }, { "path": "attempts/friction055-mass060-layout01--reacquire_grasp_open_jaw.json.gz", "bytes": 688153, "sha256": "efa39e8db870b6de4dd525ef7e2d797fdc976869a175a93f341e11618d00437b" }, { "path": "attempts/friction055-mass060-layout01--reacquire_grasp_placement.json.gz", "bytes": 808779, "sha256": "04a70c6d93a427562f4c922014a0774778526c3ccf3fcf7362ef284c58fd3bd9" }, { "path": "attempts/friction055-mass060-layout01--reacquire_open_jaw.json.gz", "bytes": 636553, "sha256": "76ff3e0ce6df28439acc48b0a2e923ee4d8f30fe7d995e58fef9a8b813b678bb" }, { "path": "attempts/friction055-mass060-layout01--reacquire_placement.json.gz", "bytes": 756332, "sha256": "68b9e53e7747b5f6a1969eb5837db9d713305b33699dc803eda0f1fa1ffe5be5" }, { "path": "attempts/friction055-mass060-layout01--recovery_open_jaw.json.gz", "bytes": 636319, "sha256": "c3e5f855d7665892e15d521321c111057ab480e151ffe224aeedf96386ab1d4a" }, { "path": "attempts/friction055-mass060-layout01--recovery_placement.json.gz", "bytes": 750671, "sha256": "9b6cf055cc1f5f5b65899e3e579d40479614910196129ac16d45626a721c4c0f" }, { "path": "attempts/friction080-mass040-layout00--hold.json.gz", "bytes": 352553, "sha256": "df82140be8571ac4fc60eb337a789c461196c60dc89e80a80d69b3a2ca049e73" }, { "path": "attempts/friction080-mass040-layout00--reacquire_grasp_open_jaw.json.gz", "bytes": 701006, "sha256": "a05da49fe9fe22fd500c7c6003ab5530eec09c7ed4df3c00e6eff5693c207ed1" }, { "path": "attempts/friction080-mass040-layout00--reacquire_grasp_placement.json.gz", "bytes": 805782, "sha256": "00c2f55f722784f1bdb51537a9372a060a60dc1ae68c6c77cab9ca7441c62b09" }, { "path": "attempts/friction080-mass040-layout00--reacquire_open_jaw.json.gz", "bytes": 690881, "sha256": "c28c915b8e7fb9874db5b4c9e6401d2a58bb7bf2a652fb2a445e8d68230c35fe" }, { "path": "attempts/friction080-mass040-layout00--reacquire_placement.json.gz", "bytes": 825882, "sha256": "2840a92f137b1df41707f4ef757512c6adc6f3a115f3fac32e0562e32a16e0bf" }, { "path": "attempts/friction080-mass040-layout00--recovery_open_jaw.json.gz", "bytes": 689705, "sha256": "b2bedbc93b62538856343188719b8a17d163a22f53b08134a118b6f0ca57a23d" }, { "path": "attempts/friction080-mass040-layout00--recovery_placement.json.gz", "bytes": 818401, "sha256": "9f99c828ec149c20786e8626cc8d27ae39e4340872e6abcd5b830da3b64a0ecd" }, { "path": "attempts/friction080-mass040-layout01--hold.json.gz", "bytes": 352599, "sha256": "9703f204a56538e2fb46eaac6591e3fb1ee3f9b1c202b9801a405e85b12ffecb" }, { "path": "attempts/friction080-mass040-layout01--reacquire_grasp_open_jaw.json.gz", "bytes": 700355, "sha256": "ec777854efa66322d3d10ca3a9bff330bbde8b6ea1b1a6ba4bdbf432be66cd63" }, { "path": "attempts/friction080-mass040-layout01--reacquire_grasp_placement.json.gz", "bytes": 804695, "sha256": "d1225e9312f03b79725d1b11185539910ba876b71240a113357b1e677e67bdae" }, { "path": "attempts/friction080-mass040-layout01--reacquire_open_jaw.json.gz", "bytes": 690443, "sha256": "077d25b6696b5ee7593fd27265fc50ffaed3ca84c4e7b9fcad01c84d1deeb5f2" }, { "path": "attempts/friction080-mass040-layout01--reacquire_placement.json.gz", "bytes": 825489, "sha256": "d585c8647a4b0b92a1279e26f4b0d69f00d877ddb35c47cb3a4cf86e93a91e69" }, { "path": "attempts/friction080-mass040-layout01--recovery_open_jaw.json.gz", "bytes": 689732, "sha256": "88540cf8710f624b50f28c8fe79b6aadf0a4840b5ecbca8b5ed041041cc6b5b2" }, { "path": "attempts/friction080-mass040-layout01--recovery_placement.json.gz", "bytes": 818201, "sha256": "5347416bbc79134b2e0ed26dd61facbcc9e647f2d7efe7385faddfbafaca4fd9" }, { "path": "attempts/friction080-mass060-layout00--hold.json.gz", "bytes": 352393, "sha256": "6eba8ac30d6febdbdaa9d86f93d052706bb2e36028e7ca89eefb19f4ef71bbe2" }, { "path": "attempts/friction080-mass060-layout00--reacquire_grasp_open_jaw.json.gz", "bytes": 700290, "sha256": "bec2f1c7502033aae21e2f3ae319404295c2acfc80eaa946c4fab7261adf046c" }, { "path": "attempts/friction080-mass060-layout00--reacquire_grasp_placement.json.gz", "bytes": 805211, "sha256": "b1f903a083e34331befe944617e9a329f1c44dd1f72150949380241a404218a6" }, { "path": "attempts/friction080-mass060-layout00--reacquire_open_jaw.json.gz", "bytes": 689768, "sha256": "246e1dc3aa4c4d35426b34eb7d632d8abd9f2955563cb6b82110529b8228c6a9" }, { "path": "attempts/friction080-mass060-layout00--reacquire_placement.json.gz", "bytes": 825406, "sha256": "49d3fa68d6a78b78e71c9e6357e19435d77a8756f26dbf7f8a4977e50c127c34" }, { "path": "attempts/friction080-mass060-layout00--recovery_open_jaw.json.gz", "bytes": 689251, "sha256": "1cdd8ec1e68d0f7e9465cc33591a9f543340371627b3cc3cf02de727d3a7e392" }, { "path": "attempts/friction080-mass060-layout00--recovery_placement.json.gz", "bytes": 818095, "sha256": "332a235615d037824152671aa447927de473b1783a9f4cb5bb4cb5bdff89b36f" }, { "path": "attempts/friction080-mass060-layout01--hold.json.gz", "bytes": 352063, "sha256": "3315fdfba0962938a38e1722cd1c512de08773ab7906a207a29ee928ede843fb" }, { "path": "attempts/friction080-mass060-layout01--reacquire_grasp_open_jaw.json.gz", "bytes": 690882, "sha256": "aedfa306ec926108f36503132eb384162a6a38264014ac23333d8458ed5ea59e" }, { "path": "attempts/friction080-mass060-layout01--reacquire_grasp_placement.json.gz", "bytes": 804914, "sha256": "9b82e62173f96408b134ce87736e0530ff65a2eb879d5b8a6f1521f8a061b875" }, { "path": "attempts/friction080-mass060-layout01--reacquire_open_jaw.json.gz", "bytes": 689587, "sha256": "f085417c012476d28e6175eb1fe3cdb18db35e152cae89fea63aadec60921660" }, { "path": "attempts/friction080-mass060-layout01--reacquire_placement.json.gz", "bytes": 833005, "sha256": "971c0f20ce7ad59bd315a36b096f46ae798879894c2a37cbe7d94d60ccfa44bd" }, { "path": "attempts/friction080-mass060-layout01--recovery_open_jaw.json.gz", "bytes": 618323, "sha256": "9fb8eb6c543b593e8a9f7a3dbe080c1a5c6111c45936d1aec273eab6cb338566" }, { "path": "attempts/friction080-mass060-layout01--recovery_placement.json.gz", "bytes": 753405, "sha256": "625ef4726947c9e6f2817172df4810381842bfd62906512380268d2884b48ca6" }, { "path": "integrity.json", "bytes": 24729, "sha256": "0bbee894ea762b10b37072d44e0cd82eccc93cad887d7004f88c8cff72de2e4f" }, { "path": "licenses/agilex_piper/LICENSE", "bytes": 1065, "sha256": "e32d78fd3761052ab0b2bb42fef8a7a9ad3f298d315d305333c349d2aff1f134" }, { "path": "licenses/agilex_piper/README.md", "bytes": 1681, "sha256": "ab0d218758ec6c298417407962f49179e369236e8f316dbaa7671756d6f8eb77" }, { "path": "protocol.json", "bytes": 52992, "sha256": "727b17a7f157d6fe682dfeb3d1eaceaa6d045bb97f26feb294082ae9a0d31dc7" }, { "path": "report.html", "bytes": 19285, "sha256": "8bc4477af0a2935c0eefc16ba64309bb16d7ca4f790f63788acd975786438763" }, { "path": "report.json", "bytes": 3613462, "sha256": "665b11c4cb35fa200823ad97052bd768b0a72bdc5e2fa05321265a852b80a1f7" } ] } ], "compute": { "all_control_windows": { "count": 252000, "min": 0.0010144999250769615, "mean": 0.002927651201667715, "p50": 0.0018132079858332872, "p95": 0.007453458150848746, "p99": 0.014049791032448411, "max": 3.0821377499960363, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 1035, "missed_20ms_fraction": 0.004107142857142857, "per_variant": [ { "variant": "hold", "attempted": 36, "compute_seconds": { "count": 36000, "min": 0.001219708938151598, "mean": 0.0024095095306272724, "p50": 0.0016038340982049704, "p95": 0.005992082878947258, "p99": 0.010661582928150892, "max": 0.7549079591408372, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 57, "missed_20ms_fraction": 0.0015833333333333333, "per_attempt_p95_seconds": { "count": 36, "min": 0.0013831250835210085, "mean": 0.003527512696261207, "p50": 0.0018565838690847158, "p95": 0.014411290874704719, "p99": 0.0145369169767946, "max": 0.0145369169767946, "quantile_method": "nearest_rank" }, "episode_wall_seconds": { "count": 36, "min": 1.4623537079896778, "mean": 2.7204068912025026, "p50": 1.8201510000508279, "p95": 8.676392249995843, "p99": 8.960892208153382, "max": 8.960892208153382, "quantile_method": "nearest_rank" } }, { "variant": "reacquire_grasp_open_jaw", "attempted": 36, "compute_seconds": { "count": 36000, "min": 0.0012459580320864916, "mean": 0.002528170721592485, "p50": 0.0016669579781591892, "p95": 0.00618704198859632, "p99": 0.010746082989498973, "max": 0.2334265410900116, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 82, "missed_20ms_fraction": 0.002277777777777778, "per_attempt_p95_seconds": { "count": 36, "min": 0.0014322919305413961, "mean": 0.003820285893097106, "p50": 0.0020483750849962234, "p95": 0.011790749849751592, "p99": 0.014394666999578476, "max": 0.014394666999578476, "quantile_method": "nearest_rank" }, "episode_wall_seconds": { "count": 36, "min": 1.5002031668554991, "mean": 2.8672041538714743, "p50": 1.998735582921654, "p95": 7.389324791962281, "p99": 8.833024749998003, "max": 8.833024749998003, "quantile_method": "nearest_rank" } }, { "variant": "reacquire_grasp_placement", "attempted": 36, "compute_seconds": { "count": 36000, "min": 0.0013019167818129063, "mean": 0.0030466552817896525, "p50": 0.0019620410166680813, "p95": 0.007338542025536299, "p99": 0.01383091602474451, "max": 0.603786583058536, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 168, "missed_20ms_fraction": 0.004666666666666667, "per_attempt_p95_seconds": { "count": 36, "min": 0.0018153339624404907, "mean": 0.005030164398097743, "p50": 0.0027754579205065966, "p95": 0.021837875014171004, "p99": 0.030029375106096268, "max": 0.030029375106096268, "quantile_method": "nearest_rank" }, "episode_wall_seconds": { "count": 36, "min": 1.6408165409229696, "mean": 3.341334010280358, "p50": 2.235079374862835, "p95": 12.100926124956459, "p99": 13.528839957900345, "max": 13.528839957900345, "quantile_method": "nearest_rank" } }, { "variant": "reacquire_open_jaw", "attempted": 36, "compute_seconds": { "count": 36000, "min": 0.0010144999250769615, "mean": 0.0026361031196946794, "p50": 0.0016296249814331532, "p95": 0.006966667016968131, "p99": 0.013311750022694468, "max": 0.11483187507838011, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 92, "missed_20ms_fraction": 0.0025555555555555557, "per_attempt_p95_seconds": { "count": 36, "min": 0.001440415857359767, "mean": 0.004201129622136553, "p50": 0.001805666135624051, "p95": 0.017142124939709902, "p99": 0.01883012498728931, "max": 0.01883012498728931, "quantile_method": "nearest_rank" }, "episode_wall_seconds": { "count": 36, "min": 1.3621697921771556, "mean": 2.9784096006769687, "p50": 1.7680669170804322, "p95": 9.984456417150795, "p99": 11.097042582929134, "max": 11.097042582929134, "quantile_method": "nearest_rank" } }, { "variant": "reacquire_placement", "attempted": 36, "compute_seconds": { "count": 36000, "min": 0.001056541921570897, "mean": 0.0038853781777628076, "p50": 0.0020714998245239258, "p95": 0.00949262478388846, "p99": 0.017683499958366156, "max": 3.0821377499960363, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 290, "missed_20ms_fraction": 0.008055555555555555, "per_attempt_p95_seconds": { "count": 36, "min": 0.0022293340880423784, "mean": 0.006984645888830225, "p50": 0.0034009169321507215, "p95": 0.022427208023145795, "p99": 0.042947209207341075, "max": 0.042947209207341075, "quantile_method": "nearest_rank" }, "episode_wall_seconds": { "count": 36, "min": 1.4451435001101345, "mean": 4.18346283449662, "p50": 2.244344249833375, "p95": 11.121736041968688, "p99": 28.881940958090127, "max": 28.881940958090127, "quantile_method": "nearest_rank" } }, { "variant": "recovery_open_jaw", "attempted": 36, "compute_seconds": { "count": 36000, "min": 0.0010228329338133335, "mean": 0.0025118058872952436, "p50": 0.0016278328839689493, "p95": 0.006249249912798405, "p99": 0.011290583992376924, "max": 0.5070447090547532, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 98, "missed_20ms_fraction": 0.0027222222222222222, "per_attempt_p95_seconds": { "count": 36, "min": 0.0011085420846939087, "mean": 0.003840696803915004, "p50": 0.0018526669591665268, "p95": 0.01281600003130734, "p99": 0.017211832804605365, "max": 0.017211832804605365, "quantile_method": "nearest_rank" }, "episode_wall_seconds": { "count": 36, "min": 1.2074200420174748, "mean": 2.799710098369461, "p50": 1.7798178337980062, "p95": 7.200035999994725, "p99": 8.217262040823698, "max": 8.217262040823698, "quantile_method": "nearest_rank" } }, { "variant": "recovery_placement", "attempted": 36, "compute_seconds": { "count": 36000, "min": 0.0010569589212536812, "mean": 0.003475935692911864, "p50": 0.002074665855616331, "p95": 0.009784125024452806, "p99": 0.017343916930258274, "max": 0.2934769589919597, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 248, "missed_20ms_fraction": 0.006888888888888889, "per_attempt_p95_seconds": { "count": 36, "min": 0.0020820421632379293, "mean": 0.006593862192757014, "p50": 0.0036299999337643385, "p95": 0.019383125007152557, "p99": 0.021356833167374134, "max": 0.021356833167374134, "quantile_method": "nearest_rank" }, "episode_wall_seconds": { "count": 36, "min": 1.7061818342190236, "mean": 4.307550739548686, "p50": 2.2947768338490278, "p95": 10.42530233389698, "p99": 27.43570833397098, "max": 27.43570833397098, "quantile_method": "nearest_rank" } } ], "whole_installed_command_wall_seconds": 964.7963925832883, "total_simulated_seconds": 5040.000000000368, "max_child_lifetime_peak_rss_bytes": 855916544, "max_preinspection_process_peak_rss_bytes": 774389760, "scope": "Measured heavily loaded host. Raw computation includes native integration and snapshots; wall and RSS include declared broader work. No real-time claim, sensor-to-actuator latency estimate, minimum-RAM requirement or isolated-host speed estimate." }, "host_load": { "file": { "path": "runs/piper-v05-publication/host-load.json", "bytes": 595, "sha256": "b350a976cd43fa9e86be54cace2f74fa8c617ca3075d465c3d175671e60b4658" }, "snapshot": { "schema": "dvidia.host-load-context/v1", "observed_utc": "2026-10-12T04:03:52.011109+00:00", "during_cohort": 832847, "logical_cpu_count": 10, "load_average_1_5_15_min": [ 23.3, 15.61, 11.05 ], "swap_total_mib": 10240.0, "swap_used_mib": 9409.38, "swap_free_mib": 830.62, "method": "Read-only macOS sysctl vm.loadavg and vm.swapusage snapshot; values sampled once, before this record timestamp. No other host processes were stopped or modified.", "scope": "Host contention context, not a causal attribution of each delay or measured simulator minimum RAM." } }, "aggregate_storage": { "files_including_seals": 270, "stored_bytes_including_seals": 178935621, "decoded_bytes_excluding_seals": 1022818422 }, "attempts": [ { "id": "832847:friction080-mass040-layout00--recovery_placement", "cohort_seed": 832847, "scene_id": "friction080-mass040-layout00", "variant": "recovery_placement", "mode": "recovery", "control": "placement", "friction": 0.8, "mass_kg": 0.04, "layout_index": 0, "valid": true, "success": true, "failure_stage": "completed", "terminal_reason": "success", "abort_reason": null, "abort_time_s": null, "completion_time_s": 15.471999999996864, "milestones": { "grasp_seen": true, "lift_seen": true, "carry_complete": true, "retention_lost": false, "dwell_seconds": 4.77799999999993, "max_object_lift_m": 0.0977401978159676, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.0047534762947087856 }, "qualification_count": 1, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8904084454492235, "peak_sampled_speed_m_s": 0.19480801139892806, "net_vertical_m": -0.15665009637588095, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2873780442386802 }, "object": { "path_m": 0.33761781752663966, "peak_sampled_speed_m_s": 0.1944747920708846, "net_vertical_m": 6.22998874710845e-11, "max_vertical_from_window_start_m": 0.09765980801843993, "min_vertical_from_window_start_m": -0.0001711943264284671 } }, "max_pad_normal_force_n": 1.0233063703706786, "max_abs_native_joint_velocity_rad_s": [ 0.645337702126603, 0.6298304634750936, 0.48496263699547193, 0.17317260385540822, 0.22439882605915532, 0.1850762030388096 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3320855957766522, "max": 1.8487933674179633, "max_abs": 1.8487933674179633 }, { "actuator_index": 1, "unit": "N m", "min": -2.2300050774064175, "max": 2.045666973830791, "max_abs": 2.2300050774064175 }, { "actuator_index": 2, "unit": "N m", "min": -0.9307067068554744, "max": 1.266027507084715, "max_abs": 1.266027507084715 }, { "actuator_index": 3, "unit": "N m", "min": -0.37063620267035535, "max": 0.3017444166614798, "max_abs": 0.37063620267035535 }, { "actuator_index": 4, "unit": "N m", "min": -0.36852953771180275, "max": 0.38510433470404504, "max_abs": 0.38510433470404504 }, { "actuator_index": 5, "unit": "N m", "min": -0.29919162651877484, "max": 0.3343517063844482, "max_abs": 0.3343517063844482 }, { "actuator_index": 6, "unit": "N", "min": -0.8524638559889446, "max": 0.015497503137788193, "max_abs": 0.8524638559889446 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 27.43570833397098, "attempt_wall_seconds": 27.43664183304645, "step_compute_seconds": { "count": 1000, "min": 0.002512875013053417, "mean": 0.007919811474857852, "p50": 0.005457750055938959, "p95": 0.019383125007152557, "p99": 0.033192542148754, "max": 0.14193829195573926, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 45, "policy_event_types": [ "probe_started", "acquisition_qualified" ], "final_object_position_m": [ 0.3528512999517063, 0.07876008562041141, 0.07989224457978372 ], "final_tcp_position_m": [ 0.34794885876811554, 0.07876035178221628, 0.20993484672842816 ] }, { "id": "832847:friction080-mass040-layout00--recovery_open_jaw", "cohort_seed": 832847, "scene_id": "friction080-mass040-layout00", "variant": "recovery_open_jaw", "mode": "recovery", "control": "replay_open_jaw", "friction": 0.8, "mass_kg": 0.04, "layout_index": 0, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.229994298223573e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.11731701929861421 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8935561593992573, "peak_sampled_speed_m_s": 0.19548738803561103, "net_vertical_m": -0.15664992161126678, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2875614280784652 }, "object": { "path_m": 1.9442289842810166e-10, "peak_sampled_speed_m_s": 1.6349227538150635e-09, "net_vertical_m": 6.229994298223573e-11, "max_vertical_from_window_start_m": 6.229994298223573e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.6434019225010476, 0.6296463067705126, 0.4849825790904864, 0.17317260385540822, 0.22439882605915532, 0.1850643145951181 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3320855957766522, "max": 1.819576929087873, "max_abs": 1.819576929087873 }, { "actuator_index": 1, "unit": "N m", "min": -2.232603120892662, "max": 2.1781711279559204, "max_abs": 2.232603120892662 }, { "actuator_index": 2, "unit": "N m", "min": -0.8590991009684927, "max": 1.266027507084715, "max_abs": 1.266027507084715 }, { "actuator_index": 3, "unit": "N m", "min": -0.36773922425795, "max": 0.3017444166614798, "max_abs": 0.36773922425795 }, { "actuator_index": 4, "unit": "N m", "min": -0.33651487879577324, "max": 0.38510433470404504, "max_abs": 0.38510433470404504 }, { "actuator_index": 5, "unit": "N m", "min": -0.29919162651877484, "max": 0.33353226490532295, "max_abs": 0.33353226490532295 }, { "actuator_index": 6, "unit": "N", "min": -0.00409760467647069, "max": 0.006946196936230553, "max_abs": 0.006946196936230553 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 5.942889334168285, "attempt_wall_seconds": 5.951974791008979, "step_compute_seconds": { "count": 1000, "min": 0.0023477498907595873, "mean": 0.005487305053975433, "p50": 0.004676541080698371, "p95": 0.009919583098962903, "p99": 0.02047225018031895, "max": 0.04992104088887572, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 11, "policy_event_types": [], "final_object_position_m": [ 0.2978459872219908, -0.027171603781275082, 0.07989224457978378 ], "final_tcp_position_m": [ 0.34794917341541653, 0.07876049934125626, 0.20993502149304233 ] }, { "id": "832847:friction080-mass040-layout00--reacquire_placement", "cohort_seed": 832847, "scene_id": "friction080-mass040-layout00", "variant": "reacquire_placement", "mode": "reacquire", "control": "placement", "friction": 0.8, "mass_kg": 0.04, "layout_index": 0, "valid": true, "success": true, "failure_stage": "completed", "terminal_reason": "success", "abort_reason": null, "abort_time_s": null, "completion_time_s": 15.471999999996864, "milestones": { "grasp_seen": true, "lift_seen": true, "carry_complete": true, "retention_lost": false, "dwell_seconds": 4.77799999999993, "max_object_lift_m": 0.0977401978159676, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.0047534762947087856 }, "qualification_count": 1, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8904084454492235, "peak_sampled_speed_m_s": 0.19480801139892806, "net_vertical_m": -0.15665009637588095, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2873780442386802 }, "object": { "path_m": 0.33761781752663966, "peak_sampled_speed_m_s": 0.1944747920708846, "net_vertical_m": 6.22998874710845e-11, "max_vertical_from_window_start_m": 0.09765980801843993, "min_vertical_from_window_start_m": -0.0001711943264284671 } }, "max_pad_normal_force_n": 1.0233063703706786, "max_abs_native_joint_velocity_rad_s": [ 0.645337702126603, 0.6298304634750936, 0.48496263699547193, 0.17317260385540822, 0.22439882605915532, 0.1850762030388096 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3320855957766522, "max": 1.8487933674179633, "max_abs": 1.8487933674179633 }, { "actuator_index": 1, "unit": "N m", "min": -2.2300050774064175, "max": 2.045666973830791, "max_abs": 2.2300050774064175 }, { "actuator_index": 2, "unit": "N m", "min": -0.9307067068554744, "max": 1.266027507084715, "max_abs": 1.266027507084715 }, { "actuator_index": 3, "unit": "N m", "min": -0.37063620267035535, "max": 0.3017444166614798, "max_abs": 0.37063620267035535 }, { "actuator_index": 4, "unit": "N m", "min": -0.36852953771180275, "max": 0.38510433470404504, "max_abs": 0.38510433470404504 }, { "actuator_index": 5, "unit": "N m", "min": -0.29919162651877484, "max": 0.3343517063844482, "max_abs": 0.3343517063844482 }, { "actuator_index": 6, "unit": "N", "min": -0.8524638559889446, "max": 0.015497503137788193, "max_abs": 0.8524638559889446 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 28.881940958090127, "attempt_wall_seconds": 28.89664279203862, "step_compute_seconds": { "count": 1000, "min": 0.0024799578823149204, "mean": 0.02824130929610692, "p50": 0.0056855829898267984, "p95": 0.042947209207341075, "p99": 0.5057082080747932, "max": 3.0821377499960363, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 126, "policy_event_types": [ "probe_started", "acquisition_qualified" ], "final_object_position_m": [ 0.3528512999517063, 0.07876008562041141, 0.07989224457978372 ], "final_tcp_position_m": [ 0.34794885876811554, 0.07876035178221628, 0.20993484672842816 ] }, { "id": "832847:friction080-mass040-layout00--reacquire_open_jaw", "cohort_seed": 832847, "scene_id": "friction080-mass040-layout00", "variant": "reacquire_open_jaw", "mode": "reacquire", "control": "replay_open_jaw", "friction": 0.8, "mass_kg": 0.04, "layout_index": 0, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.229994298223573e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.11731701929861421 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8935561593992573, "peak_sampled_speed_m_s": 0.19548738803561103, "net_vertical_m": -0.15664992161126678, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2875614280784652 }, "object": { "path_m": 1.9442289842810166e-10, "peak_sampled_speed_m_s": 1.6349227538150635e-09, "net_vertical_m": 6.229994298223573e-11, "max_vertical_from_window_start_m": 6.229994298223573e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.6434019225010476, 0.6296463067705126, 0.4849825790904864, 0.17317260385540822, 0.22439882605915532, 0.1850643145951181 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3320855957766522, "max": 1.819576929087873, "max_abs": 1.819576929087873 }, { "actuator_index": 1, "unit": "N m", "min": -2.232603120892662, "max": 2.1781711279559204, "max_abs": 2.232603120892662 }, { "actuator_index": 2, "unit": "N m", "min": -0.8590991009684927, "max": 1.266027507084715, "max_abs": 1.266027507084715 }, { "actuator_index": 3, "unit": "N m", "min": -0.36773922425795, "max": 0.3017444166614798, "max_abs": 0.36773922425795 }, { "actuator_index": 4, "unit": "N m", "min": -0.33651487879577324, "max": 0.38510433470404504, "max_abs": 0.38510433470404504 }, { "actuator_index": 5, "unit": "N m", "min": -0.29919162651877484, "max": 0.33353226490532295, "max_abs": 0.33353226490532295 }, { "actuator_index": 6, "unit": "N", "min": -0.00409760467647069, "max": 0.006946196936230553, "max_abs": 0.006946196936230553 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 11.097042582929134, "attempt_wall_seconds": 11.108451707987115, "step_compute_seconds": { "count": 1000, "min": 0.003466417081654072, "mean": 0.009435812760610134, "p50": 0.007719333050772548, "p95": 0.01883012498728931, "p99": 0.03269125008955598, "max": 0.11229550000280142, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 42, "policy_event_types": [], "final_object_position_m": [ 0.2978459872219908, -0.027171603781275082, 0.07989224457978378 ], "final_tcp_position_m": [ 0.34794917341541653, 0.07876049934125626, 0.20993502149304233 ] }, { "id": "832847:friction080-mass040-layout00--reacquire_grasp_placement", "cohort_seed": 832847, "scene_id": "friction080-mass040-layout00", "variant": "reacquire_grasp_placement", "mode": "reacquire_grasp", "control": "placement", "friction": 0.8, "mass_kg": 0.04, "layout_index": 0, "valid": true, "success": true, "failure_stage": "completed", "terminal_reason": "success", "abort_reason": null, "abort_time_s": null, "completion_time_s": 16.52199999999721, "milestones": { "grasp_seen": true, "lift_seen": true, "carry_complete": true, "retention_lost": false, "dwell_seconds": 3.7279999999997004, "max_object_lift_m": 0.10144371968185609, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.0032345562277291354 }, "qualification_count": 1, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8861579217250428, "peak_sampled_speed_m_s": 0.200397632023687, "net_vertical_m": -0.15777651718666905, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2870725360065757 }, "object": { "path_m": 0.3339540128091956, "peak_sampled_speed_m_s": 0.199595510193712, "net_vertical_m": 6.229984583772108e-11, "max_vertical_from_window_start_m": 0.10143322475272043, "min_vertical_from_window_start_m": -0.0004483282637552377 } }, "max_pad_normal_force_n": 1.3027904488858826, "max_abs_native_joint_velocity_rad_s": [ 0.7160073102145641, 0.5871016414482665, 0.5361950955558732, 0.3737173427758179, 0.22321980826083035, 0.18833922746585166 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.37393099225836135, "max": 2.0740222269457282, "max_abs": 2.0740222269457282 }, { "actuator_index": 1, "unit": "N m", "min": -2.163948831785035, "max": 2.031553057874774, "max_abs": 2.163948831785035 }, { "actuator_index": 2, "unit": "N m", "min": -0.9016184274806847, "max": 1.266027507084715, "max_abs": 1.266027507084715 }, { "actuator_index": 3, "unit": "N m", "min": -0.4081013253707275, "max": 0.4009106361442598, "max_abs": 0.4081013253707275 }, { "actuator_index": 4, "unit": "N m", "min": -0.23927772130901914, "max": 0.3679651966711025, "max_abs": 0.3679651966711025 }, { "actuator_index": 5, "unit": "N m", "min": -0.30106294651138565, "max": 0.3610252080520384, "max_abs": 0.3610252080520384 }, { "actuator_index": 6, "unit": "N", "min": -1.1944382312298703, "max": 0.01827357494773918, "max_abs": 1.1944382312298703 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 12.100926124956459, "attempt_wall_seconds": 12.116215124959126, "step_compute_seconds": { "count": 1000, "min": 0.003470042021945119, "mean": 0.011388375042937696, "p50": 0.007953542051836848, "p95": 0.021837875014171004, "p99": 0.052546834107488394, "max": 0.42655583401210606, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 60, "policy_event_types": [ "probe_started", "acquisition_qualified" ], "final_object_position_m": [ 0.35131205653607295, 0.07847470618154713, 0.07989224457978368 ], "final_tcp_position_m": [ 0.346610745923983, 0.07776115519906661, 0.20880842591764007 ] }, { "id": "832847:friction080-mass040-layout00--reacquire_grasp_open_jaw", "cohort_seed": 832847, "scene_id": "friction080-mass040-layout00", "variant": "reacquire_grasp_open_jaw", "mode": "reacquire_grasp", "control": "replay_open_jaw", "friction": 0.8, "mass_kg": 0.04, "layout_index": 0, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 0.0003273902983605276, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.11723398133883196 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8885986727280751, "peak_sampled_speed_m_s": 0.1997219559598554, "net_vertical_m": -0.1577743898997192, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2874706467962953 }, "object": { "path_m": 0.0014641011220952612, "peak_sampled_speed_m_s": 0.023128630620552107, "net_vertical_m": 6.229984583772108e-11, "max_vertical_from_window_start_m": 0.0002833149987039041, "min_vertical_from_window_start_m": -0.0002870469454866048 } }, "max_pad_normal_force_n": 0.25160921677584613, "max_abs_native_joint_velocity_rad_s": [ 0.714157966972406, 0.586653957596752, 0.5362830337068353, 0.3737173427758179, 0.22321980826083035, 0.18789355405564337 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.37393099225836135, "max": 2.045083225101793, "max_abs": 2.045083225101793 }, { "actuator_index": 1, "unit": "N m", "min": -2.038841852426941, "max": 2.131713764731842, "max_abs": 2.131713764731842 }, { "actuator_index": 2, "unit": "N m", "min": -0.9016184274806847, "max": 1.266027507084715, "max_abs": 1.266027507084715 }, { "actuator_index": 3, "unit": "N m", "min": -0.3982380480764869, "max": 0.3100176320728867, "max_abs": 0.3982380480764869 }, { "actuator_index": 4, "unit": "N m", "min": -0.2118802240656894, "max": 0.3679651966711025, "max_abs": 0.3679651966711025 }, { "actuator_index": 5, "unit": "N m", "min": -0.30116622219711253, "max": 0.3608036144881748, "max_abs": 0.3608036144881748 }, { "actuator_index": 6, "unit": "N", "min": -0.013562728167421545, "max": 0.0080719664060942, "max_abs": 0.013562728167421545 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 7.389324791962281, "attempt_wall_seconds": 7.3985804580152035, "step_compute_seconds": { "count": 1000, "min": 0.002352291950955987, "mean": 0.005981961745768785, "p50": 0.0049432090017944574, "p95": 0.011790749849751592, "p99": 0.02110016718506813, "max": 0.09201804106123745, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 12, "policy_event_types": [], "final_object_position_m": [ 0.2979407171782252, -0.027124594599221667, 0.07989224457978368 ], "final_tcp_position_m": [ 0.3466154797295039, 0.0777631330595321, 0.2088105532045899 ] }, { "id": "832847:friction080-mass040-layout00--hold", "cohort_seed": 832847, "scene_id": "friction080-mass040-layout00", "variant": "hold", "mode": "baseline", "control": "hold", "friction": 0.8, "mass_kg": 0.04, "layout_index": 0, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.229994298223573e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.11731701929861421 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 1.1376744407779719e-16, "peak_sampled_speed_m_s": 5.558267943191594e-15, "net_vertical_m": 1.1102230246251565e-16, "max_vertical_from_window_start_m": 1.1102230246251565e-16, "min_vertical_from_window_start_m": 0.0 }, "object": { "path_m": 1.9442289842810166e-10, "peak_sampled_speed_m_s": 1.6349227538150635e-09, "net_vertical_m": 6.229994298223573e-11, "max_vertical_from_window_start_m": 6.229994298223573e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 1.089099057831775e-19, 6.127451851049064e-18, 1.5410517561852992e-16, 1.2145569247038722e-17, 3.400546359107994e-16, 2.945467210750634e-17 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -5.149427585733612e-18, "max": -7.571162667696407e-19, "max_abs": 5.149427585733612e-18 }, { "actuator_index": 1, "unit": "N m", "min": 0.0, "max": 0.0, "max_abs": 0.0 }, { "actuator_index": 2, "unit": "N m", "min": 0.0, "max": 0.0, "max_abs": 0.0 }, { "actuator_index": 3, "unit": "N m", "min": 7.130976259465077e-17, "max": 1.5875460775817776e-16, "max_abs": 1.5875460775817776e-16 }, { "actuator_index": 4, "unit": "N m", "min": 5.770246053275149e-16, "max": 3.2953315452184146e-15, "max_abs": 3.2953315452184146e-15 }, { "actuator_index": 5, "unit": "N m", "min": -2.2098381316149117e-16, "max": -4.998795352997742e-17, "max_abs": 2.2098381316149117e-16 }, { "actuator_index": 6, "unit": "N", "min": 0.0, "max": 0.0, "max_abs": 0.0 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 5.418259082827717, "attempt_wall_seconds": 5.424640124896541, "step_compute_seconds": { "count": 1000, "min": 0.0027756670024245977, "mean": 0.0049791625961661335, "p50": 0.004356792196631432, "p95": 0.008305750088766217, "p99": 0.014562958152964711, "max": 0.05346579197794199, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 5, "policy_event_types": [], "final_object_position_m": [ 0.2978459872219908, -0.027171603781275082, 0.07989224457978378 ], "final_tcp_position_m": [ 0.4890696662845219, 0.001414197565480896, 0.3665849431043092 ] }, { "id": "832847:friction080-mass040-layout01--recovery_placement", "cohort_seed": 832847, "scene_id": "friction080-mass040-layout01", "variant": "recovery_placement", "mode": "recovery", "control": "placement", "friction": 0.8, "mass_kg": 0.04, "layout_index": 1, "valid": true, "success": true, "failure_stage": "completed", "terminal_reason": "success", "abort_reason": null, "abort_time_s": null, "completion_time_s": 15.512999999996842, "milestones": { "grasp_seen": true, "lift_seen": true, "carry_complete": true, "retention_lost": false, "dwell_seconds": 4.736999999999917, "max_object_lift_m": 0.09788628145198508, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.004811827533384108 }, "qualification_count": 1, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8977219324769351, "peak_sampled_speed_m_s": 0.19533025161248768, "net_vertical_m": -0.15664947357149617, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2873797706827864 }, "object": { "path_m": 0.3426505362236088, "peak_sampled_speed_m_s": 0.19499731459682212, "net_vertical_m": 6.22998735932967e-11, "max_vertical_from_window_start_m": 0.09778982533012529, "min_vertical_from_window_start_m": -6.183011766659752e-05 } }, "max_pad_normal_force_n": 1.048458569810441, "max_abs_native_joint_velocity_rad_s": [ 0.6359050960576873, 0.631611062774302, 0.5035240119662245, 0.16983307894305044, 0.2252368317774485, 0.18529044225131897 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.32494941102032193, "max": 1.8091953176611941, "max_abs": 1.8091953176611941 }, { "actuator_index": 1, "unit": "N m", "min": -2.2170922322779063, "max": 2.0120785184624452, "max_abs": 2.2170922322779063 }, { "actuator_index": 2, "unit": "N m", "min": -0.9165644668930071, "max": 1.2660320710161415, "max_abs": 1.2660320710161415 }, { "actuator_index": 3, "unit": "N m", "min": -0.36808394561597857, "max": 0.3135955942547648, "max_abs": 0.36808394561597857 }, { "actuator_index": 4, "unit": "N m", "min": -0.3800771677074515, "max": 0.3861531444664834, "max_abs": 0.3861531444664834 }, { "actuator_index": 5, "unit": "N m", "min": -0.29918405568164563, "max": 0.3357857359345625, "max_abs": 0.3357857359345625 }, { "actuator_index": 6, "unit": "N", "min": -0.8965396844313923, "max": 0.014640581079625514, "max_abs": 0.8965396844313923 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 9.151340915821493, "attempt_wall_seconds": 9.156287416815758, "step_compute_seconds": { "count": 1000, "min": 0.002987207844853401, "mean": 0.008732198531273752, "p50": 0.006096666911616921, "p95": 0.021356833167374134, "p99": 0.03653637506067753, "max": 0.10380483302287757, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 59, "policy_event_types": [ "probe_started", "acquisition_qualified" ], "final_object_position_m": [ 0.3578996126339091, 0.08219953879130255, 0.07989224457978371 ], "final_tcp_position_m": [ 0.3529418917288209, 0.08228148465141413, 0.20993546953281295 ] }, { "id": "832847:friction080-mass040-layout01--recovery_open_jaw", "cohort_seed": 832847, "scene_id": "friction080-mass040-layout01", "variant": "recovery_open_jaw", "mode": "recovery", "control": "replay_open_jaw", "friction": 0.8, "mass_kg": 0.04, "layout_index": 1, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998874710845e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.1226431313718283 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.9009344867347289, "peak_sampled_speed_m_s": 0.19598233464418024, "net_vertical_m": -0.15664924306425665, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2875906978729579 }, "object": { "path_m": 2.0468271398471074e-10, "peak_sampled_speed_m_s": 1.6349234509695215e-09, "net_vertical_m": 6.22998874710845e-11, "max_vertical_from_window_start_m": 6.22998874710845e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.6340116309211581, 0.6314169792239798, 0.5035856436221029, 0.16983307894305044, 0.2252368317774485, 0.18528248996225175 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.32494941102032193, "max": 1.7799244356805346, "max_abs": 1.7799244356805346 }, { "actuator_index": 1, "unit": "N m", "min": -2.2197718093398464, "max": 2.142860663292552, "max_abs": 2.2197718093398464 }, { "actuator_index": 2, "unit": "N m", "min": -0.8634211968431345, "max": 1.2660320710161415, "max_abs": 1.2660320710161415 }, { "actuator_index": 3, "unit": "N m", "min": -0.3653385737963122, "max": 0.30154025481738067, "max_abs": 0.3653385737963122 }, { "actuator_index": 4, "unit": "N m", "min": -0.36012972390469855, "max": 0.3861531444664834, "max_abs": 0.3861531444664834 }, { "actuator_index": 5, "unit": "N m", "min": -0.29918405568164563, "max": 0.33498049642625216, "max_abs": 0.33498049642625216 }, { "actuator_index": 6, "unit": "N", "min": -0.004076688628474878, "max": 0.006901367995711061, "max_abs": 0.006901367995711061 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 5.5939706668723375, "attempt_wall_seconds": 5.603606125107035, "step_compute_seconds": { "count": 1000, "min": 0.002372124930843711, "mean": 0.0049644665634259585, "p50": 0.004210833925753832, "p95": 0.010092249838635325, "p99": 0.014440333005040884, "max": 0.057153499918058515, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 3, "policy_event_types": [], "final_object_position_m": [ 0.2966875255049778, -0.026543688848015314, 0.07989224457978372 ], "final_tcp_position_m": [ 0.3529423041222576, 0.08228168255343954, 0.20993570004005246 ] }, { "id": "832847:friction080-mass040-layout01--reacquire_placement", "cohort_seed": 832847, "scene_id": "friction080-mass040-layout01", "variant": "reacquire_placement", "mode": "reacquire", "control": "placement", "friction": 0.8, "mass_kg": 0.04, "layout_index": 1, "valid": true, "success": true, "failure_stage": "completed", "terminal_reason": "success", "abort_reason": null, "abort_time_s": null, "completion_time_s": 15.512999999996842, "milestones": { "grasp_seen": true, "lift_seen": true, "carry_complete": true, "retention_lost": false, "dwell_seconds": 4.736999999999917, "max_object_lift_m": 0.09788628145198508, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.004811827533384108 }, "qualification_count": 1, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8977219324769351, "peak_sampled_speed_m_s": 0.19533025161248768, "net_vertical_m": -0.15664947357149617, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2873797706827864 }, "object": { "path_m": 0.3426505362236088, "peak_sampled_speed_m_s": 0.19499731459682212, "net_vertical_m": 6.22998735932967e-11, "max_vertical_from_window_start_m": 0.09778982533012529, "min_vertical_from_window_start_m": -6.183011766659752e-05 } }, "max_pad_normal_force_n": 1.048458569810441, "max_abs_native_joint_velocity_rad_s": [ 0.6359050960576873, 0.631611062774302, 0.5035240119662245, 0.16983307894305044, 0.2252368317774485, 0.18529044225131897 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.32494941102032193, "max": 1.8091953176611941, "max_abs": 1.8091953176611941 }, { "actuator_index": 1, "unit": "N m", "min": -2.2170922322779063, "max": 2.0120785184624452, "max_abs": 2.2170922322779063 }, { "actuator_index": 2, "unit": "N m", "min": -0.9165644668930071, "max": 1.2660320710161415, "max_abs": 1.2660320710161415 }, { "actuator_index": 3, "unit": "N m", "min": -0.36808394561597857, "max": 0.3135955942547648, "max_abs": 0.36808394561597857 }, { "actuator_index": 4, "unit": "N m", "min": -0.3800771677074515, "max": 0.3861531444664834, "max_abs": 0.3861531444664834 }, { "actuator_index": 5, "unit": "N m", "min": -0.29918405568164563, "max": 0.3357857359345625, "max_abs": 0.3357857359345625 }, { "actuator_index": 6, "unit": "N", "min": -0.8965396844313923, "max": 0.014640581079625514, "max_abs": 0.8965396844313923 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 8.615501333028078, "attempt_wall_seconds": 8.620274832937866, "step_compute_seconds": { "count": 1000, "min": 0.002546834060922265, "mean": 0.007955268931109458, "p50": 0.0062997909262776375, "p95": 0.016560792224481702, "p99": 0.04383033304475248, "max": 0.08209754200652242, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 32, "policy_event_types": [ "probe_started", "acquisition_qualified" ], "final_object_position_m": [ 0.3578996126339091, 0.08219953879130255, 0.07989224457978371 ], "final_tcp_position_m": [ 0.3529418917288209, 0.08228148465141413, 0.20993546953281295 ] }, { "id": "832847:friction080-mass040-layout01--reacquire_open_jaw", "cohort_seed": 832847, "scene_id": "friction080-mass040-layout01", "variant": "reacquire_open_jaw", "mode": "reacquire", "control": "replay_open_jaw", "friction": 0.8, "mass_kg": 0.04, "layout_index": 1, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998874710845e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.1226431313718283 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.9009344867347289, "peak_sampled_speed_m_s": 0.19598233464418024, "net_vertical_m": -0.15664924306425665, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2875906978729579 }, "object": { "path_m": 2.0468271398471074e-10, "peak_sampled_speed_m_s": 1.6349234509695215e-09, "net_vertical_m": 6.22998874710845e-11, "max_vertical_from_window_start_m": 6.22998874710845e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.6340116309211581, 0.6314169792239798, 0.5035856436221029, 0.16983307894305044, 0.2252368317774485, 0.18528248996225175 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.32494941102032193, "max": 1.7799244356805346, "max_abs": 1.7799244356805346 }, { "actuator_index": 1, "unit": "N m", "min": -2.2197718093398464, "max": 2.142860663292552, "max_abs": 2.2197718093398464 }, { "actuator_index": 2, "unit": "N m", "min": -0.8634211968431345, "max": 1.2660320710161415, "max_abs": 1.2660320710161415 }, { "actuator_index": 3, "unit": "N m", "min": -0.3653385737963122, "max": 0.30154025481738067, "max_abs": 0.3653385737963122 }, { "actuator_index": 4, "unit": "N m", "min": -0.36012972390469855, "max": 0.3861531444664834, "max_abs": 0.3861531444664834 }, { "actuator_index": 5, "unit": "N m", "min": -0.29918405568164563, "max": 0.33498049642625216, "max_abs": 0.33498049642625216 }, { "actuator_index": 6, "unit": "N", "min": -0.004076688628474878, "max": 0.006901367995711061, "max_abs": 0.006901367995711061 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 3.793802708853036, "attempt_wall_seconds": 3.8048000000417233, "step_compute_seconds": { "count": 1000, "min": 0.002344916108995676, "mean": 0.0031790366612840446, "p50": 0.0028771250508725643, "p95": 0.005081000039353967, "p99": 0.006552666192874312, "max": 0.010881665861234069, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.2966875255049778, -0.026543688848015314, 0.07989224457978372 ], "final_tcp_position_m": [ 0.3529423041222576, 0.08228168255343954, 0.20993570004005246 ] }, { "id": "832847:friction080-mass040-layout01--reacquire_grasp_placement", "cohort_seed": 832847, "scene_id": "friction080-mass040-layout01", "variant": "reacquire_grasp_placement", "mode": "reacquire_grasp", "control": "placement", "friction": 0.8, "mass_kg": 0.04, "layout_index": 1, "valid": true, "success": true, "failure_stage": "completed", "terminal_reason": "success", "abort_reason": null, "abort_time_s": null, "completion_time_s": 16.56299999999726, "milestones": { "grasp_seen": true, "lift_seen": true, "carry_complete": true, "retention_lost": false, "dwell_seconds": 3.686999999999705, "max_object_lift_m": 0.10154640886488964, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.003692950842082807 }, "qualification_count": 1, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8927340218310781, "peak_sampled_speed_m_s": 0.19853609279551326, "net_vertical_m": -0.15779286712977708, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.287021220764622 }, "object": { "path_m": 0.34021801021953235, "peak_sampled_speed_m_s": 0.19773471843604057, "net_vertical_m": 6.22998735932967e-11, "max_vertical_from_window_start_m": 0.10152439792335327, "min_vertical_from_window_start_m": -0.0004421133192530763 } }, "max_pad_normal_force_n": 1.28071447166287, "max_abs_native_joint_velocity_rad_s": [ 0.7081464966609086, 0.5901190218486627, 0.5550976267762984, 0.37353593089201986, 0.21578468958904598, 0.18814933832254724 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3749812697222188, "max": 2.0653593766683773, "max_abs": 2.0653593766683773 }, { "actuator_index": 1, "unit": "N m", "min": -2.1613509689026387, "max": 2.1045235857947944, "max_abs": 2.1613509689026387 }, { "actuator_index": 2, "unit": "N m", "min": -0.9071360429887676, "max": 1.2660320710161415, "max_abs": 1.2660320710161415 }, { "actuator_index": 3, "unit": "N m", "min": -0.3999309367488353, "max": 0.3893876942724843, "max_abs": 0.3999309367488353 }, { "actuator_index": 4, "unit": "N m", "min": -0.2500223223640834, "max": 0.3681030031580221, "max_abs": 0.3681030031580221 }, { "actuator_index": 5, "unit": "N m", "min": -0.3011107633324457, "max": 0.36245041300112213, "max_abs": 0.36245041300112213 }, { "actuator_index": 6, "unit": "N", "min": -1.1640571850632393, "max": 0.01696540217773368, "max_abs": 1.1640571850632393 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 3.9506455410737544, "attempt_wall_seconds": 3.9565192081499845, "step_compute_seconds": { "count": 1000, "min": 0.0024563749320805073, "mean": 0.0036437390327919276, "p50": 0.0030362920369952917, "p95": 0.006600917084142566, "p99": 0.012509207939729095, "max": 0.029401415959000587, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 2, "policy_event_types": [ "probe_started", "acquisition_qualified" ], "final_object_position_m": [ 0.3567492522338471, 0.08186125432556847, 0.07989224457978371 ], "final_tcp_position_m": [ 0.35160064336932734, 0.08126109762868944, 0.20879207597453203 ] }, { "id": "832847:friction080-mass040-layout01--reacquire_grasp_open_jaw", "cohort_seed": 832847, "scene_id": "friction080-mass040-layout01", "variant": "reacquire_grasp_open_jaw", "mode": "reacquire_grasp", "control": "replay_open_jaw", "friction": 0.8, "mass_kg": 0.04, "layout_index": 1, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 0.0003735099209092596, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12256859174435625 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8952685930540233, "peak_sampled_speed_m_s": 0.1978747054592976, "net_vertical_m": -0.157790531692534, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2874559234592366 }, "object": { "path_m": 0.0016557251673951254, "peak_sampled_speed_m_s": 0.023099553948905775, "net_vertical_m": 6.229985971550889e-11, "max_vertical_from_window_start_m": 0.00033104154241270223, "min_vertical_from_window_start_m": -0.0002674959805572946 } }, "max_pad_normal_force_n": 0.2560707789708936, "max_abs_native_joint_velocity_rad_s": [ 0.7062547097540147, 0.5896484153015795, 0.5551940930258898, 0.37353593089201986, 0.21578468958904598, 0.18794368673225903 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3749812697222188, "max": 2.036308674242356, "max_abs": 2.036308674242356 }, { "actuator_index": 1, "unit": "N m", "min": -2.036698991088059, "max": 2.205941098241823, "max_abs": 2.205941098241823 }, { "actuator_index": 2, "unit": "N m", "min": -0.9071360429887676, "max": 1.2660320710161415, "max_abs": 1.2660320710161415 }, { "actuator_index": 3, "unit": "N m", "min": -0.39013805391321066, "max": 0.3086354057349241, "max_abs": 0.39013805391321066 }, { "actuator_index": 4, "unit": "N m", "min": -0.22201776512076776, "max": 0.3681030031580221, "max_abs": 0.3681030031580221 }, { "actuator_index": 5, "unit": "N m", "min": -0.3012124814043293, "max": 0.3621918465356382, "max_abs": 0.3621918465356382 }, { "actuator_index": 6, "unit": "N", "min": -0.014863554863493444, "max": 0.007698367166311781, "max_abs": 0.014863554863493444 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 5.130380084039643, "attempt_wall_seconds": 5.1377969160676, "step_compute_seconds": { "count": 1000, "min": 0.00205070897936821, "mean": 0.0048170475615188476, "p50": 0.003670874983072281, "p95": 0.010268957819789648, "p99": 0.020133167039602995, "max": 0.10158245800994337, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 11, "policy_event_types": [], "final_object_position_m": [ 0.29677003155294973, -0.026502463536789814, 0.0798922445797837 ], "final_tcp_position_m": [ 0.35160583431940545, 0.08126331415168912, 0.20879441141177513 ] }, { "id": "832847:friction080-mass040-layout01--hold", "cohort_seed": 832847, "scene_id": "friction080-mass040-layout01", "variant": "hold", "mode": "baseline", "control": "hold", "friction": 0.8, "mass_kg": 0.04, "layout_index": 1, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998874710845e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.1226431313718283 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 1.1376744407779719e-16, "peak_sampled_speed_m_s": 5.558267943191594e-15, "net_vertical_m": 1.1102230246251565e-16, "max_vertical_from_window_start_m": 1.1102230246251565e-16, "min_vertical_from_window_start_m": 0.0 }, "object": { "path_m": 2.0468271398471074e-10, "peak_sampled_speed_m_s": 1.6349234509695215e-09, "net_vertical_m": 6.22998874710845e-11, "max_vertical_from_window_start_m": 6.22998874710845e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 1.089099057831775e-19, 6.127451851049064e-18, 1.5410517561852992e-16, 1.2145569247038722e-17, 3.400546359107994e-16, 2.945467210750634e-17 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -5.149427585733612e-18, "max": -7.571162667696407e-19, "max_abs": 5.149427585733612e-18 }, { "actuator_index": 1, "unit": "N m", "min": 0.0, "max": 0.0, "max_abs": 0.0 }, { "actuator_index": 2, "unit": "N m", "min": 0.0, "max": 0.0, "max_abs": 0.0 }, { "actuator_index": 3, "unit": "N m", "min": 7.130976259465077e-17, "max": 1.5875460775817776e-16, "max_abs": 1.5875460775817776e-16 }, { "actuator_index": 4, "unit": "N m", "min": 5.770246053275149e-16, "max": 3.2953315452184146e-15, "max_abs": 3.2953315452184146e-15 }, { "actuator_index": 5, "unit": "N m", "min": -2.2098381316149117e-16, "max": -4.998795352997742e-17, "max_abs": 2.2098381316149117e-16 }, { "actuator_index": 6, "unit": "N", "min": 0.0, "max": 0.0, "max_abs": 0.0 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 8.676392249995843, "attempt_wall_seconds": 8.684264957904816, "step_compute_seconds": { "count": 1000, "min": 0.00279562477953732, "mean": 0.007712625914486125, "p50": 0.00543841696344316, "p95": 0.014411290874704719, "p99": 0.0323276249691844, "max": 0.7549079591408372, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 24, "policy_event_types": [], "final_object_position_m": [ 0.2966875255049778, -0.026543688848015314, 0.07989224457978372 ], "final_tcp_position_m": [ 0.4890696662845219, 0.001414197565480896, 0.3665849431043092 ] }, { "id": "832847:friction080-mass060-layout00--recovery_placement", "cohort_seed": 832847, "scene_id": "friction080-mass060-layout00", "variant": "recovery_placement", "mode": "recovery", "control": "placement", "friction": 0.8, "mass_kg": 0.06, "layout_index": 0, "valid": true, "success": false, "failure_stage": "qualified_without_full_60mm_lift", "terminal_reason": "timeout", "abort_reason": "reassessment_timeout_unsettled_or_unknown", "abort_time_s": 12.6999999999984, "completion_time_s": null, "milestones": { "grasp_seen": true, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 0.009315780871817253, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.1172302067500093 }, "qualification_count": 1, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [ { "start_s": 11.879999999998855, "end_s": 12.6999999999984, "duration_s": 0.8199999999995455, "outcome": "abort", "reason": "reassessment_timeout_unsettled_or_unknown", "includes_second_probe": false, "actual_motion": { "start_s": 11.879999999998855, "end_s": 12.6999999999984, "duration_s": 0.8199999999995455, "sample_count": 42, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.009437461545823918, "peak_sampled_speed_m_s": 0.11798423109557975, "net_vertical_m": -0.0006609997154782693, "max_vertical_from_window_start_m": 0.004231612788492586, "min_vertical_from_window_start_m": -0.0006609997154782693 }, "object": { "path_m": 0.006964180257781703, "peak_sampled_speed_m_s": 0.04195349583335004, "net_vertical_m": -0.003897843643374699, "max_vertical_from_window_start_m": 0.0011599180622380856, "min_vertical_from_window_start_m": -0.003897843643374699 } }, "scope": "Recovery interval may include active second-probe motion; not all of this interval is stationary holding." } ], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.4254051040922533, "peak_sampled_speed_m_s": 0.16300474162231582, "net_vertical_m": -0.2761090054470069, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28474784115532137 }, "object": { "path_m": 0.0206066643306672, "peak_sampled_speed_m_s": 0.05183363689542445, "net_vertical_m": 0.0015335029636658892, "max_vertical_from_window_start_m": 0.009314664575262102, "min_vertical_from_window_start_m": -1.172936172980088e-06 } }, "max_pad_normal_force_n": 0.7150273979516133, "max_abs_native_joint_velocity_rad_s": [ 0.10233162126309922, 0.5319907398863544, 0.4208840372504379, 0.17317200481448738, 0.2243989022199772, 0.10163832780037879 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3320847626819745, "max": 0.2929587701409222, "max_abs": 0.3320847626819745 }, { "actuator_index": 1, "unit": "N m", "min": -2.180049136898049, "max": 1.9085619610346072, "max_abs": 2.180049136898049 }, { "actuator_index": 2, "unit": "N m", "min": -0.8590992078859472, "max": 1.2660275079040986, "max_abs": 1.2660275079040986 }, { "actuator_index": 3, "unit": "N m", "min": -0.30473044527966797, "max": 0.30174438233127, "max_abs": 0.30473044527966797 }, { "actuator_index": 4, "unit": "N m", "min": -0.06403371906540656, "max": 0.3851043847070681, "max_abs": 0.3851043847070681 }, { "actuator_index": 5, "unit": "N m", "min": -0.29919162820750334, "max": 0.1768527505688431, "max_abs": 0.29919162820750334 }, { "actuator_index": 6, "unit": "N", "min": -0.82546148037257, "max": 0.001065948137230155, "max_abs": 0.82546148037257 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 8.161554250167683, "attempt_wall_seconds": 8.168166332878172, "step_compute_seconds": { "count": 1000, "min": 0.0030578330624848604, "mean": 0.007171249175677076, "p50": 0.006071416893973947, "p95": 0.013699291972443461, "p99": 0.02183233411051333, "max": 0.05604704096913338, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 17, "policy_event_types": [ "probe_started", "acquisition_qualified", "reassessment_started", "abort" ], "final_object_position_m": [ 0.2980386911896319, -0.027157208914338152, 0.08142574748114968 ], "final_tcp_position_m": [ 0.3005527598561839, -0.02745304815191996, 0.0904759376573022 ] }, { "id": "832847:friction080-mass060-layout00--recovery_open_jaw", "cohort_seed": 832847, "scene_id": "friction080-mass060-layout00", "variant": "recovery_open_jaw", "mode": "recovery", "control": "replay_open_jaw", "friction": 0.8, "mass_kg": 0.06, "layout_index": 0, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.229990134887231e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.11731692068577276 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.4272143787394463, "peak_sampled_speed_m_s": 0.16300474162231582, "net_vertical_m": -0.2750315138477252, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28476308724087174 }, "object": { "path_m": 2.015773658975637e-10, "peak_sampled_speed_m_s": 1.634923449909704e-09, "net_vertical_m": 6.229990134887231e-11, "max_vertical_from_window_start_m": 6.229990134887231e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.10233162126309922, 0.5320765853577859, 0.4208840372504379, 0.17317200481448738, 0.2243989022199772, 0.10163832780037879 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3320847626819745, "max": 0.2929587701409222, "max_abs": 0.3320847626819745 }, { "actuator_index": 1, "unit": "N m", "min": -1.9972457761247426, "max": 1.9085619610346072, "max_abs": 1.9972457761247426 }, { "actuator_index": 2, "unit": "N m", "min": -0.8590992078859472, "max": 1.2660275079040986, "max_abs": 1.2660275079040986 }, { "actuator_index": 3, "unit": "N m", "min": -0.30473044527966797, "max": 0.30174438233127, "max_abs": 0.30473044527966797 }, { "actuator_index": 4, "unit": "N m", "min": -0.05860311265639773, "max": 0.3851043847070681, "max_abs": 0.3851043847070681 }, { "actuator_index": 5, "unit": "N m", "min": -0.29919162820750334, "max": 0.1768527505688431, "max_abs": 0.29919162820750334 }, { "actuator_index": 6, "unit": "N", "min": -0.00029020200886686887, "max": 0.0004940967868642954, "max_abs": 0.0004940967868642954 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 8.217262040823698, "attempt_wall_seconds": 8.247453291900456, "step_compute_seconds": { "count": 1000, "min": 0.0023726250510662794, "mean": 0.007531242124037817, "p50": 0.005562084028497338, "p95": 0.017211832804605365, "p99": 0.0410398340318352, "max": 0.09158908389508724, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 39, "policy_event_types": [], "final_object_position_m": [ 0.2978459542575039, -0.027171479022097822, 0.0798922445797837 ], "final_tcp_position_m": [ 0.3011979009547332, -0.027511510671984835, 0.09155342925658391 ] }, { "id": "832847:friction080-mass060-layout00--reacquire_placement", "cohort_seed": 832847, "scene_id": "friction080-mass060-layout00", "variant": "reacquire_placement", "mode": "reacquire", "control": "placement", "friction": 0.8, "mass_kg": 0.06, "layout_index": 0, "valid": true, "success": true, "failure_stage": "completed", "terminal_reason": "success", "abort_reason": null, "abort_time_s": null, "completion_time_s": 16.902999999997675, "milestones": { "grasp_seen": true, "lift_seen": true, "carry_complete": true, "retention_lost": false, "dwell_seconds": 3.3469999999997424, "max_object_lift_m": 0.09564916281678464, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.0033539915093644987 }, "qualification_count": 1, "retry_count": 0, "second_probe_count": 1, "second_probe_resume_count": 1, "resume_count": 1, "holds": [ { "start_s": 11.879999999998855, "end_s": 13.019999999998223, "duration_s": 1.1399999999993682, "outcome": "carry_resumed", "reason": "second_probe_sustained_loaded_relative_settling", "includes_second_probe": true, "actual_motion": { "start_s": 11.879999999998855, "end_s": 13.019999999998223, "duration_s": 1.1399999999993682, "sample_count": 58, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.014497405570443708, "peak_sampled_speed_m_s": 0.11798423109557975, "net_vertical_m": 0.005006778890309399, "max_vertical_from_window_start_m": 0.005006778890309399, "min_vertical_from_window_start_m": -5.719830445277685e-05 }, "object": { "path_m": 0.011797568150934435, "peak_sampled_speed_m_s": 0.04195349583335004, "net_vertical_m": 0.001672992589431349, "max_vertical_from_window_start_m": 0.001672992589431349, "min_vertical_from_window_start_m": -0.0032028561835828195 } }, "scope": "Recovery interval may include active second-probe motion; not all of this interval is stationary holding." } ], "second_probes": [ { "start_s": 12.1599999999987, "end_s": 13.019999999998223, "duration_s": 0.8599999999995234, "outcome": "second_probe_qualified", "reason": "original_height_and_settling_gates_met", "task_completed": true, "actual_motion": { "start_s": 12.1599999999987, "end_s": 13.019999999998223, "duration_s": 0.8599999999995234, "sample_count": 44, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.005801871788627099, "peak_sampled_speed_m_s": 0.010772710886229902, "net_vertical_m": 0.004954203919024652, "max_vertical_from_window_start_m": 0.004954203919024652, "min_vertical_from_window_start_m": -0.0001097732757375236 }, "object": { "path_m": 0.005689824673875826, "peak_sampled_speed_m_s": 0.010569539101259885, "net_vertical_m": 0.004741181151732596, "max_vertical_from_window_start_m": 0.004741181151732596, "min_vertical_from_window_start_m": -0.00013466762128157284 } }, "max_requested_vertical_rise_m": 0.008, "max_relative_drift_m": 0.0001930881095898783, "start_original_probe_relative_object_height_m": 0.0050629082929733865, "end_original_probe_relative_object_height_m": 0.009804089444705982, "loaded_bilateral_all_samples": true, "unsupported_all_samples": true } ], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8930612654829615, "peak_sampled_speed_m_s": 0.20247948060208162, "net_vertical_m": -0.1570400929452211, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28474784115532137 }, "object": { "path_m": 0.33841831899129604, "peak_sampled_speed_m_s": 0.20252159473355083, "net_vertical_m": 6.229991522666012e-11, "max_vertical_from_window_start_m": 0.09559018619376007, "min_vertical_from_window_start_m": -0.00044483000180825516 } }, "max_pad_normal_force_n": 3.8720586588344057, "max_abs_native_joint_velocity_rad_s": [ 0.646206267378429, 0.6252300244018486, 0.4845963371571584, 0.17317200481448738, 0.2243989022199772, 0.18313621192403995 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3320847626819745, "max": 1.8846753847196158, "max_abs": 1.8846753847196158 }, { "actuator_index": 1, "unit": "N m", "min": -2.2256360247431815, "max": 2.0143716468876107, "max_abs": 2.2256360247431815 }, { "actuator_index": 2, "unit": "N m", "min": -0.8590992078859472, "max": 1.2660275079040986, "max_abs": 1.2660275079040986 }, { "actuator_index": 3, "unit": "N m", "min": -0.37368761680980556, "max": 0.30174438233127, "max_abs": 0.37368761680980556 }, { "actuator_index": 4, "unit": "N m", "min": -0.3793969812919844, "max": 0.3851043847070681, "max_abs": 0.3851043847070681 }, { "actuator_index": 5, "unit": "N m", "min": -0.29919162820750334, "max": 0.33535003157747945, "max_abs": 0.33535003157747945 }, { "actuator_index": 6, "unit": "N", "min": -0.912179353783983, "max": 0.018080273863501084, "max_abs": 0.912179353783983 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 8.832410749979317, "attempt_wall_seconds": 8.846962500130758, "step_compute_seconds": { "count": 1000, "min": 0.0024427908938378096, "mean": 0.007452897369163111, "p50": 0.005980708869174123, "p95": 0.015490416903048754, "p99": 0.025496208108961582, "max": 0.10336349997669458, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 20, "policy_event_types": [ "probe_started", "acquisition_qualified", "reassessment_started", "second_probe_started", "second_probe_qualified", "carry_resumed", "speed_restoration_started", "full_speed_restored" ], "final_object_position_m": [ 0.351356051513102, 0.0780410679559981, 0.07989224457978371 ], "final_tcp_position_m": [ 0.34707747111097575, 0.07828219821554558, 0.20954485015908803 ] }, { "id": "832847:friction080-mass060-layout00--reacquire_open_jaw", "cohort_seed": 832847, "scene_id": "friction080-mass060-layout00", "variant": "reacquire_open_jaw", "mode": "reacquire", "control": "replay_open_jaw", "friction": 0.8, "mass_kg": 0.06, "layout_index": 0, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.229990134887231e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.11731692068577276 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8978144502849906, "peak_sampled_speed_m_s": 0.20360738839009157, "net_vertical_m": -0.15703999176397115, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28476308724087174 }, "object": { "path_m": 2.015773658975637e-10, "peak_sampled_speed_m_s": 1.634923449909704e-09, "net_vertical_m": 6.229990134887231e-11, "max_vertical_from_window_start_m": 6.229990134887231e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.6431536091168217, 0.624494197000335, 0.4846720121161552, 0.17317200481448738, 0.2243989022199772, 0.18309744691336735 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3320847626819745, "max": 1.84324994112046, "max_abs": 1.84324994112046 }, { "actuator_index": 1, "unit": "N m", "min": -2.2281307107465693, "max": 2.210087401914464, "max_abs": 2.2281307107465693 }, { "actuator_index": 2, "unit": "N m", "min": -0.8590992078859472, "max": 1.2660275079040986, "max_abs": 1.2660275079040986 }, { "actuator_index": 3, "unit": "N m", "min": -0.36974869720975256, "max": 0.30174438233127, "max_abs": 0.36974869720975256 }, { "actuator_index": 4, "unit": "N m", "min": -0.33247323910449644, "max": 0.3851043847070681, "max_abs": 0.3851043847070681 }, { "actuator_index": 5, "unit": "N m", "min": -0.29919162820750334, "max": 0.33415951348580863, "max_abs": 0.33415951348580863 }, { "actuator_index": 6, "unit": "N", "min": -0.004106727540341026, "max": 0.006967718413747548, "max_abs": 0.006967718413747548 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 9.984456417150795, "attempt_wall_seconds": 10.01658504200168, "step_compute_seconds": { "count": 1000, "min": 0.0029207919724285603, "mean": 0.008724796388996765, "p50": 0.006837541004642844, "p95": 0.017142124939709902, "p99": 0.031465499894693494, "max": 0.11483187507838011, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 30, "policy_event_types": [], "final_object_position_m": [ 0.2978459542575039, -0.027171479022097822, 0.0798922445797837 ], "final_tcp_position_m": [ 0.3470776586704825, 0.0782822852953133, 0.20954495134033796 ] }, { "id": "832847:friction080-mass060-layout00--reacquire_grasp_placement", "cohort_seed": 832847, "scene_id": "friction080-mass060-layout00", "variant": "reacquire_grasp_placement", "mode": "reacquire_grasp", "control": "placement", "friction": 0.8, "mass_kg": 0.06, "layout_index": 0, "valid": true, "success": true, "failure_stage": "completed", "terminal_reason": "success", "abort_reason": null, "abort_time_s": null, "completion_time_s": 16.56199999999726, "milestones": { "grasp_seen": true, "lift_seen": true, "carry_complete": true, "retention_lost": false, "dwell_seconds": 3.687999999999705, "max_object_lift_m": 0.10088190824187147, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.0021521483130054592 }, "qualification_count": 1, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8873350441848876, "peak_sampled_speed_m_s": 0.20033246275812738, "net_vertical_m": -0.15783238113373418, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2874113623554044 }, "object": { "path_m": 0.33327961371332393, "peak_sampled_speed_m_s": 0.19968206072741812, "net_vertical_m": 6.22998874710845e-11, "max_vertical_from_window_start_m": 0.10087901475927201, "min_vertical_from_window_start_m": -0.0005281481226697415 } }, "max_pad_normal_force_n": 1.37776054794205, "max_abs_native_joint_velocity_rad_s": [ 0.7140973658617649, 0.562989831149964, 0.540589631147145, 0.37371729988873276, 0.22321822655128506, 0.19001519910969544 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.373931043239482, "max": 2.0737355918264093, "max_abs": 2.0737355918264093 }, { "actuator_index": 1, "unit": "N m", "min": -2.223804780876236, "max": 1.956436079357232, "max_abs": 2.223804780876236 }, { "actuator_index": 2, "unit": "N m", "min": -0.9526991700948457, "max": 1.2660275079040986, "max_abs": 1.2660275079040986 }, { "actuator_index": 3, "unit": "N m", "min": -0.4033438935662361, "max": 0.4325670810133997, "max_abs": 0.4325670810133997 }, { "actuator_index": 4, "unit": "N m", "min": -0.23732682052169807, "max": 0.36796521095537704, "max_abs": 0.36796521095537704 }, { "actuator_index": 5, "unit": "N m", "min": -0.30009859276057593, "max": 0.3633927033462294, "max_abs": 0.3633927033462294 }, { "actuator_index": 6, "unit": "N", "min": -1.2100382141953405, "max": 0.01750635758441632, "max_abs": 1.2100382141953405 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 6.739040666958317, "attempt_wall_seconds": 6.745628041913733, "step_compute_seconds": { "count": 1000, "min": 0.0025767090264707804, "mean": 0.005402066627517342, "p50": 0.004871791927143931, "p95": 0.009263125015422702, "p99": 0.01202287501655519, "max": 0.04777054092846811, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 1, "policy_event_types": [ "probe_started", "acquisition_qualified" ], "final_object_position_m": [ 0.3501876655194377, 0.07832677527056886, 0.07989224457978368 ], "final_tcp_position_m": [ 0.34655002598145535, 0.0777409643907968, 0.20875256197057493 ] }, { "id": "832847:friction080-mass060-layout00--reacquire_grasp_open_jaw", "cohort_seed": 832847, "scene_id": "friction080-mass060-layout00", "variant": "reacquire_grasp_open_jaw", "mode": "reacquire_grasp", "control": "replay_open_jaw", "friction": 0.8, "mass_kg": 0.06, "layout_index": 0, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 0.00016229248439125765, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.11728550205679057 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8901349397528863, "peak_sampled_speed_m_s": 0.19929459988132633, "net_vertical_m": -0.15782899425362917, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28756975317670597 }, "object": { "path_m": 0.0005937739636855214, "peak_sampled_speed_m_s": 0.010713677925298613, "net_vertical_m": 6.22998735932967e-11, "max_vertical_from_window_start_m": 0.0001225982737590725, "min_vertical_from_window_start_m": -0.00011592802076632047 } }, "max_pad_normal_force_n": 0.3531238845853448, "max_abs_native_joint_velocity_rad_s": [ 0.7111859773337013, 0.5623350835787652, 0.5407410377573542, 0.37371729988873276, 0.22321822655128506, 0.1877711618081047 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.373931043239482, "max": 2.0310684478643717, "max_abs": 2.0310684478643717 }, { "actuator_index": 1, "unit": "N m", "min": -2.036047606017604, "max": 2.0328580012310056, "max_abs": 2.036047606017604 }, { "actuator_index": 2, "unit": "N m", "min": -0.9016188847854494, "max": 1.2660275079040986, "max_abs": 1.2660275079040986 }, { "actuator_index": 3, "unit": "N m", "min": -0.38901701859826865, "max": 0.30955973405221293, "max_abs": 0.38901701859826865 }, { "actuator_index": 4, "unit": "N m", "min": -0.19558291449445342, "max": 0.36796521095537704, "max_abs": 0.36796521095537704 }, { "actuator_index": 5, "unit": "N m", "min": -0.3002542911022772, "max": 0.3627944283186917, "max_abs": 0.3627944283186917 }, { "actuator_index": 6, "unit": "N", "min": -0.010825101507625279, "max": 0.008262631526599451, "max_abs": 0.010825101507625279 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 6.890144458040595, "attempt_wall_seconds": 6.906698375009, "step_compute_seconds": { "count": 1000, "min": 0.0028345000464469194, "mean": 0.006346363391028717, "p50": 0.0055040838196873665, "p95": 0.011315374867990613, "p99": 0.019009624840691686, "max": 0.06838429090566933, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 10, "policy_event_types": [], "final_object_position_m": [ 0.29788419943860206, -0.027154835546690688, 0.07989224457978367 ], "final_tcp_position_m": [ 0.3465576182477125, 0.07774413413340657, 0.20875594885067994 ] }, { "id": "832847:friction080-mass060-layout00--hold", "cohort_seed": 832847, "scene_id": "friction080-mass060-layout00", "variant": "hold", "mode": "baseline", "control": "hold", "friction": 0.8, "mass_kg": 0.06, "layout_index": 0, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.229990134887231e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.11731692068577276 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 1.1376744407779719e-16, "peak_sampled_speed_m_s": 5.558267943191594e-15, "net_vertical_m": 1.1102230246251565e-16, "max_vertical_from_window_start_m": 1.1102230246251565e-16, "min_vertical_from_window_start_m": 0.0 }, "object": { "path_m": 2.015773658975637e-10, "peak_sampled_speed_m_s": 1.634923449909704e-09, "net_vertical_m": 6.229990134887231e-11, "max_vertical_from_window_start_m": 6.229990134887231e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 1.089099057831775e-19, 6.127451851049064e-18, 1.5410517561852992e-16, 1.2145569247038722e-17, 3.400546359107994e-16, 2.945467210750634e-17 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -5.149427585733612e-18, "max": -7.571162667696407e-19, "max_abs": 5.149427585733612e-18 }, { "actuator_index": 1, "unit": "N m", "min": 0.0, "max": 0.0, "max_abs": 0.0 }, { "actuator_index": 2, "unit": "N m", "min": 0.0, "max": 0.0, "max_abs": 0.0 }, { "actuator_index": 3, "unit": "N m", "min": 7.130976259465077e-17, "max": 1.5875460775817776e-16, "max_abs": 1.5875460775817776e-16 }, { "actuator_index": 4, "unit": "N m", "min": 5.770246053275149e-16, "max": 3.2953315452184146e-15, "max_abs": 3.2953315452184146e-15 }, { "actuator_index": 5, "unit": "N m", "min": -2.2098381316149117e-16, "max": -4.998795352997742e-17, "max_abs": 2.2098381316149117e-16 }, { "actuator_index": 6, "unit": "N", "min": 0.0, "max": 0.0, "max_abs": 0.0 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 8.960892208153382, "attempt_wall_seconds": 8.970717415912077, "step_compute_seconds": { "count": 1000, "min": 0.0028918341267853975, "mean": 0.007489193431101739, "p50": 0.006204374833032489, "p95": 0.0145369169767946, "p99": 0.02498087496496737, "max": 0.07644220790825784, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 18, "policy_event_types": [], "final_object_position_m": [ 0.2978459542575039, -0.027171479022097822, 0.0798922445797837 ], "final_tcp_position_m": [ 0.4890696662845219, 0.001414197565480896, 0.3665849431043092 ] }, { "id": "832847:friction080-mass060-layout01--recovery_placement", "cohort_seed": 832847, "scene_id": "friction080-mass060-layout01", "variant": "recovery_placement", "mode": "recovery", "control": "placement", "friction": 0.8, "mass_kg": 0.06, "layout_index": 1, "valid": true, "success": false, "failure_stage": "qualified_without_full_60mm_lift", "terminal_reason": "timeout", "abort_reason": "reassessment_timeout_unsettled_or_unknown", "abort_time_s": 12.679999999998412, "completion_time_s": null, "milestones": { "grasp_seen": true, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 0.009084328015224907, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12251977545870452 }, "qualification_count": 1, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [ { "start_s": 11.859999999998866, "end_s": 12.679999999998412, "duration_s": 0.8199999999995455, "outcome": "abort", "reason": "reassessment_timeout_unsettled_or_unknown", "includes_second_probe": false, "actual_motion": { "start_s": 11.859999999998866, "end_s": 12.679999999998412, "duration_s": 0.8199999999995455, "sample_count": 42, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.009438591736740156, "peak_sampled_speed_m_s": 0.11817787998171142, "net_vertical_m": -0.0006541949409850645, "max_vertical_from_window_start_m": 0.004236077004001956, "min_vertical_from_window_start_m": -0.0006541949409850645 }, "object": { "path_m": 0.006765284432018411, "peak_sampled_speed_m_s": 0.0386202218438395, "net_vertical_m": -0.004102377842231872, "max_vertical_from_window_start_m": 0.000952228611925357, "min_vertical_from_window_start_m": -0.004102377842231872 } }, "scope": "Recovery interval may include active second-probe motion; not all of this interval is stationary holding." } ], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.42636566184685537, "peak_sampled_speed_m_s": 0.16342165872319245, "net_vertical_m": -0.2760750346367029, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2847477637828901 }, "object": { "path_m": 0.020382188664996158, "peak_sampled_speed_m_s": 0.05002381755539046, "net_vertical_m": 0.00130719993827777, "max_vertical_from_window_start_m": 0.009084178272084534, "min_vertical_from_window_start_m": -1.1598749852792523e-06 } }, "max_pad_normal_force_n": 0.6934957983012484, "max_abs_native_joint_velocity_rad_s": [ 0.10101733324196728, 0.5344401367145347, 0.4214596409067083, 0.16983293534738125, 0.22523691953858369, 0.09845823425719126 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3249513497342882, "max": 0.29305449966725483, "max_abs": 0.3249513497342882 }, { "actuator_index": 1, "unit": "N m", "min": -2.1807876976594684, "max": 1.9063731505038533, "max_abs": 2.1807876976594684 }, { "actuator_index": 2, "unit": "N m", "min": -0.8634218599428749, "max": 1.2660320712098354, "max_abs": 1.2660320712098354 }, { "actuator_index": 3, "unit": "N m", "min": -0.3048274297262852, "max": 0.30154024500349763, "max_abs": 0.3048274297262852 }, { "actuator_index": 4, "unit": "N m", "min": -0.06262787816576143, "max": 0.38615328541133476, "max_abs": 0.38615328541133476 }, { "actuator_index": 5, "unit": "N m", "min": -0.2991840354808251, "max": 0.17423429394719525, "max_abs": 0.2991840354808251 }, { "actuator_index": 6, "unit": "N", "min": -0.7999334115827953, "max": 0.0010659489678028766, "max_abs": 0.7999334115827953 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 10.42530233389698, "attempt_wall_seconds": 10.445351290982217, "step_compute_seconds": { "count": 1000, "min": 0.0030836667865514755, "mean": 0.009562809229129925, "p50": 0.007205416914075613, "p95": 0.01695495890453458, "p99": 0.0677822909783572, "max": 0.20210333308205009, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 41, "policy_event_types": [ "probe_started", "acquisition_qualified", "reassessment_started", "abort" ], "final_object_position_m": [ 0.2969423040333265, -0.026529945765190074, 0.08119944445576158 ], "final_tcp_position_m": [ 0.29942944681658035, -0.026825555936937983, 0.0905099084676062 ] }, { "id": "832847:friction080-mass060-layout01--recovery_open_jaw", "cohort_seed": 832847, "scene_id": "friction080-mass060-layout01", "variant": "recovery_open_jaw", "mode": "recovery", "control": "replay_open_jaw", "friction": 0.8, "mass_kg": 0.06, "layout_index": 1, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998874710845e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.1226431919339142 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.42816698611502657, "peak_sampled_speed_m_s": 0.16342165872319245, "net_vertical_m": -0.27500278399670963, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2847630468548254 }, "object": { "path_m": 2.071037228504309e-10, "peak_sampled_speed_m_s": 1.6349234512923287e-09, "net_vertical_m": 6.22998874710845e-11, "max_vertical_from_window_start_m": 6.22998874710845e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.10101733324196728, 0.5338646844800775, 0.4214596409067083, 0.16983293534738125, 0.22523691953858369, 0.09845823425719126 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3249513497342882, "max": 0.29305449966725483, "max_abs": 0.3249513497342882 }, { "actuator_index": 1, "unit": "N m", "min": -2.000671525201028, "max": 1.9063731505038533, "max_abs": 2.000671525201028 }, { "actuator_index": 2, "unit": "N m", "min": -0.8634218599428749, "max": 1.2660320712098354, "max_abs": 1.2660320712098354 }, { "actuator_index": 3, "unit": "N m", "min": -0.3048274297262852, "max": 0.30154024500349763, "max_abs": 0.3048274297262852 }, { "actuator_index": 4, "unit": "N m", "min": -0.05761796099952754, "max": 0.38615328541133476, "max_abs": 0.38615328541133476 }, { "actuator_index": 5, "unit": "N m", "min": -0.2991840354808251, "max": 0.17423429394719525, "max_abs": 0.2991840354808251 }, { "actuator_index": 6, "unit": "N", "min": -0.0002852236804955499, "max": 0.0004975440366974393, "max_abs": 0.0004975440366974393 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 7.200035999994725, "attempt_wall_seconds": 7.21202354086563, "step_compute_seconds": { "count": 1000, "min": 0.0023850409779697657, "mean": 0.0065443821044173095, "p50": 0.0046453329268842936, "p95": 0.010484416969120502, "p99": 0.0386912499088794, "max": 0.5070447090547532, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 21, "policy_event_types": [], "final_object_position_m": [ 0.2966873580395906, -0.026543670315705634, 0.0798922445797837 ], "final_tcp_position_m": [ 0.300075518352579, -0.026882977799761846, 0.09158215910759948 ] }, { "id": "832847:friction080-mass060-layout01--reacquire_placement", "cohort_seed": 832847, "scene_id": "friction080-mass060-layout01", "variant": "reacquire_placement", "mode": "reacquire", "control": "placement", "friction": 0.8, "mass_kg": 0.06, "layout_index": 1, "valid": true, "success": true, "failure_stage": "completed", "terminal_reason": "success", "abort_reason": null, "abort_time_s": null, "completion_time_s": 17.042999999997846, "milestones": { "grasp_seen": true, "lift_seen": true, "carry_complete": true, "retention_lost": false, "dwell_seconds": 3.206999999999758, "max_object_lift_m": 0.09478675688437116, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.0050088854288025154 }, "qualification_count": 1, "retry_count": 0, "second_probe_count": 1, "second_probe_resume_count": 1, "resume_count": 1, "holds": [ { "start_s": 11.859999999998866, "end_s": 12.999999999998234, "duration_s": 1.1399999999993682, "outcome": "carry_resumed", "reason": "second_probe_sustained_loaded_relative_settling", "includes_second_probe": true, "actual_motion": { "start_s": 11.859999999998866, "end_s": 12.999999999998234, "duration_s": 1.1399999999993682, "sample_count": 58, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.014507656734896244, "peak_sampled_speed_m_s": 0.11817787998171142, "net_vertical_m": 0.005025842462875296, "max_vertical_from_window_start_m": 0.005025842462875296, "min_vertical_from_window_start_m": -4.838840152762702e-05 }, "object": { "path_m": 0.011609045985967691, "peak_sampled_speed_m_s": 0.0386202218438395, "net_vertical_m": 0.001480837160214618, "max_vertical_from_window_start_m": 0.001480837160214618, "min_vertical_from_window_start_m": -0.003405361392616088 } }, "scope": "Recovery interval may include active second-probe motion; not all of this interval is stationary holding." }, { "start_s": 15.419999999996893, "end_s": 20.00000000000146, "duration_s": 4.580000000004567, "outcome": "unresolved", "reason": null, "includes_second_probe": false, "actual_motion": { "start_s": 15.419999999996893, "end_s": 20.00000000000146, "duration_s": 4.580000000004567, "sample_count": 230, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.15150333333725274, "peak_sampled_speed_m_s": 0.19178733712149196, "net_vertical_m": 0.11970457181825259, "max_vertical_from_window_start_m": 0.12154215338939775, "min_vertical_from_window_start_m": -0.0036147509298359165 }, "object": { "path_m": 0.009286748724932306, "peak_sampled_speed_m_s": 0.09481473946394996, "net_vertical_m": -0.0008629945369742903, "max_vertical_from_window_start_m": 0.000438161721860994, "min_vertical_from_window_start_m": -0.0013165880467687907 } }, "scope": "Recovery interval may include active second-probe motion; not all of this interval is stationary holding." } ], "second_probes": [ { "start_s": 12.139999999998711, "end_s": 12.999999999998234, "duration_s": 0.8599999999995234, "outcome": "second_probe_qualified", "reason": "original_height_and_settling_gates_met", "task_completed": true, "actual_motion": { "start_s": 12.139999999998711, "end_s": 12.999999999998234, "duration_s": 0.8599999999995234, "sample_count": 44, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.005813279721797207, "peak_sampled_speed_m_s": 0.01079735617107527, "net_vertical_m": 0.004965573333143486, "max_vertical_from_window_start_m": 0.004965573333143486, "min_vertical_from_window_start_m": -0.00010865753125943733 }, "object": { "path_m": 0.005702537175977008, "peak_sampled_speed_m_s": 0.010596384418085556, "net_vertical_m": 0.004752635454255125, "max_vertical_from_window_start_m": 0.004752635454255125, "min_vertical_from_window_start_m": -0.00013356309857558146 } }, "max_requested_vertical_rise_m": 0.008, "max_relative_drift_m": 0.00019312595314228517, "start_original_probe_relative_object_height_m": 0.004836490280694536, "end_original_probe_relative_object_height_m": 0.00958912573494966, "loaded_bilateral_all_samples": true, "unsupported_all_samples": true } ], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8999863726653984, "peak_sampled_speed_m_s": 0.20434717154629728, "net_vertical_m": -0.15711600668246672, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2847477637828901 }, "object": { "path_m": 0.3469146285945937, "peak_sampled_speed_m_s": 0.2044780893196127, "net_vertical_m": 6.22998874710845e-11, "max_vertical_from_window_start_m": 0.09471374024888488, "min_vertical_from_window_start_m": -0.00045359344749461294 } }, "max_pad_normal_force_n": 1.2736243336805222, "max_abs_native_joint_velocity_rad_s": [ 0.6380457325727381, 0.6194072427792083, 0.5013904599435899, 0.16983293534738125, 0.277890842316322, 0.1832276899298324 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3249513497342882, "max": 1.848504170420994, "max_abs": 1.848504170420994 }, { "actuator_index": 1, "unit": "N m", "min": -2.2577848152522506, "max": 1.9747053544567024, "max_abs": 2.2577848152522506 }, { "actuator_index": 2, "unit": "N m", "min": -1.2182596921225155, "max": 1.2660320712098354, "max_abs": 1.2660320712098354 }, { "actuator_index": 3, "unit": "N m", "min": -0.3712246384734259, "max": 0.3058085331408473, "max_abs": 0.3712246384734259 }, { "actuator_index": 4, "unit": "N m", "min": -0.3968117489302365, "max": 0.38615328541133476, "max_abs": 0.3968117489302365 }, { "actuator_index": 5, "unit": "N m", "min": -0.2991840354808251, "max": 0.3369591793810651, "max_abs": 0.3369591793810651 }, { "actuator_index": 6, "unit": "N", "min": -0.9956771151379777, "max": 0.01918111907730058, "max_abs": 0.9956771151379777 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 11.121736041968688, "attempt_wall_seconds": 11.130257499869913, "step_compute_seconds": { "count": 1000, "min": 0.0031276659574359655, "mean": 0.01050422117416747, "p50": 0.008187541970983148, "p95": 0.022427208023145795, "p99": 0.05346624995581806, "max": 0.12677033292129636, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 67, "policy_event_types": [ "probe_started", "acquisition_qualified", "reassessment_started", "second_probe_started", "second_probe_qualified", "carry_resumed", "speed_restoration_started", "full_speed_restored", "reassessment_started" ], "final_object_position_m": [ 0.35809405482596984, 0.08212865297483712, 0.0798922445797837 ], "final_tcp_position_m": [ 0.35191544313185846, 0.08170320315972539, 0.2094689364218424 ] }, { "id": "832847:friction080-mass060-layout01--reacquire_open_jaw", "cohort_seed": 832847, "scene_id": "friction080-mass060-layout01", "variant": "reacquire_open_jaw", "mode": "reacquire", "control": "replay_open_jaw", "friction": 0.8, "mass_kg": 0.06, "layout_index": 1, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998874710845e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.1226431919339142 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.905565304846655, "peak_sampled_speed_m_s": 0.2054272001938523, "net_vertical_m": -0.15711590073148868, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2847630468548254 }, "object": { "path_m": 2.071037228504309e-10, "peak_sampled_speed_m_s": 1.6349234512923287e-09, "net_vertical_m": 6.22998874710845e-11, "max_vertical_from_window_start_m": 6.22998874710845e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.6350191420951299, 0.6191721189917897, 0.5015230473041674, 0.16983293534738125, 0.2444533960107625, 0.1831814827105398 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.35780797304655465, "max": 1.807255569014484, "max_abs": 1.807255569014484 }, { "actuator_index": 1, "unit": "N m", "min": -2.2555867733804575, "max": 2.1709646152964126, "max_abs": 2.2555867733804575 }, { "actuator_index": 2, "unit": "N m", "min": -1.3081135173178922, "max": 1.2660320712098354, "max_abs": 1.3081135173178922 }, { "actuator_index": 3, "unit": "N m", "min": -0.36743992806618664, "max": 0.30154024500349763, "max_abs": 0.36743992806618664 }, { "actuator_index": 4, "unit": "N m", "min": -0.3639227290579754, "max": 0.38615328541133476, "max_abs": 0.38615328541133476 }, { "actuator_index": 5, "unit": "N m", "min": -0.2991840354808251, "max": 0.33578248265014, "max_abs": 0.33578248265014 }, { "actuator_index": 6, "unit": "N", "min": -0.004152186942336211, "max": 0.006931563877030422, "max_abs": 0.006931563877030422 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 5.433733999961987, "attempt_wall_seconds": 5.44743529194966, "step_compute_seconds": { "count": 1000, "min": 0.0028480421751737595, "mean": 0.004526988993864506, "p50": 0.004043834051117301, "p95": 0.007835250115022063, "p99": 0.010481375036761165, "max": 0.03588837501592934, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 1, "policy_event_types": [], "final_object_position_m": [ 0.2966873580395906, -0.026543670315705634, 0.0798922445797837 ], "final_tcp_position_m": [ 0.3519156394754643, 0.0817032963936981, 0.20946904237282044 ] }, { "id": "832847:friction080-mass060-layout01--reacquire_grasp_placement", "cohort_seed": 832847, "scene_id": "friction080-mass060-layout01", "variant": "reacquire_grasp_placement", "mode": "reacquire_grasp", "control": "placement", "friction": 0.8, "mass_kg": 0.06, "layout_index": 1, "valid": true, "success": true, "failure_stage": "completed", "terminal_reason": "success", "abort_reason": null, "abort_time_s": null, "completion_time_s": 16.601999999997307, "milestones": { "grasp_seen": true, "lift_seen": true, "carry_complete": true, "retention_lost": false, "dwell_seconds": 3.6479999999997093, "max_object_lift_m": 0.10094735575998073, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.0029466471226825665 }, "qualification_count": 1, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8935250471417717, "peak_sampled_speed_m_s": 0.19843515467941908, "net_vertical_m": -0.15784749534876938, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2873289617402198 }, "object": { "path_m": 0.33882869193288, "peak_sampled_speed_m_s": 0.19779460671260207, "net_vertical_m": 6.230015114905285e-11, "max_vertical_from_window_start_m": 0.10094708885264195, "min_vertical_from_window_start_m": -0.000539011552293564 } }, "max_pad_normal_force_n": 1.3618711011981506, "max_abs_native_joint_velocity_rad_s": [ 0.7063280835012096, 0.5663775978993588, 0.5590553401059104, 0.3735359249342935, 0.2157875682328741, 0.19054821302913943 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.37498142994323125, "max": 2.067550205301279, "max_abs": 2.067550205301279 }, { "actuator_index": 1, "unit": "N m", "min": -2.2209641655803125, "max": 2.0198168111387105, "max_abs": 2.2209641655803125 }, { "actuator_index": 2, "unit": "N m", "min": -0.9432739062506954, "max": 1.2660320712098354, "max_abs": 1.2660320712098354 }, { "actuator_index": 3, "unit": "N m", "min": -0.39701207367143976, "max": 0.40893694334079944, "max_abs": 0.40893694334079944 }, { "actuator_index": 4, "unit": "N m", "min": -0.24925830252004744, "max": 0.36810301598782164, "max_abs": 0.36810301598782164 }, { "actuator_index": 5, "unit": "N m", "min": -0.30011290797423396, "max": 0.3633504009081463, "max_abs": 0.3633504009081463 }, { "actuator_index": 6, "unit": "N", "min": -1.190912131624381, "max": 0.018637932905457566, "max_abs": 1.190912131624381 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 6.022793707903475, "attempt_wall_seconds": 6.050876792054623, "step_compute_seconds": { "count": 1000, "min": 0.0026707081124186516, "mean": 0.00558314503938891, "p50": 0.004996833857148886, "p95": 0.009285040898248553, "p99": 0.013115542009472847, "max": 0.08960950002074242, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 3, "policy_event_types": [ "probe_started", "acquisition_qualified" ], "final_object_position_m": [ 0.35602140396655285, 0.08206339427451667, 0.07989224457978396 ], "final_tcp_position_m": [ 0.3515411073139183, 0.08124338906693147, 0.20873744775553973 ] }, { "id": "832847:friction080-mass060-layout01--reacquire_grasp_open_jaw", "cohort_seed": 832847, "scene_id": "friction080-mass060-layout01", "variant": "reacquire_grasp_open_jaw", "mode": "reacquire_grasp", "control": "replay_open_jaw", "friction": 0.8, "mass_kg": 0.06, "layout_index": 1, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 0.00018587094929814474, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12259765844687008 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.896812092043256, "peak_sampled_speed_m_s": 0.1974134903334851, "net_vertical_m": -0.1578439309773143, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28753814232288893 }, "object": { "path_m": 0.0007269076047037506, "peak_sampled_speed_m_s": 0.0152225484101841, "net_vertical_m": 6.22998735932967e-11, "max_vertical_from_window_start_m": 0.0001815227965164118, "min_vertical_from_window_start_m": -0.00010412016169106253 } }, "max_pad_normal_force_n": 0.35739918616988786, "max_abs_native_joint_velocity_rad_s": [ 0.7033671334273265, 0.5656718107843053, 0.5592261352538058, 0.3735359249342935, 0.2157875682328741, 0.18783450166831725 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.37498142994323125, "max": 2.0247340758292136, "max_abs": 2.0247340758292136 }, { "actuator_index": 1, "unit": "N m", "min": -2.033810271711701, "max": 2.1727957415025827, "max_abs": 2.1727957415025827 }, { "actuator_index": 2, "unit": "N m", "min": -0.9071367306707714, "max": 1.2660320712098354, "max_abs": 1.2660320712098354 }, { "actuator_index": 3, "unit": "N m", "min": -0.3828123031851369, "max": 0.30929879606232635, "max_abs": 0.3828123031851369 }, { "actuator_index": 4, "unit": "N m", "min": -0.20655076236889336, "max": 0.36810301598782164, "max_abs": 0.36810301598782164 }, { "actuator_index": 5, "unit": "N m", "min": -0.30026389089213446, "max": 0.36269501270638216, "max_abs": 0.36269501270638216 }, { "actuator_index": 6, "unit": "N", "min": -0.018674589630359284, "max": 0.008010235912895736, "max_abs": 0.018674589630359284 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 5.697046832880005, "attempt_wall_seconds": 5.7037600830663, "step_compute_seconds": { "count": 1000, "min": 0.0028289579786360264, "mean": 0.004816185480216518, "p50": 0.004328042035922408, "p95": 0.008063582936301827, "p99": 0.01054454199038446, "max": 0.06784370797686279, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 1, "policy_event_types": [], "final_object_position_m": [ 0.2967397148164917, -0.026519503419573025, 0.07989224457978368 ], "final_tcp_position_m": [ 0.35154908675877616, 0.0812467923463962, 0.2087410121269948 ] }, { "id": "832847:friction080-mass060-layout01--hold", "cohort_seed": 832847, "scene_id": "friction080-mass060-layout01", "variant": "hold", "mode": "baseline", "control": "hold", "friction": 0.8, "mass_kg": 0.06, "layout_index": 1, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998874710845e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.1226431919339142 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 1.1376744407779719e-16, "peak_sampled_speed_m_s": 5.558267943191594e-15, "net_vertical_m": 1.1102230246251565e-16, "max_vertical_from_window_start_m": 1.1102230246251565e-16, "min_vertical_from_window_start_m": 0.0 }, "object": { "path_m": 2.071037228504309e-10, "peak_sampled_speed_m_s": 1.6349234512923287e-09, "net_vertical_m": 6.22998874710845e-11, "max_vertical_from_window_start_m": 6.22998874710845e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 1.089099057831775e-19, 6.127451851049064e-18, 1.5410517561852992e-16, 1.2145569247038722e-17, 3.400546359107994e-16, 2.945467210750634e-17 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -5.149427585733612e-18, "max": -7.571162667696407e-19, "max_abs": 5.149427585733612e-18 }, { "actuator_index": 1, "unit": "N m", "min": 0.0, "max": 0.0, "max_abs": 0.0 }, { "actuator_index": 2, "unit": "N m", "min": 0.0, "max": 0.0, "max_abs": 0.0 }, { "actuator_index": 3, "unit": "N m", "min": 7.130976259465077e-17, "max": 1.5875460775817776e-16, "max_abs": 1.5875460775817776e-16 }, { "actuator_index": 4, "unit": "N m", "min": 5.770246053275149e-16, "max": 3.2953315452184146e-15, "max_abs": 3.2953315452184146e-15 }, { "actuator_index": 5, "unit": "N m", "min": -2.2098381316149117e-16, "max": -4.998795352997742e-17, "max_abs": 2.2098381316149117e-16 }, { "actuator_index": 6, "unit": "N", "min": 0.0, "max": 0.0, "max_abs": 0.0 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 5.910922999959439, "attempt_wall_seconds": 5.921320749912411, "step_compute_seconds": { "count": 1000, "min": 0.00278466590680182, "mean": 0.0054656987232156095, "p50": 0.0049467908684164286, "p95": 0.009317500051110983, "p99": 0.013824207941070199, "max": 0.047749249963089824, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 2, "policy_event_types": [], "final_object_position_m": [ 0.2966873580395906, -0.026543670315705634, 0.0798922445797837 ], "final_tcp_position_m": [ 0.4890696662845219, 0.001414197565480896, 0.3665849431043092 ] }, { "id": "832847:friction055-mass040-layout00--recovery_placement", "cohort_seed": 832847, "scene_id": "friction055-mass040-layout00", "variant": "recovery_placement", "mode": "recovery", "control": "placement", "friction": 0.55, "mass_kg": 0.04, "layout_index": 0, "valid": true, "success": true, "failure_stage": "completed", "terminal_reason": "success", "abort_reason": null, "abort_time_s": null, "completion_time_s": 15.888999999996633, "milestones": { "grasp_seen": true, "lift_seen": true, "carry_complete": true, "retention_lost": false, "dwell_seconds": 4.360999999999791, "max_object_lift_m": 0.09706444095558223, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.005690320486836842 }, "qualification_count": 1, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 1, "holds": [ { "start_s": 12.039999999998766, "end_s": 12.259999999998644, "duration_s": 0.21999999999987807, "outcome": "carry_resumed", "reason": "sustained_loaded_relative_settling", "includes_second_probe": false, "actual_motion": { "start_s": 12.039999999998766, "end_s": 12.259999999998644, "duration_s": 0.21999999999987807, "sample_count": 12, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.0017432915859025234, "peak_sampled_speed_m_s": 0.04397555985030602, "net_vertical_m": 0.0006249812557133777, "max_vertical_from_window_start_m": 0.0011702667679873296, "min_vertical_from_window_start_m": 0.0 }, "object": { "path_m": 0.001753190414962174, "peak_sampled_speed_m_s": 0.04348803867028112, "net_vertical_m": 0.0005708847254821681, "max_vertical_from_window_start_m": 0.0011432329603534297, "min_vertical_from_window_start_m": 0.0 } }, "scope": "Recovery interval may include active second-probe motion; not all of this interval is stationary holding." } ], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8829464753107311, "peak_sampled_speed_m_s": 0.19904071325149017, "net_vertical_m": -0.15671432265909163, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2847477732668768 }, "object": { "path_m": 0.32984058108244846, "peak_sampled_speed_m_s": 0.1989511891883556, "net_vertical_m": 6.22998735932967e-11, "max_vertical_from_window_start_m": 0.09697415483418365, "min_vertical_from_window_start_m": -0.00029760262051610475 } }, "max_pad_normal_force_n": 0.7824587945674747, "max_abs_native_joint_velocity_rad_s": [ 0.6554137232620514, 0.6262933827302873, 0.51485593200832, 0.17317260386062475, 0.22439882607175, 0.1844013784568063 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.33208559577856356, "max": 1.8801099418688736, "max_abs": 1.8801099418688736 }, { "actuator_index": 1, "unit": "N m", "min": -2.2052868256166107, "max": 2.0367007707924785, "max_abs": 2.2052868256166107 }, { "actuator_index": 2, "unit": "N m", "min": -0.8590991010403144, "max": 1.266027507084715, "max_abs": 1.266027507084715 }, { "actuator_index": 3, "unit": "N m", "min": -0.3706797252620311, "max": 0.3017444166612542, "max_abs": 0.3706797252620311 }, { "actuator_index": 4, "unit": "N m", "min": -0.36417125028872555, "max": 0.385104334716849, "max_abs": 0.385104334716849 }, { "actuator_index": 5, "unit": "N m", "min": -0.2991916265187665, "max": 0.33398256416306427, "max_abs": 0.33398256416306427 }, { "actuator_index": 6, "unit": "N", "min": -0.8269750164358277, "max": 0.01801316784595952, "max_abs": 0.8269750164358277 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 9.074454416055232, "attempt_wall_seconds": 9.10058820899576, "step_compute_seconds": { "count": 1000, "min": 0.003236709162592888, "mean": 0.00810023877886124, "p50": 0.0067462080623954535, "p95": 0.01441508298739791, "p99": 0.0253907919395715, "max": 0.16138504189439118, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 15, "policy_event_types": [ "probe_started", "acquisition_qualified", "slowdown_started", "reassessment_started", "carry_resumed", "speed_restoration_started", "full_speed_restored" ], "final_object_position_m": [ 0.3537882080151276, 0.07893011316854555, 0.07989224457978371 ], "final_tcp_position_m": [ 0.34779888546590443, 0.07868160661333314, 0.20987062044521748 ] }, { "id": "832847:friction055-mass040-layout00--recovery_open_jaw", "cohort_seed": 832847, "scene_id": "friction055-mass040-layout00", "variant": "recovery_open_jaw", "mode": "recovery", "control": "replay_open_jaw", "friction": 0.55, "mass_kg": 0.04, "layout_index": 0, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.229994298223573e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.11731701931206782 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8855109790860036, "peak_sampled_speed_m_s": 0.19976475172445096, "net_vertical_m": -0.15671425872773012, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28476329680238965 }, "object": { "path_m": 1.7528280557184262e-10, "peak_sampled_speed_m_s": 1.6349227538150635e-09, "net_vertical_m": 6.229994298223573e-11, "max_vertical_from_window_start_m": 6.229994298223573e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.6535872237713776, 0.627171479184133, 0.5148872054462074, 0.17317260386062475, 0.22439882607175, 0.1843954244043374 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.33208559577856356, "max": 1.8515893756871735, "max_abs": 1.8515893756871735 }, { "actuator_index": 1, "unit": "N m", "min": -2.205540552971229, "max": 2.16464747044364, "max_abs": 2.205540552971229 }, { "actuator_index": 2, "unit": "N m", "min": -0.8590991010403144, "max": 1.266027507084715, "max_abs": 1.266027507084715 }, { "actuator_index": 3, "unit": "N m", "min": -0.36778763722083574, "max": 0.3017444166612542, "max_abs": 0.36778763722083574 }, { "actuator_index": 4, "unit": "N m", "min": -0.3313881242579324, "max": 0.385104334716849, "max_abs": 0.385104334716849 }, { "actuator_index": 5, "unit": "N m", "min": -0.2991916265187665, "max": 0.3330033286320965, "max_abs": 0.3330033286320965 }, { "actuator_index": 6, "unit": "N", "min": -0.0042396738817915836, "max": 0.006988723617706638, "max_abs": 0.006988723617706638 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 5.903923541074619, "attempt_wall_seconds": 5.921233540866524, "step_compute_seconds": { "count": 1000, "min": 0.0024054169189184904, "mean": 0.004927088501863182, "p50": 0.004236582899466157, "p95": 0.0089822500012815, "p99": 0.014086500043049455, "max": 0.04324329202063382, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 3, "policy_event_types": [], "final_object_position_m": [ 0.2978459872037607, -0.027171603787521828, 0.07989224457978378 ], "final_tcp_position_m": [ 0.34779900542293857, 0.07868166313538104, 0.209870684376579 ] }, { "id": "832847:friction055-mass040-layout00--reacquire_placement", "cohort_seed": 832847, "scene_id": "friction055-mass040-layout00", "variant": "reacquire_placement", "mode": "reacquire", "control": "placement", "friction": 0.55, "mass_kg": 0.04, "layout_index": 0, "valid": true, "success": true, "failure_stage": "completed", "terminal_reason": "success", "abort_reason": null, "abort_time_s": null, "completion_time_s": 15.888999999996633, "milestones": { "grasp_seen": true, "lift_seen": true, "carry_complete": true, "retention_lost": false, "dwell_seconds": 4.360999999999791, "max_object_lift_m": 0.09706444095558223, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.005690320486836842 }, "qualification_count": 1, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 1, "holds": [ { "start_s": 12.039999999998766, "end_s": 12.259999999998644, "duration_s": 0.21999999999987807, "outcome": "carry_resumed", "reason": "sustained_loaded_relative_settling", "includes_second_probe": false, "actual_motion": { "start_s": 12.039999999998766, "end_s": 12.259999999998644, "duration_s": 0.21999999999987807, "sample_count": 12, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.0017432915859025234, "peak_sampled_speed_m_s": 0.04397555985030602, "net_vertical_m": 0.0006249812557133777, "max_vertical_from_window_start_m": 0.0011702667679873296, "min_vertical_from_window_start_m": 0.0 }, "object": { "path_m": 0.001753190414962174, "peak_sampled_speed_m_s": 0.04348803867028112, "net_vertical_m": 0.0005708847254821681, "max_vertical_from_window_start_m": 0.0011432329603534297, "min_vertical_from_window_start_m": 0.0 } }, "scope": "Recovery interval may include active second-probe motion; not all of this interval is stationary holding." } ], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8829464753107311, "peak_sampled_speed_m_s": 0.19904071325149017, "net_vertical_m": -0.15671432265909163, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2847477732668768 }, "object": { "path_m": 0.32984058108244846, "peak_sampled_speed_m_s": 0.1989511891883556, "net_vertical_m": 6.22998735932967e-11, "max_vertical_from_window_start_m": 0.09697415483418365, "min_vertical_from_window_start_m": -0.00029760262051610475 } }, "max_pad_normal_force_n": 0.7824587945674747, "max_abs_native_joint_velocity_rad_s": [ 0.6554137232620514, 0.6262933827302873, 0.51485593200832, 0.17317260386062475, 0.22439882607175, 0.1844013784568063 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.33208559577856356, "max": 1.8801099418688736, "max_abs": 1.8801099418688736 }, { "actuator_index": 1, "unit": "N m", "min": -2.2052868256166107, "max": 2.0367007707924785, "max_abs": 2.2052868256166107 }, { "actuator_index": 2, "unit": "N m", "min": -0.8590991010403144, "max": 1.266027507084715, "max_abs": 1.266027507084715 }, { "actuator_index": 3, "unit": "N m", "min": -0.3706797252620311, "max": 0.3017444166612542, "max_abs": 0.3706797252620311 }, { "actuator_index": 4, "unit": "N m", "min": -0.36417125028872555, "max": 0.385104334716849, "max_abs": 0.385104334716849 }, { "actuator_index": 5, "unit": "N m", "min": -0.2991916265187665, "max": 0.33398256416306427, "max_abs": 0.33398256416306427 }, { "actuator_index": 6, "unit": "N", "min": -0.8269750164358277, "max": 0.01801316784595952, "max_abs": 0.8269750164358277 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 7.157040582969785, "attempt_wall_seconds": 7.1675644582137465, "step_compute_seconds": { "count": 1000, "min": 0.0029963329434394836, "mean": 0.006644066794076934, "p50": 0.005638041999191046, "p95": 0.013478916138410568, "p99": 0.01693308283574879, "max": 0.03059395798482001, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 3, "policy_event_types": [ "probe_started", "acquisition_qualified", "slowdown_started", "reassessment_started", "carry_resumed", "speed_restoration_started", "full_speed_restored" ], "final_object_position_m": [ 0.3537882080151276, 0.07893011316854555, 0.07989224457978371 ], "final_tcp_position_m": [ 0.34779888546590443, 0.07868160661333314, 0.20987062044521748 ] }, { "id": "832847:friction055-mass040-layout00--reacquire_open_jaw", "cohort_seed": 832847, "scene_id": "friction055-mass040-layout00", "variant": "reacquire_open_jaw", "mode": "reacquire", "control": "replay_open_jaw", "friction": 0.55, "mass_kg": 0.04, "layout_index": 0, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.229994298223573e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.11731701931206782 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8855109790860036, "peak_sampled_speed_m_s": 0.19976475172445096, "net_vertical_m": -0.15671425872773012, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28476329680238965 }, "object": { "path_m": 1.7528280557184262e-10, "peak_sampled_speed_m_s": 1.6349227538150635e-09, "net_vertical_m": 6.229994298223573e-11, "max_vertical_from_window_start_m": 6.229994298223573e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.6535872237713776, 0.627171479184133, 0.5148872054462074, 0.17317260386062475, 0.22439882607175, 0.1843954244043374 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.33208559577856356, "max": 1.8515893756871735, "max_abs": 1.8515893756871735 }, { "actuator_index": 1, "unit": "N m", "min": -2.205540552971229, "max": 2.16464747044364, "max_abs": 2.205540552971229 }, { "actuator_index": 2, "unit": "N m", "min": -0.8590991010403144, "max": 1.266027507084715, "max_abs": 1.266027507084715 }, { "actuator_index": 3, "unit": "N m", "min": -0.36778763722083574, "max": 0.3017444166612542, "max_abs": 0.36778763722083574 }, { "actuator_index": 4, "unit": "N m", "min": -0.3313881242579324, "max": 0.385104334716849, "max_abs": 0.385104334716849 }, { "actuator_index": 5, "unit": "N m", "min": -0.2991916265187665, "max": 0.3330033286320965, "max_abs": 0.3330033286320965 }, { "actuator_index": 6, "unit": "N", "min": -0.0042396738817915836, "max": 0.006988723617706638, "max_abs": 0.006988723617706638 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 6.607015541056171, "attempt_wall_seconds": 6.626944625051692, "step_compute_seconds": { "count": 1000, "min": 0.0029003750532865524, "mean": 0.0060973682119511066, "p50": 0.005168417003005743, "p95": 0.012322958093136549, "p99": 0.018105665920302272, "max": 0.03218362503685057, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 5, "policy_event_types": [], "final_object_position_m": [ 0.2978459872037607, -0.027171603787521828, 0.07989224457978378 ], "final_tcp_position_m": [ 0.34779900542293857, 0.07868166313538104, 0.209870684376579 ] }, { "id": "832847:friction055-mass040-layout00--reacquire_grasp_placement", "cohort_seed": 832847, "scene_id": "friction055-mass040-layout00", "variant": "reacquire_grasp_placement", "mode": "reacquire_grasp", "control": "placement", "friction": 0.55, "mass_kg": 0.04, "layout_index": 0, "valid": true, "success": true, "failure_stage": "completed", "terminal_reason": "success", "abort_reason": null, "abort_time_s": null, "completion_time_s": 16.52099999999721, "milestones": { "grasp_seen": true, "lift_seen": true, "carry_complete": true, "retention_lost": false, "dwell_seconds": 3.7289999999997003, "max_object_lift_m": 0.10138186253249754, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.0036983198734857775 }, "qualification_count": 1, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.886039060699703, "peak_sampled_speed_m_s": 0.2004206320219451, "net_vertical_m": -0.15776348164988635, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28723414203253594 }, "object": { "path_m": 0.3341524245799255, "peak_sampled_speed_m_s": 0.19963617837692235, "net_vertical_m": 6.229984583772108e-11, "max_vertical_from_window_start_m": 0.10137215141605813, "min_vertical_from_window_start_m": -0.0003485095069961919 } }, "max_pad_normal_force_n": 1.034215329426579, "max_abs_native_joint_velocity_rad_s": [ 0.7162620621574625, 0.587683782917844, 0.5369591798962102, 0.37371734279582935, 0.2232198082761657, 0.18785966708848767 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3739309922072822, "max": 2.0816034337016447, "max_abs": 2.0816034337016447 }, { "actuator_index": 1, "unit": "N m", "min": -2.16397545261421, "max": 2.023370572255857, "max_abs": 2.16397545261421 }, { "actuator_index": 2, "unit": "N m", "min": -0.91025298412562, "max": 1.266027507084715, "max_abs": 1.266027507084715 }, { "actuator_index": 3, "unit": "N m", "min": -0.4087960746565553, "max": 0.3622076824662255, "max_abs": 0.4087960746565553 }, { "actuator_index": 4, "unit": "N m", "min": -0.2396221034371404, "max": 0.3679651966711025, "max_abs": 0.3679651966711025 }, { "actuator_index": 5, "unit": "N m", "min": -0.3010190407747473, "max": 0.3614967222831975, "max_abs": 0.3614967222831975 }, { "actuator_index": 6, "unit": "N", "min": -1.1791216953995323, "max": 0.018788958796024824, "max_abs": 1.1791216953995323 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 6.0859715840779245, "attempt_wall_seconds": 6.096019542077556, "step_compute_seconds": { "count": 1000, "min": 0.0027127088978886604, "mean": 0.005609838757198304, "p50": 0.005081458017230034, "p95": 0.008964333916082978, "p99": 0.012548124883323908, "max": 0.05285854218527675, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 4, "policy_event_types": [ "probe_started", "acquisition_qualified" ], "final_object_position_m": [ 0.35177513158603, 0.0784409239808035, 0.07989224457978368 ], "final_tcp_position_m": [ 0.34662617276378954, 0.07776487994155444, 0.20882146145442276 ] }, { "id": "832847:friction055-mass040-layout00--reacquire_grasp_open_jaw", "cohort_seed": 832847, "scene_id": "friction055-mass040-layout00", "variant": "reacquire_grasp_open_jaw", "mode": "reacquire_grasp", "control": "replay_open_jaw", "friction": 0.55, "mass_kg": 0.04, "layout_index": 0, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 0.00026439476477294055, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.11681617017160002 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8883249949234823, "peak_sampled_speed_m_s": 0.19975569172828708, "net_vertical_m": -0.15776228335350623, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.287391189350501 }, "object": { "path_m": 0.0013346204812440402, "peak_sampled_speed_m_s": 0.02069756565210365, "net_vertical_m": 6.229983195993327e-11, "max_vertical_from_window_start_m": 0.0002613138823287786, "min_vertical_from_window_start_m": -0.0001919521298684168 } }, "max_pad_normal_force_n": 0.2815100588395939, "max_abs_native_joint_velocity_rad_s": [ 0.7144649081855218, 0.5872302731482507, 0.5370488686339338, 0.37371734279582935, 0.2232198082761657, 0.1878952456969733 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3739309922072822, "max": 2.052768987136723, "max_abs": 2.052768987136723 }, { "actuator_index": 1, "unit": "N m", "min": -2.038866299645605, "max": 2.1239046571997875, "max_abs": 2.1239046571997875 }, { "actuator_index": 2, "unit": "N m", "min": -0.9016184273010452, "max": 1.266027507084715, "max_abs": 1.266027507084715 }, { "actuator_index": 3, "unit": "N m", "min": -0.39895700560392866, "max": 0.31004066503254757, "max_abs": 0.39895700560392866 }, { "actuator_index": 4, "unit": "N m", "min": -0.21226766700068112, "max": 0.3679651966711025, "max_abs": 0.3679651966711025 }, { "actuator_index": 5, "unit": "N m", "min": -0.30112137545907736, "max": 0.3612694994544903, "max_abs": 0.3612694994544903 }, { "actuator_index": 6, "unit": "N", "min": -0.01570821093949548, "max": 0.008071756072526304, "max_abs": 0.01570821093949548 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 5.0745700830593705, "attempt_wall_seconds": 5.082428624853492, "step_compute_seconds": { "count": 1000, "min": 0.002360332990065217, "mean": 0.003903496500570327, "p50": 0.0032981671392917633, "p95": 0.006820749957114458, "p99": 0.008905583061277866, "max": 0.017485917080193758, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.2983775491905418, -0.026868733279175674, 0.07989224457978367 ], "final_tcp_position_m": [ 0.34662883106865977, 0.07776599130463736, 0.20882265975080289 ] }, { "id": "832847:friction055-mass040-layout00--hold", "cohort_seed": 832847, "scene_id": "friction055-mass040-layout00", "variant": "hold", "mode": "baseline", "control": "hold", "friction": 0.55, "mass_kg": 0.04, "layout_index": 0, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.229994298223573e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.11731701931206782 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 1.1376744407779719e-16, "peak_sampled_speed_m_s": 5.558267943191594e-15, "net_vertical_m": 1.1102230246251565e-16, "max_vertical_from_window_start_m": 1.1102230246251565e-16, "min_vertical_from_window_start_m": 0.0 }, "object": { "path_m": 1.7528280557184262e-10, "peak_sampled_speed_m_s": 1.6349227538150635e-09, "net_vertical_m": 6.229994298223573e-11, "max_vertical_from_window_start_m": 6.229994298223573e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 1.089099057831775e-19, 6.127451851049064e-18, 1.5410517561852992e-16, 1.2145569247038722e-17, 3.400546359107994e-16, 2.945467210750634e-17 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -5.149427585733612e-18, "max": -7.571162667696407e-19, "max_abs": 5.149427585733612e-18 }, { "actuator_index": 1, "unit": "N m", "min": 0.0, "max": 0.0, "max_abs": 0.0 }, { "actuator_index": 2, "unit": "N m", "min": 0.0, "max": 0.0, "max_abs": 0.0 }, { "actuator_index": 3, "unit": "N m", "min": 7.130976259465077e-17, "max": 1.5875460775817776e-16, "max_abs": 1.5875460775817776e-16 }, { "actuator_index": 4, "unit": "N m", "min": 5.770246053275149e-16, "max": 3.2953315452184146e-15, "max_abs": 3.2953315452184146e-15 }, { "actuator_index": 5, "unit": "N m", "min": -2.2098381316149117e-16, "max": -4.998795352997742e-17, "max_abs": 2.2098381316149117e-16 }, { "actuator_index": 6, "unit": "N", "min": 0.0, "max": 0.0, "max_abs": 0.0 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 3.4075050419196486, "attempt_wall_seconds": 3.4125660830177367, "step_compute_seconds": { "count": 1000, "min": 0.002272208919748664, "mean": 0.003072875494370237, "p50": 0.002831040881574154, "p95": 0.00471137510612607, "p99": 0.006001083878800273, "max": 0.008496792055666447, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.2978459872037607, -0.027171603787521828, 0.07989224457978378 ], "final_tcp_position_m": [ 0.4890696662845219, 0.001414197565480896, 0.3665849431043092 ] }, { "id": "832847:friction055-mass040-layout01--recovery_placement", "cohort_seed": 832847, "scene_id": "friction055-mass040-layout01", "variant": "recovery_placement", "mode": "recovery", "control": "placement", "friction": 0.55, "mass_kg": 0.04, "layout_index": 1, "valid": true, "success": true, "failure_stage": "completed", "terminal_reason": "success", "abort_reason": null, "abort_time_s": null, "completion_time_s": 15.905999999996624, "milestones": { "grasp_seen": true, "lift_seen": true, "carry_complete": true, "retention_lost": false, "dwell_seconds": 4.343999999999785, "max_object_lift_m": 0.09706024683056938, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.006026371004136736 }, "qualification_count": 1, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 1, "holds": [ { "start_s": 11.859999999998866, "end_s": 12.099999999998733, "duration_s": 0.239999999999867, "outcome": "carry_resumed", "reason": "sustained_loaded_relative_settling", "includes_second_probe": false, "actual_motion": { "start_s": 11.859999999998866, "end_s": 12.099999999998733, "duration_s": 0.239999999999867, "sample_count": 13, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.009567497123820098, "peak_sampled_speed_m_s": 0.13686557139102826, "net_vertical_m": 0.0007354485625213486, "max_vertical_from_window_start_m": 0.004984649417031806, "min_vertical_from_window_start_m": 0.0 }, "object": { "path_m": 0.0076630546088147155, "peak_sampled_speed_m_s": 0.06775779065237318, "net_vertical_m": -0.0013044853474635104, "max_vertical_from_window_start_m": 0.0029827103672710326, "min_vertical_from_window_start_m": -0.0013044853474635104 } }, "scope": "Recovery interval may include active second-probe motion; not all of this interval is stationary holding." } ], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.9023461736185553, "peak_sampled_speed_m_s": 0.19907552321386926, "net_vertical_m": -0.1566984276794826, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28474769751120277 }, "object": { "path_m": 0.34771590718743745, "peak_sampled_speed_m_s": 0.19912670457504802, "net_vertical_m": 6.229983195993327e-11, "max_vertical_from_window_start_m": 0.09699506099427294, "min_vertical_from_window_start_m": -0.00013451710859996302 } }, "max_pad_normal_force_n": 0.7840671560726464, "max_abs_native_joint_velocity_rad_s": [ 0.6446374632683514, 0.5985793527035821, 0.5141287301277203, 0.16983307894380809, 0.22523683178327936, 0.18486466604144927 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.32494941103082553, "max": 1.8371770677299617, "max_abs": 1.8371770677299617 }, { "actuator_index": 1, "unit": "N m", "min": -2.1924323229922607, "max": 2.0372103783371216, "max_abs": 2.1924323229922607 }, { "actuator_index": 2, "unit": "N m", "min": -0.863421196836299, "max": 1.2660320710161415, "max_abs": 1.2660320710161415 }, { "actuator_index": 3, "unit": "N m", "min": -0.3682356222107477, "max": 0.301540254817235, "max_abs": 0.3682356222107477 }, { "actuator_index": 4, "unit": "N m", "min": -0.3766052135584914, "max": 0.3861531444515691, "max_abs": 0.3861531444515691 }, { "actuator_index": 5, "unit": "N m", "min": -0.29918405568170864, "max": 0.335574443148385, "max_abs": 0.335574443148385 }, { "actuator_index": 6, "unit": "N", "min": -0.8541206371984623, "max": 0.01822460519501745, "max_abs": 0.8541206371984623 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 4.5834968748968095, "attempt_wall_seconds": 4.587499000132084, "step_compute_seconds": { "count": 1000, "min": 0.002460625022649765, "mean": 0.00426047301851213, "p50": 0.0035087079741060734, "p95": 0.00866212509572506, "p99": 0.011262374930083752, "max": 0.05048287520185113, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 2, "policy_event_types": [ "probe_started", "acquisition_qualified", "reassessment_started", "carry_resumed", "speed_restoration_started", "full_speed_restored" ], "final_object_position_m": [ 0.3591092978705221, 0.08266520638560033, 0.07989224457978367 ], "final_tcp_position_m": [ 0.35282730116289307, 0.08221990588810005, 0.2098865154248265 ] }, { "id": "832847:friction055-mass040-layout01--recovery_open_jaw", "cohort_seed": 832847, "scene_id": "friction055-mass040-layout01", "variant": "recovery_open_jaw", "mode": "recovery", "control": "replay_open_jaw", "friction": 0.55, "mass_kg": 0.04, "layout_index": 1, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998874710845e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12264313138984782 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.9050462986869224, "peak_sampled_speed_m_s": 0.19974009495532916, "net_vertical_m": -0.15669828829928706, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28476325679669057 }, "object": { "path_m": 1.766691012355819e-10, "peak_sampled_speed_m_s": 1.6349234509695215e-09, "net_vertical_m": 6.22998874710845e-11, "max_vertical_from_window_start_m": 6.22998874710845e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.6427527749121061, 0.598304586036445, 0.5141766278866965, 0.16983307894380809, 0.22523683178327936, 0.18486269756457926 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.32494941103082553, "max": 1.8086338028479192, "max_abs": 1.8086338028479192 }, { "actuator_index": 1, "unit": "N m", "min": -2.1931275693247017, "max": 2.1719303096428177, "max_abs": 2.1931275693247017 }, { "actuator_index": 2, "unit": "N m", "min": -0.863421196836299, "max": 1.2660320710161415, "max_abs": 1.2660320710161415 }, { "actuator_index": 3, "unit": "N m", "min": -0.36551582907494384, "max": 0.301540254817235, "max_abs": 0.36551582907494384 }, { "actuator_index": 4, "unit": "N m", "min": -0.35371418324652737, "max": 0.3861531444515691, "max_abs": 0.3861531444515691 }, { "actuator_index": 5, "unit": "N m", "min": -0.29918405568170864, "max": 0.3346833611102378, "max_abs": 0.3346833611102378 }, { "actuator_index": 6, "unit": "N", "min": -0.00427258027067734, "max": 0.0069556325930257845, "max_abs": 0.0069556325930257845 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 3.1740787499584258, "attempt_wall_seconds": 3.1848530841525644, "step_compute_seconds": { "count": 1000, "min": 0.0020296250004321337, "mean": 0.0028573404536582528, "p50": 0.0025572909507900476, "p95": 0.004420834127813578, "p99": 0.0058653338346630335, "max": 0.010629333090037107, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.2966875255158033, -0.026543688873915134, 0.07989224457978372 ], "final_tcp_position_m": [ 0.35282755882026906, 0.08222003005974003, 0.20988665480502205 ] }, { "id": "832847:friction055-mass040-layout01--reacquire_placement", "cohort_seed": 832847, "scene_id": "friction055-mass040-layout01", "variant": "reacquire_placement", "mode": "reacquire", "control": "placement", "friction": 0.55, "mass_kg": 0.04, "layout_index": 1, "valid": true, "success": true, "failure_stage": "completed", "terminal_reason": "success", "abort_reason": null, "abort_time_s": null, "completion_time_s": 15.905999999996624, "milestones": { "grasp_seen": true, "lift_seen": true, "carry_complete": true, "retention_lost": false, "dwell_seconds": 4.343999999999785, "max_object_lift_m": 0.09706024683056938, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.006026371004136736 }, "qualification_count": 1, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 1, "holds": [ { "start_s": 11.859999999998866, "end_s": 12.099999999998733, "duration_s": 0.239999999999867, "outcome": "carry_resumed", "reason": "sustained_loaded_relative_settling", "includes_second_probe": false, "actual_motion": { "start_s": 11.859999999998866, "end_s": 12.099999999998733, "duration_s": 0.239999999999867, "sample_count": 13, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.009567497123820098, "peak_sampled_speed_m_s": 0.13686557139102826, "net_vertical_m": 0.0007354485625213486, "max_vertical_from_window_start_m": 0.004984649417031806, "min_vertical_from_window_start_m": 0.0 }, "object": { "path_m": 0.0076630546088147155, "peak_sampled_speed_m_s": 0.06775779065237318, "net_vertical_m": -0.0013044853474635104, "max_vertical_from_window_start_m": 0.0029827103672710326, "min_vertical_from_window_start_m": -0.0013044853474635104 } }, "scope": "Recovery interval may include active second-probe motion; not all of this interval is stationary holding." } ], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.9023461736185553, "peak_sampled_speed_m_s": 0.19907552321386926, "net_vertical_m": -0.1566984276794826, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28474769751120277 }, "object": { "path_m": 0.34771590718743745, "peak_sampled_speed_m_s": 0.19912670457504802, "net_vertical_m": 6.229983195993327e-11, "max_vertical_from_window_start_m": 0.09699506099427294, "min_vertical_from_window_start_m": -0.00013451710859996302 } }, "max_pad_normal_force_n": 0.7840671560726464, "max_abs_native_joint_velocity_rad_s": [ 0.6446374632683514, 0.5985793527035821, 0.5141287301277203, 0.16983307894380809, 0.22523683178327936, 0.18486466604144927 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.32494941103082553, "max": 1.8371770677299617, "max_abs": 1.8371770677299617 }, { "actuator_index": 1, "unit": "N m", "min": -2.1924323229922607, "max": 2.0372103783371216, "max_abs": 2.1924323229922607 }, { "actuator_index": 2, "unit": "N m", "min": -0.863421196836299, "max": 1.2660320710161415, "max_abs": 1.2660320710161415 }, { "actuator_index": 3, "unit": "N m", "min": -0.3682356222107477, "max": 0.301540254817235, "max_abs": 0.3682356222107477 }, { "actuator_index": 4, "unit": "N m", "min": -0.3766052135584914, "max": 0.3861531444515691, "max_abs": 0.3861531444515691 }, { "actuator_index": 5, "unit": "N m", "min": -0.29918405568170864, "max": 0.335574443148385, "max_abs": 0.335574443148385 }, { "actuator_index": 6, "unit": "N", "min": -0.8541206371984623, "max": 0.01822460519501745, "max_abs": 0.8541206371984623 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 4.0569223749917, "attempt_wall_seconds": 4.0620015831664205, "step_compute_seconds": { "count": 1000, "min": 0.0024408341851085424, "mean": 0.003673187987180427, "p50": 0.0031975421588867903, "p95": 0.006994500057771802, "p99": 0.009365125093609095, "max": 0.023295334074646235, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 1, "policy_event_types": [ "probe_started", "acquisition_qualified", "reassessment_started", "carry_resumed", "speed_restoration_started", "full_speed_restored" ], "final_object_position_m": [ 0.3591092978705221, 0.08266520638560033, 0.07989224457978367 ], "final_tcp_position_m": [ 0.35282730116289307, 0.08221990588810005, 0.2098865154248265 ] }, { "id": "832847:friction055-mass040-layout01--reacquire_open_jaw", "cohort_seed": 832847, "scene_id": "friction055-mass040-layout01", "variant": "reacquire_open_jaw", "mode": "reacquire", "control": "replay_open_jaw", "friction": 0.55, "mass_kg": 0.04, "layout_index": 1, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998874710845e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12264313138984782 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.9050462986869224, "peak_sampled_speed_m_s": 0.19974009495532916, "net_vertical_m": -0.15669828829928706, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28476325679669057 }, "object": { "path_m": 1.766691012355819e-10, "peak_sampled_speed_m_s": 1.6349234509695215e-09, "net_vertical_m": 6.22998874710845e-11, "max_vertical_from_window_start_m": 6.22998874710845e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.6427527749121061, 0.598304586036445, 0.5141766278866965, 0.16983307894380809, 0.22523683178327936, 0.18486269756457926 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.32494941103082553, "max": 1.8086338028479192, "max_abs": 1.8086338028479192 }, { "actuator_index": 1, "unit": "N m", "min": -2.1931275693247017, "max": 2.1719303096428177, "max_abs": 2.1931275693247017 }, { "actuator_index": 2, "unit": "N m", "min": -0.863421196836299, "max": 1.2660320710161415, "max_abs": 1.2660320710161415 }, { "actuator_index": 3, "unit": "N m", "min": -0.36551582907494384, "max": 0.301540254817235, "max_abs": 0.36551582907494384 }, { "actuator_index": 4, "unit": "N m", "min": -0.35371418324652737, "max": 0.3861531444515691, "max_abs": 0.3861531444515691 }, { "actuator_index": 5, "unit": "N m", "min": -0.29918405568170864, "max": 0.3346833611102378, "max_abs": 0.3346833611102378 }, { "actuator_index": 6, "unit": "N", "min": -0.00427258027067734, "max": 0.0069556325930257845, "max_abs": 0.0069556325930257845 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 3.9501441249158233, "attempt_wall_seconds": 3.956259125145152, "step_compute_seconds": { "count": 1000, "min": 0.0023459158837795258, "mean": 0.003623803624184802, "p50": 0.0032136249355971813, "p95": 0.005700709065422416, "p99": 0.008175959112122655, "max": 0.014681417029350996, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.2966875255158033, -0.026543688873915134, 0.07989224457978372 ], "final_tcp_position_m": [ 0.35282755882026906, 0.08222003005974003, 0.20988665480502205 ] }, { "id": "832847:friction055-mass040-layout01--reacquire_grasp_placement", "cohort_seed": 832847, "scene_id": "friction055-mass040-layout01", "variant": "reacquire_grasp_placement", "mode": "reacquire_grasp", "control": "placement", "friction": 0.55, "mass_kg": 0.04, "layout_index": 1, "valid": true, "success": true, "failure_stage": "completed", "terminal_reason": "success", "abort_reason": null, "abort_time_s": null, "completion_time_s": 16.560999999997257, "milestones": { "grasp_seen": true, "lift_seen": true, "carry_complete": true, "retention_lost": false, "dwell_seconds": 3.6889999999997047, "max_object_lift_m": 0.10148649818284375, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.0041198906446090824 }, "qualification_count": 1, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8925536003062077, "peak_sampled_speed_m_s": 0.19857782825444267, "net_vertical_m": -0.1577768890121544, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2871770892574227 }, "object": { "path_m": 0.3398995466723514, "peak_sampled_speed_m_s": 0.19780243982704107, "net_vertical_m": 6.230010951568943e-11, "max_vertical_from_window_start_m": 0.1014657516425305, "min_vertical_from_window_start_m": -0.00036607067081313727 } }, "max_pad_normal_force_n": 1.004605046836387, "max_abs_native_joint_velocity_rad_s": [ 0.7084799392403556, 0.5906549472893529, 0.5558440891552543, 0.37353593098880566, 0.21578468960703662, 0.18789168427413352 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.37498126944678134, "max": 2.072658966789236, "max_abs": 2.072658966789236 }, { "actuator_index": 1, "unit": "N m", "min": -2.1613744468427, "max": 2.103410412817695, "max_abs": 2.1613744468427 }, { "actuator_index": 2, "unit": "N m", "min": -0.9071360419463588, "max": 1.2660320710161415, "max_abs": 1.2660320710161415 }, { "actuator_index": 3, "unit": "N m", "min": -0.400526436320765, "max": 0.3567871039228021, "max_abs": 0.400526436320765 }, { "actuator_index": 4, "unit": "N m", "min": -0.24995320173736602, "max": 0.3681030031580221, "max_abs": 0.3681030031580221 }, { "actuator_index": 5, "unit": "N m", "min": -0.30106661696588066, "max": 0.3624816146398038, "max_abs": 0.3624816146398038 }, { "actuator_index": 6, "unit": "N", "min": -1.1549689894598965, "max": 0.01888157261882739, "max_abs": 1.1549689894598965 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 3.831907083047554, "attempt_wall_seconds": 3.8363816251512617, "step_compute_seconds": { "count": 1000, "min": 0.0024576669093221426, "mean": 0.0035147634954191746, "p50": 0.003205166896805167, "p95": 0.005742916837334633, "p99": 0.006987125147134066, "max": 0.011317834025248885, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [ "probe_started", "acquisition_qualified" ], "final_object_position_m": [ 0.357195880724134, 0.08201715266663635, 0.07989224457978394 ], "final_tcp_position_m": [ 0.35161910236149607, 0.08126672997944556, 0.20880805409215472 ] }, { "id": "832847:friction055-mass040-layout01--reacquire_grasp_open_jaw", "cohort_seed": 832847, "scene_id": "friction055-mass040-layout01", "variant": "reacquire_grasp_open_jaw", "mode": "reacquire_grasp", "control": "replay_open_jaw", "friction": 0.55, "mass_kg": 0.04, "layout_index": 1, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 0.00027301371202023694, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12212197497868617 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.894969410324108, "peak_sampled_speed_m_s": 0.19792604100351927, "net_vertical_m": -0.15777564943228078, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28737742121198473 }, "object": { "path_m": 0.0014001397693902623, "peak_sampled_speed_m_s": 0.022333062459247627, "net_vertical_m": 6.229992910444793e-11, "max_vertical_from_window_start_m": 0.0002677499444250081, "min_vertical_from_window_start_m": -0.00018558229165475948 } }, "max_pad_normal_force_n": 0.2856951839788388, "max_abs_native_joint_velocity_rad_s": [ 0.7066318968225921, 0.5901837003665545, 0.5559423130647474, 0.37353593098880566, 0.21578468960703662, 0.18794392569747118 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.37498126944678134, "max": 2.0437065771802985, "max_abs": 2.0437065771802985 }, { "actuator_index": 1, "unit": "N m", "min": -2.0367197739195717, "max": 2.204867770689148, "max_abs": 2.204867770689148 }, { "actuator_index": 2, "unit": "N m", "min": -0.9071360419463588, "max": 1.2660320710161415, "max_abs": 1.2660320710161415 }, { "actuator_index": 3, "unit": "N m", "min": -0.3907256193317199, "max": 0.3086466721767587, "max_abs": 0.3907256193317199 }, { "actuator_index": 4, "unit": "N m", "min": -0.22208557132236173, "max": 0.3681030031580221, "max_abs": 0.3681030031580221 }, { "actuator_index": 5, "unit": "N m", "min": -0.3011664645735923, "max": 0.3622174980474453, "max_abs": 0.3622174980474453 }, { "actuator_index": 6, "unit": "N", "min": -0.015103565731686919, "max": 0.007686520149625897, "max_abs": 0.015103565731686919 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 3.264289375161752, "attempt_wall_seconds": 3.269734416855499, "step_compute_seconds": { "count": 1000, "min": 0.0023306249640882015, "mean": 0.0029418914404232056, "p50": 0.002624084008857608, "p95": 0.004304917063564062, "p99": 0.005399916088208556, "max": 0.031349041033536196, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 1, "policy_event_types": [], "final_object_position_m": [ 0.29723103843403237, -0.02623774198790718, 0.07989224457978376 ], "final_tcp_position_m": [ 0.35162184793767287, 0.08126790302890215, 0.20880929367202833 ] }, { "id": "832847:friction055-mass040-layout01--hold", "cohort_seed": 832847, "scene_id": "friction055-mass040-layout01", "variant": "hold", "mode": "baseline", "control": "hold", "friction": 0.55, "mass_kg": 0.04, "layout_index": 1, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998874710845e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12264313138984782 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 1.1376744407779719e-16, "peak_sampled_speed_m_s": 5.558267943191594e-15, "net_vertical_m": 1.1102230246251565e-16, "max_vertical_from_window_start_m": 1.1102230246251565e-16, "min_vertical_from_window_start_m": 0.0 }, "object": { "path_m": 1.766691012355819e-10, "peak_sampled_speed_m_s": 1.6349234509695215e-09, "net_vertical_m": 6.22998874710845e-11, "max_vertical_from_window_start_m": 6.22998874710845e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 1.089099057831775e-19, 6.127451851049064e-18, 1.5410517561852992e-16, 1.2145569247038722e-17, 3.400546359107994e-16, 2.945467210750634e-17 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -5.149427585733612e-18, "max": -7.571162667696407e-19, "max_abs": 5.149427585733612e-18 }, { "actuator_index": 1, "unit": "N m", "min": 0.0, "max": 0.0, "max_abs": 0.0 }, { "actuator_index": 2, "unit": "N m", "min": 0.0, "max": 0.0, "max_abs": 0.0 }, { "actuator_index": 3, "unit": "N m", "min": 7.130976259465077e-17, "max": 1.5875460775817776e-16, "max_abs": 1.5875460775817776e-16 }, { "actuator_index": 4, "unit": "N m", "min": 5.770246053275149e-16, "max": 3.2953315452184146e-15, "max_abs": 3.2953315452184146e-15 }, { "actuator_index": 5, "unit": "N m", "min": -2.2098381316149117e-16, "max": -4.998795352997742e-17, "max_abs": 2.2098381316149117e-16 }, { "actuator_index": 6, "unit": "N", "min": 0.0, "max": 0.0, "max_abs": 0.0 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 3.41779570793733, "attempt_wall_seconds": 3.4226691250223666, "step_compute_seconds": { "count": 1000, "min": 0.002288042102009058, "mean": 0.002976013302570209, "p50": 0.002854082966223359, "p95": 0.004342040978372097, "p99": 0.005178833147510886, "max": 0.006876458879560232, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.2966875255158033, -0.026543688873915134, 0.07989224457978372 ], "final_tcp_position_m": [ 0.4890696662845219, 0.001414197565480896, 0.3665849431043092 ] }, { "id": "832847:friction055-mass060-layout00--recovery_placement", "cohort_seed": 832847, "scene_id": "friction055-mass060-layout00", "variant": "recovery_placement", "mode": "recovery", "control": "placement", "friction": 0.55, "mass_kg": 0.06, "layout_index": 0, "valid": true, "success": false, "failure_stage": "acquisition_never_qualified", "terminal_reason": "timeout", "abort_reason": "retry_budget_exhausted:relative_slip", "abort_time_s": 14.479999999997414, "completion_time_s": null, "milestones": { "grasp_seen": true, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 0.00015251644850036716, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.11610769416514345 }, "qualification_count": 0, "retry_count": 1, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.4345240242480671, "peak_sampled_speed_m_s": 0.16300474163586173, "net_vertical_m": -0.28054560440474396, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28474789404010425 }, "object": { "path_m": 0.004387681140326001, "peak_sampled_speed_m_s": 0.00995756204917486, "net_vertical_m": -6.7909968830270895e-06, "max_vertical_from_window_start_m": 0.00014145200531191782, "min_vertical_from_window_start_m": -3.426602277790958e-05 } }, "max_pad_normal_force_n": 0.5351303993306743, "max_abs_native_joint_velocity_rad_s": [ 0.10233162126896388, 0.4984197552795665, 0.42088403725043794, 0.17317200482122, 0.22439890222121311, 0.10163832780872907 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.33208476267003206, "max": 0.292958770140352, "max_abs": 0.33208476267003206 }, { "actuator_index": 1, "unit": "N m", "min": -1.5492621568724019, "max": 1.9085619609826523, "max_abs": 1.9085619609826523 }, { "actuator_index": 2, "unit": "N m", "min": -1.136820411670044, "max": 1.4160667089294918, "max_abs": 1.4160667089294918 }, { "actuator_index": 3, "unit": "N m", "min": -0.30473044528483717, "max": 0.30174438233083656, "max_abs": 0.30473044528483717 }, { "actuator_index": 4, "unit": "N m", "min": -0.1812257876033474, "max": 0.3851043847343485, "max_abs": 0.3851043847343485 }, { "actuator_index": 5, "unit": "N m", "min": -0.29919162820748907, "max": 0.1768527506630615, "max_abs": 0.29919162820748907 }, { "actuator_index": 6, "unit": "N", "min": -0.7991190606307043, "max": 0.019719338571204892, "max_abs": 0.7991190606307043 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 7.302062917035073, "attempt_wall_seconds": 7.311919790925458, "step_compute_seconds": { "count": 1000, "min": 0.0024256668984889984, "mean": 0.006996378719108179, "p50": 0.00541454111225903, "p95": 0.014623665949329734, "p99": 0.02181841596029699, "max": 0.2818160420283675, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 15, "policy_event_types": [ "probe_started", "alarm", "retry_started", "retry_completed", "probe_started", "alarm", "abort" ], "final_object_position_m": [ 0.3013269072039992, -0.027432833166241122, 0.07988545352060077 ], "final_tcp_position_m": [ 0.2998538122453389, -0.027753927888358728, 0.08603933869956518 ] }, { "id": "832847:friction055-mass060-layout00--recovery_open_jaw", "cohort_seed": 832847, "scene_id": "friction055-mass060-layout00", "variant": "recovery_open_jaw", "mode": "recovery", "control": "replay_open_jaw", "friction": 0.55, "mass_kg": 0.06, "layout_index": 0, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.229992910444793e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.11731692068438702 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.43868116166358273, "peak_sampled_speed_m_s": 0.16300474163586173, "net_vertical_m": -0.2806291524805625, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2847632343080759 }, "object": { "path_m": 1.6600402008891017e-10, "peak_sampled_speed_m_s": 1.634923449909704e-09, "net_vertical_m": 6.229992910444793e-11, "max_vertical_from_window_start_m": 6.229992910444793e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.10233162126896388, 0.4984197552795665, 0.42088403725043794, 0.17317200482122, 0.22439890222121311, 0.10163832780872907 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.33208476267003206, "max": 0.292958770140352, "max_abs": 0.33208476267003206 }, { "actuator_index": 1, "unit": "N m", "min": -1.5492621568724019, "max": 1.9085619609826523, "max_abs": 1.9085619609826523 }, { "actuator_index": 2, "unit": "N m", "min": -1.1151085408073413, "max": 1.4150301525776428, "max_abs": 1.4150301525776428 }, { "actuator_index": 3, "unit": "N m", "min": -0.30473044528483717, "max": 0.30174438233083656, "max_abs": 0.30473044528483717 }, { "actuator_index": 4, "unit": "N m", "min": -0.1816610445728699, "max": 0.3851043847343485, "max_abs": 0.3851043847343485 }, { "actuator_index": 5, "unit": "N m", "min": -0.29919162820748907, "max": 0.1768527506630615, "max_abs": 0.29919162820748907 }, { "actuator_index": 6, "unit": "N", "min": -0.0002902020088790813, "max": 0.0004940967866760015, "max_abs": 0.0004940967866760015 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 4.479210917139426, "attempt_wall_seconds": 4.486289584077895, "step_compute_seconds": { "count": 1000, "min": 0.0028272499330341816, "mean": 0.003985005115857348, "p50": 0.0037204171530902386, "p95": 0.005806958070024848, "p99": 0.0073707078117877245, "max": 0.042495291912928224, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 1, "policy_event_types": [], "final_object_position_m": [ 0.2978459542257497, -0.027171479005511093, 0.07989224457978372 ], "final_tcp_position_m": [ 0.2997663649663474, -0.027749563615728768, 0.08595579062374661 ] }, { "id": "832847:friction055-mass060-layout00--reacquire_placement", "cohort_seed": 832847, "scene_id": "friction055-mass060-layout00", "variant": "reacquire_placement", "mode": "reacquire", "control": "placement", "friction": 0.55, "mass_kg": 0.06, "layout_index": 0, "valid": true, "success": false, "failure_stage": "acquisition_never_qualified", "terminal_reason": "timeout", "abort_reason": "retry_budget_exhausted:relative_slip", "abort_time_s": 14.479999999997414, "completion_time_s": null, "milestones": { "grasp_seen": true, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 0.00015251644850036716, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.11610769416514345 }, "qualification_count": 0, "retry_count": 1, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.4345240242480671, "peak_sampled_speed_m_s": 0.16300474163586173, "net_vertical_m": -0.28054560440474396, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28474789404010425 }, "object": { "path_m": 0.004387681140326001, "peak_sampled_speed_m_s": 0.00995756204917486, "net_vertical_m": -6.7909968830270895e-06, "max_vertical_from_window_start_m": 0.00014145200531191782, "min_vertical_from_window_start_m": -3.426602277790958e-05 } }, "max_pad_normal_force_n": 0.5351303993306743, "max_abs_native_joint_velocity_rad_s": [ 0.10233162126896388, 0.4984197552795665, 0.42088403725043794, 0.17317200482122, 0.22439890222121311, 0.10163832780872907 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.33208476267003206, "max": 0.292958770140352, "max_abs": 0.33208476267003206 }, { "actuator_index": 1, "unit": "N m", "min": -1.5492621568724019, "max": 1.9085619609826523, "max_abs": 1.9085619609826523 }, { "actuator_index": 2, "unit": "N m", "min": -1.136820411670044, "max": 1.4160667089294918, "max_abs": 1.4160667089294918 }, { "actuator_index": 3, "unit": "N m", "min": -0.30473044528483717, "max": 0.30174438233083656, "max_abs": 0.30473044528483717 }, { "actuator_index": 4, "unit": "N m", "min": -0.1812257876033474, "max": 0.3851043847343485, "max_abs": 0.3851043847343485 }, { "actuator_index": 5, "unit": "N m", "min": -0.29919162820748907, "max": 0.1768527506630615, "max_abs": 0.29919162820748907 }, { "actuator_index": 6, "unit": "N", "min": -0.7991190606307043, "max": 0.019719338571204892, "max_abs": 0.7991190606307043 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 7.8438803751487285, "attempt_wall_seconds": 7.860118458978832, "step_compute_seconds": { "count": 1000, "min": 0.0030009159818291664, "mean": 0.0073955207474064085, "p50": 0.006003208924084902, "p95": 0.01502808416262269, "p99": 0.02369004115462303, "max": 0.05350395804271102, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 20, "policy_event_types": [ "probe_started", "alarm", "retry_started", "retry_completed", "probe_started", "alarm", "abort" ], "final_object_position_m": [ 0.3013269072039992, -0.027432833166241122, 0.07988545352060077 ], "final_tcp_position_m": [ 0.2998538122453389, -0.027753927888358728, 0.08603933869956518 ] }, { "id": "832847:friction055-mass060-layout00--reacquire_open_jaw", "cohort_seed": 832847, "scene_id": "friction055-mass060-layout00", "variant": "reacquire_open_jaw", "mode": "reacquire", "control": "replay_open_jaw", "friction": 0.55, "mass_kg": 0.06, "layout_index": 0, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.229992910444793e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.11731692068438702 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.43868116166358273, "peak_sampled_speed_m_s": 0.16300474163586173, "net_vertical_m": -0.2806291524805625, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2847632343080759 }, "object": { "path_m": 1.6600402008891017e-10, "peak_sampled_speed_m_s": 1.634923449909704e-09, "net_vertical_m": 6.229992910444793e-11, "max_vertical_from_window_start_m": 6.229992910444793e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.10233162126896388, 0.4984197552795665, 0.42088403725043794, 0.17317200482122, 0.22439890222121311, 0.10163832780872907 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.33208476267003206, "max": 0.292958770140352, "max_abs": 0.33208476267003206 }, { "actuator_index": 1, "unit": "N m", "min": -1.5492621568724019, "max": 1.9085619609826523, "max_abs": 1.9085619609826523 }, { "actuator_index": 2, "unit": "N m", "min": -1.1151085408073413, "max": 1.4150301525776428, "max_abs": 1.4150301525776428 }, { "actuator_index": 3, "unit": "N m", "min": -0.30473044528483717, "max": 0.30174438233083656, "max_abs": 0.30473044528483717 }, { "actuator_index": 4, "unit": "N m", "min": -0.1816610445728699, "max": 0.3851043847343485, "max_abs": 0.3851043847343485 }, { "actuator_index": 5, "unit": "N m", "min": -0.29919162820748907, "max": 0.1768527506630615, "max_abs": 0.29919162820748907 }, { "actuator_index": 6, "unit": "N", "min": -0.0002902020088790813, "max": 0.0004940967866760015, "max_abs": 0.0004940967866760015 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 5.039189083036035, "attempt_wall_seconds": 5.0481055420823395, "step_compute_seconds": { "count": 1000, "min": 0.002795959124341607, "mean": 0.0042887476845644415, "p50": 0.003945583011955023, "p95": 0.006853207945823669, "p99": 0.008808624930679798, "max": 0.014478165889158845, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.2978459542257497, -0.027171479005511093, 0.07989224457978372 ], "final_tcp_position_m": [ 0.2997663649663474, -0.027749563615728768, 0.08595579062374661 ] }, { "id": "832847:friction055-mass060-layout00--reacquire_grasp_placement", "cohort_seed": 832847, "scene_id": "friction055-mass060-layout00", "variant": "reacquire_grasp_placement", "mode": "reacquire_grasp", "control": "placement", "friction": 0.55, "mass_kg": 0.06, "layout_index": 0, "valid": true, "success": true, "failure_stage": "completed", "terminal_reason": "success", "abort_reason": null, "abort_time_s": null, "completion_time_s": 17.07099999999788, "milestones": { "grasp_seen": true, "lift_seen": true, "carry_complete": true, "retention_lost": false, "dwell_seconds": 3.178999999999761, "max_object_lift_m": 0.088209962700448, "max_carry_contact_loss_seconds": 0.001, "carry_contact_loss_events": 0, "target_distance_m": 0.002988488085006547 }, "qualification_count": 1, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 1, "holds": [ { "start_s": 13.25999999999809, "end_s": 13.479999999997968, "duration_s": 0.21999999999987807, "outcome": "carry_resumed", "reason": "sustained_loaded_relative_settling", "includes_second_probe": false, "actual_motion": { "start_s": 13.25999999999809, "end_s": 13.479999999997968, "duration_s": 0.21999999999987807, "sample_count": 12, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.0011842778991680693, "peak_sampled_speed_m_s": 0.027670816075077286, "net_vertical_m": 0.00019119874192452535, "max_vertical_from_window_start_m": 0.000674904109462568, "min_vertical_from_window_start_m": 0.0 }, "object": { "path_m": 0.0012362560326469594, "peak_sampled_speed_m_s": 0.027130259650863974, "net_vertical_m": 9.97953106179339e-05, "max_vertical_from_window_start_m": 0.0006529439553423638, "min_vertical_from_window_start_m": 0.0 } }, "scope": "Recovery interval may include active second-probe motion; not all of this interval is stationary holding." } ], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8701172190883851, "peak_sampled_speed_m_s": 0.20189558276083586, "net_vertical_m": -0.15775610182301858, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2855014799496104 }, "object": { "path_m": 0.3060803145570691, "peak_sampled_speed_m_s": 0.20253052930083545, "net_vertical_m": 6.230012339347724e-11, "max_vertical_from_window_start_m": 0.08819470967073285, "min_vertical_from_window_start_m": -0.0008127814885226098 } }, "max_pad_normal_force_n": 1.3739971311321928, "max_abs_native_joint_velocity_rad_s": [ 0.718965708420252, 0.5696631835924745, 0.5425706636730433, 0.37371729984928626, 0.22321822652842443, 0.18790566632617112 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.4791660137790572, "max": 2.019838777815515, "max_abs": 2.019838777815515 }, { "actuator_index": 1, "unit": "N m", "min": -2.2174359501250365, "max": 1.9564360795593956, "max_abs": 2.2174359501250365 }, { "actuator_index": 2, "unit": "N m", "min": -0.9016188855023444, "max": 1.2660275079040986, "max_abs": 1.2660275079040986 }, { "actuator_index": 3, "unit": "N m", "min": -0.43012819779552336, "max": 0.33240051375723, "max_abs": 0.43012819779552336 }, { "actuator_index": 4, "unit": "N m", "min": -0.2063735278358525, "max": 0.367965210955377, "max_abs": 0.367965210955377 }, { "actuator_index": 5, "unit": "N m", "min": -0.30063433727193356, "max": 0.3538852366926255, "max_abs": 0.3538852366926255 }, { "actuator_index": 6, "unit": "N", "min": -1.1541971967632527, "max": 0.016788249249612974, "max_abs": 1.1541971967632527 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 5.921274709049612, "attempt_wall_seconds": 5.926198874833062, "step_compute_seconds": { "count": 1000, "min": 0.002982041100040078, "mean": 0.0053336168648675086, "p50": 0.004852124955505133, "p95": 0.008403334068134427, "p99": 0.01149733318015933, "max": 0.03881816705688834, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 3, "policy_event_types": [ "probe_started", "acquisition_qualified", "slowdown_started", "reassessment_started", "carry_resumed", "speed_restoration_started", "full_speed_restored" ], "final_object_position_m": [ 0.3510649280438541, 0.07919300126566982, 0.07989224457978392 ], "final_tcp_position_m": [ 0.3465456705076741, 0.0779530940903363, 0.20882884128129053 ] }, { "id": "832847:friction055-mass060-layout00--reacquire_grasp_open_jaw", "cohort_seed": 832847, "scene_id": "friction055-mass060-layout00", "variant": "reacquire_grasp_open_jaw", "mode": "reacquire_grasp", "control": "replay_open_jaw", "friction": 0.55, "mass_kg": 0.06, "layout_index": 0, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.229992910444793e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.11731692068438702 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8755750006350806, "peak_sampled_speed_m_s": 0.20074817606733233, "net_vertical_m": -0.15775364499841288, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2855014799496104 }, "object": { "path_m": 1.6600402008891017e-10, "peak_sampled_speed_m_s": 1.634923449909704e-09, "net_vertical_m": 6.229992910444793e-11, "max_vertical_from_window_start_m": 6.229992910444793e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.7159850935366712, 0.5686470350944475, 0.5426587951904913, 0.37371729984928626, 0.22321822652842443, 0.18804134614878829 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.4567862511023115, "max": 1.9775249222853244, "max_abs": 1.9775249222853244 }, { "actuator_index": 1, "unit": "N m", "min": -2.0359643525066815, "max": 2.061268944367683, "max_abs": 2.061268944367683 }, { "actuator_index": 2, "unit": "N m", "min": -0.9016188855023444, "max": 1.2660275079040986, "max_abs": 1.2660275079040986 }, { "actuator_index": 3, "unit": "N m", "min": -0.4139838516046823, "max": 0.3145502642847706, "max_abs": 0.4139838516046823 }, { "actuator_index": 4, "unit": "N m", "min": -0.20035715576358903, "max": 0.367965210955377, "max_abs": 0.367965210955377 }, { "actuator_index": 5, "unit": "N m", "min": -0.30062346804032636, "max": 0.3531737783531934, "max_abs": 0.3531737783531934 }, { "actuator_index": 6, "unit": "N", "min": -0.006652690893164115, "max": 0.009522541946066054, "max_abs": 0.009522541946066054 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 4.314318249933422, "attempt_wall_seconds": 4.3204440420959145, "step_compute_seconds": { "count": 1000, "min": 0.0023520418908447027, "mean": 0.00394452297128737, "p50": 0.0036993338726460934, "p95": 0.006261124974116683, "p99": 0.008383709006011486, "max": 0.011716000037267804, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.2978459542257497, -0.027171479005511093, 0.07989224457978372 ], "final_tcp_position_m": [ 0.34655137750394394, 0.07795538516620426, 0.20883129810589623 ] }, { "id": "832847:friction055-mass060-layout00--hold", "cohort_seed": 832847, "scene_id": "friction055-mass060-layout00", "variant": "hold", "mode": "baseline", "control": "hold", "friction": 0.55, "mass_kg": 0.06, "layout_index": 0, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.229992910444793e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.11731692068438702 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 1.1376744407779719e-16, "peak_sampled_speed_m_s": 5.558267943191594e-15, "net_vertical_m": 1.1102230246251565e-16, "max_vertical_from_window_start_m": 1.1102230246251565e-16, "min_vertical_from_window_start_m": 0.0 }, "object": { "path_m": 1.6600402008891017e-10, "peak_sampled_speed_m_s": 1.634923449909704e-09, "net_vertical_m": 6.229992910444793e-11, "max_vertical_from_window_start_m": 6.229992910444793e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 1.089099057831775e-19, 6.127451851049064e-18, 1.5410517561852992e-16, 1.2145569247038722e-17, 3.400546359107994e-16, 2.945467210750634e-17 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -5.149427585733612e-18, "max": -7.571162667696407e-19, "max_abs": 5.149427585733612e-18 }, { "actuator_index": 1, "unit": "N m", "min": 0.0, "max": 0.0, "max_abs": 0.0 }, { "actuator_index": 2, "unit": "N m", "min": 0.0, "max": 0.0, "max_abs": 0.0 }, { "actuator_index": 3, "unit": "N m", "min": 7.130976259465077e-17, "max": 1.5875460775817776e-16, "max_abs": 1.5875460775817776e-16 }, { "actuator_index": 4, "unit": "N m", "min": 5.770246053275149e-16, "max": 3.2953315452184146e-15, "max_abs": 3.2953315452184146e-15 }, { "actuator_index": 5, "unit": "N m", "min": -2.2098381316149117e-16, "max": -4.998795352997742e-17, "max_abs": 2.2098381316149117e-16 }, { "actuator_index": 6, "unit": "N", "min": 0.0, "max": 0.0, "max_abs": 0.0 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 5.375607250025496, "attempt_wall_seconds": 5.3838326670229435, "step_compute_seconds": { "count": 1000, "min": 0.002783791162073612, "mean": 0.004901461797999218, "p50": 0.004345334134995937, "p95": 0.008418041979894042, "p99": 0.013680499978363514, "max": 0.031709790928289294, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 2, "policy_event_types": [], "final_object_position_m": [ 0.2978459542257497, -0.027171479005511093, 0.07989224457978372 ], "final_tcp_position_m": [ 0.4890696662845219, 0.001414197565480896, 0.3665849431043092 ] }, { "id": "832847:friction055-mass060-layout01--recovery_placement", "cohort_seed": 832847, "scene_id": "friction055-mass060-layout01", "variant": "recovery_placement", "mode": "recovery", "control": "placement", "friction": 0.55, "mass_kg": 0.06, "layout_index": 1, "valid": true, "success": false, "failure_stage": "acquisition_never_qualified", "terminal_reason": "timeout", "abort_reason": "retry_budget_exhausted:object_not_following", "abort_time_s": 14.459999999997425, "completion_time_s": null, "milestones": { "grasp_seen": true, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 0.0001608109744892089, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12137761158978096 }, "qualification_count": 0, "retry_count": 1, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.4354307916119941, "peak_sampled_speed_m_s": 0.16342165872658276, "net_vertical_m": -0.2805751357116365, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2847478175086868 }, "object": { "path_m": 0.004494537092956204, "peak_sampled_speed_m_s": 0.010518186717011385, "net_vertical_m": -6.532134014053392e-06, "max_vertical_from_window_start_m": 0.00015159863506676585, "min_vertical_from_window_start_m": -3.470782977496589e-05 } }, "max_pad_normal_force_n": 0.5222724462263212, "max_abs_native_joint_velocity_rad_s": [ 0.10101733323924834, 0.5027812746947784, 0.42145964090670834, 0.16983293534352578, 0.22523691956286843, 0.09845823425138633 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.32495134975608586, "max": 0.2930544995336337, "max_abs": 0.32495134975608586 }, { "actuator_index": 1, "unit": "N m", "min": -1.5492703277171103, "max": 1.9063731504126906, "max_abs": 1.9063731504126906 }, { "actuator_index": 2, "unit": "N m", "min": -1.1391362399655236, "max": 1.4179011435838476, "max_abs": 1.4179011435838476 }, { "actuator_index": 3, "unit": "N m", "min": -0.3048274297105844, "max": 0.3015402450037392, "max_abs": 0.3048274297105844 }, { "actuator_index": 4, "unit": "N m", "min": -0.18170909831448512, "max": 0.3861532854246388, "max_abs": 0.3861532854246388 }, { "actuator_index": 5, "unit": "N m", "min": -0.2991840354804276, "max": 0.17423429389650613, "max_abs": 0.2991840354804276 }, { "actuator_index": 6, "unit": "N", "min": -0.8126710724142095, "max": 0.01976044635253893, "max_abs": 0.8126710724142095 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 9.946418541949242, "attempt_wall_seconds": 9.954364707926288, "step_compute_seconds": { "count": 1000, "min": 0.003371249884366989, "mean": 0.00952964506088756, "p50": 0.007152542006224394, "p95": 0.018078957917168736, "p99": 0.04445462487637997, "max": 0.2934769589919597, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 38, "policy_event_types": [ "probe_started", "alarm", "retry_started", "retry_completed", "probe_started", "alarm", "abort" ], "final_object_position_m": [ 0.3001229698920123, -0.02685054634071134, 0.07988571238346975 ], "final_tcp_position_m": [ 0.29868300424544086, -0.02716937404850374, 0.08600980739267261 ] }, { "id": "832847:friction055-mass060-layout01--recovery_open_jaw", "cohort_seed": 832847, "scene_id": "friction055-mass060-layout01", "variant": "recovery_open_jaw", "mode": "recovery", "control": "replay_open_jaw", "friction": 0.55, "mass_kg": 0.06, "layout_index": 1, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998874710845e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.1226431919697191 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.4397053679264756, "peak_sampled_speed_m_s": 0.16342165872658276, "net_vertical_m": -0.2806570023925313, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2847631946240487 }, "object": { "path_m": 1.7025749490615967e-10, "peak_sampled_speed_m_s": 1.6349234512923287e-09, "net_vertical_m": 6.22998874710845e-11, "max_vertical_from_window_start_m": 6.22998874710845e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.10101733323924834, 0.5027812746947784, 0.42145964090670834, 0.16983293534352578, 0.22523691956286843, 0.09845823425138633 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.32495134975608586, "max": 0.2930544995336337, "max_abs": 0.32495134975608586 }, { "actuator_index": 1, "unit": "N m", "min": -1.5492703277171103, "max": 1.9063731504126906, "max_abs": 1.9063731504126906 }, { "actuator_index": 2, "unit": "N m", "min": -1.1184067190773277, "max": 1.4169890445503484, "max_abs": 1.4169890445503484 }, { "actuator_index": 3, "unit": "N m", "min": -0.3048274297105844, "max": 0.3015402450037392, "max_abs": 0.3048274297105844 }, { "actuator_index": 4, "unit": "N m", "min": -0.182009180656431, "max": 0.3861532854246388, "max_abs": 0.3861532854246388 }, { "actuator_index": 5, "unit": "N m", "min": -0.2991840354804276, "max": 0.17423429389650613, "max_abs": 0.2991840354804276 }, { "actuator_index": 6, "unit": "N", "min": -0.00028522368049022084, "max": 0.0004975440380472484, "max_abs": 0.0004975440380472484 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 5.416539249941707, "attempt_wall_seconds": 5.426244416972622, "step_compute_seconds": { "count": 1000, "min": 0.0028279160615056753, "mean": 0.004768894974607974, "p50": 0.004292542114853859, "p95": 0.008188999956473708, "p99": 0.011687292018905282, "max": 0.016309540951624513, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.29668735801488644, -0.026543670343232913, 0.0798922445797837 ], "final_tcp_position_m": [ 0.29858909605512746, -0.027153318907672447, 0.08592794071177783 ] }, { "id": "832847:friction055-mass060-layout01--reacquire_placement", "cohort_seed": 832847, "scene_id": "friction055-mass060-layout01", "variant": "reacquire_placement", "mode": "reacquire", "control": "placement", "friction": 0.55, "mass_kg": 0.06, "layout_index": 1, "valid": true, "success": false, "failure_stage": "acquisition_never_qualified", "terminal_reason": "timeout", "abort_reason": "retry_budget_exhausted:object_not_following", "abort_time_s": 14.459999999997425, "completion_time_s": null, "milestones": { "grasp_seen": true, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 0.0001608109744892089, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12137761158978096 }, "qualification_count": 0, "retry_count": 1, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.4354307916119941, "peak_sampled_speed_m_s": 0.16342165872658276, "net_vertical_m": -0.2805751357116365, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2847478175086868 }, "object": { "path_m": 0.004494537092956204, "peak_sampled_speed_m_s": 0.010518186717011385, "net_vertical_m": -6.532134014053392e-06, "max_vertical_from_window_start_m": 0.00015159863506676585, "min_vertical_from_window_start_m": -3.470782977496589e-05 } }, "max_pad_normal_force_n": 0.5222724462263212, "max_abs_native_joint_velocity_rad_s": [ 0.10101733323924834, 0.5027812746947784, 0.42145964090670834, 0.16983293534352578, 0.22523691956286843, 0.09845823425138633 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.32495134975608586, "max": 0.2930544995336337, "max_abs": 0.32495134975608586 }, { "actuator_index": 1, "unit": "N m", "min": -1.5492703277171103, "max": 1.9063731504126906, "max_abs": 1.9063731504126906 }, { "actuator_index": 2, "unit": "N m", "min": -1.1391362399655236, "max": 1.4179011435838476, "max_abs": 1.4179011435838476 }, { "actuator_index": 3, "unit": "N m", "min": -0.3048274297105844, "max": 0.3015402450037392, "max_abs": 0.3048274297105844 }, { "actuator_index": 4, "unit": "N m", "min": -0.18170909831448512, "max": 0.3861532854246388, "max_abs": 0.3861532854246388 }, { "actuator_index": 5, "unit": "N m", "min": -0.2991840354804276, "max": 0.17423429389650613, "max_abs": 0.2991840354804276 }, { "actuator_index": 6, "unit": "N", "min": -0.8126710724142095, "max": 0.01976044635253893, "max_abs": 0.8126710724142095 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 8.305083082988858, "attempt_wall_seconds": 8.31574191711843, "step_compute_seconds": { "count": 1000, "min": 0.0034994580782949924, "mean": 0.007717232962837443, "p50": 0.006485374877229333, "p95": 0.015298666898161173, "p99": 0.023530958918854594, "max": 0.09552508313208818, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 17, "policy_event_types": [ "probe_started", "alarm", "retry_started", "retry_completed", "probe_started", "alarm", "abort" ], "final_object_position_m": [ 0.3001229698920123, -0.02685054634071134, 0.07988571238346975 ], "final_tcp_position_m": [ 0.29868300424544086, -0.02716937404850374, 0.08600980739267261 ] }, { "id": "832847:friction055-mass060-layout01--reacquire_open_jaw", "cohort_seed": 832847, "scene_id": "friction055-mass060-layout01", "variant": "reacquire_open_jaw", "mode": "reacquire", "control": "replay_open_jaw", "friction": 0.55, "mass_kg": 0.06, "layout_index": 1, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998874710845e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.1226431919697191 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.4397053679264756, "peak_sampled_speed_m_s": 0.16342165872658276, "net_vertical_m": -0.2806570023925313, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2847631946240487 }, "object": { "path_m": 1.7025749490615967e-10, "peak_sampled_speed_m_s": 1.6349234512923287e-09, "net_vertical_m": 6.22998874710845e-11, "max_vertical_from_window_start_m": 6.22998874710845e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.10101733323924834, 0.5027812746947784, 0.42145964090670834, 0.16983293534352578, 0.22523691956286843, 0.09845823425138633 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.32495134975608586, "max": 0.2930544995336337, "max_abs": 0.32495134975608586 }, { "actuator_index": 1, "unit": "N m", "min": -1.5492703277171103, "max": 1.9063731504126906, "max_abs": 1.9063731504126906 }, { "actuator_index": 2, "unit": "N m", "min": -1.1184067190773277, "max": 1.4169890445503484, "max_abs": 1.4169890445503484 }, { "actuator_index": 3, "unit": "N m", "min": -0.3048274297105844, "max": 0.3015402450037392, "max_abs": 0.3048274297105844 }, { "actuator_index": 4, "unit": "N m", "min": -0.182009180656431, "max": 0.3861532854246388, "max_abs": 0.3861532854246388 }, { "actuator_index": 5, "unit": "N m", "min": -0.2991840354804276, "max": 0.17423429389650613, "max_abs": 0.2991840354804276 }, { "actuator_index": 6, "unit": "N", "min": -0.00028522368049022084, "max": 0.0004975440380472484, "max_abs": 0.0004975440380472484 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 6.6689411657862365, "attempt_wall_seconds": 6.680673541966826, "step_compute_seconds": { "count": 1000, "min": 0.003404791932553053, "mean": 0.006018492116592824, "p50": 0.005303042009472847, "p95": 0.010604041861370206, "p99": 0.014994374942034483, "max": 0.06213262490928173, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 3, "policy_event_types": [], "final_object_position_m": [ 0.29668735801488644, -0.026543670343232913, 0.0798922445797837 ], "final_tcp_position_m": [ 0.29858909605512746, -0.027153318907672447, 0.08592794071177783 ] }, { "id": "832847:friction055-mass060-layout01--reacquire_grasp_placement", "cohort_seed": 832847, "scene_id": "friction055-mass060-layout01", "variant": "reacquire_grasp_placement", "mode": "reacquire_grasp", "control": "placement", "friction": 0.55, "mass_kg": 0.06, "layout_index": 1, "valid": true, "success": false, "failure_stage": "full_lift_but_retention_lost", "terminal_reason": "timeout", "abort_reason": "reassessment_timeout_unsettled_or_unknown", "abort_time_s": 15.939999999996605, "completion_time_s": null, "milestones": { "grasp_seen": true, "lift_seen": true, "carry_complete": false, "retention_lost": true, "dwell_seconds": 0.0, "max_object_lift_m": 0.0864591746688099, "max_carry_contact_loss_seconds": 4.620999999999878, "carry_contact_loss_events": 1, "target_distance_m": 0.019883018255791918 }, "qualification_count": 1, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 1, "holds": [ { "start_s": 13.25999999999809, "end_s": 13.479999999997968, "duration_s": 0.21999999999987807, "outcome": "carry_resumed", "reason": "sustained_loaded_relative_settling", "includes_second_probe": false, "actual_motion": { "start_s": 13.25999999999809, "end_s": 13.479999999997968, "duration_s": 0.21999999999987807, "sample_count": 12, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.0011760320782540597, "peak_sampled_speed_m_s": 0.027475643668613735, "net_vertical_m": 0.00018796868243425857, "max_vertical_from_window_start_m": 0.0006690502846299073, "min_vertical_from_window_start_m": 0.0 }, "object": { "path_m": 0.001236650137545525, "peak_sampled_speed_m_s": 0.02675490875357439, "net_vertical_m": 8.065017185812651e-05, "max_vertical_from_window_start_m": 0.000642907090638592, "min_vertical_from_window_start_m": 0.0 } }, "scope": "Recovery interval may include active second-probe motion; not all of this interval is stationary holding." }, { "start_s": 15.11999999999706, "end_s": 15.939999999996605, "duration_s": 0.8199999999995455, "outcome": "abort", "reason": "reassessment_timeout_unsettled_or_unknown", "includes_second_probe": false, "actual_motion": { "start_s": 15.11999999999706, "end_s": 15.939999999996605, "duration_s": 0.8199999999995455, "sample_count": 42, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.0037717377493366798, "peak_sampled_speed_m_s": 0.0522516070744167, "net_vertical_m": -0.0007608812101503604, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.0021669629488858255 }, "object": { "path_m": 0.10182289067620946, "peak_sampled_speed_m_s": 0.9156223849112971, "net_vertical_m": -0.08055043755267383, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.08142150144982266 } }, "scope": "Recovery interval may include active second-probe motion; not all of this interval is stationary holding." } ], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.6409644354143738, "peak_sampled_speed_m_s": 0.20010000676191306, "net_vertical_m": -0.18047065618251296, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.285501127932341 }, "object": { "path_m": 0.31770121875253793, "peak_sampled_speed_m_s": 0.9156223849112971, "net_vertical_m": 6.22998735932967e-11, "max_vertical_from_window_start_m": 0.08644879921275067, "min_vertical_from_window_start_m": -0.0008710735980960449 } }, "max_pad_normal_force_n": 0.7607353705790616, "max_abs_native_joint_velocity_rad_s": [ 0.7142021102231966, 0.5133455095066197, 0.5760585466459978, 0.37353592504910865, 0.2157875682614629, 0.18665336546910147 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.4740958733467515, "max": 2.0044867574474505, "max_abs": 2.0044867574474505 }, { "actuator_index": 1, "unit": "N m", "min": -2.2146026665531906, "max": 1.9537014999612694, "max_abs": 2.2146026665531906 }, { "actuator_index": 2, "unit": "N m", "min": -0.9071367296435682, "max": 1.2660320712098354, "max_abs": 1.2660320712098354 }, { "actuator_index": 3, "unit": "N m", "min": -0.42513428462556524, "max": 0.3063838723727821, "max_abs": 0.42513428462556524 }, { "actuator_index": 4, "unit": "N m", "min": -0.21653600151883623, "max": 0.36810301598782164, "max_abs": 0.36810301598782164 }, { "actuator_index": 5, "unit": "N m", "min": -0.2995378586477999, "max": 0.34320217118649654, "max_abs": 0.34320217118649654 }, { "actuator_index": 6, "unit": "N", "min": -1.1485728169269156, "max": 0.08519200558436896, "max_abs": 1.1485728169269156 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 13.528839957900345, "attempt_wall_seconds": 13.550723874941468, "step_compute_seconds": { "count": 1000, "min": 0.0036706251557916403, "mean": 0.012530003593768924, "p50": 0.0077303750440478325, "p95": 0.030029375106096268, "p99": 0.08796512498520315, "max": 0.603786583058536, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 88, "policy_event_types": [ "probe_started", "acquisition_qualified", "slowdown_started", "reassessment_started", "carry_resumed", "speed_restoration_started", "full_speed_restored", "slowdown_started", "reassessment_started", "abort" ], "final_object_position_m": [ 0.33754844202945006, 0.06996063352923057, 0.07989224457978368 ], "final_tcp_position_m": [ 0.34514285140419215, 0.08212620896458038, 0.18611428692179616 ] }, { "id": "832847:friction055-mass060-layout01--reacquire_grasp_open_jaw", "cohort_seed": 832847, "scene_id": "friction055-mass060-layout01", "variant": "reacquire_grasp_open_jaw", "mode": "reacquire_grasp", "control": "replay_open_jaw", "friction": 0.55, "mass_kg": 0.06, "layout_index": 1, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998874710845e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.1226431919697191 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.64286267879938, "peak_sampled_speed_m_s": 0.19913925887122805, "net_vertical_m": -0.18046671464381486, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.285501127932341 }, "object": { "path_m": 1.7025749490615967e-10, "peak_sampled_speed_m_s": 1.6349234512923287e-09, "net_vertical_m": 6.22998874710845e-11, "max_vertical_from_window_start_m": 6.22998874710845e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.7111676960111334, 0.5128272915602466, 0.5766249295866425, 0.37353592504910865, 0.2157875682614629, 0.18665336546910147 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.45134129089331765, "max": 1.9620517845863583, "max_abs": 1.9620517845863583 }, { "actuator_index": 1, "unit": "N m", "min": -2.0338250439815795, "max": 1.9537014999612694, "max_abs": 2.0338250439815795 }, { "actuator_index": 2, "unit": "N m", "min": -0.9071367296435682, "max": 1.2660320712098354, "max_abs": 1.2660320712098354 }, { "actuator_index": 3, "unit": "N m", "min": -0.41508452729570067, "max": 0.3015402450037392, "max_abs": 0.41508452729570067 }, { "actuator_index": 4, "unit": "N m", "min": -0.17418944111555845, "max": 0.36810301598782164, "max_abs": 0.36810301598782164 }, { "actuator_index": 5, "unit": "N m", "min": -0.29985356409192665, "max": 0.34320217118649654, "max_abs": 0.34320217118649654 }, { "actuator_index": 6, "unit": "N", "min": -0.007099270066756702, "max": 0.016347665478861906, "max_abs": 0.016347665478861906 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 8.833024749998003, "attempt_wall_seconds": 8.850932292174548, "step_compute_seconds": { "count": 1000, "min": 0.0028531658463180065, "mean": 0.0076152712046168745, "p50": 0.005783917149528861, "p95": 0.014394666999578476, "p99": 0.038674000184983015, "max": 0.1641546250320971, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 25, "policy_event_types": [], "final_object_position_m": [ 0.29668735801488644, -0.026543670343232913, 0.0798922445797837 ], "final_tcp_position_m": [ 0.345148565033855, 0.08212804532918991, 0.18611822846049425 ] }, { "id": "832847:friction055-mass060-layout01--hold", "cohort_seed": 832847, "scene_id": "friction055-mass060-layout01", "variant": "hold", "mode": "baseline", "control": "hold", "friction": 0.55, "mass_kg": 0.06, "layout_index": 1, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998874710845e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.1226431919697191 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 1.1376744407779719e-16, "peak_sampled_speed_m_s": 5.558267943191594e-15, "net_vertical_m": 1.1102230246251565e-16, "max_vertical_from_window_start_m": 1.1102230246251565e-16, "min_vertical_from_window_start_m": 0.0 }, "object": { "path_m": 1.7025749490615967e-10, "peak_sampled_speed_m_s": 1.6349234512923287e-09, "net_vertical_m": 6.22998874710845e-11, "max_vertical_from_window_start_m": 6.22998874710845e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 1.089099057831775e-19, 6.127451851049064e-18, 1.5410517561852992e-16, 1.2145569247038722e-17, 3.400546359107994e-16, 2.945467210750634e-17 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -5.149427585733612e-18, "max": -7.571162667696407e-19, "max_abs": 5.149427585733612e-18 }, { "actuator_index": 1, "unit": "N m", "min": 0.0, "max": 0.0, "max_abs": 0.0 }, { "actuator_index": 2, "unit": "N m", "min": 0.0, "max": 0.0, "max_abs": 0.0 }, { "actuator_index": 3, "unit": "N m", "min": 7.130976259465077e-17, "max": 1.5875460775817776e-16, "max_abs": 1.5875460775817776e-16 }, { "actuator_index": 4, "unit": "N m", "min": 5.770246053275149e-16, "max": 3.2953315452184146e-15, "max_abs": 3.2953315452184146e-15 }, { "actuator_index": 5, "unit": "N m", "min": -2.2098381316149117e-16, "max": -4.998795352997742e-17, "max_abs": 2.2098381316149117e-16 }, { "actuator_index": 6, "unit": "N", "min": 0.0, "max": 0.0, "max_abs": 0.0 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 5.146985040977597, "attempt_wall_seconds": 5.160871166968718, "step_compute_seconds": { "count": 1000, "min": 0.0023085828870534897, "mean": 0.0039172700440976765, "p50": 0.003143707988783717, "p95": 0.007913042092695832, "p99": 0.01255570794455707, "max": 0.02825987502001226, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 3, "policy_event_types": [], "final_object_position_m": [ 0.29668735801488644, -0.026543670343232913, 0.0798922445797837 ], "final_tcp_position_m": [ 0.4890696662845219, 0.001414197565480896, 0.3665849431043092 ] }, { "id": "832847:friction015-mass040-layout00--recovery_placement", "cohort_seed": 832847, "scene_id": "friction015-mass040-layout00", "variant": "recovery_placement", "mode": "recovery", "control": "placement", "friction": 0.15, "mass_kg": 0.04, "layout_index": 0, "valid": true, "success": false, "failure_stage": "acquisition_never_qualified", "terminal_reason": "timeout", "abort_reason": "unchanged_grasp_not_following", "abort_time_s": 11.519999999999055, "completion_time_s": null, "milestones": { "grasp_seen": true, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 7.042165043756599e-05, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.11725200189403771 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.40746364912715655, "peak_sampled_speed_m_s": 0.16300472551789263, "net_vertical_m": -0.2812579706728573, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2847551415572892 }, "object": { "path_m": 0.001970416153645495, "peak_sampled_speed_m_s": 0.010653511785209378, "net_vertical_m": -6.061841604676488e-06, "max_vertical_from_window_start_m": 7.010906611727707e-05, "min_vertical_from_window_start_m": -2.6240359306164973e-05 } }, "max_pad_normal_force_n": 0.4107392850202062, "max_abs_native_joint_velocity_rad_s": [ 0.10233197633462064, 0.4984196072598036, 0.42088398021317186, 0.17317260387759917, 0.22439882610951903, 0.10163890766109882 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3320855952961477, "max": 0.29295877064459397, "max_abs": 0.3320855952961477 }, { "actuator_index": 1, "unit": "N m", "min": -1.5492621554191999, "max": 1.9085619119897785, "max_abs": 1.9085619119897785 }, { "actuator_index": 2, "unit": "N m", "min": -0.8590991013731895, "max": 1.266027507084715, "max_abs": 1.266027507084715 }, { "actuator_index": 3, "unit": "N m", "min": -0.3047304202842436, "max": 0.3017444166612524, "max_abs": 0.3047304202842436 }, { "actuator_index": 4, "unit": "N m", "min": -0.007980882551837709, "max": 0.38510433478458594, "max_abs": 0.38510433478458594 }, { "actuator_index": 5, "unit": "N m", "min": -0.29919162651853876, "max": 0.17685310569662316, "max_abs": 0.29919162651853876 }, { "actuator_index": 6, "unit": "N", "min": -0.7918674041011291, "max": 0.0010659481362268464, "max_abs": 0.7918674041011291 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 6.1125288750045, "attempt_wall_seconds": 6.117176125058904, "step_compute_seconds": { "count": 1000, "min": 0.0024507499765604734, "mean": 0.005726926153060049, "p50": 0.004797083092853427, "p95": 0.011324833147227764, "p99": 0.016320416936650872, "max": 0.024733541999012232, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 3, "policy_event_types": [ "probe_started", "alarm", "unchanged_retry_refused", "abort" ], "final_object_position_m": [ 0.2983099504034807, -0.027318490188237878, 0.07988618267587916 ], "final_tcp_position_m": [ 0.3019719480164199, -0.027620824461580613, 0.0853269724314518 ] }, { "id": "832847:friction015-mass040-layout00--recovery_open_jaw", "cohort_seed": 832847, "scene_id": "friction015-mass040-layout00", "variant": "recovery_open_jaw", "mode": "recovery", "control": "replay_open_jaw", "friction": 0.15, "mass_kg": 0.04, "layout_index": 0, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.229997073781135e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.11731701936698584 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.4083089865829709, "peak_sampled_speed_m_s": 0.16300472551789263, "net_vertical_m": -0.28131608860958446, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2847635682779052 }, "object": { "path_m": 8.226944432002223e-11, "peak_sampled_speed_m_s": 1.6349227538150635e-09, "net_vertical_m": 6.229997073781135e-11, "max_vertical_from_window_start_m": 6.229997073781135e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.10233197633462064, 0.4984196072598036, 0.42088398021317186, 0.17317260387759917, 0.22439882610951903, 0.10163890766109882 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3320855952961477, "max": 0.29295877064459397, "max_abs": 0.3320855952961477 }, { "actuator_index": 1, "unit": "N m", "min": -1.5492621554191999, "max": 1.9085619119897785, "max_abs": 1.9085619119897785 }, { "actuator_index": 2, "unit": "N m", "min": -0.8590991013731895, "max": 1.266027507084715, "max_abs": 1.266027507084715 }, { "actuator_index": 3, "unit": "N m", "min": -0.3047304202842436, "max": 0.3017444166612524, "max_abs": 0.3047304202842436 }, { "actuator_index": 4, "unit": "N m", "min": -0.006532771732384646, "max": 0.38510433478458594, "max_abs": 0.38510433478458594 }, { "actuator_index": 5, "unit": "N m", "min": -0.29919162651853876, "max": 0.17685310569662316, "max_abs": 0.29919162651853876 }, { "actuator_index": 6, "unit": "N", "min": -0.0002902030358589158, "max": 0.0004940986948978043, "max_abs": 0.0004940986948978043 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 7.088524541119114, "attempt_wall_seconds": 7.097711832961068, "step_compute_seconds": { "count": 1000, "min": 0.002816874999552965, "mean": 0.006535360990324989, "p50": 0.005079916911199689, "p95": 0.01281600003130734, "p99": 0.023808457888662815, "max": 0.20537687512114644, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 20, "policy_event_types": [], "final_object_position_m": [ 0.297845987112413, -0.027171603804994542, 0.0798922445797838 ], "final_tcp_position_m": [ 0.3018890467400602, -0.027613681310157578, 0.08526885449472463 ] }, { "id": "832847:friction015-mass040-layout00--reacquire_placement", "cohort_seed": 832847, "scene_id": "friction015-mass040-layout00", "variant": "reacquire_placement", "mode": "reacquire", "control": "placement", "friction": 0.15, "mass_kg": 0.04, "layout_index": 0, "valid": true, "success": false, "failure_stage": "acquisition_never_qualified", "terminal_reason": "timeout", "abort_reason": "unchanged_grasp_not_following", "abort_time_s": 11.519999999999055, "completion_time_s": null, "milestones": { "grasp_seen": true, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 7.042165043756599e-05, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.11725200189403771 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.40746364912715655, "peak_sampled_speed_m_s": 0.16300472551789263, "net_vertical_m": -0.2812579706728573, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2847551415572892 }, "object": { "path_m": 0.001970416153645495, "peak_sampled_speed_m_s": 0.010653511785209378, "net_vertical_m": -6.061841604676488e-06, "max_vertical_from_window_start_m": 7.010906611727707e-05, "min_vertical_from_window_start_m": -2.6240359306164973e-05 } }, "max_pad_normal_force_n": 0.4107392850202062, "max_abs_native_joint_velocity_rad_s": [ 0.10233197633462064, 0.4984196072598036, 0.42088398021317186, 0.17317260387759917, 0.22439882610951903, 0.10163890766109882 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3320855952961477, "max": 0.29295877064459397, "max_abs": 0.3320855952961477 }, { "actuator_index": 1, "unit": "N m", "min": -1.5492621554191999, "max": 1.9085619119897785, "max_abs": 1.9085619119897785 }, { "actuator_index": 2, "unit": "N m", "min": -0.8590991013731895, "max": 1.266027507084715, "max_abs": 1.266027507084715 }, { "actuator_index": 3, "unit": "N m", "min": -0.3047304202842436, "max": 0.3017444166612524, "max_abs": 0.3047304202842436 }, { "actuator_index": 4, "unit": "N m", "min": -0.007980882551837709, "max": 0.38510433478458594, "max_abs": 0.38510433478458594 }, { "actuator_index": 5, "unit": "N m", "min": -0.29919162651853876, "max": 0.17685310569662316, "max_abs": 0.29919162651853876 }, { "actuator_index": 6, "unit": "N", "min": -0.7918674041011291, "max": 0.0010659481362268464, "max_abs": 0.7918674041011291 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 4.9403927500825375, "attempt_wall_seconds": 4.946190749993548, "step_compute_seconds": { "count": 1000, "min": 0.002484082942828536, "mean": 0.004409369516884908, "p50": 0.0037872919347137213, "p95": 0.008270416874438524, "p99": 0.010682207997888327, "max": 0.0203149588778615, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 1, "policy_event_types": [ "probe_started", "alarm", "unchanged_retry_refused", "abort" ], "final_object_position_m": [ 0.2983099504034807, -0.027318490188237878, 0.07988618267587916 ], "final_tcp_position_m": [ 0.3019719480164199, -0.027620824461580613, 0.0853269724314518 ] }, { "id": "832847:friction015-mass040-layout00--reacquire_open_jaw", "cohort_seed": 832847, "scene_id": "friction015-mass040-layout00", "variant": "reacquire_open_jaw", "mode": "reacquire", "control": "replay_open_jaw", "friction": 0.15, "mass_kg": 0.04, "layout_index": 0, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.229997073781135e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.11731701936698584 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.4083089865829709, "peak_sampled_speed_m_s": 0.16300472551789263, "net_vertical_m": -0.28131608860958446, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2847635682779052 }, "object": { "path_m": 8.226944432002223e-11, "peak_sampled_speed_m_s": 1.6349227538150635e-09, "net_vertical_m": 6.229997073781135e-11, "max_vertical_from_window_start_m": 6.229997073781135e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.10233197633462064, 0.4984196072598036, 0.42088398021317186, 0.17317260387759917, 0.22439882610951903, 0.10163890766109882 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3320855952961477, "max": 0.29295877064459397, "max_abs": 0.3320855952961477 }, { "actuator_index": 1, "unit": "N m", "min": -1.5492621554191999, "max": 1.9085619119897785, "max_abs": 1.9085619119897785 }, { "actuator_index": 2, "unit": "N m", "min": -0.8590991013731895, "max": 1.266027507084715, "max_abs": 1.266027507084715 }, { "actuator_index": 3, "unit": "N m", "min": -0.3047304202842436, "max": 0.3017444166612524, "max_abs": 0.3047304202842436 }, { "actuator_index": 4, "unit": "N m", "min": -0.006532771732384646, "max": 0.38510433478458594, "max_abs": 0.38510433478458594 }, { "actuator_index": 5, "unit": "N m", "min": -0.29919162651853876, "max": 0.17685310569662316, "max_abs": 0.29919162651853876 }, { "actuator_index": 6, "unit": "N", "min": -0.0002902030358589158, "max": 0.0004940986948978043, "max_abs": 0.0004940986948978043 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 3.4336837909650058, "attempt_wall_seconds": 3.4410022078081965, "step_compute_seconds": { "count": 1000, "min": 0.002034124918282032, "mean": 0.002816620341734961, "p50": 0.002509457990527153, "p95": 0.004171459004282951, "p99": 0.005429084179922938, "max": 0.013202667003497481, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.297845987112413, -0.027171603804994542, 0.0798922445797838 ], "final_tcp_position_m": [ 0.3018890467400602, -0.027613681310157578, 0.08526885449472463 ] }, { "id": "832847:friction015-mass040-layout00--reacquire_grasp_placement", "cohort_seed": 832847, "scene_id": "friction015-mass040-layout00", "variant": "reacquire_grasp_placement", "mode": "reacquire_grasp", "control": "placement", "friction": 0.15, "mass_kg": 0.04, "layout_index": 0, "valid": true, "success": false, "failure_stage": "acquisition_never_qualified", "terminal_reason": "timeout", "abort_reason": "unchanged_grasp_not_following", "abort_time_s": 12.759999999998367, "completion_time_s": null, "milestones": { "grasp_seen": true, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 0.00020771962228953444, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.11473789690498461 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.41353372340594424, "peak_sampled_speed_m_s": 0.17600784783410878, "net_vertical_m": -0.28095225483836084, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2855014790408316 }, "object": { "path_m": 0.0055255707350162254, "peak_sampled_speed_m_s": 0.035838944124387366, "net_vertical_m": 5.2102034779163975e-05, "max_vertical_from_window_start_m": 0.00020660221447457716, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.586568888600894, "max_abs_native_joint_velocity_rad_s": [ 0.3525164551293648, 0.502803617661822, 0.42088398021317186, 0.3737173428056699, 0.2232198070415609, 0.18657741943812237 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3739309922305045, "max": 1.4115888642259034, "max_abs": 1.4115888642259034 }, { "actuator_index": 1, "unit": "N m", "min": -1.5492621554191999, "max": 1.9564360464209187, "max_abs": 1.9564360464209187 }, { "actuator_index": 2, "unit": "N m", "min": -0.9016184273838377, "max": 1.266027507084715, "max_abs": 1.266027507084715 }, { "actuator_index": 3, "unit": "N m", "min": -0.3126635039644279, "max": 0.3017444166612524, "max_abs": 0.3126635039644279 }, { "actuator_index": 4, "unit": "N m", "min": -0.10546921169250645, "max": 0.3679651966711025, "max_abs": 0.3679651966711025 }, { "actuator_index": 5, "unit": "N m", "min": -0.29919162651853876, "max": 0.34325831909977156, "max_abs": 0.34325831909977156 }, { "actuator_index": 6, "unit": "N", "min": -1.1095967899201216, "max": 0.005222470592942452, "max_abs": 1.1095967899201216 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 3.03595787496306, "attempt_wall_seconds": 3.042370749870315, "step_compute_seconds": { "count": 1000, "min": 0.0018687499687075615, "mean": 0.0027363405337091536, "p50": 0.0024825420696288347, "p95": 0.004450332839041948, "p99": 0.0052948330994695425, "max": 0.01867787493392825, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [ "probe_started", "alarm", "unchanged_retry_refused", "abort" ], "final_object_position_m": [ 0.3006085867747182, -0.025610902883765222, 0.079944346552263 ], "final_tcp_position_m": [ 0.3020762444343647, -0.02756958538331921, 0.08563268826594825 ] }, { "id": "832847:friction015-mass040-layout00--reacquire_grasp_open_jaw", "cohort_seed": 832847, "scene_id": "friction015-mass040-layout00", "variant": "reacquire_grasp_open_jaw", "mode": "reacquire_grasp", "control": "replay_open_jaw", "friction": 0.15, "mass_kg": 0.04, "layout_index": 0, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.229997073781135e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.11731701936698584 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.41462898555545386, "peak_sampled_speed_m_s": 0.17600784783410878, "net_vertical_m": -0.28096793735206205, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2855014790408316 }, "object": { "path_m": 8.226944432002223e-11, "peak_sampled_speed_m_s": 1.6349227538150635e-09, "net_vertical_m": 6.229997073781135e-11, "max_vertical_from_window_start_m": 6.229997073781135e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.3525164551293648, 0.502803617661822, 0.42088398021317186, 0.3737173428056699, 0.2232198070415609, 0.18657741943812237 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3739309922305045, "max": 1.4115888642259034, "max_abs": 1.4115888642259034 }, { "actuator_index": 1, "unit": "N m", "min": -1.5492621554191999, "max": 1.9564360464209187, "max_abs": 1.9564360464209187 }, { "actuator_index": 2, "unit": "N m", "min": -0.9016184273838377, "max": 1.266027507084715, "max_abs": 1.266027507084715 }, { "actuator_index": 3, "unit": "N m", "min": -0.3126635039644279, "max": 0.3017444166612524, "max_abs": 0.3126635039644279 }, { "actuator_index": 4, "unit": "N m", "min": -0.10546921169250645, "max": 0.3679651966711025, "max_abs": 0.3679651966711025 }, { "actuator_index": 5, "unit": "N m", "min": -0.29919162651853876, "max": 0.34325831909977156, "max_abs": 0.34325831909977156 }, { "actuator_index": 6, "unit": "N", "min": -0.004905696102623036, "max": 0.005222470592942452, "max_abs": 0.005222470592942452 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 3.032058041077107, "attempt_wall_seconds": 3.035800833022222, "step_compute_seconds": { "count": 1000, "min": 0.001819708850234747, "mean": 0.00261816142918542, "p50": 0.0023735829163342714, "p95": 0.004105292027816176, "p99": 0.0053019169718027115, "max": 0.038748209131881595, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 2, "policy_event_types": [], "final_object_position_m": [ 0.297845987112413, -0.027171603804994542, 0.0798922445797838 ], "final_tcp_position_m": [ 0.30210033682525356, -0.02755283503598357, 0.08561700575224704 ] }, { "id": "832847:friction015-mass040-layout00--hold", "cohort_seed": 832847, "scene_id": "friction015-mass040-layout00", "variant": "hold", "mode": "baseline", "control": "hold", "friction": 0.15, "mass_kg": 0.04, "layout_index": 0, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.229997073781135e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.11731701936698584 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 1.1376744407779719e-16, "peak_sampled_speed_m_s": 5.558267943191594e-15, "net_vertical_m": 1.1102230246251565e-16, "max_vertical_from_window_start_m": 1.1102230246251565e-16, "min_vertical_from_window_start_m": 0.0 }, "object": { "path_m": 8.226944432002223e-11, "peak_sampled_speed_m_s": 1.6349227538150635e-09, "net_vertical_m": 6.229997073781135e-11, "max_vertical_from_window_start_m": 6.229997073781135e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 1.089099057831775e-19, 6.127451851049064e-18, 1.5410517561852992e-16, 1.2145569247038722e-17, 3.400546359107994e-16, 2.945467210750634e-17 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -5.149427585733612e-18, "max": -7.571162667696407e-19, "max_abs": 5.149427585733612e-18 }, { "actuator_index": 1, "unit": "N m", "min": 0.0, "max": 0.0, "max_abs": 0.0 }, { "actuator_index": 2, "unit": "N m", "min": 0.0, "max": 0.0, "max_abs": 0.0 }, { "actuator_index": 3, "unit": "N m", "min": 7.130976259465077e-17, "max": 1.5875460775817776e-16, "max_abs": 1.5875460775817776e-16 }, { "actuator_index": 4, "unit": "N m", "min": 5.770246053275149e-16, "max": 3.2953315452184146e-15, "max_abs": 3.2953315452184146e-15 }, { "actuator_index": 5, "unit": "N m", "min": -2.2098381316149117e-16, "max": -4.998795352997742e-17, "max_abs": 2.2098381316149117e-16 }, { "actuator_index": 6, "unit": "N", "min": 0.0, "max": 0.0, "max_abs": 0.0 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 2.160960291977972, "attempt_wall_seconds": 2.1635569168720394, "step_compute_seconds": { "count": 1000, "min": 0.0017373329028487206, "mean": 0.0019176220991648733, "p50": 0.0018034169916063547, "p95": 0.0024690418504178524, "p99": 0.0029943331610411406, "max": 0.017066749976947904, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.297845987112413, -0.027171603804994542, 0.0798922445797838 ], "final_tcp_position_m": [ 0.4890696662845219, 0.001414197565480896, 0.3665849431043092 ] }, { "id": "832847:friction015-mass040-layout01--recovery_placement", "cohort_seed": 832847, "scene_id": "friction015-mass040-layout01", "variant": "recovery_placement", "mode": "recovery", "control": "placement", "friction": 0.15, "mass_kg": 0.04, "layout_index": 1, "valid": true, "success": false, "failure_stage": "acquisition_never_qualified", "terminal_reason": "timeout", "abort_reason": "unchanged_grasp_not_following", "abort_time_s": 11.499999999999066, "completion_time_s": null, "milestones": { "grasp_seen": true, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.98390206351901e-05, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12255520515961651 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.4084237655111174, "peak_sampled_speed_m_s": 0.1634216007227268, "net_vertical_m": -0.2812505997071608, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2847550336457644 }, "object": { "path_m": 0.00197952427331567, "peak_sampled_speed_m_s": 0.010625157835233144, "net_vertical_m": -6.000465385888609e-06, "max_vertical_from_window_start_m": 6.98390206351901e-05, "min_vertical_from_window_start_m": -2.6349778971992976e-05 } }, "max_pad_normal_force_n": 0.4115591580238176, "max_abs_native_joint_velocity_rad_s": [ 0.1010173090971213, 0.5027806541984641, 0.4214595855357933, 0.16983307909014872, 0.22523683175190384, 0.09845836902869566 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3249494105187445, "max": 0.2930545169985379, "max_abs": 0.3249494105187445 }, { "actuator_index": 1, "unit": "N m", "min": -1.549270327360702, "max": 1.9063735345541346, "max_abs": 1.9063735345541346 }, { "actuator_index": 2, "unit": "N m", "min": -0.8634211966852234, "max": 1.2660320710161415, "max_abs": 1.2660320710161415 }, { "actuator_index": 3, "unit": "N m", "min": -0.3048274305309926, "max": 0.30154025480005764, "max_abs": 0.3048274305309926 }, { "actuator_index": 4, "unit": "N m", "min": -0.008010459517157287, "max": 0.3861531444028543, "max_abs": 0.3861531444028543 }, { "actuator_index": 5, "unit": "N m", "min": -0.29918405569079115, "max": 0.17423422371642205, "max_abs": 0.29918405569079115 }, { "actuator_index": 6, "unit": "N", "min": -0.793244294307667, "max": 0.0010659489676018152, "max_abs": 0.793244294307667 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 3.210333083057776, "attempt_wall_seconds": 3.214600041974336, "step_compute_seconds": { "count": 1000, "min": 0.0018654579762369394, "mean": 0.0029879167831968517, "p50": 0.0024158749729394913, "p95": 0.005489707924425602, "p99": 0.007858207914978266, "max": 0.014825582969933748, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [ "probe_started", "alarm", "unchanged_retry_refused", "abort" ], "final_object_position_m": [ 0.29715420611880583, -0.026685314134306914, 0.07988624405209795 ], "final_tcp_position_m": [ 0.30082660920165355, -0.02698793022149955, 0.08533434339714827 ] }, { "id": "832847:friction015-mass040-layout01--recovery_open_jaw", "cohort_seed": 832847, "scene_id": "friction015-mass040-layout01", "variant": "recovery_open_jaw", "mode": "recovery", "control": "replay_open_jaw", "friction": 0.15, "mass_kg": 0.04, "layout_index": 1, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998874710845e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.1226431314439367 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.4092661134285773, "peak_sampled_speed_m_s": 0.1634216007227268, "net_vertical_m": -0.2813080025935856, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2847635301292643 }, "object": { "path_m": 8.337221308324925e-11, "peak_sampled_speed_m_s": 1.6349234509695215e-09, "net_vertical_m": 6.22998874710845e-11, "max_vertical_from_window_start_m": 6.22998874710845e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.1010173090971213, 0.5027806541984641, 0.4214595855357933, 0.16983307909014872, 0.22523683175190384, 0.09845836902869566 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3249494105187445, "max": 0.2930545169985379, "max_abs": 0.3249494105187445 }, { "actuator_index": 1, "unit": "N m", "min": -1.549270327360702, "max": 1.9063735345541346, "max_abs": 1.9063735345541346 }, { "actuator_index": 2, "unit": "N m", "min": -0.8634211966852234, "max": 1.2660320710161415, "max_abs": 1.2660320710161415 }, { "actuator_index": 3, "unit": "N m", "min": -0.3048274305309926, "max": 0.30154025480005764, "max_abs": 0.3048274305309926 }, { "actuator_index": 4, "unit": "N m", "min": -0.006552752132474637, "max": 0.3861531444028543, "max_abs": 0.3861531444028543 }, { "actuator_index": 5, "unit": "N m", "min": -0.29918405569079115, "max": 0.17423422371642205, "max_abs": 0.29918405569079115 }, { "actuator_index": 6, "unit": "N", "min": -0.00028522371891859244, "max": 0.0004975421559945126, "max_abs": 0.0004975421559945126 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 2.1693727080710232, "attempt_wall_seconds": 2.1725443329196423, "step_compute_seconds": { "count": 1000, "min": 0.001768208108842373, "mean": 0.0019357519729528577, "p50": 0.001841583987697959, "p95": 0.002510291989892721, "p99": 0.0029793749563395977, "max": 0.003964500036090612, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.29668752555846395, -0.026543688956923408, 0.07989224457978372 ], "final_tcp_position_m": [ 0.30074391008088774, -0.026981227125919823, 0.08527694051072349 ] }, { "id": "832847:friction015-mass040-layout01--reacquire_placement", "cohort_seed": 832847, "scene_id": "friction015-mass040-layout01", "variant": "reacquire_placement", "mode": "reacquire", "control": "placement", "friction": 0.15, "mass_kg": 0.04, "layout_index": 1, "valid": true, "success": false, "failure_stage": "acquisition_never_qualified", "terminal_reason": "timeout", "abort_reason": "unchanged_grasp_not_following", "abort_time_s": 11.499999999999066, "completion_time_s": null, "milestones": { "grasp_seen": true, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.98390206351901e-05, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12255520515961651 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.4084237655111174, "peak_sampled_speed_m_s": 0.1634216007227268, "net_vertical_m": -0.2812505997071608, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2847550336457644 }, "object": { "path_m": 0.00197952427331567, "peak_sampled_speed_m_s": 0.010625157835233144, "net_vertical_m": -6.000465385888609e-06, "max_vertical_from_window_start_m": 6.98390206351901e-05, "min_vertical_from_window_start_m": -2.6349778971992976e-05 } }, "max_pad_normal_force_n": 0.4115591580238176, "max_abs_native_joint_velocity_rad_s": [ 0.1010173090971213, 0.5027806541984641, 0.4214595855357933, 0.16983307909014872, 0.22523683175190384, 0.09845836902869566 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3249494105187445, "max": 0.2930545169985379, "max_abs": 0.3249494105187445 }, { "actuator_index": 1, "unit": "N m", "min": -1.549270327360702, "max": 1.9063735345541346, "max_abs": 1.9063735345541346 }, { "actuator_index": 2, "unit": "N m", "min": -0.8634211966852234, "max": 1.2660320710161415, "max_abs": 1.2660320710161415 }, { "actuator_index": 3, "unit": "N m", "min": -0.3048274305309926, "max": 0.30154025480005764, "max_abs": 0.3048274305309926 }, { "actuator_index": 4, "unit": "N m", "min": -0.008010459517157287, "max": 0.3861531444028543, "max_abs": 0.3861531444028543 }, { "actuator_index": 5, "unit": "N m", "min": -0.29918405569079115, "max": 0.17423422371642205, "max_abs": 0.29918405569079115 }, { "actuator_index": 6, "unit": "N", "min": -0.793244294307667, "max": 0.0010659489676018152, "max_abs": 0.793244294307667 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 4.0057019589003175, "attempt_wall_seconds": 4.008981709135696, "step_compute_seconds": { "count": 1000, "min": 0.001851166132837534, "mean": 0.0037801384732592852, "p50": 0.0035212920047342777, "p95": 0.00765245920047164, "p99": 0.011592458002269268, "max": 0.025860708905383945, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 2, "policy_event_types": [ "probe_started", "alarm", "unchanged_retry_refused", "abort" ], "final_object_position_m": [ 0.29715420611880583, -0.026685314134306914, 0.07988624405209795 ], "final_tcp_position_m": [ 0.30082660920165355, -0.02698793022149955, 0.08533434339714827 ] }, { "id": "832847:friction015-mass040-layout01--reacquire_open_jaw", "cohort_seed": 832847, "scene_id": "friction015-mass040-layout01", "variant": "reacquire_open_jaw", "mode": "reacquire", "control": "replay_open_jaw", "friction": 0.15, "mass_kg": 0.04, "layout_index": 1, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998874710845e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.1226431314439367 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.4092661134285773, "peak_sampled_speed_m_s": 0.1634216007227268, "net_vertical_m": -0.2813080025935856, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2847635301292643 }, "object": { "path_m": 8.337221308324925e-11, "peak_sampled_speed_m_s": 1.6349234509695215e-09, "net_vertical_m": 6.22998874710845e-11, "max_vertical_from_window_start_m": 6.22998874710845e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.1010173090971213, 0.5027806541984641, 0.4214595855357933, 0.16983307909014872, 0.22523683175190384, 0.09845836902869566 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3249494105187445, "max": 0.2930545169985379, "max_abs": 0.3249494105187445 }, { "actuator_index": 1, "unit": "N m", "min": -1.549270327360702, "max": 1.9063735345541346, "max_abs": 1.9063735345541346 }, { "actuator_index": 2, "unit": "N m", "min": -0.8634211966852234, "max": 1.2660320710161415, "max_abs": 1.2660320710161415 }, { "actuator_index": 3, "unit": "N m", "min": -0.3048274305309926, "max": 0.30154025480005764, "max_abs": 0.3048274305309926 }, { "actuator_index": 4, "unit": "N m", "min": -0.006552752132474637, "max": 0.3861531444028543, "max_abs": 0.3861531444028543 }, { "actuator_index": 5, "unit": "N m", "min": -0.29918405569079115, "max": 0.17423422371642205, "max_abs": 0.29918405569079115 }, { "actuator_index": 6, "unit": "N", "min": -0.00028522371891859244, "max": 0.0004975421559945126, "max_abs": 0.0004975421559945126 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 2.291009334148839, "attempt_wall_seconds": 2.2948586251586676, "step_compute_seconds": { "count": 1000, "min": 0.0017592089716345072, "mean": 0.002018705476773903, "p50": 0.0018435828387737274, "p95": 0.0028621249366551638, "p99": 0.0040392091032117605, "max": 0.009592165937647223, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.29668752555846395, -0.026543688956923408, 0.07989224457978372 ], "final_tcp_position_m": [ 0.30074391008088774, -0.026981227125919823, 0.08527694051072349 ] }, { "id": "832847:friction015-mass040-layout01--reacquire_grasp_placement", "cohort_seed": 832847, "scene_id": "friction015-mass040-layout01", "variant": "reacquire_grasp_placement", "mode": "reacquire_grasp", "control": "placement", "friction": 0.15, "mass_kg": 0.04, "layout_index": 1, "valid": true, "success": false, "failure_stage": "acquisition_never_qualified", "terminal_reason": "timeout", "abort_reason": "unchanged_grasp_not_following", "abort_time_s": 12.759999999998367, "completion_time_s": null, "milestones": { "grasp_seen": true, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 0.00020775353909710526, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12000867408148624 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.41450312901907654, "peak_sampled_speed_m_s": 0.176276266960353, "net_vertical_m": -0.28094884379267715, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28550112830280305 }, "object": { "path_m": 0.00549350096350663, "peak_sampled_speed_m_s": 0.036079528989566775, "net_vertical_m": 5.199326461116649e-05, "max_vertical_from_window_start_m": 0.00020663818066843365, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.5870490684555324, "max_abs_native_joint_velocity_rad_s": [ 0.3543531539276222, 0.5055438638149454, 0.4214595855357933, 0.3735359310218516, 0.2157846891229837, 0.18665336302204313 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3749812691979084, "max": 1.4076650054943283, "max_abs": 1.4076650054943283 }, { "actuator_index": 1, "unit": "N m", "min": -1.549270327360702, "max": 1.9537019308880588, "max_abs": 1.9537019308880588 }, { "actuator_index": 2, "unit": "N m", "min": -0.9071360408846374, "max": 1.2660320710161415, "max_abs": 1.2660320710161415 }, { "actuator_index": 3, "unit": "N m", "min": -0.31331543693064234, "max": 0.30154025480005764, "max_abs": 0.31331543693064234 }, { "actuator_index": 4, "unit": "N m", "min": -0.10737572986477595, "max": 0.3681030031580221, "max_abs": 0.3681030031580221 }, { "actuator_index": 5, "unit": "N m", "min": -0.29918405569079115, "max": 0.3432021868536328, "max_abs": 0.3432021868536328 }, { "actuator_index": 6, "unit": "N", "min": -1.1096467866982536, "max": 0.005218147820462704, "max_abs": 1.1096467866982536 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 3.107695332961157, "attempt_wall_seconds": 3.111522375140339, "step_compute_seconds": { "count": 1000, "min": 0.0018708340357989073, "mean": 0.0028713804823346438, "p50": 0.0027335421182215214, "p95": 0.00485670892521739, "p99": 0.006822540890425444, "max": 0.024977749912068248, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 2, "policy_event_types": [ "probe_started", "alarm", "unchanged_retry_refused", "abort" ], "final_object_position_m": [ 0.29944396634701936, -0.024990434681253643, 0.079944237782095 ], "final_tcp_position_m": [ 0.300900431763208, -0.026936599280033634, 0.08563609931163199 ] }, { "id": "832847:friction015-mass040-layout01--reacquire_grasp_open_jaw", "cohort_seed": 832847, "scene_id": "friction015-mass040-layout01", "variant": "reacquire_grasp_open_jaw", "mode": "reacquire_grasp", "control": "replay_open_jaw", "friction": 0.15, "mass_kg": 0.04, "layout_index": 1, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998874710845e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.1226431314439367 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.4155868973377598, "peak_sampled_speed_m_s": 0.176276266960353, "net_vertical_m": -0.2809628546062354, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28550112830280305 }, "object": { "path_m": 8.337221308324925e-11, "peak_sampled_speed_m_s": 1.6349234509695215e-09, "net_vertical_m": 6.22998874710845e-11, "max_vertical_from_window_start_m": 6.22998874710845e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.3543531539276222, 0.5055438638149454, 0.4214595855357933, 0.3735359310218516, 0.2157846891229837, 0.18665336302204313 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3749812691979084, "max": 1.4076650054943283, "max_abs": 1.4076650054943283 }, { "actuator_index": 1, "unit": "N m", "min": -1.549270327360702, "max": 1.9537019308880588, "max_abs": 1.9537019308880588 }, { "actuator_index": 2, "unit": "N m", "min": -0.9071360408846374, "max": 1.2660320710161415, "max_abs": 1.2660320710161415 }, { "actuator_index": 3, "unit": "N m", "min": -0.31331543693064234, "max": 0.30154025480005764, "max_abs": 0.31331543693064234 }, { "actuator_index": 4, "unit": "N m", "min": -0.10737572986477595, "max": 0.3681030031580221, "max_abs": 0.3681030031580221 }, { "actuator_index": 5, "unit": "N m", "min": -0.29918405569079115, "max": 0.3432021868536328, "max_abs": 0.3432021868536328 }, { "actuator_index": 6, "unit": "N", "min": -0.00485342608258299, "max": 0.005218147820462704, "max_abs": 0.005218147820462704 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 2.0594181660562754, "attempt_wall_seconds": 2.062368958024308, "step_compute_seconds": { "count": 1000, "min": 0.0015955001581460238, "mean": 0.0018174860896542668, "p50": 0.0018101248424500227, "p95": 0.002183833857998252, "p99": 0.0026522499974817038, "max": 0.01385879097506404, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.29668752555846395, -0.026543688956923408, 0.07989224457978372 ], "final_tcp_position_m": [ 0.3009287216937083, -0.026916739348594163, 0.08562208849807375 ] }, { "id": "832847:friction015-mass040-layout01--hold", "cohort_seed": 832847, "scene_id": "friction015-mass040-layout01", "variant": "hold", "mode": "baseline", "control": "hold", "friction": 0.15, "mass_kg": 0.04, "layout_index": 1, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998874710845e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.1226431314439367 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 1.1376744407779719e-16, "peak_sampled_speed_m_s": 5.558267943191594e-15, "net_vertical_m": 1.1102230246251565e-16, "max_vertical_from_window_start_m": 1.1102230246251565e-16, "min_vertical_from_window_start_m": 0.0 }, "object": { "path_m": 8.337221308324925e-11, "peak_sampled_speed_m_s": 1.6349234509695215e-09, "net_vertical_m": 6.22998874710845e-11, "max_vertical_from_window_start_m": 6.22998874710845e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 1.089099057831775e-19, 6.127451851049064e-18, 1.5410517561852992e-16, 1.2145569247038722e-17, 3.400546359107994e-16, 2.945467210750634e-17 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -5.149427585733612e-18, "max": -7.571162667696407e-19, "max_abs": 5.149427585733612e-18 }, { "actuator_index": 1, "unit": "N m", "min": 0.0, "max": 0.0, "max_abs": 0.0 }, { "actuator_index": 2, "unit": "N m", "min": 0.0, "max": 0.0, "max_abs": 0.0 }, { "actuator_index": 3, "unit": "N m", "min": 7.130976259465077e-17, "max": 1.5875460775817776e-16, "max_abs": 1.5875460775817776e-16 }, { "actuator_index": 4, "unit": "N m", "min": 5.770246053275149e-16, "max": 3.2953315452184146e-15, "max_abs": 3.2953315452184146e-15 }, { "actuator_index": 5, "unit": "N m", "min": -2.2098381316149117e-16, "max": -4.998795352997742e-17, "max_abs": 2.2098381316149117e-16 }, { "actuator_index": 6, "unit": "N", "min": 0.0, "max": 0.0, "max_abs": 0.0 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.999500417150557, "attempt_wall_seconds": 2.001933583058417, "step_compute_seconds": { "count": 1000, "min": 0.001569999847561121, "mean": 0.0017906962961424142, "p50": 0.0017880829982459545, "p95": 0.0021574171259999275, "p99": 0.0025242080446332693, "max": 0.003002291079610586, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.29668752555846395, -0.026543688956923408, 0.07989224457978372 ], "final_tcp_position_m": [ 0.4890696662845219, 0.001414197565480896, 0.3665849431043092 ] }, { "id": "832847:friction015-mass060-layout00--recovery_placement", "cohort_seed": 832847, "scene_id": "friction015-mass060-layout00", "variant": "recovery_placement", "mode": "recovery", "control": "placement", "friction": 0.15, "mass_kg": 0.06, "layout_index": 0, "valid": true, "success": false, "failure_stage": "acquisition_never_qualified", "terminal_reason": "timeout", "abort_reason": "unchanged_grasp_not_following", "abort_time_s": 11.519999999999055, "completion_time_s": null, "milestones": { "grasp_seen": true, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 3.832530515648913e-05, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.11752293491633921 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.40738669092992874, "peak_sampled_speed_m_s": 0.16300474166109244, "net_vertical_m": -0.2812382152996152, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28475270043764916 }, "object": { "path_m": 0.0010601511704658193, "peak_sampled_speed_m_s": 0.008801046533260174, "net_vertical_m": -5.673221904270442e-06, "max_vertical_from_window_start_m": 3.810055119009281e-05, "min_vertical_from_window_start_m": -1.9985605033093212e-05 } }, "max_pad_normal_force_n": 0.42522050568911207, "max_abs_native_joint_velocity_rad_s": [ 0.10233162119932374, 0.49841975553328216, 0.4208840372504379, 0.1731720047203567, 0.22439890225902698, 0.10163832765948341 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.33208476235996365, "max": 0.2929587701402312, "max_abs": 0.33208476235996365 }, { "actuator_index": 1, "unit": "N m", "min": -1.5492621568724019, "max": 1.9085619608418796, "max_abs": 1.9085619608418796 }, { "actuator_index": 2, "unit": "N m", "min": -0.85909920821085, "max": 1.2660275079040986, "max_abs": 1.2660275079040986 }, { "actuator_index": 3, "unit": "N m", "min": -0.3047304452927522, "max": 0.30174438234396384, "max_abs": 0.3047304452927522 }, { "actuator_index": 4, "unit": "N m", "min": -0.00861702620506577, "max": 0.3851043847943423, "max_abs": 0.3851043847943423 }, { "actuator_index": 5, "unit": "N m", "min": -0.2991916282073948, "max": 0.17685275067906692, "max_abs": 0.2991916282073948 }, { "actuator_index": 6, "unit": "N", "min": -0.7934785954786655, "max": 0.001065948137230821, "max_abs": 0.7934785954786655 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 2.561002834001556, "attempt_wall_seconds": 2.563563375035301, "step_compute_seconds": { "count": 1000, "min": 0.0016484579537063837, "mean": 0.00235773879266344, "p50": 0.0020445839036256075, "p95": 0.003128166077658534, "p99": 0.005758333019912243, "max": 0.007282249862328172, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [ "probe_started", "alarm", "unchanged_retry_refused", "abort" ], "final_object_position_m": [ 0.29770377727178465, -0.02733204747549252, 0.07988657129557952 ], "final_tcp_position_m": [ 0.30198666531679974, -0.027631472827810626, 0.08534672780469392 ] }, { "id": "832847:friction015-mass060-layout00--recovery_open_jaw", "cohort_seed": 832847, "scene_id": "friction015-mass060-layout00", "variant": "recovery_open_jaw", "mode": "recovery", "control": "replay_open_jaw", "friction": 0.15, "mass_kg": 0.06, "layout_index": 0, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.229990134887231e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.11731692066940182 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.4083397262409365, "peak_sampled_speed_m_s": 0.16300474166109244, "net_vertical_m": -0.28131656658356125, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2847635387499104 }, "object": { "path_m": 8.331780170090654e-11, "peak_sampled_speed_m_s": 1.634923449909704e-09, "net_vertical_m": 6.229990134887231e-11, "max_vertical_from_window_start_m": 6.229990134887231e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.10233162119932374, 0.49841975553328216, 0.4208840372504379, 0.1731720047203567, 0.22439890225902698, 0.10163832765948341 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.33208476235996365, "max": 0.2929587701402312, "max_abs": 0.33208476235996365 }, { "actuator_index": 1, "unit": "N m", "min": -1.5492621568724019, "max": 1.9085619608418796, "max_abs": 1.9085619608418796 }, { "actuator_index": 2, "unit": "N m", "min": -0.85909920821085, "max": 1.2660275079040986, "max_abs": 1.2660275079040986 }, { "actuator_index": 3, "unit": "N m", "min": -0.3047304452927522, "max": 0.30174438234396384, "max_abs": 0.3047304452927522 }, { "actuator_index": 4, "unit": "N m", "min": -0.006367030566202914, "max": 0.3851043847943423, "max_abs": 0.3851043847943423 }, { "actuator_index": 5, "unit": "N m", "min": -0.2991916282073948, "max": 0.17685275067906692, "max_abs": 0.2991916282073948 }, { "actuator_index": 6, "unit": "N", "min": -0.0002902020087633961, "max": 0.0004940967864188739, "max_abs": 0.0004940967864188739 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 2.278919667005539, "attempt_wall_seconds": 2.2820065410342067, "step_compute_seconds": { "count": 1000, "min": 0.0017642499879002571, "mean": 0.002052022838033736, "p50": 0.0018887920305132866, "p95": 0.0026892919559031725, "p99": 0.003775165881961584, "max": 0.006794041022658348, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.2978459541586813, -0.02717147895713334, 0.0798922445797837 ], "final_tcp_position_m": [ 0.3018820729009386, -0.02761741276562526, 0.08526837652074788 ] }, { "id": "832847:friction015-mass060-layout00--reacquire_placement", "cohort_seed": 832847, "scene_id": "friction015-mass060-layout00", "variant": "reacquire_placement", "mode": "reacquire", "control": "placement", "friction": 0.15, "mass_kg": 0.06, "layout_index": 0, "valid": true, "success": false, "failure_stage": "acquisition_never_qualified", "terminal_reason": "timeout", "abort_reason": "unchanged_grasp_not_following", "abort_time_s": 11.519999999999055, "completion_time_s": null, "milestones": { "grasp_seen": true, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 3.832530515648913e-05, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.11752293491633921 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.40738669092992874, "peak_sampled_speed_m_s": 0.16300474166109244, "net_vertical_m": -0.2812382152996152, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28475270043764916 }, "object": { "path_m": 0.0010601511704658193, "peak_sampled_speed_m_s": 0.008801046533260174, "net_vertical_m": -5.673221904270442e-06, "max_vertical_from_window_start_m": 3.810055119009281e-05, "min_vertical_from_window_start_m": -1.9985605033093212e-05 } }, "max_pad_normal_force_n": 0.42522050568911207, "max_abs_native_joint_velocity_rad_s": [ 0.10233162119932374, 0.49841975553328216, 0.4208840372504379, 0.1731720047203567, 0.22439890225902698, 0.10163832765948341 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.33208476235996365, "max": 0.2929587701402312, "max_abs": 0.33208476235996365 }, { "actuator_index": 1, "unit": "N m", "min": -1.5492621568724019, "max": 1.9085619608418796, "max_abs": 1.9085619608418796 }, { "actuator_index": 2, "unit": "N m", "min": -0.85909920821085, "max": 1.2660275079040986, "max_abs": 1.2660275079040986 }, { "actuator_index": 3, "unit": "N m", "min": -0.3047304452927522, "max": 0.30174438234396384, "max_abs": 0.3047304452927522 }, { "actuator_index": 4, "unit": "N m", "min": -0.00861702620506577, "max": 0.3851043847943423, "max_abs": 0.3851043847943423 }, { "actuator_index": 5, "unit": "N m", "min": -0.2991916282073948, "max": 0.17685275067906692, "max_abs": 0.2991916282073948 }, { "actuator_index": 6, "unit": "N", "min": -0.7934785954786655, "max": 0.001065948137230821, "max_abs": 0.7934785954786655 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 3.0332028749398887, "attempt_wall_seconds": 3.0358323748223484, "step_compute_seconds": { "count": 1000, "min": 0.0018707502167671919, "mean": 0.0027540944088250397, "p50": 0.002661291975528002, "p95": 0.003877165960147977, "p99": 0.007005708059296012, "max": 0.010073249926790595, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [ "probe_started", "alarm", "unchanged_retry_refused", "abort" ], "final_object_position_m": [ 0.29770377727178465, -0.02733204747549252, 0.07988657129557952 ], "final_tcp_position_m": [ 0.30198666531679974, -0.027631472827810626, 0.08534672780469392 ] }, { "id": "832847:friction015-mass060-layout00--reacquire_open_jaw", "cohort_seed": 832847, "scene_id": "friction015-mass060-layout00", "variant": "reacquire_open_jaw", "mode": "reacquire", "control": "replay_open_jaw", "friction": 0.15, "mass_kg": 0.06, "layout_index": 0, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.229990134887231e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.11731692066940182 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.4083397262409365, "peak_sampled_speed_m_s": 0.16300474166109244, "net_vertical_m": -0.28131656658356125, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2847635387499104 }, "object": { "path_m": 8.331780170090654e-11, "peak_sampled_speed_m_s": 1.634923449909704e-09, "net_vertical_m": 6.229990134887231e-11, "max_vertical_from_window_start_m": 6.229990134887231e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.10233162119932374, 0.49841975553328216, 0.4208840372504379, 0.1731720047203567, 0.22439890225902698, 0.10163832765948341 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.33208476235996365, "max": 0.2929587701402312, "max_abs": 0.33208476235996365 }, { "actuator_index": 1, "unit": "N m", "min": -1.5492621568724019, "max": 1.9085619608418796, "max_abs": 1.9085619608418796 }, { "actuator_index": 2, "unit": "N m", "min": -0.85909920821085, "max": 1.2660275079040986, "max_abs": 1.2660275079040986 }, { "actuator_index": 3, "unit": "N m", "min": -0.3047304452927522, "max": 0.30174438234396384, "max_abs": 0.3047304452927522 }, { "actuator_index": 4, "unit": "N m", "min": -0.006367030566202914, "max": 0.3851043847943423, "max_abs": 0.3851043847943423 }, { "actuator_index": 5, "unit": "N m", "min": -0.2991916282073948, "max": 0.17685275067906692, "max_abs": 0.2991916282073948 }, { "actuator_index": 6, "unit": "N", "min": -0.0002902020087633961, "max": 0.0004940967864188739, "max_abs": 0.0004940967864188739 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 2.6191595420241356, "attempt_wall_seconds": 2.623704999918118, "step_compute_seconds": { "count": 1000, "min": 0.00158987520262599, "mean": 0.002426391704706475, "p50": 0.0023741249460726976, "p95": 0.0036881249397993088, "p99": 0.0043897079303860664, "max": 0.023349791998043656, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 1, "policy_event_types": [], "final_object_position_m": [ 0.2978459541586813, -0.02717147895713334, 0.0798922445797837 ], "final_tcp_position_m": [ 0.3018820729009386, -0.02761741276562526, 0.08526837652074788 ] }, { "id": "832847:friction015-mass060-layout00--reacquire_grasp_placement", "cohort_seed": 832847, "scene_id": "friction015-mass060-layout00", "variant": "reacquire_grasp_placement", "mode": "reacquire_grasp", "control": "placement", "friction": 0.15, "mass_kg": 0.06, "layout_index": 0, "valid": true, "success": false, "failure_stage": "acquisition_never_qualified", "terminal_reason": "timeout", "abort_reason": "unchanged_grasp_not_following", "abort_time_s": 12.759999999998367, "completion_time_s": null, "milestones": { "grasp_seen": true, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 0.0001092137149529826, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.11465155883880383 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.41339016225593006, "peak_sampled_speed_m_s": 0.17600787538193027, "net_vertical_m": -0.28099004880794365, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2855014799506499 }, "object": { "path_m": 0.004833029854684075, "peak_sampled_speed_m_s": 0.030516581832301014, "net_vertical_m": 2.6122496165445486e-05, "max_vertical_from_window_start_m": 0.0001092137149529826, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.5864428529285515, "max_abs_native_joint_velocity_rad_s": [ 0.35251624505035273, 0.5028037134101699, 0.4208840372504379, 0.3737172998310273, 0.223218225356468, 0.1865774357096685 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3739310435878016, "max": 1.4115889789752103, "max_abs": 1.4115889789752103 }, { "actuator_index": 1, "unit": "N m", "min": -1.5492621568724019, "max": 1.9564360795677942, "max_abs": 1.9564360795677942 }, { "actuator_index": 2, "unit": "N m", "min": -0.9016188862024848, "max": 1.2660275079040986, "max_abs": 1.2660275079040986 }, { "actuator_index": 3, "unit": "N m", "min": -0.3126635619781073, "max": 0.30174438234396384, "max_abs": 0.3126635619781073 }, { "actuator_index": 4, "unit": "N m", "min": -0.10546932555793465, "max": 0.36796521095537704, "max_abs": 0.36796521095537704 }, { "actuator_index": 5, "unit": "N m", "min": -0.2991916282073948, "max": 0.3432583132118687, "max_abs": 0.3432583132118687 }, { "actuator_index": 6, "unit": "N", "min": -1.1130456411292007, "max": 0.005222469370725902, "max_abs": 1.1130456411292007 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 2.323044916149229, "attempt_wall_seconds": 2.32563841692172, "step_compute_seconds": { "count": 1000, "min": 0.001677792053669691, "mean": 0.002095952757401392, "p50": 0.0020466658752411604, "p95": 0.0027754579205065966, "p99": 0.003398291999474168, "max": 0.003919083857908845, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [ "probe_started", "alarm", "unchanged_retry_refused", "abort" ], "final_object_position_m": [ 0.30040843411579055, -0.025424713205036323, 0.07991836701364924 ], "final_tcp_position_m": [ 0.3020485198895614, -0.027566945706708944, 0.08559489429636545 ] }, { "id": "832847:friction015-mass060-layout00--reacquire_grasp_open_jaw", "cohort_seed": 832847, "scene_id": "friction015-mass060-layout00", "variant": "reacquire_grasp_open_jaw", "mode": "reacquire_grasp", "control": "replay_open_jaw", "friction": 0.15, "mass_kg": 0.06, "layout_index": 0, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.229990134887231e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.11731692066940182 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.41470363464893684, "peak_sampled_speed_m_s": 0.17600787538193027, "net_vertical_m": -0.2810063166682608, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2855014799506499 }, "object": { "path_m": 8.331780170090654e-11, "peak_sampled_speed_m_s": 1.634923449909704e-09, "net_vertical_m": 6.229990134887231e-11, "max_vertical_from_window_start_m": 6.229990134887231e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.35251624505035273, 0.5028037134101699, 0.4208840372504379, 0.3737172998310273, 0.223218225356468, 0.1865774357096685 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3739310435878016, "max": 1.4115889789752103, "max_abs": 1.4115889789752103 }, { "actuator_index": 1, "unit": "N m", "min": -1.5492621568724019, "max": 1.9564360795677942, "max_abs": 1.9564360795677942 }, { "actuator_index": 2, "unit": "N m", "min": -0.9016188862024848, "max": 1.2660275079040986, "max_abs": 1.2660275079040986 }, { "actuator_index": 3, "unit": "N m", "min": -0.3126635619781073, "max": 0.30174438234396384, "max_abs": 0.3126635619781073 }, { "actuator_index": 4, "unit": "N m", "min": -0.10546932555793465, "max": 0.36796521095537704, "max_abs": 0.36796521095537704 }, { "actuator_index": 5, "unit": "N m", "min": -0.2991916282073948, "max": 0.3432583132118687, "max_abs": 0.3432583132118687 }, { "actuator_index": 6, "unit": "N", "min": -0.004905695980625735, "max": 0.005222469370725902, "max_abs": 0.005222469370725902 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 2.1009624579455703, "attempt_wall_seconds": 2.104042084189132, "step_compute_seconds": { "count": 1000, "min": 0.0015952500980347395, "mean": 0.0019000930318143218, "p50": 0.0018480001017451286, "p95": 0.002311791991814971, "p99": 0.0028157499618828297, "max": 0.003578792093321681, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.2978459541586813, -0.02717147895713334, 0.0798922445797837 ], "final_tcp_position_m": [ 0.3020628974390899, -0.027553729497304506, 0.08557862643604833 ] }, { "id": "832847:friction015-mass060-layout00--hold", "cohort_seed": 832847, "scene_id": "friction015-mass060-layout00", "variant": "hold", "mode": "baseline", "control": "hold", "friction": 0.15, "mass_kg": 0.06, "layout_index": 0, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.229990134887231e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.11731692066940182 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 1.1376744407779719e-16, "peak_sampled_speed_m_s": 5.558267943191594e-15, "net_vertical_m": 1.1102230246251565e-16, "max_vertical_from_window_start_m": 1.1102230246251565e-16, "min_vertical_from_window_start_m": 0.0 }, "object": { "path_m": 8.331780170090654e-11, "peak_sampled_speed_m_s": 1.634923449909704e-09, "net_vertical_m": 6.229990134887231e-11, "max_vertical_from_window_start_m": 6.229990134887231e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 1.089099057831775e-19, 6.127451851049064e-18, 1.5410517561852992e-16, 1.2145569247038722e-17, 3.400546359107994e-16, 2.945467210750634e-17 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -5.149427585733612e-18, "max": -7.571162667696407e-19, "max_abs": 5.149427585733612e-18 }, { "actuator_index": 1, "unit": "N m", "min": 0.0, "max": 0.0, "max_abs": 0.0 }, { "actuator_index": 2, "unit": "N m", "min": 0.0, "max": 0.0, "max_abs": 0.0 }, { "actuator_index": 3, "unit": "N m", "min": 7.130976259465077e-17, "max": 1.5875460775817776e-16, "max_abs": 1.5875460775817776e-16 }, { "actuator_index": 4, "unit": "N m", "min": 5.770246053275149e-16, "max": 3.2953315452184146e-15, "max_abs": 3.2953315452184146e-15 }, { "actuator_index": 5, "unit": "N m", "min": -2.2098381316149117e-16, "max": -4.998795352997742e-17, "max_abs": 2.2098381316149117e-16 }, { "actuator_index": 6, "unit": "N", "min": 0.0, "max": 0.0, "max_abs": 0.0 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 2.120471542002633, "attempt_wall_seconds": 2.123172791907564, "step_compute_seconds": { "count": 1000, "min": 0.0017575412057340145, "mean": 0.0018587871852796525, "p50": 0.001796083990484476, "p95": 0.0021112910471856594, "p99": 0.002462667180225253, "max": 0.014293292071670294, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.2978459541586813, -0.02717147895713334, 0.0798922445797837 ], "final_tcp_position_m": [ 0.4890696662845219, 0.001414197565480896, 0.3665849431043092 ] }, { "id": "832847:friction015-mass060-layout01--recovery_placement", "cohort_seed": 832847, "scene_id": "friction015-mass060-layout01", "variant": "recovery_placement", "mode": "recovery", "control": "placement", "friction": 0.15, "mass_kg": 0.06, "layout_index": 1, "valid": true, "success": false, "failure_stage": "acquisition_never_qualified", "terminal_reason": "timeout", "abort_reason": "retry_budget_exhausted:object_not_following", "abort_time_s": 14.399999999997458, "completion_time_s": null, "milestones": { "grasp_seen": true, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 4.6588302567956985e-05, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.1224758250778315 }, "qualification_count": 0, "retry_count": 1, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.43514334876109073, "peak_sampled_speed_m_s": 0.16342165873986964, "net_vertical_m": -0.28038914436790235, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28475258636816314 }, "object": { "path_m": 0.0020659340567106463, "peak_sampled_speed_m_s": 0.009475234723919814, "net_vertical_m": -9.13575965606761e-06, "max_vertical_from_window_start_m": 4.523845816363503e-05, "min_vertical_from_window_start_m": -2.0346934290912944e-05 } }, "max_pad_normal_force_n": 0.43648935467366085, "max_abs_native_joint_velocity_rad_s": [ 0.10101733336024776, 0.5027812748626305, 0.42145964090670834, 0.16983293546137954, 0.22523691957373218, 0.09845823443594166 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.324951349888126, "max": 0.293054499446038, "max_abs": 0.324951349888126 }, { "actuator_index": 1, "unit": "N m", "min": -1.5492703277171103, "max": 1.9063731502380534, "max_abs": 1.9063731502380534 }, { "actuator_index": 2, "unit": "N m", "min": -0.8634218602992974, "max": 1.4212541582292744, "max_abs": 1.4212541582292744 }, { "actuator_index": 3, "unit": "N m", "min": -0.3048274296945257, "max": 0.3015402449915534, "max_abs": 0.3048274296945257 }, { "actuator_index": 4, "unit": "N m", "min": -0.1830275863148838, "max": 0.3861532854545038, "max_abs": 0.3861532854545038 }, { "actuator_index": 5, "unit": "N m", "min": -0.2991840354873744, "max": 0.17423429397561851, "max_abs": 0.2991840354873744 }, { "actuator_index": 6, "unit": "N", "min": -0.7932474271881077, "max": 0.019892363957761283, "max_abs": 0.7932474271881077 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 4.327227999921888, "attempt_wall_seconds": 4.332903207978234, "step_compute_seconds": { "count": 1000, "min": 0.0018535410054028034, "mean": 0.004110444792779162, "p50": 0.002373958006501198, "p95": 0.0109503751154989, "p99": 0.021020499989390373, "max": 0.03918845904991031, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 13, "policy_event_types": [ "probe_started", "alarm", "retry_started", "retry_completed", "probe_started", "alarm", "abort" ], "final_object_position_m": [ 0.2970730586166721, -0.026554389039422154, 0.07988310875782774 ], "final_tcp_position_m": [ 0.29727330720071865, -0.026876942531711762, 0.08619579873640677 ] }, { "id": "832847:friction015-mass060-layout01--recovery_open_jaw", "cohort_seed": 832847, "scene_id": "friction015-mass060-layout01", "variant": "recovery_open_jaw", "mode": "recovery", "control": "replay_open_jaw", "friction": 0.15, "mass_kg": 0.06, "layout_index": 1, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998874710845e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12264319205520566 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.436695979450572, "peak_sampled_speed_m_s": 0.16342165873986964, "net_vertical_m": -0.2805014053776355, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28476350051654087 }, "object": { "path_m": 8.373996405314181e-11, "peak_sampled_speed_m_s": 1.6349234512923287e-09, "net_vertical_m": 6.22998874710845e-11, "max_vertical_from_window_start_m": 6.22998874710845e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.10101733336024776, 0.5027812748626305, 0.42145964090670834, 0.16983293546137954, 0.22523691957373218, 0.09845823443594166 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.324951349888126, "max": 0.293054499446038, "max_abs": 0.324951349888126 }, { "actuator_index": 1, "unit": "N m", "min": -1.5492703277171103, "max": 1.9063731502380534, "max_abs": 1.9063731502380534 }, { "actuator_index": 2, "unit": "N m", "min": -0.8634218602992974, "max": 1.42098860981568, "max_abs": 1.42098860981568 }, { "actuator_index": 3, "unit": "N m", "min": -0.3048274296945257, "max": 0.3015402449915534, "max_abs": 0.3048274296945257 }, { "actuator_index": 4, "unit": "N m", "min": -0.183048764295334, "max": 0.3861532854545038, "max_abs": 0.3861532854545038 }, { "actuator_index": 5, "unit": "N m", "min": -0.2991840354873744, "max": 0.17423429397561851, "max_abs": 0.2991840354873744 }, { "actuator_index": 6, "unit": "N", "min": -0.0002852236806760722, "max": 0.0004975440398449216, "max_abs": 0.0004975440398449216 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 2.5994085408747196, "attempt_wall_seconds": 2.6051387498155236, "step_compute_seconds": { "count": 1000, "min": 0.0017867919523268938, "mean": 0.0022994994930922983, "p50": 0.0020962501876056194, "p95": 0.0036529998760670424, "p99": 0.004385416861623526, "max": 0.012260291026905179, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.29668735796373247, -0.026543670413010867, 0.0798922445797837 ], "final_tcp_position_m": [ 0.29715508787100947, -0.026872051129373676, 0.0860835377266736 ] }, { "id": "832847:friction015-mass060-layout01--reacquire_placement", "cohort_seed": 832847, "scene_id": "friction015-mass060-layout01", "variant": "reacquire_placement", "mode": "reacquire", "control": "placement", "friction": 0.15, "mass_kg": 0.06, "layout_index": 1, "valid": true, "success": false, "failure_stage": "acquisition_never_qualified", "terminal_reason": "timeout", "abort_reason": "retry_budget_exhausted:object_not_following", "abort_time_s": 14.399999999997458, "completion_time_s": null, "milestones": { "grasp_seen": true, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 4.6588302567956985e-05, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.1224758250778315 }, "qualification_count": 0, "retry_count": 1, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.43514334876109073, "peak_sampled_speed_m_s": 0.16342165873986964, "net_vertical_m": -0.28038914436790235, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28475258636816314 }, "object": { "path_m": 0.0020659340567106463, "peak_sampled_speed_m_s": 0.009475234723919814, "net_vertical_m": -9.13575965606761e-06, "max_vertical_from_window_start_m": 4.523845816363503e-05, "min_vertical_from_window_start_m": -2.0346934290912944e-05 } }, "max_pad_normal_force_n": 0.43648935467366085, "max_abs_native_joint_velocity_rad_s": [ 0.10101733336024776, 0.5027812748626305, 0.42145964090670834, 0.16983293546137954, 0.22523691957373218, 0.09845823443594166 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.324951349888126, "max": 0.293054499446038, "max_abs": 0.324951349888126 }, { "actuator_index": 1, "unit": "N m", "min": -1.5492703277171103, "max": 1.9063731502380534, "max_abs": 1.9063731502380534 }, { "actuator_index": 2, "unit": "N m", "min": -0.8634218602992974, "max": 1.4212541582292744, "max_abs": 1.4212541582292744 }, { "actuator_index": 3, "unit": "N m", "min": -0.3048274296945257, "max": 0.3015402449915534, "max_abs": 0.3048274296945257 }, { "actuator_index": 4, "unit": "N m", "min": -0.1830275863148838, "max": 0.3861532854545038, "max_abs": 0.3861532854545038 }, { "actuator_index": 5, "unit": "N m", "min": -0.2991840354873744, "max": 0.17423429397561851, "max_abs": 0.2991840354873744 }, { "actuator_index": 6, "unit": "N", "min": -0.7932474271881077, "max": 0.019892363957761283, "max_abs": 0.7932474271881077 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 3.6004976250696927, "attempt_wall_seconds": 3.6037416660692543, "step_compute_seconds": { "count": 1000, "min": 0.001884915865957737, "mean": 0.0033672588421031833, "p50": 0.002713459078222513, "p95": 0.0072749999817460775, "p99": 0.01038824999704957, "max": 0.01838812488131225, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [ "probe_started", "alarm", "retry_started", "retry_completed", "probe_started", "alarm", "abort" ], "final_object_position_m": [ 0.2970730586166721, -0.026554389039422154, 0.07988310875782774 ], "final_tcp_position_m": [ 0.29727330720071865, -0.026876942531711762, 0.08619579873640677 ] }, { "id": "832847:friction015-mass060-layout01--reacquire_open_jaw", "cohort_seed": 832847, "scene_id": "friction015-mass060-layout01", "variant": "reacquire_open_jaw", "mode": "reacquire", "control": "replay_open_jaw", "friction": 0.15, "mass_kg": 0.06, "layout_index": 1, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998874710845e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12264319205520566 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.436695979450572, "peak_sampled_speed_m_s": 0.16342165873986964, "net_vertical_m": -0.2805014053776355, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28476350051654087 }, "object": { "path_m": 8.373996405314181e-11, "peak_sampled_speed_m_s": 1.6349234512923287e-09, "net_vertical_m": 6.22998874710845e-11, "max_vertical_from_window_start_m": 6.22998874710845e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.10101733336024776, 0.5027812748626305, 0.42145964090670834, 0.16983293546137954, 0.22523691957373218, 0.09845823443594166 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.324951349888126, "max": 0.293054499446038, "max_abs": 0.324951349888126 }, { "actuator_index": 1, "unit": "N m", "min": -1.5492703277171103, "max": 1.9063731502380534, "max_abs": 1.9063731502380534 }, { "actuator_index": 2, "unit": "N m", "min": -0.8634218602992974, "max": 1.42098860981568, "max_abs": 1.42098860981568 }, { "actuator_index": 3, "unit": "N m", "min": -0.3048274296945257, "max": 0.3015402449915534, "max_abs": 0.3048274296945257 }, { "actuator_index": 4, "unit": "N m", "min": -0.183048764295334, "max": 0.3861532854545038, "max_abs": 0.3861532854545038 }, { "actuator_index": 5, "unit": "N m", "min": -0.2991840354873744, "max": 0.17423429397561851, "max_abs": 0.2991840354873744 }, { "actuator_index": 6, "unit": "N", "min": -0.0002852236806760722, "max": 0.0004975440398449216, "max_abs": 0.0004975440398449216 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 2.618953041965142, "attempt_wall_seconds": 2.6229780840221792, "step_compute_seconds": { "count": 1000, "min": 0.0018046670593321323, "mean": 0.002365547366440296, "p50": 0.0021375829819589853, "p95": 0.0036490000784397125, "p99": 0.00450849998742342, "max": 0.005949415965005755, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.29668735796373247, -0.026543670413010867, 0.0798922445797837 ], "final_tcp_position_m": [ 0.29715508787100947, -0.026872051129373676, 0.0860835377266736 ] }, { "id": "832847:friction015-mass060-layout01--reacquire_grasp_placement", "cohort_seed": 832847, "scene_id": "friction015-mass060-layout01", "variant": "reacquire_grasp_placement", "mode": "reacquire_grasp", "control": "placement", "friction": 0.15, "mass_kg": 0.06, "layout_index": 1, "valid": true, "success": false, "failure_stage": "acquisition_never_qualified", "terminal_reason": "timeout", "abort_reason": "unchanged_grasp_not_following", "abort_time_s": 12.759999999998367, "completion_time_s": null, "milestones": { "grasp_seen": true, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 0.0001092980237743929, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.11992868377830204 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.41435476100638485, "peak_sampled_speed_m_s": 0.17627629521659544, "net_vertical_m": -0.28098336425921194, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28550112793003585 }, "object": { "path_m": 0.004821863006197334, "peak_sampled_speed_m_s": 0.03059245876777317, "net_vertical_m": 2.6105444819776724e-05, "max_vertical_from_window_start_m": 0.0001092980237743929, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.5866115120530517, "max_abs_native_joint_velocity_rad_s": [ 0.354353583554781, 0.5055442662852178, 0.42145964090670834, 0.3735359250807819, 0.2157875687687409, 0.18665336545843264 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3749814295512852, "max": 1.4076642450931853, "max_abs": 1.4076642450931853 }, { "actuator_index": 1, "unit": "N m", "min": -1.5492703277171103, "max": 1.9537014995052715, "max_abs": 1.9537014995052715 }, { "actuator_index": 2, "unit": "N m", "min": -0.9071367291198555, "max": 1.2660320712098354, "max_abs": 1.2660320712098354 }, { "actuator_index": 3, "unit": "N m", "min": -0.3133155140730923, "max": 0.3015402449915534, "max_abs": 0.3133155140730923 }, { "actuator_index": 4, "unit": "N m", "min": -0.10737599854415958, "max": 0.36810301598782164, "max_abs": 0.36810301598782164 }, { "actuator_index": 5, "unit": "N m", "min": -0.2991840354873744, "max": 0.3432021711992985, "max_abs": 0.3432021711992985 }, { "actuator_index": 6, "unit": "N", "min": -1.1130572283209044, "max": 0.005218148434708247, "max_abs": 1.1130572283209044 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 3.251083708135411, "attempt_wall_seconds": 3.254650125047192, "step_compute_seconds": { "count": 1000, "min": 0.002107208129018545, "mean": 0.0029572437086608262, "p50": 0.0027446250896900892, "p95": 0.0045507499016821384, "p99": 0.006439666962251067, "max": 0.027416834142059088, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 1, "policy_event_types": [ "probe_started", "alarm", "unchanged_retry_refused", "abort" ], "final_object_position_m": [ 0.29925451651033447, -0.024806022760700933, 0.07991834996230358 ], "final_tcp_position_m": [ 0.30087725757261813, -0.026931749008720973, 0.08560157884509717 ] }, { "id": "832847:friction015-mass060-layout01--reacquire_grasp_open_jaw", "cohort_seed": 832847, "scene_id": "friction015-mass060-layout01", "variant": "reacquire_grasp_open_jaw", "mode": "reacquire_grasp", "control": "replay_open_jaw", "friction": 0.15, "mass_kg": 0.06, "layout_index": 1, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998874710845e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12264319205520566 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.415664178235333, "peak_sampled_speed_m_s": 0.17627629521659544, "net_vertical_m": -0.2809994025314627, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28550112793003585 }, "object": { "path_m": 8.373996405314181e-11, "peak_sampled_speed_m_s": 1.6349234512923287e-09, "net_vertical_m": 6.22998874710845e-11, "max_vertical_from_window_start_m": 6.22998874710845e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.354353583554781, 0.5055442662852178, 0.42145964090670834, 0.3735359250807819, 0.2157875687687409, 0.18665336545843264 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3749814295512852, "max": 1.4076642450931853, "max_abs": 1.4076642450931853 }, { "actuator_index": 1, "unit": "N m", "min": -1.5492703277171103, "max": 1.9537014995052715, "max_abs": 1.9537014995052715 }, { "actuator_index": 2, "unit": "N m", "min": -0.9071367291198555, "max": 1.2660320712098354, "max_abs": 1.2660320712098354 }, { "actuator_index": 3, "unit": "N m", "min": -0.3133155140730923, "max": 0.3015402449915534, "max_abs": 0.3133155140730923 }, { "actuator_index": 4, "unit": "N m", "min": -0.10737599854415958, "max": 0.36810301598782164, "max_abs": 0.36810301598782164 }, { "actuator_index": 5, "unit": "N m", "min": -0.2991840354873744, "max": 0.3432021711992985, "max_abs": 0.3432021711992985 }, { "actuator_index": 6, "unit": "N", "min": -0.004853419114475566, "max": 0.005218148434708247, "max_abs": 0.005218148434708247 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 3.0004446250386536, "attempt_wall_seconds": 3.005171583034098, "step_compute_seconds": { "count": 1000, "min": 0.0020299579482525587, "mean": 0.002720077713020146, "p50": 0.002450249856337905, "p95": 0.004166333004832268, "p99": 0.005059333052486181, "max": 0.007544083055108786, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.29668735796373247, -0.026543670413010867, 0.0798922445797837 ], "final_tcp_position_m": [ 0.30089162969305877, -0.026918575481938087, 0.08558554057284638 ] }, { "id": "832847:friction015-mass060-layout01--hold", "cohort_seed": 832847, "scene_id": "friction015-mass060-layout01", "variant": "hold", "mode": "baseline", "control": "hold", "friction": 0.15, "mass_kg": 0.06, "layout_index": 1, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998874710845e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12264319205520566 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 1.1376744407779719e-16, "peak_sampled_speed_m_s": 5.558267943191594e-15, "net_vertical_m": 1.1102230246251565e-16, "max_vertical_from_window_start_m": 1.1102230246251565e-16, "min_vertical_from_window_start_m": 0.0 }, "object": { "path_m": 8.373996405314181e-11, "peak_sampled_speed_m_s": 1.6349234512923287e-09, "net_vertical_m": 6.22998874710845e-11, "max_vertical_from_window_start_m": 6.22998874710845e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 1.089099057831775e-19, 6.127451851049064e-18, 1.5410517561852992e-16, 1.2145569247038722e-17, 3.400546359107994e-16, 2.945467210750634e-17 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -5.149427585733612e-18, "max": -7.571162667696407e-19, "max_abs": 5.149427585733612e-18 }, { "actuator_index": 1, "unit": "N m", "min": 0.0, "max": 0.0, "max_abs": 0.0 }, { "actuator_index": 2, "unit": "N m", "min": 0.0, "max": 0.0, "max_abs": 0.0 }, { "actuator_index": 3, "unit": "N m", "min": 7.130976259465077e-17, "max": 1.5875460775817776e-16, "max_abs": 1.5875460775817776e-16 }, { "actuator_index": 4, "unit": "N m", "min": 5.770246053275149e-16, "max": 3.2953315452184146e-15, "max_abs": 3.2953315452184146e-15 }, { "actuator_index": 5, "unit": "N m", "min": -2.2098381316149117e-16, "max": -4.998795352997742e-17, "max_abs": 2.2098381316149117e-16 }, { "actuator_index": 6, "unit": "N", "min": 0.0, "max": 0.0, "max_abs": 0.0 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 3.7199501669965684, "attempt_wall_seconds": 3.7244153341744095, "step_compute_seconds": { "count": 1000, "min": 0.0023117088712751865, "mean": 0.003418711083708331, "p50": 0.0029828341212123632, "p95": 0.005442667054012418, "p99": 0.007527749985456467, "max": 0.03126270789653063, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 1, "policy_event_types": [], "final_object_position_m": [ 0.29668735796373247, -0.026543670413010867, 0.0798922445797837 ], "final_tcp_position_m": [ 0.4890696662845219, 0.001414197565480896, 0.3665849431043092 ] }, { "id": "227037:friction080-mass040-layout00--recovery_placement", "cohort_seed": 227037, "scene_id": "friction080-mass040-layout00", "variant": "recovery_placement", "mode": "recovery", "control": "placement", "friction": 0.8, "mass_kg": 0.04, "layout_index": 0, "valid": true, "success": true, "failure_stage": "completed", "terminal_reason": "success", "abort_reason": null, "abort_time_s": null, "completion_time_s": 15.451999999996875, "milestones": { "grasp_seen": true, "lift_seen": true, "carry_complete": true, "retention_lost": false, "dwell_seconds": 4.797999999999937, "max_object_lift_m": 0.09809052639635205, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.004247698441509387 }, "qualification_count": 1, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8894708617531376, "peak_sampled_speed_m_s": 0.19456169422053352, "net_vertical_m": -0.15664968143038435, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2873915834424387 }, "object": { "path_m": 0.3403929596947398, "peak_sampled_speed_m_s": 0.19424366383900232, "net_vertical_m": 6.229985971550889e-11, "max_vertical_from_window_start_m": 0.09805749025099114, "min_vertical_from_window_start_m": -0.00010124889924256752 } }, "max_pad_normal_force_n": 1.020128020486884, "max_abs_native_joint_velocity_rad_s": [ 0.6626991924382509, 0.6233359346211027, 0.49530876937831325, 0.17161080742900212, 0.22940863193612096, 0.18508299549866727 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3260499773609169, "max": 1.9277478838440603, "max_abs": 1.9277478838440603 }, { "actuator_index": 1, "unit": "N m", "min": -2.1993264410470204, "max": 2.0567852959453177, "max_abs": 2.1993264410470204 }, { "actuator_index": 2, "unit": "N m", "min": -0.9258208649790731, "max": 1.26602975003874, "max_abs": 1.26602975003874 }, { "actuator_index": 3, "unit": "N m", "min": -0.3711691843529388, "max": 0.3011959568419762, "max_abs": 0.3711691843529388 }, { "actuator_index": 4, "unit": "N m", "min": -0.3731208678470228, "max": 0.3804905686410809, "max_abs": 0.3804905686410809 }, { "actuator_index": 5, "unit": "N m", "min": -0.2991741026518019, "max": 0.33326290289290816, "max_abs": 0.33326290289290816 }, { "actuator_index": 6, "unit": "N", "min": -0.8659560836815674, "max": 0.014539087685540464, "max_abs": 0.8659560836815674 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.7863595001399517, "attempt_wall_seconds": 1.7866546669974923, "step_compute_seconds": { "count": 1000, "min": 0.0010710831265896559, "mean": 0.0013069950668141246, "p50": 0.0011270421091467142, "p95": 0.0021237500477582216, "p99": 0.002657625125721097, "max": 0.005321375094354153, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [ "probe_started", "acquisition_qualified" ], "final_object_position_m": [ 0.3508675339996494, 0.08353727567509077, 0.0798922445797837 ], "final_tcp_position_m": [ 0.3464809092586877, 0.08375909293163995, 0.20993526167392476 ] }, { "id": "227037:friction080-mass040-layout00--recovery_open_jaw", "cohort_seed": 227037, "scene_id": "friction080-mass040-layout00", "variant": "recovery_open_jaw", "mode": "recovery", "control": "replay_open_jaw", "friction": 0.8, "mass_kg": 0.04, "layout_index": 0, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.229999849338697e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.11873951595912872 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8924266273789058, "peak_sampled_speed_m_s": 0.1952513985719319, "net_vertical_m": -0.15664943734130138, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28759310701778407 }, "object": { "path_m": 2.0196358429606768e-10, "peak_sampled_speed_m_s": 1.6349227538150635e-09, "net_vertical_m": 6.229999849338697e-11, "max_vertical_from_window_start_m": 6.229999849338697e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.6612368029770737, 0.6231907612452406, 0.4953108062300485, 0.17161080742900212, 0.22940863193612096, 0.18507296033653045 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3260499773609169, "max": 1.8990594396401708, "max_abs": 1.8990594396401708 }, { "actuator_index": 1, "unit": "N m", "min": -2.201293546884898, "max": 2.190145808308799, "max_abs": 2.201293546884898 }, { "actuator_index": 2, "unit": "N m", "min": -0.8471340924972992, "max": 1.26602975003874, "max_abs": 1.26602975003874 }, { "actuator_index": 3, "unit": "N m", "min": -0.3680336430291402, "max": 0.3011959568419762, "max_abs": 0.3680336430291402 }, { "actuator_index": 4, "unit": "N m", "min": -0.34156909084796183, "max": 0.3804905686410809, "max_abs": 0.3804905686410809 }, { "actuator_index": 5, "unit": "N m", "min": -0.2991741026518019, "max": 0.33239298673206896, "max_abs": 0.33239298673206896 }, { "actuator_index": 6, "unit": "N", "min": -0.004372282258223503, "max": 0.007018384883924256, "max_abs": 0.007018384883924256 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.234395083039999, "attempt_wall_seconds": 1.2357518749777228, "step_compute_seconds": { "count": 1000, "min": 0.0010275421664118767, "mean": 0.0010963445445522665, "p50": 0.0010688749607652426, "p95": 0.0013203341513872147, "p99": 0.0014349168632179499, "max": 0.005543665960431099, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.302729863667049, -0.026483639610325398, 0.07989224457978383 ], "final_tcp_position_m": [ 0.34648134245192264, 0.08375931020977218, 0.20993550576300773 ] }, { "id": "227037:friction080-mass040-layout00--reacquire_placement", "cohort_seed": 227037, "scene_id": "friction080-mass040-layout00", "variant": "reacquire_placement", "mode": "reacquire", "control": "placement", "friction": 0.8, "mass_kg": 0.04, "layout_index": 0, "valid": true, "success": true, "failure_stage": "completed", "terminal_reason": "success", "abort_reason": null, "abort_time_s": null, "completion_time_s": 15.451999999996875, "milestones": { "grasp_seen": true, "lift_seen": true, "carry_complete": true, "retention_lost": false, "dwell_seconds": 4.797999999999937, "max_object_lift_m": 0.09809052639635205, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.004247698441509387 }, "qualification_count": 1, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8894708617531376, "peak_sampled_speed_m_s": 0.19456169422053352, "net_vertical_m": -0.15664968143038435, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2873915834424387 }, "object": { "path_m": 0.3403929596947398, "peak_sampled_speed_m_s": 0.19424366383900232, "net_vertical_m": 6.229985971550889e-11, "max_vertical_from_window_start_m": 0.09805749025099114, "min_vertical_from_window_start_m": -0.00010124889924256752 } }, "max_pad_normal_force_n": 1.020128020486884, "max_abs_native_joint_velocity_rad_s": [ 0.6626991924382509, 0.6233359346211027, 0.49530876937831325, 0.17161080742900212, 0.22940863193612096, 0.18508299549866727 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3260499773609169, "max": 1.9277478838440603, "max_abs": 1.9277478838440603 }, { "actuator_index": 1, "unit": "N m", "min": -2.1993264410470204, "max": 2.0567852959453177, "max_abs": 2.1993264410470204 }, { "actuator_index": 2, "unit": "N m", "min": -0.9258208649790731, "max": 1.26602975003874, "max_abs": 1.26602975003874 }, { "actuator_index": 3, "unit": "N m", "min": -0.3711691843529388, "max": 0.3011959568419762, "max_abs": 0.3711691843529388 }, { "actuator_index": 4, "unit": "N m", "min": -0.3731208678470228, "max": 0.3804905686410809, "max_abs": 0.3804905686410809 }, { "actuator_index": 5, "unit": "N m", "min": -0.2991741026518019, "max": 0.33326290289290816, "max_abs": 0.33326290289290816 }, { "actuator_index": 6, "unit": "N", "min": -0.8659560836815674, "max": 0.014539087685540464, "max_abs": 0.8659560836815674 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.5191605831496418, "attempt_wall_seconds": 1.5207767088431865, "step_compute_seconds": { "count": 1000, "min": 0.0010665829759091139, "mean": 0.001391230897512287, "p50": 0.0011284579522907734, "p95": 0.002326499903574586, "p99": 0.003808333771303296, "max": 0.013868874870240688, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [ "probe_started", "acquisition_qualified" ], "final_object_position_m": [ 0.3508675339996494, 0.08353727567509077, 0.0798922445797837 ], "final_tcp_position_m": [ 0.3464809092586877, 0.08375909293163995, 0.20993526167392476 ] }, { "id": "227037:friction080-mass040-layout00--reacquire_open_jaw", "cohort_seed": 227037, "scene_id": "friction080-mass040-layout00", "variant": "reacquire_open_jaw", "mode": "reacquire", "control": "replay_open_jaw", "friction": 0.8, "mass_kg": 0.04, "layout_index": 0, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.229999849338697e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.11873951595912872 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8924266273789058, "peak_sampled_speed_m_s": 0.1952513985719319, "net_vertical_m": -0.15664943734130138, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28759310701778407 }, "object": { "path_m": 2.0196358429606768e-10, "peak_sampled_speed_m_s": 1.6349227538150635e-09, "net_vertical_m": 6.229999849338697e-11, "max_vertical_from_window_start_m": 6.229999849338697e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.6612368029770737, 0.6231907612452406, 0.4953108062300485, 0.17161080742900212, 0.22940863193612096, 0.18507296033653045 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3260499773609169, "max": 1.8990594396401708, "max_abs": 1.8990594396401708 }, { "actuator_index": 1, "unit": "N m", "min": -2.201293546884898, "max": 2.190145808308799, "max_abs": 2.201293546884898 }, { "actuator_index": 2, "unit": "N m", "min": -0.8471340924972992, "max": 1.26602975003874, "max_abs": 1.26602975003874 }, { "actuator_index": 3, "unit": "N m", "min": -0.3680336430291402, "max": 0.3011959568419762, "max_abs": 0.3680336430291402 }, { "actuator_index": 4, "unit": "N m", "min": -0.34156909084796183, "max": 0.3804905686410809, "max_abs": 0.3804905686410809 }, { "actuator_index": 5, "unit": "N m", "min": -0.2991741026518019, "max": 0.33239298673206896, "max_abs": 0.33239298673206896 }, { "actuator_index": 6, "unit": "N", "min": -0.004372282258223503, "max": 0.007018384883924256, "max_abs": 0.007018384883924256 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 3.9079174171201885, "attempt_wall_seconds": 3.9098802499938756, "step_compute_seconds": { "count": 1000, "min": 0.0015871250070631504, "mean": 0.0037171465575229377, "p50": 0.0024348748847842216, "p95": 0.010897082975134254, "p99": 0.018298958893865347, "max": 0.03971483395434916, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 8, "policy_event_types": [], "final_object_position_m": [ 0.302729863667049, -0.026483639610325398, 0.07989224457978383 ], "final_tcp_position_m": [ 0.34648134245192264, 0.08375931020977218, 0.20993550576300773 ] }, { "id": "227037:friction080-mass040-layout00--reacquire_grasp_placement", "cohort_seed": 227037, "scene_id": "friction080-mass040-layout00", "variant": "reacquire_grasp_placement", "mode": "reacquire_grasp", "control": "placement", "friction": 0.8, "mass_kg": 0.04, "layout_index": 0, "valid": true, "success": true, "failure_stage": "completed", "terminal_reason": "success", "abort_reason": null, "abort_time_s": null, "completion_time_s": 16.44099999999711, "milestones": { "grasp_seen": true, "lift_seen": true, "carry_complete": true, "retention_lost": false, "dwell_seconds": 3.8089999999996915, "max_object_lift_m": 0.10132372004104259, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.00289337437478024 }, "qualification_count": 1, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.882586298906738, "peak_sampled_speed_m_s": 0.20331737009049097, "net_vertical_m": -0.15781842162168447, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2870795048469335 }, "object": { "path_m": 0.3346970576409609, "peak_sampled_speed_m_s": 0.20243427730404767, "net_vertical_m": 6.229985971550889e-11, "max_vertical_from_window_start_m": 0.10131797309716936, "min_vertical_from_window_start_m": -0.0003581911344328892 } }, "max_pad_normal_force_n": 1.2927646861561704, "max_abs_native_joint_velocity_rad_s": [ 0.7196009594779496, 0.5753778579006875, 0.5263646716915918, 0.3739608834106965, 0.22607483882452148, 0.1880041401768431 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3752982184241418, "max": 2.1121168741376235, "max_abs": 2.1121168741376235 }, { "actuator_index": 1, "unit": "N m", "min": -2.1746441138251384, "max": 1.9591955114037916, "max_abs": 2.1746441138251384 }, { "actuator_index": 2, "unit": "N m", "min": -0.8956225843295869, "max": 1.26602975003874, "max_abs": 1.26602975003874 }, { "actuator_index": 3, "unit": "N m", "min": -0.4238125472995504, "max": 0.4153532236062172, "max_abs": 0.4238125472995504 }, { "actuator_index": 4, "unit": "N m", "min": -0.2047622499393711, "max": 0.36767540253128134, "max_abs": 0.36767540253128134 }, { "actuator_index": 5, "unit": "N m", "min": -0.3008962796593533, "max": 0.35201783776950357, "max_abs": 0.35201783776950357 }, { "actuator_index": 6, "unit": "N", "min": -1.2354768433339016, "max": 0.019082549008306415, "max_abs": 1.2354768433339016 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.8389385829214007, "attempt_wall_seconds": 1.840653041144833, "step_compute_seconds": { "count": 1000, "min": 0.0014080831315368414, "mean": 0.0016681019437965005, "p50": 0.0015681670047342777, "p95": 0.0021784170530736446, "p99": 0.0026405409444123507, "max": 0.003951041027903557, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [ "probe_started", "acquisition_qualified" ], "final_object_position_m": [ 0.3495031760914429, 0.08349946341266601, 0.0798922445797837 ], "final_tcp_position_m": [ 0.3451279047914023, 0.08272981601059903, 0.20876652148262465 ] }, { "id": "227037:friction080-mass040-layout00--reacquire_grasp_open_jaw", "cohort_seed": 227037, "scene_id": "friction080-mass040-layout00", "variant": "reacquire_grasp_open_jaw", "mode": "reacquire_grasp", "control": "replay_open_jaw", "friction": 0.8, "mass_kg": 0.04, "layout_index": 0, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 0.00024328389263926498, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.1186729842360441 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8849621239380189, "peak_sampled_speed_m_s": 0.20244803691607863, "net_vertical_m": -0.15781676802170888, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2874736141724903 }, "object": { "path_m": 0.0010633406505971429, "peak_sampled_speed_m_s": 0.023307466192020496, "net_vertical_m": 6.229983195993327e-11, "max_vertical_from_window_start_m": 0.00023870814234168425, "min_vertical_from_window_start_m": -0.00018305163272633318 } }, "max_pad_normal_force_n": 0.25135704550557203, "max_abs_native_joint_velocity_rad_s": [ 0.7173466955108978, 0.5750237867887092, 0.5264565130068285, 0.3739608834106965, 0.22607483882452148, 0.1878236847772903 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.36343867800964347, "max": 2.083206563187567, "max_abs": 2.083206563187567 }, { "actuator_index": 1, "unit": "N m", "min": -2.0478531371251165, "max": 1.9591955114037916, "max_abs": 2.0478531371251165 }, { "actuator_index": 2, "unit": "N m", "min": -0.8956225843295869, "max": 1.26602975003874, "max_abs": 1.26602975003874 }, { "actuator_index": 3, "unit": "N m", "min": -0.41420261948417014, "max": 0.3095080560740193, "max_abs": 0.41420261948417014 }, { "actuator_index": 4, "unit": "N m", "min": -0.18861557976469, "max": 0.36767540253128134, "max_abs": 0.36767540253128134 }, { "actuator_index": 5, "unit": "N m", "min": -0.3009964945631305, "max": 0.35180915488633335, "max_abs": 0.35180915488633335 }, { "actuator_index": 6, "unit": "N", "min": -0.012797934026129276, "max": 0.008334126317868229, "max_abs": 0.012797934026129276 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 2.0652035831008106, "attempt_wall_seconds": 2.072715374873951, "step_compute_seconds": { "count": 1000, "min": 0.0015746247954666615, "mean": 0.001873058790108189, "p50": 0.0018235419411212206, "p95": 0.002327208872884512, "p99": 0.0032496668864041567, "max": 0.005833250004798174, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.3028056782383972, -0.026442189125554544, 0.07989224457978367 ], "final_tcp_position_m": [ 0.34513156304373777, 0.08273145580723339, 0.20876817508260023 ] }, { "id": "227037:friction080-mass040-layout00--hold", "cohort_seed": 227037, "scene_id": "friction080-mass040-layout00", "variant": "hold", "mode": "baseline", "control": "hold", "friction": 0.8, "mass_kg": 0.04, "layout_index": 0, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.229999849338697e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.11873951595912872 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 1.1376744407779719e-16, "peak_sampled_speed_m_s": 5.558267943191594e-15, "net_vertical_m": 1.1102230246251565e-16, "max_vertical_from_window_start_m": 1.1102230246251565e-16, "min_vertical_from_window_start_m": 0.0 }, "object": { "path_m": 2.0196358429606768e-10, "peak_sampled_speed_m_s": 1.6349227538150635e-09, "net_vertical_m": 6.229999849338697e-11, "max_vertical_from_window_start_m": 6.229999849338697e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 1.089099057831775e-19, 6.127451851049064e-18, 1.5410517561852992e-16, 1.2145569247038722e-17, 3.400546359107994e-16, 2.945467210750634e-17 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -5.149427585733612e-18, "max": -7.571162667696407e-19, "max_abs": 5.149427585733612e-18 }, { "actuator_index": 1, "unit": "N m", "min": 0.0, "max": 0.0, "max_abs": 0.0 }, { "actuator_index": 2, "unit": "N m", "min": 0.0, "max": 0.0, "max_abs": 0.0 }, { "actuator_index": 3, "unit": "N m", "min": 7.130976259465077e-17, "max": 1.5875460775817776e-16, "max_abs": 1.5875460775817776e-16 }, { "actuator_index": 4, "unit": "N m", "min": 5.770246053275149e-16, "max": 3.2953315452184146e-15, "max_abs": 3.2953315452184146e-15 }, { "actuator_index": 5, "unit": "N m", "min": -2.2098381316149117e-16, "max": -4.998795352997742e-17, "max_abs": 2.2098381316149117e-16 }, { "actuator_index": 6, "unit": "N", "min": 0.0, "max": 0.0, "max_abs": 0.0 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 2.0300985830836, "attempt_wall_seconds": 2.0319068329408765, "step_compute_seconds": { "count": 1000, "min": 0.001545000122860074, "mean": 0.0018038937179371715, "p50": 0.0017749997787177563, "p95": 0.0023085419088602066, "p99": 0.0027269581332802773, "max": 0.009736540960147977, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.302729863667049, -0.026483639610325398, 0.07989224457978383 ], "final_tcp_position_m": [ 0.4890696662845219, 0.001414197565480896, 0.3665849431043092 ] }, { "id": "227037:friction080-mass040-layout01--recovery_placement", "cohort_seed": 227037, "scene_id": "friction080-mass040-layout01", "variant": "recovery_placement", "mode": "recovery", "control": "placement", "friction": 0.8, "mass_kg": 0.04, "layout_index": 1, "valid": true, "success": true, "failure_stage": "completed", "terminal_reason": "success", "abort_reason": null, "abort_time_s": null, "completion_time_s": 15.752999999996709, "milestones": { "grasp_seen": true, "lift_seen": true, "carry_complete": true, "retention_lost": false, "dwell_seconds": 4.4969999999998365, "max_object_lift_m": 0.09808558143063446, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.004031051036888114 }, "qualification_count": 1, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.9020462818410151, "peak_sampled_speed_m_s": 0.19462615582847356, "net_vertical_m": -0.15667567960276343, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2874351128613747 }, "object": { "path_m": 0.3506532496170742, "peak_sampled_speed_m_s": 0.19435121347772452, "net_vertical_m": 6.229990134887231e-11, "max_vertical_from_window_start_m": 0.09805961535313425, "min_vertical_from_window_start_m": -9.181695961166247e-05 } }, "max_pad_normal_force_n": 1.023550489132121, "max_abs_native_joint_velocity_rad_s": [ 0.6520049369013755, 0.6200603850108982, 0.5117140698856161, 0.20879247062406783, 0.22474369678510153, 0.18515266494452792 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3331215817365507, "max": 1.8335254872295845, "max_abs": 1.8335254872295845 }, { "actuator_index": 1, "unit": "N m", "min": -2.163793838449635, "max": 2.0653599150935804, "max_abs": 2.163793838449635 }, { "actuator_index": 2, "unit": "N m", "min": -0.9235044162969359, "max": 1.2659732369764214, "max_abs": 1.2659732369764214 }, { "actuator_index": 3, "unit": "N m", "min": -0.36849001835123674, "max": 0.3019337907323063, "max_abs": 0.36849001835123674 }, { "actuator_index": 4, "unit": "N m", "min": -0.3701163225487978, "max": 0.3790025439557603, "max_abs": 0.3790025439557603 }, { "actuator_index": 5, "unit": "N m", "min": -0.29924436703729845, "max": 0.3340695115934733, "max_abs": 0.3340695115934733 }, { "actuator_index": 6, "unit": "N", "min": -0.8470529109531583, "max": 0.014704408571323713, "max_abs": 0.8470529109531583 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 2.7194092080462724, "attempt_wall_seconds": 2.721277292119339, "step_compute_seconds": { "count": 1000, "min": 0.0016827089712023735, "mean": 0.0025171497277915477, "p50": 0.002324082888662815, "p95": 0.00414770795032382, "p99": 0.0052813340444117785, "max": 0.007879917044192553, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [ "probe_started", "acquisition_qualified" ], "final_object_position_m": [ 0.3552612225007244, 0.08377228058110749, 0.0798922445797837 ], "final_tcp_position_m": [ 0.3510194501753192, 0.08372914437409375, 0.20990926350154568 ] }, { "id": "227037:friction080-mass040-layout01--recovery_open_jaw", "cohort_seed": 227037, "scene_id": "friction080-mass040-layout01", "variant": "recovery_open_jaw", "mode": "recovery", "control": "replay_open_jaw", "friction": 0.8, "mass_kg": 0.04, "layout_index": 1, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998735932967e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12785681825436876 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.9049235363473316, "peak_sampled_speed_m_s": 0.19531786765985007, "net_vertical_m": -0.15667530535729882, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2876566875549569 }, "object": { "path_m": 1.9671947300684623e-10, "peak_sampled_speed_m_s": 1.6349234568030949e-09, "net_vertical_m": 6.22998735932967e-11, "max_vertical_from_window_start_m": 6.22998735932967e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.6510442459188608, 0.6199244948171314, 0.5117228300017977, 0.20879247062406783, 0.22474369678510153, 0.18514654730000066 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3331215817365507, "max": 1.8046341261438599, "max_abs": 1.8046341261438599 }, { "actuator_index": 1, "unit": "N m", "min": -2.1633833953182773, "max": 2.200634157647997, "max_abs": 2.200634157647997 }, { "actuator_index": 2, "unit": "N m", "min": -0.8496420713639168, "max": 1.2659732369764214, "max_abs": 1.2659732369764214 }, { "actuator_index": 3, "unit": "N m", "min": -0.36609679917606197, "max": 0.3019337907323063, "max_abs": 0.36609679917606197 }, { "actuator_index": 4, "unit": "N m", "min": -0.33872654483028164, "max": 0.3790025439557603, "max_abs": 0.3790025439557603 }, { "actuator_index": 5, "unit": "N m", "min": -0.29924436703729845, "max": 0.3332373140033287, "max_abs": 0.3332373140033287 }, { "actuator_index": 6, "unit": "N", "min": -0.0038098497038567825, "max": 0.006769028969662694, "max_abs": 0.006769028969662694 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.898900792002678, "attempt_wall_seconds": 1.9011913330759853, "step_compute_seconds": { "count": 1000, "min": 0.0014575831592082977, "mean": 0.0017034129505045712, "p50": 0.0016401249449700117, "p95": 0.0020891251042485237, "p99": 0.002397916978225112, "max": 0.004020957974717021, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.30347210105805594, -0.03475713134503891, 0.07989224457978367 ], "final_tcp_position_m": [ 0.3510201139474436, 0.08372947082758711, 0.2099096377470103 ] }, { "id": "227037:friction080-mass040-layout01--reacquire_placement", "cohort_seed": 227037, "scene_id": "friction080-mass040-layout01", "variant": "reacquire_placement", "mode": "reacquire", "control": "placement", "friction": 0.8, "mass_kg": 0.04, "layout_index": 1, "valid": true, "success": true, "failure_stage": "completed", "terminal_reason": "success", "abort_reason": null, "abort_time_s": null, "completion_time_s": 15.752999999996709, "milestones": { "grasp_seen": true, "lift_seen": true, "carry_complete": true, "retention_lost": false, "dwell_seconds": 4.4969999999998365, "max_object_lift_m": 0.09808558143063446, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.004031051036888114 }, "qualification_count": 1, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.9020462818410151, "peak_sampled_speed_m_s": 0.19462615582847356, "net_vertical_m": -0.15667567960276343, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2874351128613747 }, "object": { "path_m": 0.3506532496170742, "peak_sampled_speed_m_s": 0.19435121347772452, "net_vertical_m": 6.229990134887231e-11, "max_vertical_from_window_start_m": 0.09805961535313425, "min_vertical_from_window_start_m": -9.181695961166247e-05 } }, "max_pad_normal_force_n": 1.023550489132121, "max_abs_native_joint_velocity_rad_s": [ 0.6520049369013755, 0.6200603850108982, 0.5117140698856161, 0.20879247062406783, 0.22474369678510153, 0.18515266494452792 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3331215817365507, "max": 1.8335254872295845, "max_abs": 1.8335254872295845 }, { "actuator_index": 1, "unit": "N m", "min": -2.163793838449635, "max": 2.0653599150935804, "max_abs": 2.163793838449635 }, { "actuator_index": 2, "unit": "N m", "min": -0.9235044162969359, "max": 1.2659732369764214, "max_abs": 1.2659732369764214 }, { "actuator_index": 3, "unit": "N m", "min": -0.36849001835123674, "max": 0.3019337907323063, "max_abs": 0.36849001835123674 }, { "actuator_index": 4, "unit": "N m", "min": -0.3701163225487978, "max": 0.3790025439557603, "max_abs": 0.3790025439557603 }, { "actuator_index": 5, "unit": "N m", "min": -0.29924436703729845, "max": 0.3340695115934733, "max_abs": 0.3340695115934733 }, { "actuator_index": 6, "unit": "N", "min": -0.8470529109531583, "max": 0.014704408571323713, "max_abs": 0.8470529109531583 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 2.56589883309789, "attempt_wall_seconds": 2.568438708083704, "step_compute_seconds": { "count": 1000, "min": 0.0016542498487979174, "mean": 0.002375462653581053, "p50": 0.0020778749603778124, "p95": 0.0038799999747425318, "p99": 0.005108540877699852, "max": 0.014001792063936591, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [ "probe_started", "acquisition_qualified" ], "final_object_position_m": [ 0.3552612225007244, 0.08377228058110749, 0.0798922445797837 ], "final_tcp_position_m": [ 0.3510194501753192, 0.08372914437409375, 0.20990926350154568 ] }, { "id": "227037:friction080-mass040-layout01--reacquire_open_jaw", "cohort_seed": 227037, "scene_id": "friction080-mass040-layout01", "variant": "reacquire_open_jaw", "mode": "reacquire", "control": "replay_open_jaw", "friction": 0.8, "mass_kg": 0.04, "layout_index": 1, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998735932967e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12785681825436876 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.9049235363473316, "peak_sampled_speed_m_s": 0.19531786765985007, "net_vertical_m": -0.15667530535729882, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2876566875549569 }, "object": { "path_m": 1.9671947300684623e-10, "peak_sampled_speed_m_s": 1.6349234568030949e-09, "net_vertical_m": 6.22998735932967e-11, "max_vertical_from_window_start_m": 6.22998735932967e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.6510442459188608, 0.6199244948171314, 0.5117228300017977, 0.20879247062406783, 0.22474369678510153, 0.18514654730000066 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3331215817365507, "max": 1.8046341261438599, "max_abs": 1.8046341261438599 }, { "actuator_index": 1, "unit": "N m", "min": -2.1633833953182773, "max": 2.200634157647997, "max_abs": 2.200634157647997 }, { "actuator_index": 2, "unit": "N m", "min": -0.8496420713639168, "max": 1.2659732369764214, "max_abs": 1.2659732369764214 }, { "actuator_index": 3, "unit": "N m", "min": -0.36609679917606197, "max": 0.3019337907323063, "max_abs": 0.36609679917606197 }, { "actuator_index": 4, "unit": "N m", "min": -0.33872654483028164, "max": 0.3790025439557603, "max_abs": 0.3790025439557603 }, { "actuator_index": 5, "unit": "N m", "min": -0.29924436703729845, "max": 0.3332373140033287, "max_abs": 0.3332373140033287 }, { "actuator_index": 6, "unit": "N", "min": -0.0038098497038567825, "max": 0.006769028969662694, "max_abs": 0.006769028969662694 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 2.8446684579830617, "attempt_wall_seconds": 2.847251667175442, "step_compute_seconds": { "count": 1000, "min": 0.001797500066459179, "mean": 0.002539978963788599, "p50": 0.0023363339714705944, "p95": 0.0043261670507490635, "p99": 0.005787374917417765, "max": 0.03607995784841478, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 2, "policy_event_types": [], "final_object_position_m": [ 0.30347210105805594, -0.03475713134503891, 0.07989224457978367 ], "final_tcp_position_m": [ 0.3510201139474436, 0.08372947082758711, 0.2099096377470103 ] }, { "id": "227037:friction080-mass040-layout01--reacquire_grasp_placement", "cohort_seed": 227037, "scene_id": "friction080-mass040-layout01", "variant": "reacquire_grasp_placement", "mode": "reacquire_grasp", "control": "placement", "friction": 0.8, "mass_kg": 0.04, "layout_index": 1, "valid": true, "success": true, "failure_stage": "completed", "terminal_reason": "success", "abort_reason": null, "abort_time_s": null, "completion_time_s": 16.720999999997453, "milestones": { "grasp_seen": true, "lift_seen": true, "carry_complete": true, "retention_lost": false, "dwell_seconds": 3.5289999999997224, "max_object_lift_m": 0.1011736795364228, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.0028415490204312826 }, "qualification_count": 1, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8936423840456598, "peak_sampled_speed_m_s": 0.20334138574252686, "net_vertical_m": -0.1578567616763365, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2870873863478198 }, "object": { "path_m": 0.34386164398983865, "peak_sampled_speed_m_s": 0.2024367599817831, "net_vertical_m": 6.230015114905285e-11, "max_vertical_from_window_start_m": 0.10116622891088199, "min_vertical_from_window_start_m": -0.00041850231251686076 } }, "max_pad_normal_force_n": 1.313923030494943, "max_abs_native_joint_velocity_rad_s": [ 0.7134023918538859, 0.5704270129656247, 0.5276469065115948, 0.37603465504724803, 0.21263387402244613, 0.1878212412573959 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3693593279024272, "max": 2.10428935045788, "max_abs": 2.10428935045788 }, { "actuator_index": 1, "unit": "N m", "min": -2.1770965153004056, "max": 1.969288369019111, "max_abs": 2.1770965153004056 }, { "actuator_index": 2, "unit": "N m", "min": -0.8925701681462783, "max": 1.2659732369764214, "max_abs": 1.2659732369764214 }, { "actuator_index": 3, "unit": "N m", "min": -0.41458904807034, "max": 0.4283138198711889, "max_abs": 0.4283138198711889 }, { "actuator_index": 4, "unit": "N m", "min": -0.20146343491141216, "max": 0.3667297673242079, "max_abs": 0.3667297673242079 }, { "actuator_index": 5, "unit": "N m", "min": -0.300707587850102, "max": 0.34982752413178275, "max_abs": 0.34982752413178275 }, { "actuator_index": 6, "unit": "N", "min": -1.260461620722201, "max": 0.01859426168292111, "max_abs": 1.260461620722201 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 2.4627375421114266, "attempt_wall_seconds": 2.4660745409782976, "step_compute_seconds": { "count": 1000, "min": 0.0018585838843137026, "mean": 0.002232590925646946, "p50": 0.002153125125914812, "p95": 0.003072416875511408, "p99": 0.0039047079626470804, "max": 0.004908999893814325, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [ "probe_started", "acquisition_qualified" ], "final_object_position_m": [ 0.35402038703352307, 0.08330669345723159, 0.07989224457978394 ], "final_tcp_position_m": [ 0.34968410124877014, 0.08273643131642007, 0.20872818142797261 ] }, { "id": "227037:friction080-mass040-layout01--reacquire_grasp_open_jaw", "cohort_seed": 227037, "scene_id": "friction080-mass040-layout01", "variant": "reacquire_grasp_open_jaw", "mode": "reacquire_grasp", "control": "replay_open_jaw", "friction": 0.8, "mass_kg": 0.04, "layout_index": 1, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998735932967e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12785681825436876 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8960545999840492, "peak_sampled_speed_m_s": 0.20245032518944533, "net_vertical_m": -0.15785455681482802, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28745925089511387 }, "object": { "path_m": 1.9671947300684623e-10, "peak_sampled_speed_m_s": 1.6349234568030949e-09, "net_vertical_m": 6.22998735932967e-11, "max_vertical_from_window_start_m": 6.22998735932967e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.71070098534849, 0.570215724544239, 0.5277302635250736, 0.37603465504724803, 0.21263387402244613, 0.18784141696105291 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3693593279024272, "max": 2.0751158700396513, "max_abs": 2.0751158700396513 }, { "actuator_index": 1, "unit": "N m", "min": -2.04981127387731, "max": 1.969288369019111, "max_abs": 2.04981127387731 }, { "actuator_index": 2, "unit": "N m", "min": -0.8925701681462783, "max": 1.2659732369764214, "max_abs": 1.2659732369764214 }, { "actuator_index": 3, "unit": "N m", "min": -0.403410716476575, "max": 0.3095228896031208, "max_abs": 0.403410716476575 }, { "actuator_index": 4, "unit": "N m", "min": -0.1937425642619388, "max": 0.3667297673242079, "max_abs": 0.3667297673242079 }, { "actuator_index": 5, "unit": "N m", "min": -0.30080605563819685, "max": 0.34963043752358924, "max_abs": 0.34963043752358924 }, { "actuator_index": 6, "unit": "N", "min": -0.006639180568266623, "max": 0.007716140384162573, "max_abs": 0.007716140384162573 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 4.00439945817925, "attempt_wall_seconds": 4.00746937491931, "step_compute_seconds": { "count": 1000, "min": 0.0020138330291956663, "mean": 0.00367187244608067, "p50": 0.0029552080668509007, "p95": 0.006688541965559125, "p99": 0.011806208174675703, "max": 0.06346333306282759, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 8, "policy_event_types": [], "final_object_position_m": [ 0.30347210105805594, -0.03475713134503891, 0.07989224457978367 ], "final_tcp_position_m": [ 0.34968898086391864, 0.0827385687263973, 0.2087303862894811 ] }, { "id": "227037:friction080-mass040-layout01--hold", "cohort_seed": 227037, "scene_id": "friction080-mass040-layout01", "variant": "hold", "mode": "baseline", "control": "hold", "friction": 0.8, "mass_kg": 0.04, "layout_index": 1, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998735932967e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12785681825436876 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 1.1376744407779719e-16, "peak_sampled_speed_m_s": 5.558267943191594e-15, "net_vertical_m": 1.1102230246251565e-16, "max_vertical_from_window_start_m": 1.1102230246251565e-16, "min_vertical_from_window_start_m": 0.0 }, "object": { "path_m": 1.9671947300684623e-10, "peak_sampled_speed_m_s": 1.6349234568030949e-09, "net_vertical_m": 6.22998735932967e-11, "max_vertical_from_window_start_m": 6.22998735932967e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 1.089099057831775e-19, 6.127451851049064e-18, 1.5410517561852992e-16, 1.2145569247038722e-17, 3.400546359107994e-16, 2.945467210750634e-17 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -5.149427585733612e-18, "max": -7.571162667696407e-19, "max_abs": 5.149427585733612e-18 }, { "actuator_index": 1, "unit": "N m", "min": 0.0, "max": 0.0, "max_abs": 0.0 }, { "actuator_index": 2, "unit": "N m", "min": 0.0, "max": 0.0, "max_abs": 0.0 }, { "actuator_index": 3, "unit": "N m", "min": 7.130976259465077e-17, "max": 1.5875460775817776e-16, "max_abs": 1.5875460775817776e-16 }, { "actuator_index": 4, "unit": "N m", "min": 5.770246053275149e-16, "max": 3.2953315452184146e-15, "max_abs": 3.2953315452184146e-15 }, { "actuator_index": 5, "unit": "N m", "min": -2.2098381316149117e-16, "max": -4.998795352997742e-17, "max_abs": 2.2098381316149117e-16 }, { "actuator_index": 6, "unit": "N", "min": 0.0, "max": 0.0, "max_abs": 0.0 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 2.0884017911739647, "attempt_wall_seconds": 2.0912337920162827, "step_compute_seconds": { "count": 1000, "min": 0.0017353328876197338, "mean": 0.0018552703391760588, "p50": 0.0017841660883277655, "p95": 0.0023341660853475332, "p99": 0.0026797500904649496, "max": 0.003243375103920698, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.30347210105805594, -0.03475713134503891, 0.07989224457978367 ], "final_tcp_position_m": [ 0.4890696662845219, 0.001414197565480896, 0.3665849431043092 ] }, { "id": "227037:friction080-mass060-layout00--recovery_placement", "cohort_seed": 227037, "scene_id": "friction080-mass060-layout00", "variant": "recovery_placement", "mode": "recovery", "control": "placement", "friction": 0.8, "mass_kg": 0.06, "layout_index": 0, "valid": true, "success": true, "failure_stage": "completed", "terminal_reason": "success", "abort_reason": null, "abort_time_s": null, "completion_time_s": 15.89599999999663, "milestones": { "grasp_seen": true, "lift_seen": true, "carry_complete": true, "retention_lost": false, "dwell_seconds": 4.353999999999789, "max_object_lift_m": 0.09537160102109721, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.004111748244993821 }, "qualification_count": 1, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 1, "holds": [ { "start_s": 12.019999999998777, "end_s": 12.239999999998656, "duration_s": 0.21999999999987807, "outcome": "carry_resumed", "reason": "sustained_loaded_relative_settling", "includes_second_probe": false, "actual_motion": { "start_s": 12.019999999998777, "end_s": 12.239999999998656, "duration_s": 0.21999999999987807, "sample_count": 12, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.0018135235264669903, "peak_sampled_speed_m_s": 0.04158740780199187, "net_vertical_m": 0.0003532986172561231, "max_vertical_from_window_start_m": 0.001069443791486685, "min_vertical_from_window_start_m": 0.0 }, "object": { "path_m": 0.0018417369504686886, "peak_sampled_speed_m_s": 0.04109833869642358, "net_vertical_m": 0.00029022449084981083, "max_vertical_from_window_start_m": 0.0010473913773843824, "min_vertical_from_window_start_m": 0.0 } }, "scope": "Recovery interval may include active second-probe motion; not all of this interval is stationary holding." } ], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8781671035524069, "peak_sampled_speed_m_s": 0.20325964088875104, "net_vertical_m": -0.1567446357774544, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2847468548047757 }, "object": { "path_m": 0.3287930754586904, "peak_sampled_speed_m_s": 0.20350962877636267, "net_vertical_m": 6.229991522666012e-11, "max_vertical_from_window_start_m": 0.09532565295183104, "min_vertical_from_window_start_m": -0.00048435376511013484 } }, "max_pad_normal_force_n": 1.2144712770962252, "max_abs_native_joint_velocity_rad_s": [ 0.671791631012203, 0.6396464624443435, 0.5267568220590789, 0.17161021315533886, 0.22940860199371116, 0.1843359185792267 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.32605060632972815, "max": 1.9690346931241152, "max_abs": 1.9690346931241152 }, { "actuator_index": 1, "unit": "N m", "min": -2.1746586767861515, "max": 2.0389085834915477, "max_abs": 2.1746586767861515 }, { "actuator_index": 2, "unit": "N m", "min": -0.8334021336053894, "max": 1.2660297508688387, "max_abs": 1.2660297508688387 }, { "actuator_index": 3, "unit": "N m", "min": -0.37270726987952574, "max": 0.3021838849534455, "max_abs": 0.37270726987952574 }, { "actuator_index": 4, "unit": "N m", "min": -0.3815065332975127, "max": 0.38049059185861545, "max_abs": 0.3815065332975127 }, { "actuator_index": 5, "unit": "N m", "min": -0.29917410269882033, "max": 0.3330125462071388, "max_abs": 0.3330125462071388 }, { "actuator_index": 6, "unit": "N", "min": -0.896909481738603, "max": 0.017939350522975683, "max_abs": 0.896909481738603 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 2.6409217088948935, "attempt_wall_seconds": 2.6431403749156743, "step_compute_seconds": { "count": 1000, "min": 0.0018562080804258585, "mean": 0.002423180453712121, "p50": 0.002093000104650855, "p95": 0.00430666608735919, "p99": 0.005639040842652321, "max": 0.007427708012983203, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [ "probe_started", "acquisition_qualified", "slowdown_started", "reassessment_started", "carry_resumed", "speed_restoration_started", "full_speed_restored" ], "final_object_position_m": [ 0.35061743521467226, 0.08283553108244678, 0.07989224457978372 ], "final_tcp_position_m": [ 0.34625886855886, 0.08363439903137293, 0.2098403073268547 ] }, { "id": "227037:friction080-mass060-layout00--recovery_open_jaw", "cohort_seed": 227037, "scene_id": "friction080-mass060-layout00", "variant": "recovery_open_jaw", "mode": "recovery", "control": "replay_open_jaw", "friction": 0.8, "mass_kg": 0.06, "layout_index": 0, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998874710845e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.11873941224495838 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8827822926343587, "peak_sampled_speed_m_s": 0.20449588897714394, "net_vertical_m": -0.15674456811282966, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2847622011820067 }, "object": { "path_m": 1.954266332474384e-10, "peak_sampled_speed_m_s": 1.6349227560203152e-09, "net_vertical_m": 6.22998874710845e-11, "max_vertical_from_window_start_m": 6.22998874710845e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.6694714698091525, 0.6388431132042024, 0.5266542369621273, 0.17161021315533886, 0.22940860199371116, 0.18429544431772857 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.32605060632972815, "max": 1.9286056250657548, "max_abs": 1.9286056250657548 }, { "actuator_index": 1, "unit": "N m", "min": -2.173517462122959, "max": 2.2356648004275, "max_abs": 2.2356648004275 }, { "actuator_index": 2, "unit": "N m", "min": -0.8282628349002152, "max": 1.2660297508688387, "max_abs": 1.2660297508688387 }, { "actuator_index": 3, "unit": "N m", "min": -0.3681115486316442, "max": 0.301195922481412, "max_abs": 0.3681115486316442 }, { "actuator_index": 4, "unit": "N m", "min": -0.33574983861451635, "max": 0.38049059185861545, "max_abs": 0.38049059185861545 }, { "actuator_index": 5, "unit": "N m", "min": -0.29917410269882033, "max": 0.3317432555369062, "max_abs": 0.3317432555369062 }, { "actuator_index": 6, "unit": "N", "min": -0.004432037571237002, "max": 0.007071711685148863, "max_abs": 0.007071711685148863 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 2.3040937918704003, "attempt_wall_seconds": 2.307878917083144, "step_compute_seconds": { "count": 1000, "min": 0.0017715420108288527, "mean": 0.00208603259222582, "p50": 0.0018827500753104687, "p95": 0.002821417059749365, "p99": 0.0036572501994669437, "max": 0.00938608287833631, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.3027298306904127, -0.02648351486348364, 0.0798922445797837 ], "final_tcp_position_m": [ 0.3462589947271286, 0.08363446270975519, 0.20984037499147945 ] }, { "id": "227037:friction080-mass060-layout00--reacquire_placement", "cohort_seed": 227037, "scene_id": "friction080-mass060-layout00", "variant": "reacquire_placement", "mode": "reacquire", "control": "placement", "friction": 0.8, "mass_kg": 0.06, "layout_index": 0, "valid": true, "success": true, "failure_stage": "completed", "terminal_reason": "success", "abort_reason": null, "abort_time_s": null, "completion_time_s": 15.89599999999663, "milestones": { "grasp_seen": true, "lift_seen": true, "carry_complete": true, "retention_lost": false, "dwell_seconds": 4.353999999999789, "max_object_lift_m": 0.09537160102109721, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.004111748244993821 }, "qualification_count": 1, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 1, "holds": [ { "start_s": 12.019999999998777, "end_s": 12.239999999998656, "duration_s": 0.21999999999987807, "outcome": "carry_resumed", "reason": "sustained_loaded_relative_settling", "includes_second_probe": false, "actual_motion": { "start_s": 12.019999999998777, "end_s": 12.239999999998656, "duration_s": 0.21999999999987807, "sample_count": 12, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.0018135235264669903, "peak_sampled_speed_m_s": 0.04158740780199187, "net_vertical_m": 0.0003532986172561231, "max_vertical_from_window_start_m": 0.001069443791486685, "min_vertical_from_window_start_m": 0.0 }, "object": { "path_m": 0.0018417369504686886, "peak_sampled_speed_m_s": 0.04109833869642358, "net_vertical_m": 0.00029022449084981083, "max_vertical_from_window_start_m": 0.0010473913773843824, "min_vertical_from_window_start_m": 0.0 } }, "scope": "Recovery interval may include active second-probe motion; not all of this interval is stationary holding." } ], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8781671035524069, "peak_sampled_speed_m_s": 0.20325964088875104, "net_vertical_m": -0.1567446357774544, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2847468548047757 }, "object": { "path_m": 0.3287930754586904, "peak_sampled_speed_m_s": 0.20350962877636267, "net_vertical_m": 6.229991522666012e-11, "max_vertical_from_window_start_m": 0.09532565295183104, "min_vertical_from_window_start_m": -0.00048435376511013484 } }, "max_pad_normal_force_n": 1.2144712770962252, "max_abs_native_joint_velocity_rad_s": [ 0.671791631012203, 0.6396464624443435, 0.5267568220590789, 0.17161021315533886, 0.22940860199371116, 0.1843359185792267 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.32605060632972815, "max": 1.9690346931241152, "max_abs": 1.9690346931241152 }, { "actuator_index": 1, "unit": "N m", "min": -2.1746586767861515, "max": 2.0389085834915477, "max_abs": 2.1746586767861515 }, { "actuator_index": 2, "unit": "N m", "min": -0.8334021336053894, "max": 1.2660297508688387, "max_abs": 1.2660297508688387 }, { "actuator_index": 3, "unit": "N m", "min": -0.37270726987952574, "max": 0.3021838849534455, "max_abs": 0.37270726987952574 }, { "actuator_index": 4, "unit": "N m", "min": -0.3815065332975127, "max": 0.38049059185861545, "max_abs": 0.3815065332975127 }, { "actuator_index": 5, "unit": "N m", "min": -0.29917410269882033, "max": 0.3330125462071388, "max_abs": 0.3330125462071388 }, { "actuator_index": 6, "unit": "N", "min": -0.896909481738603, "max": 0.017939350522975683, "max_abs": 0.896909481738603 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 2.93784987507388, "attempt_wall_seconds": 2.9404409998096526, "step_compute_seconds": { "count": 1000, "min": 0.0018526671919971704, "mean": 0.0026388216766063126, "p50": 0.002246040850877762, "p95": 0.004609375027939677, "p99": 0.00600154185667634, "max": 0.01616591587662697, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [ "probe_started", "acquisition_qualified", "slowdown_started", "reassessment_started", "carry_resumed", "speed_restoration_started", "full_speed_restored" ], "final_object_position_m": [ 0.35061743521467226, 0.08283553108244678, 0.07989224457978372 ], "final_tcp_position_m": [ 0.34625886855886, 0.08363439903137293, 0.2098403073268547 ] }, { "id": "227037:friction080-mass060-layout00--reacquire_open_jaw", "cohort_seed": 227037, "scene_id": "friction080-mass060-layout00", "variant": "reacquire_open_jaw", "mode": "reacquire", "control": "replay_open_jaw", "friction": 0.8, "mass_kg": 0.06, "layout_index": 0, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998874710845e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.11873941224495838 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8827822926343587, "peak_sampled_speed_m_s": 0.20449588897714394, "net_vertical_m": -0.15674456811282966, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2847622011820067 }, "object": { "path_m": 1.954266332474384e-10, "peak_sampled_speed_m_s": 1.6349227560203152e-09, "net_vertical_m": 6.22998874710845e-11, "max_vertical_from_window_start_m": 6.22998874710845e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.6694714698091525, 0.6388431132042024, 0.5266542369621273, 0.17161021315533886, 0.22940860199371116, 0.18429544431772857 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.32605060632972815, "max": 1.9286056250657548, "max_abs": 1.9286056250657548 }, { "actuator_index": 1, "unit": "N m", "min": -2.173517462122959, "max": 2.2356648004275, "max_abs": 2.2356648004275 }, { "actuator_index": 2, "unit": "N m", "min": -0.8282628349002152, "max": 1.2660297508688387, "max_abs": 1.2660297508688387 }, { "actuator_index": 3, "unit": "N m", "min": -0.3681115486316442, "max": 0.301195922481412, "max_abs": 0.3681115486316442 }, { "actuator_index": 4, "unit": "N m", "min": -0.33574983861451635, "max": 0.38049059185861545, "max_abs": 0.38049059185861545 }, { "actuator_index": 5, "unit": "N m", "min": -0.29917410269882033, "max": 0.3317432555369062, "max_abs": 0.3317432555369062 }, { "actuator_index": 6, "unit": "N", "min": -0.004432037571237002, "max": 0.007071711685148863, "max_abs": 0.007071711685148863 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 2.2284907079301775, "attempt_wall_seconds": 2.2310710418969393, "step_compute_seconds": { "count": 1000, "min": 0.0017691249959170818, "mean": 0.002008534144377336, "p50": 0.0018362910486757755, "p95": 0.002810457954183221, "p99": 0.0036536669358611107, "max": 0.015287166927009821, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.3027298306904127, -0.02648351486348364, 0.0798922445797837 ], "final_tcp_position_m": [ 0.3462589947271286, 0.08363446270975519, 0.20984037499147945 ] }, { "id": "227037:friction080-mass060-layout00--reacquire_grasp_placement", "cohort_seed": 227037, "scene_id": "friction080-mass060-layout00", "variant": "reacquire_grasp_placement", "mode": "reacquire_grasp", "control": "placement", "friction": 0.8, "mass_kg": 0.06, "layout_index": 0, "valid": true, "success": true, "failure_stage": "completed", "terminal_reason": "success", "abort_reason": null, "abort_time_s": null, "completion_time_s": 16.48199999999716, "milestones": { "grasp_seen": true, "lift_seen": true, "carry_complete": true, "retention_lost": false, "dwell_seconds": 3.767999999999696, "max_object_lift_m": 0.10073344096542916, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.001749399970499707 }, "qualification_count": 1, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8838461664789524, "peak_sampled_speed_m_s": 0.203294256547097, "net_vertical_m": -0.157881555743581, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28740270359485054 }, "object": { "path_m": 0.33411965272214955, "peak_sampled_speed_m_s": 0.20248680581875905, "net_vertical_m": 6.22998874710845e-11, "max_vertical_from_window_start_m": 0.10073270764415435, "min_vertical_from_window_start_m": -0.00042935698676352385 } }, "max_pad_normal_force_n": 1.448088391831627, "max_abs_native_joint_velocity_rad_s": [ 0.7179934854115176, 0.5515309832900424, 0.5313337902598184, 0.37396084354448694, 0.2260755721662072, 0.1909365242895981 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3607099341311759, "max": 2.114573561722158, "max_abs": 2.114573561722158 }, { "actuator_index": 1, "unit": "N m", "min": -2.2354990887206725, "max": 1.9591955472703546, "max_abs": 2.2354990887206725 }, { "actuator_index": 2, "unit": "N m", "min": -0.9542601968426112, "max": 1.2660297508688387, "max_abs": 1.2660297508688387 }, { "actuator_index": 3, "unit": "N m", "min": -0.42594737213978817, "max": 0.451930540998307, "max_abs": 0.451930540998307 }, { "actuator_index": 4, "unit": "N m", "min": -0.2026803501565606, "max": 0.36767541645225355, "max_abs": 0.36767541645225355 }, { "actuator_index": 5, "unit": "N m", "min": -0.2999937017704628, "max": 0.36353145316893887, "max_abs": 0.36353145316893887 }, { "actuator_index": 6, "unit": "N", "min": -1.259177103831208, "max": 0.017699029459413484, "max_abs": 1.259177103831208 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 3.083730249898508, "attempt_wall_seconds": 3.1001527081243694, "step_compute_seconds": { "count": 1000, "min": 0.0018665411043912172, "mean": 0.0028188877461943775, "p50": 0.0024974581319838762, "p95": 0.005063958000391722, "p99": 0.007769874995574355, "max": 0.023694832809269428, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 1, "policy_event_types": [ "probe_started", "acquisition_qualified" ], "final_object_position_m": [ 0.34827900753258695, 0.08326144547904166, 0.0798922445797837 ], "final_tcp_position_m": [ 0.3450608293005553, 0.08270202487781754, 0.2087033873607281 ] }, { "id": "227037:friction080-mass060-layout00--reacquire_grasp_open_jaw", "cohort_seed": 227037, "scene_id": "friction080-mass060-layout00", "variant": "reacquire_grasp_open_jaw", "mode": "reacquire_grasp", "control": "replay_open_jaw", "friction": 0.8, "mass_kg": 0.06, "layout_index": 0, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 0.00010360367559097972, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.11873984603434859 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8866458570571213, "peak_sampled_speed_m_s": 0.2019844548122234, "net_vertical_m": -0.15787860666899206, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2875717809860178 }, "object": { "path_m": 0.0002444646589494464, "peak_sampled_speed_m_s": 0.004093071363770938, "net_vertical_m": 6.229985971550889e-11, "max_vertical_from_window_start_m": 6.155181303720003e-05, "min_vertical_from_window_start_m": -6.585489745733475e-06 } }, "max_pad_normal_force_n": 0.3321901578044933, "max_abs_native_joint_velocity_rad_s": [ 0.7146494415729294, 0.5510083470527158, 0.5314979354085076, 0.37396084354448694, 0.2260755721662072, 0.18771932207827413 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3607099341311759, "max": 2.0719771214625204, "max_abs": 2.0719771214625204 }, { "actuator_index": 1, "unit": "N m", "min": -2.0450386862819414, "max": 2.0216836967795473, "max_abs": 2.0450386862819414 }, { "actuator_index": 2, "unit": "N m", "min": -0.8956227200439315, "max": 1.2660297508688387, "max_abs": 1.2660297508688387 }, { "actuator_index": 3, "unit": "N m", "min": -0.41181981984889404, "max": 0.3095883774975232, "max_abs": 0.41181981984889404 }, { "actuator_index": 4, "unit": "N m", "min": -0.18659544251447358, "max": 0.36767541645225355, "max_abs": 0.36767541645225355 }, { "actuator_index": 5, "unit": "N m", "min": -0.3001456897469579, "max": 0.36294533011182306, "max_abs": 0.36294533011182306 }, { "actuator_index": 6, "unit": "N", "min": -0.021120397720505002, "max": 0.008549041088766973, "max_abs": 0.021120397720505002 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 4.348987041972578, "attempt_wall_seconds": 4.3528471670579165, "step_compute_seconds": { "count": 1000, "min": 0.0020197920966893435, "mean": 0.0039726015753112735, "p50": 0.0025082500651478767, "p95": 0.007451625075191259, "p99": 0.022868333151564002, "max": 0.2334265410900116, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 12, "policy_event_types": [], "final_object_position_m": [ 0.3027349120700113, -0.02648600365530262, 0.07989224457978367 ], "final_tcp_position_m": [ 0.34506740429171734, 0.08270497077863644, 0.20870633643531705 ] }, { "id": "227037:friction080-mass060-layout00--hold", "cohort_seed": 227037, "scene_id": "friction080-mass060-layout00", "variant": "hold", "mode": "baseline", "control": "hold", "friction": 0.8, "mass_kg": 0.06, "layout_index": 0, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998874710845e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.11873941224495838 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 1.1376744407779719e-16, "peak_sampled_speed_m_s": 5.558267943191594e-15, "net_vertical_m": 1.1102230246251565e-16, "max_vertical_from_window_start_m": 1.1102230246251565e-16, "min_vertical_from_window_start_m": 0.0 }, "object": { "path_m": 1.954266332474384e-10, "peak_sampled_speed_m_s": 1.6349227560203152e-09, "net_vertical_m": 6.22998874710845e-11, "max_vertical_from_window_start_m": 6.22998874710845e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 1.089099057831775e-19, 6.127451851049064e-18, 1.5410517561852992e-16, 1.2145569247038722e-17, 3.400546359107994e-16, 2.945467210750634e-17 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -5.149427585733612e-18, "max": -7.571162667696407e-19, "max_abs": 5.149427585733612e-18 }, { "actuator_index": 1, "unit": "N m", "min": 0.0, "max": 0.0, "max_abs": 0.0 }, { "actuator_index": 2, "unit": "N m", "min": 0.0, "max": 0.0, "max_abs": 0.0 }, { "actuator_index": 3, "unit": "N m", "min": 7.130976259465077e-17, "max": 1.5875460775817776e-16, "max_abs": 1.5875460775817776e-16 }, { "actuator_index": 4, "unit": "N m", "min": 5.770246053275149e-16, "max": 3.2953315452184146e-15, "max_abs": 3.2953315452184146e-15 }, { "actuator_index": 5, "unit": "N m", "min": -2.2098381316149117e-16, "max": -4.998795352997742e-17, "max_abs": 2.2098381316149117e-16 }, { "actuator_index": 6, "unit": "N", "min": 0.0, "max": 0.0, "max_abs": 0.0 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 2.5596492500044405, "attempt_wall_seconds": 2.5648024580441415, "step_compute_seconds": { "count": 1000, "min": 0.0014110829215496778, "mean": 0.0023156309826299548, "p50": 0.0020083331037312746, "p95": 0.0038823748473078012, "p99": 0.004927082918584347, "max": 0.06584395910613239, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 1, "policy_event_types": [], "final_object_position_m": [ 0.3027298306904127, -0.02648351486348364, 0.0798922445797837 ], "final_tcp_position_m": [ 0.4890696662845219, 0.001414197565480896, 0.3665849431043092 ] }, { "id": "227037:friction080-mass060-layout01--recovery_placement", "cohort_seed": 227037, "scene_id": "friction080-mass060-layout01", "variant": "recovery_placement", "mode": "recovery", "control": "placement", "friction": 0.8, "mass_kg": 0.06, "layout_index": 1, "valid": true, "success": true, "failure_stage": "completed", "terminal_reason": "success", "abort_reason": null, "abort_time_s": null, "completion_time_s": 16.344999999996993, "milestones": { "grasp_seen": true, "lift_seen": true, "carry_complete": true, "retention_lost": false, "dwell_seconds": 3.904999999999681, "max_object_lift_m": 0.09378446911365755, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.0033620483969285355 }, "qualification_count": 1, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 1, "holds": [ { "start_s": 12.259999999998644, "end_s": 12.479999999998522, "duration_s": 0.21999999999987807, "outcome": "carry_resumed", "reason": "sustained_loaded_relative_settling", "includes_second_probe": false, "actual_motion": { "start_s": 12.259999999998644, "end_s": 12.479999999998522, "duration_s": 0.21999999999987807, "sample_count": 12, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.001805913712491601, "peak_sampled_speed_m_s": 0.041402256060799, "net_vertical_m": 0.0003513751990688735, "max_vertical_from_window_start_m": 0.00106501731623998, "min_vertical_from_window_start_m": 0.0 }, "object": { "path_m": 0.0018333514804381775, "peak_sampled_speed_m_s": 0.040849701705724877, "net_vertical_m": 0.00028683921145193636, "max_vertical_from_window_start_m": 0.0010408601533629103, "min_vertical_from_window_start_m": 0.0 } }, "scope": "Recovery interval may include active second-probe motion; not all of this interval is stationary holding." }, { "start_s": 14.779999999997248, "end_s": 20.00000000000146, "duration_s": 5.220000000004212, "outcome": "unresolved", "reason": null, "includes_second_probe": false, "actual_motion": { "start_s": 14.779999999997248, "end_s": 20.00000000000146, "duration_s": 5.220000000004212, "sample_count": 262, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.1458765483275286, "peak_sampled_speed_m_s": 0.19056884210164984, "net_vertical_m": 0.11330331497862875, "max_vertical_from_window_start_m": 0.11520262813831375, "min_vertical_from_window_start_m": -0.0036019696533689527 }, "object": { "path_m": 0.008181862036195996, "peak_sampled_speed_m_s": 0.05508643536407813, "net_vertical_m": -5.756136462926886e-05, "max_vertical_from_window_start_m": 0.0013645474211681774, "min_vertical_from_window_start_m": -0.0005692581488832282 } }, "scope": "Recovery interval may include active second-probe motion; not all of this interval is stationary holding." } ], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8857617763040805, "peak_sampled_speed_m_s": 0.20400091038709375, "net_vertical_m": -0.15689910588500255, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28474800112425036 }, "object": { "path_m": 0.3360084799736958, "peak_sampled_speed_m_s": 0.20412196021993131, "net_vertical_m": 6.22998735932967e-11, "max_vertical_from_window_start_m": 0.09376003244827495, "min_vertical_from_window_start_m": -0.0005116967219540858 } }, "max_pad_normal_force_n": 1.2418510003274754, "max_abs_native_joint_velocity_rad_s": [ 0.6614213599721627, 0.641166156721463, 0.5541589605307671, 0.20879251539446517, 0.29793473271179094, 0.1831775508983987 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3331227231468983, "max": 1.872945370618103, "max_abs": 1.872945370618103 }, { "actuator_index": 1, "unit": "N m", "min": -2.1926929637723163, "max": 2.0313583690455914, "max_abs": 2.1926929637723163 }, { "actuator_index": 2, "unit": "N m", "min": -1.2763404357774704, "max": 1.2659732369154426, "max_abs": 1.2763404357774704 }, { "actuator_index": 3, "unit": "N m", "min": -0.36937576043913123, "max": 0.304929676589351, "max_abs": 0.36937576043913123 }, { "actuator_index": 4, "unit": "N m", "min": -0.3826609371714049, "max": 0.379002576900227, "max_abs": 0.3826609371714049 }, { "actuator_index": 5, "unit": "N m", "min": -0.29924436746464766, "max": 0.3337909089592561, "max_abs": 0.3337909089592561 }, { "actuator_index": 6, "unit": "N", "min": -0.9594569631928561, "max": 0.01931509034526646, "max_abs": 0.9594569631928561 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 2.970848167082295, "attempt_wall_seconds": 2.972807958954945, "step_compute_seconds": { "count": 1000, "min": 0.0013994581531733274, "mean": 0.002672946082195267, "p50": 0.002507624914869666, "p95": 0.004367166897282004, "p99": 0.005431458121165633, "max": 0.015158583177253604, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [ "probe_started", "acquisition_qualified", "slowdown_started", "reassessment_started", "carry_resumed", "speed_restoration_started", "full_speed_restored", "reassessment_started" ], "final_object_position_m": [ 0.35459038205418697, 0.08372291945285366, 0.0798922445797837 ], "final_tcp_position_m": [ 0.3505099282965491, 0.08344130321655531, 0.20968583721930656 ] }, { "id": "227037:friction080-mass060-layout01--recovery_open_jaw", "cohort_seed": 227037, "scene_id": "friction080-mass060-layout01", "variant": "recovery_open_jaw", "mode": "recovery", "control": "replay_open_jaw", "friction": 0.8, "mass_kg": 0.06, "layout_index": 1, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998874710845e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.1278568710380664 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8914713880043189, "peak_sampled_speed_m_s": 0.20519870979120322, "net_vertical_m": -0.15689904736460825, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28476427580533625 }, "object": { "path_m": 2.0029155855598309e-10, "peak_sampled_speed_m_s": 1.6349227610006456e-09, "net_vertical_m": 6.22998874710845e-11, "max_vertical_from_window_start_m": 6.22998874710845e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.6598601455348971, 0.640988813744252, 0.5543088041271341, 0.20879251539446517, 0.27235706146750954, 0.18313243438336593 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3583719222405186, "max": 1.8323568077006573, "max_abs": 1.8323568077006573 }, { "actuator_index": 1, "unit": "N m", "min": -2.19056683264688, "max": 2.2340599665644447, "max_abs": 2.2340599665644447 }, { "actuator_index": 2, "unit": "N m", "min": -1.402831561683442, "max": 1.2659732369154426, "max_abs": 1.402831561683442 }, { "actuator_index": 3, "unit": "N m", "min": -0.3659661478256233, "max": 0.30193379114802, "max_abs": 0.3659661478256233 }, { "actuator_index": 4, "unit": "N m", "min": -0.33583227330274745, "max": 0.379002576900227, "max_abs": 0.379002576900227 }, { "actuator_index": 5, "unit": "N m", "min": -0.29924436746464766, "max": 0.3324445966850673, "max_abs": 0.3324445966850673 }, { "actuator_index": 6, "unit": "N", "min": -0.0038545839740546928, "max": 0.0068001787244396095, "max_abs": 0.0068001787244396095 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 2.1937744999304414, "attempt_wall_seconds": 2.1970345838926733, "step_compute_seconds": { "count": 1000, "min": 0.0016086660325527191, "mean": 0.0019910060537513346, "p50": 0.0018578749150037766, "p95": 0.002447458915412426, "p99": 0.0035434579476714134, "max": 0.004669332876801491, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.3034720033162035, -0.03475714888769658, 0.07989224457978371 ], "final_tcp_position_m": [ 0.35051003610794096, 0.0834413563573147, 0.20968589573970087 ] }, { "id": "227037:friction080-mass060-layout01--reacquire_placement", "cohort_seed": 227037, "scene_id": "friction080-mass060-layout01", "variant": "reacquire_placement", "mode": "reacquire", "control": "placement", "friction": 0.8, "mass_kg": 0.06, "layout_index": 1, "valid": true, "success": true, "failure_stage": "completed", "terminal_reason": "success", "abort_reason": null, "abort_time_s": null, "completion_time_s": 16.344999999996993, "milestones": { "grasp_seen": true, "lift_seen": true, "carry_complete": true, "retention_lost": false, "dwell_seconds": 3.904999999999681, "max_object_lift_m": 0.09378446911365755, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.0033620483969285355 }, "qualification_count": 1, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 1, "holds": [ { "start_s": 12.259999999998644, "end_s": 12.479999999998522, "duration_s": 0.21999999999987807, "outcome": "carry_resumed", "reason": "sustained_loaded_relative_settling", "includes_second_probe": false, "actual_motion": { "start_s": 12.259999999998644, "end_s": 12.479999999998522, "duration_s": 0.21999999999987807, "sample_count": 12, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.001805913712491601, "peak_sampled_speed_m_s": 0.041402256060799, "net_vertical_m": 0.0003513751990688735, "max_vertical_from_window_start_m": 0.00106501731623998, "min_vertical_from_window_start_m": 0.0 }, "object": { "path_m": 0.0018333514804381775, "peak_sampled_speed_m_s": 0.040849701705724877, "net_vertical_m": 0.00028683921145193636, "max_vertical_from_window_start_m": 0.0010408601533629103, "min_vertical_from_window_start_m": 0.0 } }, "scope": "Recovery interval may include active second-probe motion; not all of this interval is stationary holding." }, { "start_s": 14.779999999997248, "end_s": 20.00000000000146, "duration_s": 5.220000000004212, "outcome": "unresolved", "reason": null, "includes_second_probe": false, "actual_motion": { "start_s": 14.779999999997248, "end_s": 20.00000000000146, "duration_s": 5.220000000004212, "sample_count": 262, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.1458765483275286, "peak_sampled_speed_m_s": 0.19056884210164984, "net_vertical_m": 0.11330331497862875, "max_vertical_from_window_start_m": 0.11520262813831375, "min_vertical_from_window_start_m": -0.0036019696533689527 }, "object": { "path_m": 0.008181862036195996, "peak_sampled_speed_m_s": 0.05508643536407813, "net_vertical_m": -5.756136462926886e-05, "max_vertical_from_window_start_m": 0.0013645474211681774, "min_vertical_from_window_start_m": -0.0005692581488832282 } }, "scope": "Recovery interval may include active second-probe motion; not all of this interval is stationary holding." } ], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8857617763040805, "peak_sampled_speed_m_s": 0.20400091038709375, "net_vertical_m": -0.15689910588500255, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28474800112425036 }, "object": { "path_m": 0.3360084799736958, "peak_sampled_speed_m_s": 0.20412196021993131, "net_vertical_m": 6.22998735932967e-11, "max_vertical_from_window_start_m": 0.09376003244827495, "min_vertical_from_window_start_m": -0.0005116967219540858 } }, "max_pad_normal_force_n": 1.2418510003274754, "max_abs_native_joint_velocity_rad_s": [ 0.6614213599721627, 0.641166156721463, 0.5541589605307671, 0.20879251539446517, 0.29793473271179094, 0.1831775508983987 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3331227231468983, "max": 1.872945370618103, "max_abs": 1.872945370618103 }, { "actuator_index": 1, "unit": "N m", "min": -2.1926929637723163, "max": 2.0313583690455914, "max_abs": 2.1926929637723163 }, { "actuator_index": 2, "unit": "N m", "min": -1.2763404357774704, "max": 1.2659732369154426, "max_abs": 1.2763404357774704 }, { "actuator_index": 3, "unit": "N m", "min": -0.36937576043913123, "max": 0.304929676589351, "max_abs": 0.36937576043913123 }, { "actuator_index": 4, "unit": "N m", "min": -0.3826609371714049, "max": 0.379002576900227, "max_abs": 0.3826609371714049 }, { "actuator_index": 5, "unit": "N m", "min": -0.29924436746464766, "max": 0.3337909089592561, "max_abs": 0.3337909089592561 }, { "actuator_index": 6, "unit": "N", "min": -0.9594569631928561, "max": 0.01931509034526646, "max_abs": 0.9594569631928561 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 2.131035666912794, "attempt_wall_seconds": 2.133500959025696, "step_compute_seconds": { "count": 1000, "min": 0.0014992919750511646, "mean": 0.0019387920477893204, "p50": 0.0016810831148177385, "p95": 0.0033157500438392162, "p99": 0.0040802499279379845, "max": 0.011087958002462983, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [ "probe_started", "acquisition_qualified", "slowdown_started", "reassessment_started", "carry_resumed", "speed_restoration_started", "full_speed_restored", "reassessment_started" ], "final_object_position_m": [ 0.35459038205418697, 0.08372291945285366, 0.0798922445797837 ], "final_tcp_position_m": [ 0.3505099282965491, 0.08344130321655531, 0.20968583721930656 ] }, { "id": "227037:friction080-mass060-layout01--reacquire_open_jaw", "cohort_seed": 227037, "scene_id": "friction080-mass060-layout01", "variant": "reacquire_open_jaw", "mode": "reacquire", "control": "replay_open_jaw", "friction": 0.8, "mass_kg": 0.06, "layout_index": 1, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998874710845e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.1278568710380664 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8914713880043189, "peak_sampled_speed_m_s": 0.20519870979120322, "net_vertical_m": -0.15689904736460825, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28476427580533625 }, "object": { "path_m": 2.0029155855598309e-10, "peak_sampled_speed_m_s": 1.6349227610006456e-09, "net_vertical_m": 6.22998874710845e-11, "max_vertical_from_window_start_m": 6.22998874710845e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.6598601455348971, 0.640988813744252, 0.5543088041271341, 0.20879251539446517, 0.27235706146750954, 0.18313243438336593 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3583719222405186, "max": 1.8323568077006573, "max_abs": 1.8323568077006573 }, { "actuator_index": 1, "unit": "N m", "min": -2.19056683264688, "max": 2.2340599665644447, "max_abs": 2.2340599665644447 }, { "actuator_index": 2, "unit": "N m", "min": -1.402831561683442, "max": 1.2659732369154426, "max_abs": 1.402831561683442 }, { "actuator_index": 3, "unit": "N m", "min": -0.3659661478256233, "max": 0.30193379114802, "max_abs": 0.3659661478256233 }, { "actuator_index": 4, "unit": "N m", "min": -0.33583227330274745, "max": 0.379002576900227, "max_abs": 0.379002576900227 }, { "actuator_index": 5, "unit": "N m", "min": -0.29924436746464766, "max": 0.3324445966850673, "max_abs": 0.3324445966850673 }, { "actuator_index": 6, "unit": "N", "min": -0.0038545839740546928, "max": 0.0068001787244396095, "max_abs": 0.0068001787244396095 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 2.1098502499517053, "attempt_wall_seconds": 2.1129660829901695, "step_compute_seconds": { "count": 1000, "min": 0.0015769999008625746, "mean": 0.0018325132122263312, "p50": 0.001814959105104208, "p95": 0.0020954590290784836, "p99": 0.0023754159919917583, "max": 0.004156416980549693, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.3034720033162035, -0.03475714888769658, 0.07989224457978371 ], "final_tcp_position_m": [ 0.35051003610794096, 0.0834413563573147, 0.20968589573970087 ] }, { "id": "227037:friction080-mass060-layout01--reacquire_grasp_placement", "cohort_seed": 227037, "scene_id": "friction080-mass060-layout01", "variant": "reacquire_grasp_placement", "mode": "reacquire_grasp", "control": "placement", "friction": 0.8, "mass_kg": 0.06, "layout_index": 1, "valid": true, "success": true, "failure_stage": "completed", "terminal_reason": "success", "abort_reason": null, "abort_time_s": null, "completion_time_s": 16.761999999997503, "milestones": { "grasp_seen": true, "lift_seen": true, "carry_complete": true, "retention_lost": false, "dwell_seconds": 3.487999999999727, "max_object_lift_m": 0.10073090772282466, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.0017557866718220987 }, "qualification_count": 1, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8949605561456461, "peak_sampled_speed_m_s": 0.2032576423174988, "net_vertical_m": -0.15791684426177344, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28751816482065534 }, "object": { "path_m": 0.3435373891426211, "peak_sampled_speed_m_s": 0.2024435788865356, "net_vertical_m": 6.230012339347724e-11, "max_vertical_from_window_start_m": 0.10073090772282466, "min_vertical_from_window_start_m": -0.00044501549010272923 } }, "max_pad_normal_force_n": 1.4471527344843724, "max_abs_native_joint_velocity_rad_s": [ 0.7117547274191499, 0.5467579162770746, 0.5311868923592363, 0.3760346633203693, 0.212633878685346, 0.1906009945417729 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.36935944100836693, "max": 2.1030040131931216, "max_abs": 2.1030040131931216 }, { "actuator_index": 1, "unit": "N m", "min": -2.237736266184413, "max": 1.9692880799098447, "max_abs": 2.237736266184413 }, { "actuator_index": 2, "unit": "N m", "min": -0.935772123415731, "max": 1.2659732369154426, "max_abs": 1.2659732369154426 }, { "actuator_index": 3, "unit": "N m", "min": -0.41738879714386234, "max": 0.45013026333543626, "max_abs": 0.45013026333543626 }, { "actuator_index": 4, "unit": "N m", "min": -0.20481988210504554, "max": 0.36672977208425395, "max_abs": 0.36672977208425395 }, { "actuator_index": 5, "unit": "N m", "min": -0.2998538478310735, "max": 0.3622975378053255, "max_abs": 0.3622975378053255 }, { "actuator_index": 6, "unit": "N", "min": -1.2838148265270442, "max": 0.01837849987583673, "max_abs": 1.2838148265270442 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 3.5128601249307394, "attempt_wall_seconds": 3.5152143749874085, "step_compute_seconds": { "count": 1000, "min": 0.001878957962617278, "mean": 0.003223574775038287, "p50": 0.0030047909822314978, "p95": 0.005278999917209148, "p99": 0.00839658291079104, "max": 0.02751966705545783, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 2, "policy_event_types": [ "probe_started", "acquisition_qualified" ], "final_object_position_m": [ 0.3529301783281654, 0.0834105281584249, 0.07989224457978394 ], "final_tcp_position_m": [ 0.34961888090409116, 0.08271361199034247, 0.20866809884253568 ] }, { "id": "227037:friction080-mass060-layout01--reacquire_grasp_open_jaw", "cohort_seed": 227037, "scene_id": "friction080-mass060-layout01", "variant": "reacquire_grasp_open_jaw", "mode": "reacquire_grasp", "control": "replay_open_jaw", "friction": 0.8, "mass_kg": 0.06, "layout_index": 1, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998874710845e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.1278568710380664 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8979474432785977, "peak_sampled_speed_m_s": 0.20192524861140507, "net_vertical_m": -0.1579129497875726, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2877093094616495 }, "object": { "path_m": 2.0029155855598309e-10, "peak_sampled_speed_m_s": 1.6349227610006456e-09, "net_vertical_m": 6.22998874710845e-11, "max_vertical_from_window_start_m": 6.22998874710845e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.7077006359946952, 0.5463357122765455, 0.5313346578143915, 0.3760346633203693, 0.212633878685346, 0.18776794169205155 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.36935944100836693, "max": 2.0599612163103487, "max_abs": 2.0599612163103487 }, { "actuator_index": 1, "unit": "N m", "min": -2.046831612404702, "max": 2.0024706145105995, "max_abs": 2.046831612404702 }, { "actuator_index": 2, "unit": "N m", "min": -0.8925700816238447, "max": 1.2659732369154426, "max_abs": 1.2659732369154426 }, { "actuator_index": 3, "unit": "N m", "min": -0.40191021236654345, "max": 0.3098312163717778, "max_abs": 0.40191021236654345 }, { "actuator_index": 4, "unit": "N m", "min": -0.1919570343351822, "max": 0.36672977208425395, "max_abs": 0.36672977208425395 }, { "actuator_index": 5, "unit": "N m", "min": -0.29999753718960687, "max": 0.3617241842324086, "max_abs": 0.3617241842324086 }, { "actuator_index": 6, "unit": "N", "min": -0.006394815827757805, "max": 0.00798704933507377, "max_abs": 0.00798704933507377 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.7025872089434415, "attempt_wall_seconds": 1.7049761249218136, "step_compute_seconds": { "count": 1000, "min": 0.0013497502077370882, "mean": 0.0014972921176813544, "p50": 0.001478416146710515, "p95": 0.0016143331304192543, "p99": 0.0019161670934408903, "max": 0.00935879210010171, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.3034720033162035, -0.03475714888769658, 0.07989224457978371 ], "final_tcp_position_m": [ 0.3496275650872289, 0.08271741240242397, 0.20867199331673653 ] }, { "id": "227037:friction080-mass060-layout01--hold", "cohort_seed": 227037, "scene_id": "friction080-mass060-layout01", "variant": "hold", "mode": "baseline", "control": "hold", "friction": 0.8, "mass_kg": 0.06, "layout_index": 1, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998874710845e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.1278568710380664 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 1.1376744407779719e-16, "peak_sampled_speed_m_s": 5.558267943191594e-15, "net_vertical_m": 1.1102230246251565e-16, "max_vertical_from_window_start_m": 1.1102230246251565e-16, "min_vertical_from_window_start_m": 0.0 }, "object": { "path_m": 2.0029155855598309e-10, "peak_sampled_speed_m_s": 1.6349227610006456e-09, "net_vertical_m": 6.22998874710845e-11, "max_vertical_from_window_start_m": 6.22998874710845e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 1.089099057831775e-19, 6.127451851049064e-18, 1.5410517561852992e-16, 1.2145569247038722e-17, 3.400546359107994e-16, 2.945467210750634e-17 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -5.149427585733612e-18, "max": -7.571162667696407e-19, "max_abs": 5.149427585733612e-18 }, { "actuator_index": 1, "unit": "N m", "min": 0.0, "max": 0.0, "max_abs": 0.0 }, { "actuator_index": 2, "unit": "N m", "min": 0.0, "max": 0.0, "max_abs": 0.0 }, { "actuator_index": 3, "unit": "N m", "min": 7.130976259465077e-17, "max": 1.5875460775817776e-16, "max_abs": 1.5875460775817776e-16 }, { "actuator_index": 4, "unit": "N m", "min": 5.770246053275149e-16, "max": 3.2953315452184146e-15, "max_abs": 3.2953315452184146e-15 }, { "actuator_index": 5, "unit": "N m", "min": -2.2098381316149117e-16, "max": -4.998795352997742e-17, "max_abs": 2.2098381316149117e-16 }, { "actuator_index": 6, "unit": "N", "min": 0.0, "max": 0.0, "max_abs": 0.0 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.7921364158391953, "attempt_wall_seconds": 1.794569790828973, "step_compute_seconds": { "count": 1000, "min": 0.00144716608338058, "mean": 0.001601468318141997, "p50": 0.0015869580674916506, "p95": 0.0017633750103414059, "p99": 0.0018309159204363823, "max": 0.0021345829591155052, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.3034720033162035, -0.03475714888769658, 0.07989224457978371 ], "final_tcp_position_m": [ 0.4890696662845219, 0.001414197565480896, 0.3665849431043092 ] }, { "id": "227037:friction055-mass040-layout00--recovery_placement", "cohort_seed": 227037, "scene_id": "friction055-mass040-layout00", "variant": "recovery_placement", "mode": "recovery", "control": "placement", "friction": 0.55, "mass_kg": 0.04, "layout_index": 0, "valid": true, "success": true, "failure_stage": "completed", "terminal_reason": "success", "abort_reason": null, "abort_time_s": null, "completion_time_s": 15.810999999996676, "milestones": { "grasp_seen": true, "lift_seen": true, "carry_complete": true, "retention_lost": false, "dwell_seconds": 4.438999999999817, "max_object_lift_m": 0.09708176826076548, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.005254501850422588 }, "qualification_count": 1, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 1, "holds": [ { "start_s": 11.899999999998844, "end_s": 12.139999999998711, "duration_s": 0.239999999999867, "outcome": "carry_resumed", "reason": "sustained_loaded_relative_settling", "includes_second_probe": false, "actual_motion": { "start_s": 11.899999999998844, "end_s": 12.139999999998711, "duration_s": 0.239999999999867, "sample_count": 13, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.010808257489221648, "peak_sampled_speed_m_s": 0.15382647750642456, "net_vertical_m": 0.0007870701477155906, "max_vertical_from_window_start_m": 0.005597322780862973, "min_vertical_from_window_start_m": 0.0 }, "object": { "path_m": 0.009475885324474697, "peak_sampled_speed_m_s": 0.0985708917939197, "net_vertical_m": -0.0006732722475098485, "max_vertical_from_window_start_m": 0.004173088016672419, "min_vertical_from_window_start_m": -0.0006732722475098485 } }, "scope": "Recovery interval may include active second-probe motion; not all of this interval is stationary holding." } ], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8894188221601738, "peak_sampled_speed_m_s": 0.19710189829398397, "net_vertical_m": -0.15670783991437234, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2847467656133846 }, "object": { "path_m": 0.34061595375829334, "peak_sampled_speed_m_s": 0.19724654002635605, "net_vertical_m": 6.229985971550889e-11, "max_vertical_from_window_start_m": 0.09699082163044243, "min_vertical_from_window_start_m": -0.00024372120928442542 } }, "max_pad_normal_force_n": 0.7911631476549589, "max_abs_native_joint_velocity_rad_s": [ 0.6715648489403726, 0.6196592644723363, 0.5237998835248224, 0.17161080741837215, 0.2294086319249394, 0.18493030338421682 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3260499773879868, "max": 1.9504703493272748, "max_abs": 1.9504703493272748 }, { "actuator_index": 1, "unit": "N m", "min": -2.171405048466653, "max": 2.059590237317053, "max_abs": 2.171405048466653 }, { "actuator_index": 2, "unit": "N m", "min": -0.8546031096139473, "max": 1.26602975003874, "max_abs": 1.26602975003874 }, { "actuator_index": 3, "unit": "N m", "min": -0.37119501548423983, "max": 0.3011959568425624, "max_abs": 0.37119501548423983 }, { "actuator_index": 4, "unit": "N m", "min": -0.3651245554093041, "max": 0.38049056865695885, "max_abs": 0.38049056865695885 }, { "actuator_index": 5, "unit": "N m", "min": -0.2991741026517952, "max": 0.33252964109723726, "max_abs": 0.33252964109723726 }, { "actuator_index": 6, "unit": "N", "min": -0.8513586447429652, "max": 0.017027377007308386, "max_abs": 0.8513586447429652 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 2.2272369998972863, "attempt_wall_seconds": 2.2295888748485595, "step_compute_seconds": { "count": 1000, "min": 0.0016352080274373293, "mean": 0.0020032705971971152, "p50": 0.0017279579769819975, "p95": 0.0032824999652802944, "p99": 0.004298709100112319, "max": 0.005757167004048824, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [ "probe_started", "acquisition_qualified", "reassessment_started", "carry_resumed", "speed_restoration_started", "full_speed_restored" ], "final_object_position_m": [ 0.3518851431451824, 0.0837789255091895, 0.0798922445797837 ], "final_tcp_position_m": [ 0.3463447011261914, 0.08368285421555742, 0.20987710318993677 ] }, { "id": "227037:friction055-mass040-layout00--recovery_open_jaw", "cohort_seed": 227037, "scene_id": "friction055-mass040-layout00", "variant": "recovery_open_jaw", "mode": "recovery", "control": "replay_open_jaw", "friction": 0.55, "mass_kg": 0.04, "layout_index": 0, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.229994298223573e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.11873951597732817 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8919921854003475, "peak_sampled_speed_m_s": 0.19786602879598153, "net_vertical_m": -0.15670774518424824, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28476240684652576 }, "object": { "path_m": 1.6748533513134298e-10, "peak_sampled_speed_m_s": 1.6349227538150635e-09, "net_vertical_m": 6.229994298223573e-11, "max_vertical_from_window_start_m": 6.229994298223573e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.6700551920423718, 0.6205497808222581, 0.5238163918880232, 0.17161080741837215, 0.2294086319249394, 0.18492515256870481 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3260499773879868, "max": 1.9221569198514992, "max_abs": 1.9221569198514992 }, { "actuator_index": 1, "unit": "N m", "min": -2.1713246645797426, "max": 2.1872899702196804, "max_abs": 2.1872899702196804 }, { "actuator_index": 2, "unit": "N m", "min": -0.8282627988973132, "max": 1.26602975003874, "max_abs": 1.26602975003874 }, { "actuator_index": 3, "unit": "N m", "min": -0.36796571561657654, "max": 0.3011959568425624, "max_abs": 0.36796571561657654 }, { "actuator_index": 4, "unit": "N m", "min": -0.33428562479330637, "max": 0.38049056865695885, "max_abs": 0.38049056865695885 }, { "actuator_index": 5, "unit": "N m", "min": -0.2991741026517952, "max": 0.3315553106582064, "max_abs": 0.3315553106582064 }, { "actuator_index": 6, "unit": "N", "min": -0.004350886494297157, "max": 0.00704884894430613, "max_abs": 0.00704884894430613 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 2.0916867088526487, "attempt_wall_seconds": 2.0959611660800874, "step_compute_seconds": { "count": 1000, "min": 0.0015706669073551893, "mean": 0.0018967132831458002, "p50": 0.0018130000680685043, "p95": 0.0024593330454081297, "p99": 0.0030442499555647373, "max": 0.010030957870185375, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.30272986363270893, -0.026483639616247764, 0.07989224457978378 ], "final_tcp_position_m": [ 0.3463448782676266, 0.08368294367938257, 0.20987719792006088 ] }, { "id": "227037:friction055-mass040-layout00--reacquire_placement", "cohort_seed": 227037, "scene_id": "friction055-mass040-layout00", "variant": "reacquire_placement", "mode": "reacquire", "control": "placement", "friction": 0.55, "mass_kg": 0.04, "layout_index": 0, "valid": true, "success": true, "failure_stage": "completed", "terminal_reason": "success", "abort_reason": null, "abort_time_s": null, "completion_time_s": 15.810999999996676, "milestones": { "grasp_seen": true, "lift_seen": true, "carry_complete": true, "retention_lost": false, "dwell_seconds": 4.438999999999817, "max_object_lift_m": 0.09708176826076548, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.005254501850422588 }, "qualification_count": 1, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 1, "holds": [ { "start_s": 11.899999999998844, "end_s": 12.139999999998711, "duration_s": 0.239999999999867, "outcome": "carry_resumed", "reason": "sustained_loaded_relative_settling", "includes_second_probe": false, "actual_motion": { "start_s": 11.899999999998844, "end_s": 12.139999999998711, "duration_s": 0.239999999999867, "sample_count": 13, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.010808257489221648, "peak_sampled_speed_m_s": 0.15382647750642456, "net_vertical_m": 0.0007870701477155906, "max_vertical_from_window_start_m": 0.005597322780862973, "min_vertical_from_window_start_m": 0.0 }, "object": { "path_m": 0.009475885324474697, "peak_sampled_speed_m_s": 0.0985708917939197, "net_vertical_m": -0.0006732722475098485, "max_vertical_from_window_start_m": 0.004173088016672419, "min_vertical_from_window_start_m": -0.0006732722475098485 } }, "scope": "Recovery interval may include active second-probe motion; not all of this interval is stationary holding." } ], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8894188221601738, "peak_sampled_speed_m_s": 0.19710189829398397, "net_vertical_m": -0.15670783991437234, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2847467656133846 }, "object": { "path_m": 0.34061595375829334, "peak_sampled_speed_m_s": 0.19724654002635605, "net_vertical_m": 6.229985971550889e-11, "max_vertical_from_window_start_m": 0.09699082163044243, "min_vertical_from_window_start_m": -0.00024372120928442542 } }, "max_pad_normal_force_n": 0.7911631476549589, "max_abs_native_joint_velocity_rad_s": [ 0.6715648489403726, 0.6196592644723363, 0.5237998835248224, 0.17161080741837215, 0.2294086319249394, 0.18493030338421682 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3260499773879868, "max": 1.9504703493272748, "max_abs": 1.9504703493272748 }, { "actuator_index": 1, "unit": "N m", "min": -2.171405048466653, "max": 2.059590237317053, "max_abs": 2.171405048466653 }, { "actuator_index": 2, "unit": "N m", "min": -0.8546031096139473, "max": 1.26602975003874, "max_abs": 1.26602975003874 }, { "actuator_index": 3, "unit": "N m", "min": -0.37119501548423983, "max": 0.3011959568425624, "max_abs": 0.37119501548423983 }, { "actuator_index": 4, "unit": "N m", "min": -0.3651245554093041, "max": 0.38049056865695885, "max_abs": 0.38049056865695885 }, { "actuator_index": 5, "unit": "N m", "min": -0.2991741026517952, "max": 0.33252964109723726, "max_abs": 0.33252964109723726 }, { "actuator_index": 6, "unit": "N", "min": -0.8513586447429652, "max": 0.017027377007308386, "max_abs": 0.8513586447429652 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 2.274596708128229, "attempt_wall_seconds": 2.2769392908085138, "step_compute_seconds": { "count": 1000, "min": 0.001508292043581605, "mean": 0.0020070466455072164, "p50": 0.0018941250164061785, "p95": 0.0032666658516973257, "p99": 0.004302124958485365, "max": 0.005751666845753789, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [ "probe_started", "acquisition_qualified", "reassessment_started", "carry_resumed", "speed_restoration_started", "full_speed_restored" ], "final_object_position_m": [ 0.3518851431451824, 0.0837789255091895, 0.0798922445797837 ], "final_tcp_position_m": [ 0.3463447011261914, 0.08368285421555742, 0.20987710318993677 ] }, { "id": "227037:friction055-mass040-layout00--reacquire_open_jaw", "cohort_seed": 227037, "scene_id": "friction055-mass040-layout00", "variant": "reacquire_open_jaw", "mode": "reacquire", "control": "replay_open_jaw", "friction": 0.55, "mass_kg": 0.04, "layout_index": 0, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.229994298223573e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.11873951597732817 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8919921854003475, "peak_sampled_speed_m_s": 0.19786602879598153, "net_vertical_m": -0.15670774518424824, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28476240684652576 }, "object": { "path_m": 1.6748533513134298e-10, "peak_sampled_speed_m_s": 1.6349227538150635e-09, "net_vertical_m": 6.229994298223573e-11, "max_vertical_from_window_start_m": 6.229994298223573e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.6700551920423718, 0.6205497808222581, 0.5238163918880232, 0.17161080741837215, 0.2294086319249394, 0.18492515256870481 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3260499773879868, "max": 1.9221569198514992, "max_abs": 1.9221569198514992 }, { "actuator_index": 1, "unit": "N m", "min": -2.1713246645797426, "max": 2.1872899702196804, "max_abs": 2.1872899702196804 }, { "actuator_index": 2, "unit": "N m", "min": -0.8282627988973132, "max": 1.26602975003874, "max_abs": 1.26602975003874 }, { "actuator_index": 3, "unit": "N m", "min": -0.36796571561657654, "max": 0.3011959568425624, "max_abs": 0.36796571561657654 }, { "actuator_index": 4, "unit": "N m", "min": -0.33428562479330637, "max": 0.38049056865695885, "max_abs": 0.38049056865695885 }, { "actuator_index": 5, "unit": "N m", "min": -0.2991741026517952, "max": 0.3315553106582064, "max_abs": 0.3315553106582064 }, { "actuator_index": 6, "unit": "N", "min": -0.004350886494297157, "max": 0.00704884894430613, "max_abs": 0.00704884894430613 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.7841874579899013, "attempt_wall_seconds": 1.7868088749237359, "step_compute_seconds": { "count": 1000, "min": 0.0014483751729130745, "mean": 0.0016129780993796884, "p50": 0.0016183748375624418, "p95": 0.0018397080712020397, "p99": 0.0019121249206364155, "max": 0.0024702090304344893, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.30272986363270893, -0.026483639616247764, 0.07989224457978378 ], "final_tcp_position_m": [ 0.3463448782676266, 0.08368294367938257, 0.20987719792006088 ] }, { "id": "227037:friction055-mass040-layout00--reacquire_grasp_placement", "cohort_seed": 227037, "scene_id": "friction055-mass040-layout00", "variant": "reacquire_grasp_placement", "mode": "reacquire_grasp", "control": "placement", "friction": 0.55, "mass_kg": 0.04, "layout_index": 0, "valid": true, "success": true, "failure_stage": "completed", "terminal_reason": "success", "abort_reason": null, "abort_time_s": null, "completion_time_s": 16.44099999999711, "milestones": { "grasp_seen": true, "lift_seen": true, "carry_complete": true, "retention_lost": false, "dwell_seconds": 3.8089999999996915, "max_object_lift_m": 0.1012922418324885, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.0031387294850540796 }, "qualification_count": 1, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8826006258572929, "peak_sampled_speed_m_s": 0.20334576441363528, "net_vertical_m": -0.15781091328786356, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2873011395443129 }, "object": { "path_m": 0.3352953348962954, "peak_sampled_speed_m_s": 0.20246426370350185, "net_vertical_m": 6.229985971550889e-11, "max_vertical_from_window_start_m": 0.10128687804509742, "min_vertical_from_window_start_m": -0.0004119169800945732 } }, "max_pad_normal_force_n": 1.0481971631679248, "max_abs_native_joint_velocity_rad_s": [ 0.7198572332546467, 0.5758755587929935, 0.5269458526093648, 0.3739608834547266, 0.2260748388386594, 0.18779572256276983 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.37194127762074913, "max": 2.121254000310918, "max_abs": 2.121254000310918 }, { "actuator_index": 1, "unit": "N m", "min": -2.174654171274426, "max": 1.9591955111156523, "max_abs": 2.174654171274426 }, { "actuator_index": 2, "unit": "N m", "min": -0.8985215949793428, "max": 1.26602975003874, "max_abs": 1.26602975003874 }, { "actuator_index": 3, "unit": "N m", "min": -0.42400186033717757, "max": 0.36438808892345875, "max_abs": 0.42400186033717757 }, { "actuator_index": 4, "unit": "N m", "min": -0.20504739596642274, "max": 0.36767540253128134, "max_abs": 0.36767540253128134 }, { "actuator_index": 5, "unit": "N m", "min": -0.3008486509432613, "max": 0.3523423136740913, "max_abs": 0.3523423136740913 }, { "actuator_index": 6, "unit": "N", "min": -1.2067793894649663, "max": 0.01850615782855325, "max_abs": 1.2067793894649663 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 2.1799703328870237, "attempt_wall_seconds": 2.1824483750388026, "step_compute_seconds": { "count": 1000, "min": 0.0015437919646501541, "mean": 0.0019907131125219166, "p50": 0.0018629999831318855, "p95": 0.0026345420628786087, "p99": 0.003821625141426921, "max": 0.029228332918137312, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 1, "policy_event_types": [ "probe_started", "acquisition_qualified" ], "final_object_position_m": [ 0.34974327872587985, 0.08344069812719622, 0.0798922445797837 ], "final_tcp_position_m": [ 0.3451372241888983, 0.08273127854256218, 0.20877402981644555 ] }, { "id": "227037:friction055-mass040-layout00--reacquire_grasp_open_jaw", "cohort_seed": 227037, "scene_id": "friction055-mass040-layout00", "variant": "reacquire_grasp_open_jaw", "mode": "reacquire_grasp", "control": "replay_open_jaw", "friction": 0.55, "mass_kg": 0.04, "layout_index": 0, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 0.00021629188585765846, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.11823708148939505 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8847737834963624, "peak_sampled_speed_m_s": 0.2024816350513464, "net_vertical_m": -0.15780978869177847, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28742670706890566 }, "object": { "path_m": 0.0010859783478080498, "peak_sampled_speed_m_s": 0.0185565495785039, "net_vertical_m": 6.229985971550889e-11, "max_vertical_from_window_start_m": 0.00021337114521063905, "min_vertical_from_window_start_m": -0.00018473184506491436 } }, "max_pad_normal_force_n": 0.26934723566592167, "max_abs_native_joint_velocity_rad_s": [ 0.717618387927972, 0.5754994462320817, 0.5270403954845795, 0.3739608834547266, 0.2260748388386594, 0.1878236526536404 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.36070982785468164, "max": 2.092444723814279, "max_abs": 2.092444723814279 }, { "actuator_index": 1, "unit": "N m", "min": -2.0478596830383253, "max": 1.9591955111156523, "max_abs": 2.0478596830383253 }, { "actuator_index": 2, "unit": "N m", "min": -0.8956225842778451, "max": 1.26602975003874, "max_abs": 1.26602975003874 }, { "actuator_index": 3, "unit": "N m", "min": -0.41437441048004375, "max": 0.3095554683191213, "max_abs": 0.41437441048004375 }, { "actuator_index": 4, "unit": "N m", "min": -0.1905206190502593, "max": 0.36767540253128134, "max_abs": 0.36767540253128134 }, { "actuator_index": 5, "unit": "N m", "min": -0.30094795358299997, "max": 0.3521290036350839, "max_abs": 0.3521290036350839 }, { "actuator_index": 6, "unit": "N", "min": -0.0230123006662748, "max": 0.008330303450108989, "max_abs": 0.0230123006662748 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 2.0050073750317097, "attempt_wall_seconds": 2.008699541911483, "step_compute_seconds": { "count": 1000, "min": 0.0015942500904202461, "mean": 0.0018127563081216068, "p50": 0.0018109579104930162, "p95": 0.0021131657995283604, "p99": 0.0023394590243697166, "max": 0.0053783750627189875, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.3031601070456948, -0.026113779432226043, 0.0798922445797837 ], "final_tcp_position_m": [ 0.3451397070235536, 0.08273239208048108, 0.20877515441253064 ] }, { "id": "227037:friction055-mass040-layout00--hold", "cohort_seed": 227037, "scene_id": "friction055-mass040-layout00", "variant": "hold", "mode": "baseline", "control": "hold", "friction": 0.55, "mass_kg": 0.04, "layout_index": 0, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.229994298223573e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.11873951597732817 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 1.1376744407779719e-16, "peak_sampled_speed_m_s": 5.558267943191594e-15, "net_vertical_m": 1.1102230246251565e-16, "max_vertical_from_window_start_m": 1.1102230246251565e-16, "min_vertical_from_window_start_m": 0.0 }, "object": { "path_m": 1.6748533513134298e-10, "peak_sampled_speed_m_s": 1.6349227538150635e-09, "net_vertical_m": 6.229994298223573e-11, "max_vertical_from_window_start_m": 6.229994298223573e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 1.089099057831775e-19, 6.127451851049064e-18, 1.5410517561852992e-16, 1.2145569247038722e-17, 3.400546359107994e-16, 2.945467210750634e-17 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -5.149427585733612e-18, "max": -7.571162667696407e-19, "max_abs": 5.149427585733612e-18 }, { "actuator_index": 1, "unit": "N m", "min": 0.0, "max": 0.0, "max_abs": 0.0 }, { "actuator_index": 2, "unit": "N m", "min": 0.0, "max": 0.0, "max_abs": 0.0 }, { "actuator_index": 3, "unit": "N m", "min": 7.130976259465077e-17, "max": 1.5875460775817776e-16, "max_abs": 1.5875460775817776e-16 }, { "actuator_index": 4, "unit": "N m", "min": 5.770246053275149e-16, "max": 3.2953315452184146e-15, "max_abs": 3.2953315452184146e-15 }, { "actuator_index": 5, "unit": "N m", "min": -2.2098381316149117e-16, "max": -4.998795352997742e-17, "max_abs": 2.2098381316149117e-16 }, { "actuator_index": 6, "unit": "N", "min": 0.0, "max": 0.0, "max_abs": 0.0 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.7799028339795768, "attempt_wall_seconds": 1.7820061659440398, "step_compute_seconds": { "count": 1000, "min": 0.0014161248691380024, "mean": 0.0015797303672879935, "p50": 0.0015773328486829996, "p95": 0.0017972500063478947, "p99": 0.001960208173841238, "max": 0.0024253330193459988, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.30272986363270893, -0.026483639616247764, 0.07989224457978378 ], "final_tcp_position_m": [ 0.4890696662845219, 0.001414197565480896, 0.3665849431043092 ] }, { "id": "227037:friction055-mass040-layout01--recovery_placement", "cohort_seed": 227037, "scene_id": "friction055-mass040-layout01", "variant": "recovery_placement", "mode": "recovery", "control": "placement", "friction": 0.55, "mass_kg": 0.04, "layout_index": 1, "valid": true, "success": true, "failure_stage": "completed", "terminal_reason": "success", "abort_reason": null, "abort_time_s": null, "completion_time_s": 16.123999999996723, "milestones": { "grasp_seen": true, "lift_seen": true, "carry_complete": true, "retention_lost": false, "dwell_seconds": 4.125999999999713, "max_object_lift_m": 0.09686428501034637, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.005894205602484015 }, "qualification_count": 1, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 1, "holds": [ { "start_s": 12.239999999998656, "end_s": 12.459999999998534, "duration_s": 0.21999999999987807, "outcome": "carry_resumed", "reason": "sustained_loaded_relative_settling", "includes_second_probe": false, "actual_motion": { "start_s": 12.239999999998656, "end_s": 12.459999999998534, "duration_s": 0.21999999999987807, "sample_count": 12, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.001815873099686489, "peak_sampled_speed_m_s": 0.04503652452862547, "net_vertical_m": 0.0006405011866482263, "max_vertical_from_window_start_m": 0.0012130019769623773, "min_vertical_from_window_start_m": 0.0 }, "object": { "path_m": 0.0018278692501600224, "peak_sampled_speed_m_s": 0.04459374943956212, "net_vertical_m": 0.0005860249306493259, "max_vertical_from_window_start_m": 0.0011860964252152217, "min_vertical_from_window_start_m": 0.0 } }, "scope": "Recovery interval may include active second-probe motion; not all of this interval is stationary holding." } ], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8908129467039332, "peak_sampled_speed_m_s": 0.1977536791539345, "net_vertical_m": -0.15676967383590137, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2847479018095965 }, "object": { "path_m": 0.34096807057640127, "peak_sampled_speed_m_s": 0.19791891154416685, "net_vertical_m": 6.22998874710845e-11, "max_vertical_from_window_start_m": 0.09680397301426182, "min_vertical_from_window_start_m": -0.0002677758360303123 } }, "max_pad_normal_force_n": 0.7899080275173898, "max_abs_native_joint_velocity_rad_s": [ 0.6609280557129422, 0.6075859358739449, 0.5490888072254176, 0.20879247062255452, 0.2247436967627829, 0.18481085014645304 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.33312158175582063, "max": 1.8481895438347866, "max_abs": 1.8481895438347866 }, { "actuator_index": 1, "unit": "N m", "min": -2.151762202392149, "max": 2.0557985031923636, "max_abs": 2.151762202392149 }, { "actuator_index": 2, "unit": "N m", "min": -0.8310370145016606, "max": 1.2659732369764214, "max_abs": 1.2659732369764214 }, { "actuator_index": 3, "unit": "N m", "min": -0.36832104887670813, "max": 0.30267373264105757, "max_abs": 0.36832104887670813 }, { "actuator_index": 4, "unit": "N m", "min": -0.3660338938109664, "max": 0.379002543950973, "max_abs": 0.379002543950973 }, { "actuator_index": 5, "unit": "N m", "min": -0.29924436703729707, "max": 0.3339035019615496, "max_abs": 0.3339035019615496 }, { "actuator_index": 6, "unit": "N", "min": -0.8387806539190148, "max": 0.01719075759682198, "max_abs": 0.8387806539190148 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 2.2194112499710172, "attempt_wall_seconds": 2.221714499872178, "step_compute_seconds": { "count": 1000, "min": 0.0015135419089347124, "mean": 0.0020481979299802333, "p50": 0.0017455839551985264, "p95": 0.0036299999337643385, "p99": 0.004720832919701934, "max": 0.009806915884837508, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [ "probe_started", "acquisition_qualified", "slowdown_started", "reassessment_started", "carry_resumed", "speed_restoration_started", "full_speed_restored" ], "final_object_position_m": [ 0.3571208285885014, 0.08407843732643341, 0.07989224457978368 ], "final_tcp_position_m": [ 0.3508016433165268, 0.08360739730397611, 0.20981526926840774 ] }, { "id": "227037:friction055-mass040-layout01--recovery_open_jaw", "cohort_seed": 227037, "scene_id": "friction055-mass040-layout01", "variant": "recovery_open_jaw", "mode": "recovery", "control": "replay_open_jaw", "friction": 0.55, "mass_kg": 0.04, "layout_index": 1, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998735932967e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12785681822795086 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8933705706564452, "peak_sampled_speed_m_s": 0.1985218235464071, "net_vertical_m": -0.15676956652098906, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28476449366330403 }, "object": { "path_m": 1.6913907417046473e-10, "peak_sampled_speed_m_s": 1.6349234568030949e-09, "net_vertical_m": 6.22998735932967e-11, "max_vertical_from_window_start_m": 6.22998735932967e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.6602880627943091, 0.6073352382675856, 0.5491489427273601, 0.20879247062255452, 0.2247436967627829, 0.184803098088157 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.33312158175582063, "max": 1.8195900391394382, "max_abs": 1.8195900391394382 }, { "actuator_index": 1, "unit": "N m", "min": -2.1283553883721424, "max": 2.1908646758266883, "max_abs": 2.1908646758266883 }, { "actuator_index": 2, "unit": "N m", "min": -0.8272777282322039, "max": 1.2659732369764214, "max_abs": 1.2659732369764214 }, { "actuator_index": 3, "unit": "N m", "min": -0.3658020548013532, "max": 0.3019337907326083, "max_abs": 0.3658020548013532 }, { "actuator_index": 4, "unit": "N m", "min": -0.33494905976295186, "max": 0.379002543950973, "max_abs": 0.379002543950973 }, { "actuator_index": 5, "unit": "N m", "min": -0.29924436703729707, "max": 0.33293211083118657, "max_abs": 0.33293211083118657 }, { "actuator_index": 6, "unit": "N", "min": -0.00377669320142493, "max": 0.006779983697890124, "max_abs": 0.006779983697890124 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.863484709057957, "attempt_wall_seconds": 1.865895832888782, "step_compute_seconds": { "count": 1000, "min": 0.0015722920652478933, "mean": 0.001657210347475484, "p50": 0.0016321251168847084, "p95": 0.0018439998384565115, "p99": 0.001972292084246874, "max": 0.0023689591325819492, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.303472101060122, -0.03475713131739145, 0.07989224457978367 ], "final_tcp_position_m": [ 0.3508018456965559, 0.08360749765383486, 0.20981537658332006 ] }, { "id": "227037:friction055-mass040-layout01--reacquire_placement", "cohort_seed": 227037, "scene_id": "friction055-mass040-layout01", "variant": "reacquire_placement", "mode": "reacquire", "control": "placement", "friction": 0.55, "mass_kg": 0.04, "layout_index": 1, "valid": true, "success": true, "failure_stage": "completed", "terminal_reason": "success", "abort_reason": null, "abort_time_s": null, "completion_time_s": 16.123999999996723, "milestones": { "grasp_seen": true, "lift_seen": true, "carry_complete": true, "retention_lost": false, "dwell_seconds": 4.125999999999713, "max_object_lift_m": 0.09686428501034637, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.005894205602484015 }, "qualification_count": 1, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 1, "holds": [ { "start_s": 12.239999999998656, "end_s": 12.459999999998534, "duration_s": 0.21999999999987807, "outcome": "carry_resumed", "reason": "sustained_loaded_relative_settling", "includes_second_probe": false, "actual_motion": { "start_s": 12.239999999998656, "end_s": 12.459999999998534, "duration_s": 0.21999999999987807, "sample_count": 12, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.001815873099686489, "peak_sampled_speed_m_s": 0.04503652452862547, "net_vertical_m": 0.0006405011866482263, "max_vertical_from_window_start_m": 0.0012130019769623773, "min_vertical_from_window_start_m": 0.0 }, "object": { "path_m": 0.0018278692501600224, "peak_sampled_speed_m_s": 0.04459374943956212, "net_vertical_m": 0.0005860249306493259, "max_vertical_from_window_start_m": 0.0011860964252152217, "min_vertical_from_window_start_m": 0.0 } }, "scope": "Recovery interval may include active second-probe motion; not all of this interval is stationary holding." } ], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8908129467039332, "peak_sampled_speed_m_s": 0.1977536791539345, "net_vertical_m": -0.15676967383590137, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2847479018095965 }, "object": { "path_m": 0.34096807057640127, "peak_sampled_speed_m_s": 0.19791891154416685, "net_vertical_m": 6.22998874710845e-11, "max_vertical_from_window_start_m": 0.09680397301426182, "min_vertical_from_window_start_m": -0.0002677758360303123 } }, "max_pad_normal_force_n": 0.7899080275173898, "max_abs_native_joint_velocity_rad_s": [ 0.6609280557129422, 0.6075859358739449, 0.5490888072254176, 0.20879247062255452, 0.2247436967627829, 0.18481085014645304 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.33312158175582063, "max": 1.8481895438347866, "max_abs": 1.8481895438347866 }, { "actuator_index": 1, "unit": "N m", "min": -2.151762202392149, "max": 2.0557985031923636, "max_abs": 2.151762202392149 }, { "actuator_index": 2, "unit": "N m", "min": -0.8310370145016606, "max": 1.2659732369764214, "max_abs": 1.2659732369764214 }, { "actuator_index": 3, "unit": "N m", "min": -0.36832104887670813, "max": 0.30267373264105757, "max_abs": 0.36832104887670813 }, { "actuator_index": 4, "unit": "N m", "min": -0.3660338938109664, "max": 0.379002543950973, "max_abs": 0.379002543950973 }, { "actuator_index": 5, "unit": "N m", "min": -0.29924436703729707, "max": 0.3339035019615496, "max_abs": 0.3339035019615496 }, { "actuator_index": 6, "unit": "N", "min": -0.8387806539190148, "max": 0.01719075759682198, "max_abs": 0.8387806539190148 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 2.220013292040676, "attempt_wall_seconds": 2.2222720000427216, "step_compute_seconds": { "count": 1000, "min": 0.0016225420404225588, "mean": 0.0020331673847977074, "p50": 0.0018721248488873243, "p95": 0.0034009169321507215, "p99": 0.00462833303026855, "max": 0.011629709042608738, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [ "probe_started", "acquisition_qualified", "slowdown_started", "reassessment_started", "carry_resumed", "speed_restoration_started", "full_speed_restored" ], "final_object_position_m": [ 0.3571208285885014, 0.08407843732643341, 0.07989224457978368 ], "final_tcp_position_m": [ 0.3508016433165268, 0.08360739730397611, 0.20981526926840774 ] }, { "id": "227037:friction055-mass040-layout01--reacquire_open_jaw", "cohort_seed": 227037, "scene_id": "friction055-mass040-layout01", "variant": "reacquire_open_jaw", "mode": "reacquire", "control": "replay_open_jaw", "friction": 0.55, "mass_kg": 0.04, "layout_index": 1, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998735932967e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12785681822795086 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8933705706564452, "peak_sampled_speed_m_s": 0.1985218235464071, "net_vertical_m": -0.15676956652098906, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28476449366330403 }, "object": { "path_m": 1.6913907417046473e-10, "peak_sampled_speed_m_s": 1.6349234568030949e-09, "net_vertical_m": 6.22998735932967e-11, "max_vertical_from_window_start_m": 6.22998735932967e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.6602880627943091, 0.6073352382675856, 0.5491489427273601, 0.20879247062255452, 0.2247436967627829, 0.184803098088157 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.33312158175582063, "max": 1.8195900391394382, "max_abs": 1.8195900391394382 }, { "actuator_index": 1, "unit": "N m", "min": -2.1283553883721424, "max": 2.1908646758266883, "max_abs": 2.1908646758266883 }, { "actuator_index": 2, "unit": "N m", "min": -0.8272777282322039, "max": 1.2659732369764214, "max_abs": 1.2659732369764214 }, { "actuator_index": 3, "unit": "N m", "min": -0.3658020548013532, "max": 0.3019337907326083, "max_abs": 0.3658020548013532 }, { "actuator_index": 4, "unit": "N m", "min": -0.33494905976295186, "max": 0.379002543950973, "max_abs": 0.379002543950973 }, { "actuator_index": 5, "unit": "N m", "min": -0.29924436703729707, "max": 0.33293211083118657, "max_abs": 0.33293211083118657 }, { "actuator_index": 6, "unit": "N", "min": -0.00377669320142493, "max": 0.006779983697890124, "max_abs": 0.006779983697890124 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.8229672501329333, "attempt_wall_seconds": 1.8255440841894597, "step_compute_seconds": { "count": 1000, "min": 0.0014440000522881746, "mean": 0.0016474226920399815, "p50": 0.0016235411167144775, "p95": 0.0018580839969217777, "p99": 0.001996374921873212, "max": 0.002164292149245739, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.303472101060122, -0.03475713131739145, 0.07989224457978367 ], "final_tcp_position_m": [ 0.3508018456965559, 0.08360749765383486, 0.20981537658332006 ] }, { "id": "227037:friction055-mass040-layout01--reacquire_grasp_placement", "cohort_seed": 227037, "scene_id": "friction055-mass040-layout01", "variant": "reacquire_grasp_placement", "mode": "reacquire_grasp", "control": "placement", "friction": 0.55, "mass_kg": 0.04, "layout_index": 1, "valid": true, "success": true, "failure_stage": "completed", "terminal_reason": "success", "abort_reason": null, "abort_time_s": null, "completion_time_s": 16.71999999999745, "milestones": { "grasp_seen": true, "lift_seen": true, "carry_complete": true, "retention_lost": false, "dwell_seconds": 3.5299999999997222, "max_object_lift_m": 0.1011662282709924, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.003136416462840345 }, "qualification_count": 1, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8934614821837596, "peak_sampled_speed_m_s": 0.2033900032889724, "net_vertical_m": -0.15784497901122757, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2872820144694992 }, "object": { "path_m": 0.34400928050311064, "peak_sampled_speed_m_s": 0.20251047300078887, "net_vertical_m": 6.230013727126504e-11, "max_vertical_from_window_start_m": 0.10115917091435893, "min_vertical_from_window_start_m": -0.0004035907280906387 } }, "max_pad_normal_force_n": 1.0218161914204038, "max_abs_native_joint_velocity_rad_s": [ 0.7137456647684394, 0.5711405681267356, 0.5283322154622528, 0.37603465503611244, 0.21263387402311576, 0.18781959347924942 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.36935932811909744, "max": 2.1172568862216794, "max_abs": 2.1172568862216794 }, { "actuator_index": 1, "unit": "N m", "min": -2.1770979085777924, "max": 1.9692883693758176, "max_abs": 2.1770979085777924 }, { "actuator_index": 2, "unit": "N m", "min": -0.8925701677043918, "max": 1.2659732369764214, "max_abs": 1.2659732369764214 }, { "actuator_index": 3, "unit": "N m", "min": -0.4146853511311379, "max": 0.3817294984694999, "max_abs": 0.4146853511311379 }, { "actuator_index": 4, "unit": "N m", "min": -0.20089141836314894, "max": 0.3667297673242079, "max_abs": 0.3667297673242079 }, { "actuator_index": 5, "unit": "N m", "min": -0.30066174960081415, "max": 0.3502353882577047, "max_abs": 0.3502353882577047 }, { "actuator_index": 6, "unit": "N", "min": -1.2342362922863608, "max": 0.019113232629027976, "max_abs": 1.2342362922863608 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.9737893329001963, "attempt_wall_seconds": 1.9760691670235246, "step_compute_seconds": { "count": 1000, "min": 0.0015185410156846046, "mean": 0.0017913837134838104, "p50": 0.0016945418901741505, "p95": 0.002353083109483123, "p99": 0.0033507919870316982, "max": 0.00443858397193253, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [ "probe_started", "acquisition_qualified" ], "final_object_position_m": [ 0.35434264803675886, 0.08345585036704388, 0.07989224457978393 ], "final_tcp_position_m": [ 0.3496978082454634, 0.08274082670386494, 0.20873996409308154 ] }, { "id": "227037:friction055-mass040-layout01--reacquire_grasp_open_jaw", "cohort_seed": 227037, "scene_id": "friction055-mass040-layout01", "variant": "reacquire_grasp_open_jaw", "mode": "reacquire_grasp", "control": "replay_open_jaw", "friction": 0.55, "mass_kg": 0.04, "layout_index": 1, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998735932967e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12785681822795086 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8958077765709647, "peak_sampled_speed_m_s": 0.20248641909889917, "net_vertical_m": -0.15784359282902, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2874269691788511 }, "object": { "path_m": 1.6913907417046473e-10, "peak_sampled_speed_m_s": 1.6349234568030949e-09, "net_vertical_m": 6.22998735932967e-11, "max_vertical_from_window_start_m": 6.22998735932967e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.7110350079239708, 0.5709221414496484, 0.52841816345759, 0.37603465503611244, 0.21263387402311576, 0.1878481548451926 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.36935932811909744, "max": 2.0881420490224345, "max_abs": 2.0881420490224345 }, { "actuator_index": 1, "unit": "N m", "min": -2.0497584679039846, "max": 1.9692883693758176, "max_abs": 2.0497584679039846 }, { "actuator_index": 2, "unit": "N m", "min": -0.8925701677043918, "max": 1.2659732369764214, "max_abs": 1.2659732369764214 }, { "actuator_index": 3, "unit": "N m", "min": -0.40347040993719085, "max": 0.30951845729535155, "max_abs": 0.40347040993719085 }, { "actuator_index": 4, "unit": "N m", "min": -0.1960477389204307, "max": 0.3667297673242079, "max_abs": 0.3667297673242079 }, { "actuator_index": 5, "unit": "N m", "min": -0.30076065245335926, "max": 0.35003154695861216, "max_abs": 0.35003154695861216 }, { "actuator_index": 6, "unit": "N", "min": -0.006651850305662288, "max": 0.0077048242924937504, "max_abs": 0.0077048242924937504 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.7804952079895884, "attempt_wall_seconds": 1.7828591249417514, "step_compute_seconds": { "count": 1000, "min": 0.0014509579632431269, "mean": 0.0016010717577300967, "p50": 0.0016142921522259712, "p95": 0.0016930419951677322, "p99": 0.0018592088017612696, "max": 0.011646124999970198, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.303472101060122, -0.03475713131739145, 0.07989224457978367 ], "final_tcp_position_m": [ 0.3497008680509907, 0.08274216760602973, 0.20874135027528912 ] }, { "id": "227037:friction055-mass040-layout01--hold", "cohort_seed": 227037, "scene_id": "friction055-mass040-layout01", "variant": "hold", "mode": "baseline", "control": "hold", "friction": 0.55, "mass_kg": 0.04, "layout_index": 1, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998735932967e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12785681822795086 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 1.1376744407779719e-16, "peak_sampled_speed_m_s": 5.558267943191594e-15, "net_vertical_m": 1.1102230246251565e-16, "max_vertical_from_window_start_m": 1.1102230246251565e-16, "min_vertical_from_window_start_m": 0.0 }, "object": { "path_m": 1.6913907417046473e-10, "peak_sampled_speed_m_s": 1.6349234568030949e-09, "net_vertical_m": 6.22998735932967e-11, "max_vertical_from_window_start_m": 6.22998735932967e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 1.089099057831775e-19, 6.127451851049064e-18, 1.5410517561852992e-16, 1.2145569247038722e-17, 3.400546359107994e-16, 2.945467210750634e-17 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -5.149427585733612e-18, "max": -7.571162667696407e-19, "max_abs": 5.149427585733612e-18 }, { "actuator_index": 1, "unit": "N m", "min": 0.0, "max": 0.0, "max_abs": 0.0 }, { "actuator_index": 2, "unit": "N m", "min": 0.0, "max": 0.0, "max_abs": 0.0 }, { "actuator_index": 3, "unit": "N m", "min": 7.130976259465077e-17, "max": 1.5875460775817776e-16, "max_abs": 1.5875460775817776e-16 }, { "actuator_index": 4, "unit": "N m", "min": 5.770246053275149e-16, "max": 3.2953315452184146e-15, "max_abs": 3.2953315452184146e-15 }, { "actuator_index": 5, "unit": "N m", "min": -2.2098381316149117e-16, "max": -4.998795352997742e-17, "max_abs": 2.2098381316149117e-16 }, { "actuator_index": 6, "unit": "N", "min": 0.0, "max": 0.0, "max_abs": 0.0 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.8199722080025822, "attempt_wall_seconds": 1.822088207816705, "step_compute_seconds": { "count": 1000, "min": 0.0014245829079300165, "mean": 0.0016411600601859391, "p50": 0.0015950840897858143, "p95": 0.0018300830852240324, "p99": 0.0019439579918980598, "max": 0.0023210421204566956, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.303472101060122, -0.03475713131739145, 0.07989224457978367 ], "final_tcp_position_m": [ 0.4890696662845219, 0.001414197565480896, 0.3665849431043092 ] }, { "id": "227037:friction055-mass060-layout00--recovery_placement", "cohort_seed": 227037, "scene_id": "friction055-mass060-layout00", "variant": "recovery_placement", "mode": "recovery", "control": "placement", "friction": 0.55, "mass_kg": 0.06, "layout_index": 0, "valid": true, "success": false, "failure_stage": "acquisition_never_qualified", "terminal_reason": "timeout", "abort_reason": "retry_budget_exhausted:object_not_following", "abort_time_s": 14.459999999997425, "completion_time_s": null, "milestones": { "grasp_seen": true, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 0.0001641969053757797, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.11779158217352112 }, "qualification_count": 0, "retry_count": 1, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.4294229362711948, "peak_sampled_speed_m_s": 0.16131555077547738, "net_vertical_m": -0.28062801131564763, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2847469066080506 }, "object": { "path_m": 0.0043567283469038535, "peak_sampled_speed_m_s": 0.010566042496193376, "net_vertical_m": -6.503052892792294e-06, "max_vertical_from_window_start_m": 0.0001613667426069998, "min_vertical_from_window_start_m": -3.452242853928256e-05 } }, "max_pad_normal_force_n": 0.5413579886468161, "max_abs_native_joint_velocity_rad_s": [ 0.09811512098407967, 0.48198894817899596, 0.4195797298669348, 0.17161021314058225, 0.22940860195432866, 0.10006436896670658 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.32605060631272664, "max": 0.2954102366187552, "max_abs": 0.32605060631272664 }, { "actuator_index": 1, "unit": "N m", "min": -1.5492657364293763, "max": 1.918163354695821, "max_abs": 1.918163354695821 }, { "actuator_index": 2, "unit": "N m", "min": -1.127774804053118, "max": 1.4089859918395575, "max_abs": 1.4089859918395575 }, { "actuator_index": 3, "unit": "N m", "min": -0.3044815797372622, "max": 0.30119592248192006, "max_abs": 0.3044815797372622 }, { "actuator_index": 4, "unit": "N m", "min": -0.1795945369684695, "max": 0.38049059186264067, "max_abs": 0.38049059186264067 }, { "actuator_index": 5, "unit": "N m", "min": -0.29917410269881484, "max": 0.1658501505252441, "max_abs": 0.29917410269881484 }, { "actuator_index": 6, "unit": "N", "min": -0.8155777499488537, "max": 0.019747874860429837, "max_abs": 0.8155777499488537 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 2.265731291146949, "attempt_wall_seconds": 2.2680732919834554, "step_compute_seconds": { "count": 1000, "min": 0.0015060000587254763, "mean": 0.002073649536818266, "p50": 0.0016987088602036238, "p95": 0.0035571251064538956, "p99": 0.005274916999042034, "max": 0.00694208312779665, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [ "probe_started", "alarm", "retry_started", "retry_completed", "probe_started", "alarm", "abort" ], "final_object_position_m": [ 0.30606403446960645, -0.02674356985460759, 0.07988574146459101 ], "final_tcp_position_m": [ 0.30463879556714274, -0.027064603613572966, 0.08595693178866148 ] }, { "id": "227037:friction055-mass060-layout00--recovery_open_jaw", "cohort_seed": 227037, "scene_id": "friction055-mass060-layout00", "variant": "recovery_open_jaw", "mode": "recovery", "control": "replay_open_jaw", "friction": 0.55, "mass_kg": 0.06, "layout_index": 0, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998874710845e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.11873941223249612 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.43375166114469965, "peak_sampled_speed_m_s": 0.16131555077547738, "net_vertical_m": -0.2807101320002715, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28476234714731596 }, "object": { "path_m": 1.7221626363258058e-10, "peak_sampled_speed_m_s": 1.6349227560203152e-09, "net_vertical_m": 6.22998874710845e-11, "max_vertical_from_window_start_m": 6.22998874710845e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.09811512098407967, 0.48198894817899596, 0.4195797298669348, 0.17161021314058225, 0.22940860195432866, 0.10006436896670658 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.32605060631272664, "max": 0.2954102366187552, "max_abs": 0.32605060631272664 }, { "actuator_index": 1, "unit": "N m", "min": -1.5492657364293763, "max": 1.918163354695821, "max_abs": 1.918163354695821 }, { "actuator_index": 2, "unit": "N m", "min": -1.1055618124099311, "max": 1.4079156141521167, "max_abs": 1.4079156141521167 }, { "actuator_index": 3, "unit": "N m", "min": -0.3044815797372622, "max": 0.30119592248192006, "max_abs": 0.3044815797372622 }, { "actuator_index": 4, "unit": "N m", "min": -0.1800217103569608, "max": 0.38049059186264067, "max_abs": 0.38049059186264067 }, { "actuator_index": 5, "unit": "N m", "min": -0.29917410269881484, "max": 0.1658501505252441, "max_abs": 0.29917410269881484 }, { "actuator_index": 6, "unit": "N", "min": -0.00028401502905195386, "max": 0.00044218046952138046, "max_abs": 0.00044218046952138046 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.877353415824473, "attempt_wall_seconds": 1.8799475410487503, "step_compute_seconds": { "count": 1000, "min": 0.0014377499464899302, "mean": 0.0016935864822007715, "p50": 0.0016453331336379051, "p95": 0.0018857500981539488, "p99": 0.002023582812398672, "max": 0.011232457822188735, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.3027298306753035, -0.026483514844058417, 0.0798922445797837 ], "final_tcp_position_m": [ 0.30455092357817626, -0.027059523477395216, 0.08587481110403761 ] }, { "id": "227037:friction055-mass060-layout00--reacquire_placement", "cohort_seed": 227037, "scene_id": "friction055-mass060-layout00", "variant": "reacquire_placement", "mode": "reacquire", "control": "placement", "friction": 0.55, "mass_kg": 0.06, "layout_index": 0, "valid": true, "success": false, "failure_stage": "acquisition_never_qualified", "terminal_reason": "timeout", "abort_reason": "retry_budget_exhausted:object_not_following", "abort_time_s": 14.459999999997425, "completion_time_s": null, "milestones": { "grasp_seen": true, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 0.0001641969053757797, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.11779158217352112 }, "qualification_count": 0, "retry_count": 1, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.4294229362711948, "peak_sampled_speed_m_s": 0.16131555077547738, "net_vertical_m": -0.28062801131564763, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2847469066080506 }, "object": { "path_m": 0.0043567283469038535, "peak_sampled_speed_m_s": 0.010566042496193376, "net_vertical_m": -6.503052892792294e-06, "max_vertical_from_window_start_m": 0.0001613667426069998, "min_vertical_from_window_start_m": -3.452242853928256e-05 } }, "max_pad_normal_force_n": 0.5413579886468161, "max_abs_native_joint_velocity_rad_s": [ 0.09811512098407967, 0.48198894817899596, 0.4195797298669348, 0.17161021314058225, 0.22940860195432866, 0.10006436896670658 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.32605060631272664, "max": 0.2954102366187552, "max_abs": 0.32605060631272664 }, { "actuator_index": 1, "unit": "N m", "min": -1.5492657364293763, "max": 1.918163354695821, "max_abs": 1.918163354695821 }, { "actuator_index": 2, "unit": "N m", "min": -1.127774804053118, "max": 1.4089859918395575, "max_abs": 1.4089859918395575 }, { "actuator_index": 3, "unit": "N m", "min": -0.3044815797372622, "max": 0.30119592248192006, "max_abs": 0.3044815797372622 }, { "actuator_index": 4, "unit": "N m", "min": -0.1795945369684695, "max": 0.38049059186264067, "max_abs": 0.38049059186264067 }, { "actuator_index": 5, "unit": "N m", "min": -0.29917410269881484, "max": 0.1658501505252441, "max_abs": 0.29917410269881484 }, { "actuator_index": 6, "unit": "N", "min": -0.8155777499488537, "max": 0.019747874860429837, "max_abs": 0.8155777499488537 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 2.1652142910752445, "attempt_wall_seconds": 2.1673544170334935, "step_compute_seconds": { "count": 1000, "min": 0.001500916900113225, "mean": 0.0019793066701386123, "p50": 0.0016448749229311943, "p95": 0.0035739580634981394, "p99": 0.005160290980711579, "max": 0.006283791968598962, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [ "probe_started", "alarm", "retry_started", "retry_completed", "probe_started", "alarm", "abort" ], "final_object_position_m": [ 0.30606403446960645, -0.02674356985460759, 0.07988574146459101 ], "final_tcp_position_m": [ 0.30463879556714274, -0.027064603613572966, 0.08595693178866148 ] }, { "id": "227037:friction055-mass060-layout00--reacquire_open_jaw", "cohort_seed": 227037, "scene_id": "friction055-mass060-layout00", "variant": "reacquire_open_jaw", "mode": "reacquire", "control": "replay_open_jaw", "friction": 0.55, "mass_kg": 0.06, "layout_index": 0, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998874710845e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.11873941223249612 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.43375166114469965, "peak_sampled_speed_m_s": 0.16131555077547738, "net_vertical_m": -0.2807101320002715, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28476234714731596 }, "object": { "path_m": 1.7221626363258058e-10, "peak_sampled_speed_m_s": 1.6349227560203152e-09, "net_vertical_m": 6.22998874710845e-11, "max_vertical_from_window_start_m": 6.22998874710845e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.09811512098407967, 0.48198894817899596, 0.4195797298669348, 0.17161021314058225, 0.22940860195432866, 0.10006436896670658 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.32605060631272664, "max": 0.2954102366187552, "max_abs": 0.32605060631272664 }, { "actuator_index": 1, "unit": "N m", "min": -1.5492657364293763, "max": 1.918163354695821, "max_abs": 1.918163354695821 }, { "actuator_index": 2, "unit": "N m", "min": -1.1055618124099311, "max": 1.4079156141521167, "max_abs": 1.4079156141521167 }, { "actuator_index": 3, "unit": "N m", "min": -0.3044815797372622, "max": 0.30119592248192006, "max_abs": 0.3044815797372622 }, { "actuator_index": 4, "unit": "N m", "min": -0.1800217103569608, "max": 0.38049059186264067, "max_abs": 0.38049059186264067 }, { "actuator_index": 5, "unit": "N m", "min": -0.29917410269881484, "max": 0.1658501505252441, "max_abs": 0.29917410269881484 }, { "actuator_index": 6, "unit": "N", "min": -0.00028401502905195386, "max": 0.00044218046952138046, "max_abs": 0.00044218046952138046 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.7551239160820842, "attempt_wall_seconds": 1.7579822498373687, "step_compute_seconds": { "count": 1000, "min": 0.0014509998727589846, "mean": 0.0015843580435030162, "p50": 0.0016131249722093344, "p95": 0.00168374995701015, "p99": 0.0017709590028971434, "max": 0.00227983295917511, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.3027298306753035, -0.026483514844058417, 0.0798922445797837 ], "final_tcp_position_m": [ 0.30455092357817626, -0.027059523477395216, 0.08587481110403761 ] }, { "id": "227037:friction055-mass060-layout00--reacquire_grasp_placement", "cohort_seed": 227037, "scene_id": "friction055-mass060-layout00", "variant": "reacquire_grasp_placement", "mode": "reacquire_grasp", "control": "placement", "friction": 0.55, "mass_kg": 0.06, "layout_index": 0, "valid": true, "success": true, "failure_stage": "completed", "terminal_reason": "success", "abort_reason": null, "abort_time_s": null, "completion_time_s": 16.98999999999778, "milestones": { "grasp_seen": true, "lift_seen": true, "carry_complete": true, "retention_lost": false, "dwell_seconds": 3.259999999999752, "max_object_lift_m": 0.08784241729815764, "max_carry_contact_loss_seconds": 0.001, "carry_contact_loss_events": 0, "target_distance_m": 0.002600328756381062 }, "qualification_count": 1, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 1, "holds": [ { "start_s": 13.179999999998135, "end_s": 13.399999999998013, "duration_s": 0.21999999999987807, "outcome": "carry_resumed", "reason": "sustained_loaded_relative_settling", "includes_second_probe": false, "actual_motion": { "start_s": 13.179999999998135, "end_s": 13.399999999998013, "duration_s": 0.21999999999987807, "sample_count": 12, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.0011951828413747526, "peak_sampled_speed_m_s": 0.02778027632287738, "net_vertical_m": 0.000189682069237751, "max_vertical_from_window_start_m": 0.0006798978087024093, "min_vertical_from_window_start_m": 0.0 }, "object": { "path_m": 0.001248184597402865, "peak_sampled_speed_m_s": 0.027272394027435334, "net_vertical_m": 9.89043751943447e-05, "max_vertical_from_window_start_m": 0.0006585447728414684, "min_vertical_from_window_start_m": 0.0 } }, "scope": "Recovery interval may include active second-probe motion; not all of this interval is stationary holding." } ], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8671364178341259, "peak_sampled_speed_m_s": 0.2043804019644904, "net_vertical_m": -0.15780039500689902, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28547573064962534 }, "object": { "path_m": 0.3078010493229483, "peak_sampled_speed_m_s": 0.2049518182609744, "net_vertical_m": 6.230013727126504e-11, "max_vertical_from_window_start_m": 0.08784215019205543, "min_vertical_from_window_start_m": -0.0009119460825727232 } }, "max_pad_normal_force_n": 1.3341154015958885, "max_abs_native_joint_velocity_rad_s": [ 0.7225041776256689, 0.5624946145866446, 0.523861242676644, 0.3739608435094785, 0.22607557214379875, 0.18794657600936823 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.5722729806463391, "max": 2.0622553802091272, "max_abs": 2.0622553802091272 }, { "actuator_index": 1, "unit": "N m", "min": -2.229203892604488, "max": 1.9591955474723903, "max_abs": 2.229203892604488 }, { "actuator_index": 2, "unit": "N m", "min": -0.8956227202121454, "max": 1.2660297508688387, "max_abs": 1.2660297508688387 }, { "actuator_index": 3, "unit": "N m", "min": -0.45737950637072355, "max": 0.3365073704490831, "max_abs": 0.45737950637072355 }, { "actuator_index": 4, "unit": "N m", "min": -0.20542626605009673, "max": 0.36767541645225355, "max_abs": 0.36767541645225355 }, { "actuator_index": 5, "unit": "N m", "min": -0.30049381585673096, "max": 0.34411291607680816, "max_abs": 0.34411291607680816 }, { "actuator_index": 6, "unit": "N", "min": -1.1725955858519796, "max": 0.01689958469832309, "max_abs": 1.1725955858519796 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 2.007562082959339, "attempt_wall_seconds": 2.0100374999456108, "step_compute_seconds": { "count": 1000, "min": 0.001518667209893465, "mean": 0.0018348524563480168, "p50": 0.001721374923363328, "p95": 0.0024929579813033342, "p99": 0.0029582499992102385, "max": 0.009368458064273, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [ "probe_started", "acquisition_qualified", "slowdown_started", "reassessment_started", "carry_resumed", "speed_restoration_started", "full_speed_restored" ], "final_object_position_m": [ 0.34920519030989333, 0.08420130655718407, 0.07989224457978394 ], "final_tcp_position_m": [ 0.3450569530356022, 0.08292819531217029, 0.2087845480974101 ] }, { "id": "227037:friction055-mass060-layout00--reacquire_grasp_open_jaw", "cohort_seed": 227037, "scene_id": "friction055-mass060-layout00", "variant": "reacquire_grasp_open_jaw", "mode": "reacquire_grasp", "control": "replay_open_jaw", "friction": 0.55, "mass_kg": 0.06, "layout_index": 0, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998874710845e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.11873941223249612 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8723663044136302, "peak_sampled_speed_m_s": 0.2030955553024327, "net_vertical_m": -0.1577974240120692, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28547573064962534 }, "object": { "path_m": 1.7221626363258058e-10, "peak_sampled_speed_m_s": 1.6349227560203152e-09, "net_vertical_m": 6.22998874710845e-11, "max_vertical_from_window_start_m": 6.22998874710845e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.7183637808607749, 0.5614705407946999, 0.5241434549861314, 0.3739608435094785, 0.22607557214379875, 0.1880436847777216 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.5478731562514483, "max": 2.0197625921064715, "max_abs": 2.0197625921064715 }, { "actuator_index": 1, "unit": "N m", "min": -2.045005932537123, "max": 1.989243740641399, "max_abs": 2.045005932537123 }, { "actuator_index": 2, "unit": "N m", "min": -0.8956227202121454, "max": 1.2660297508688387, "max_abs": 1.2660297508688387 }, { "actuator_index": 3, "unit": "N m", "min": -0.4429120927234429, "max": 0.3139146586064583, "max_abs": 0.4429120927234429 }, { "actuator_index": 4, "unit": "N m", "min": -0.197461555697787, "max": 0.36767541645225355, "max_abs": 0.36767541645225355 }, { "actuator_index": 5, "unit": "N m", "min": -0.30048303111588126, "max": 0.34411291607680816, "max_abs": 0.34411291607680816 }, { "actuator_index": 6, "unit": "N", "min": -0.006336734032393654, "max": 0.009788836859330408, "max_abs": 0.009788836859330408 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.8064079161267728, "attempt_wall_seconds": 1.8087129998020828, "step_compute_seconds": { "count": 1000, "min": 0.0014653329271823168, "mean": 0.0016032193864230066, "p50": 0.0016136658377945423, "p95": 0.0017247500363737345, "p99": 0.0018745420966297388, "max": 0.0022201668471097946, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.3027298306753035, -0.026483514844058417, 0.0798922445797837 ], "final_tcp_position_m": [ 0.34506381726134666, 0.08293115378073874, 0.20878751909223991 ] }, { "id": "227037:friction055-mass060-layout00--hold", "cohort_seed": 227037, "scene_id": "friction055-mass060-layout00", "variant": "hold", "mode": "baseline", "control": "hold", "friction": 0.55, "mass_kg": 0.06, "layout_index": 0, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998874710845e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.11873941223249612 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 1.1376744407779719e-16, "peak_sampled_speed_m_s": 5.558267943191594e-15, "net_vertical_m": 1.1102230246251565e-16, "max_vertical_from_window_start_m": 1.1102230246251565e-16, "min_vertical_from_window_start_m": 0.0 }, "object": { "path_m": 1.7221626363258058e-10, "peak_sampled_speed_m_s": 1.6349227560203152e-09, "net_vertical_m": 6.22998874710845e-11, "max_vertical_from_window_start_m": 6.22998874710845e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 1.089099057831775e-19, 6.127451851049064e-18, 1.5410517561852992e-16, 1.2145569247038722e-17, 3.400546359107994e-16, 2.945467210750634e-17 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -5.149427585733612e-18, "max": -7.571162667696407e-19, "max_abs": 5.149427585733612e-18 }, { "actuator_index": 1, "unit": "N m", "min": 0.0, "max": 0.0, "max_abs": 0.0 }, { "actuator_index": 2, "unit": "N m", "min": 0.0, "max": 0.0, "max_abs": 0.0 }, { "actuator_index": 3, "unit": "N m", "min": 7.130976259465077e-17, "max": 1.5875460775817776e-16, "max_abs": 1.5875460775817776e-16 }, { "actuator_index": 4, "unit": "N m", "min": 5.770246053275149e-16, "max": 3.2953315452184146e-15, "max_abs": 3.2953315452184146e-15 }, { "actuator_index": 5, "unit": "N m", "min": -2.2098381316149117e-16, "max": -4.998795352997742e-17, "max_abs": 2.2098381316149117e-16 }, { "actuator_index": 6, "unit": "N", "min": 0.0, "max": 0.0, "max_abs": 0.0 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.6414459580555558, "attempt_wall_seconds": 1.643650749931112, "step_compute_seconds": { "count": 1000, "min": 0.0013332499656826258, "mean": 0.0014705777487251908, "p50": 0.0014628330245614052, "p95": 0.0015647499822080135, "p99": 0.0016698751132935286, "max": 0.0020534999202936888, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.3027298306753035, -0.026483514844058417, 0.0798922445797837 ], "final_tcp_position_m": [ 0.4890696662845219, 0.001414197565480896, 0.3665849431043092 ] }, { "id": "227037:friction055-mass060-layout01--recovery_placement", "cohort_seed": 227037, "scene_id": "friction055-mass060-layout01", "variant": "recovery_placement", "mode": "recovery", "control": "placement", "friction": 0.55, "mass_kg": 0.06, "layout_index": 1, "valid": true, "success": false, "failure_stage": "acquisition_never_qualified", "terminal_reason": "timeout", "abort_reason": "retry_budget_exhausted:object_not_following", "abort_time_s": 14.699999999997292, "completion_time_s": null, "milestones": { "grasp_seen": true, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 0.0001475584543388503, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12698095330036946 }, "qualification_count": 0, "retry_count": 1, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.4309103064931506, "peak_sampled_speed_m_s": 0.16096285353592493, "net_vertical_m": -0.280639925557133, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2847480628589686 }, "object": { "path_m": 0.004300792334276511, "peak_sampled_speed_m_s": 0.010194744253183822, "net_vertical_m": -6.567555360437183e-06, "max_vertical_from_window_start_m": 0.00014480576401997014, "min_vertical_from_window_start_m": -3.220530953522427e-05 } }, "max_pad_normal_force_n": 0.856609203807836, "max_abs_native_joint_velocity_rad_s": [ 0.12109842668962692, 0.4787440412352535, 0.41574034971850676, 0.20879251539418484, 0.22474368173630718, 0.1356799520297915 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.33312272314562286, "max": 0.3159078157881545, "max_abs": 0.33312272314562286 }, { "actuator_index": 1, "unit": "N m", "min": -1.549168076330929, "max": 1.9133453757416419, "max_abs": 1.9133453757416419 }, { "actuator_index": 2, "unit": "N m", "min": -1.1402035693365065, "max": 1.4064706453249158, "max_abs": 1.4064706453249158 }, { "actuator_index": 3, "unit": "N m", "min": -0.3374179422287851, "max": 0.30193379114799157, "max_abs": 0.3374179422287851 }, { "actuator_index": 4, "unit": "N m", "min": -0.17911144637913168, "max": 0.37900257690026695, "max_abs": 0.37900257690026695 }, { "actuator_index": 5, "unit": "N m", "min": -0.29924436746464955, "max": 0.21214873148917457, "max_abs": 0.29924436746464955 }, { "actuator_index": 6, "unit": "N", "min": -0.802397175985719, "max": 0.019770605023820997, "max_abs": 0.802397175985719 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 2.2377438750118017, "attempt_wall_seconds": 2.2398272089194506, "step_compute_seconds": { "count": 1000, "min": 0.0016048750840127468, "mean": 0.00204617188218981, "p50": 0.001716833095997572, "p95": 0.0035577090457081795, "p99": 0.004794958047568798, "max": 0.009850749978795648, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [ "probe_started", "alarm", "retry_started", "retry_completed", "probe_started", "alarm", "abort" ], "final_object_position_m": [ 0.30683498140239657, -0.03512211935308851, 0.07988567696212338 ], "final_tcp_position_m": [ 0.30541854821660436, -0.03544230427363396, 0.08594501754717611 ] }, { "id": "227037:friction055-mass060-layout01--recovery_open_jaw", "cohort_seed": 227037, "scene_id": "friction055-mass060-layout01", "variant": "recovery_open_jaw", "mode": "recovery", "control": "replay_open_jaw", "friction": 0.55, "mass_kg": 0.06, "layout_index": 1, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998735932967e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.1278568710138661 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.43523156377594163, "peak_sampled_speed_m_s": 0.16096285353592493, "net_vertical_m": -0.28072278210796964, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28476442358771614 }, "object": { "path_m": 1.6778854420944056e-10, "peak_sampled_speed_m_s": 1.6349227610006456e-09, "net_vertical_m": 6.22998735932967e-11, "max_vertical_from_window_start_m": 6.22998735932967e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.12109842668962692, 0.4787440412352535, 0.41574034971850676, 0.20879251539418484, 0.22474368173630718, 0.1356799520297915 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.33312272314562286, "max": 0.3159078157881545, "max_abs": 0.33312272314562286 }, { "actuator_index": 1, "unit": "N m", "min": -1.549168076330929, "max": 1.9133453757416419, "max_abs": 1.9133453757416419 }, { "actuator_index": 2, "unit": "N m", "min": -1.1178157875855703, "max": 1.4054117393263823, "max_abs": 1.4054117393263823 }, { "actuator_index": 3, "unit": "N m", "min": -0.3374179422287851, "max": 0.30193379114799157, "max_abs": 0.3374179422287851 }, { "actuator_index": 4, "unit": "N m", "min": -0.17951369581232868, "max": 0.37900257690026695, "max_abs": 0.37900257690026695 }, { "actuator_index": 5, "unit": "N m", "min": -0.29924436746464955, "max": 0.21214873148917457, "max_abs": 0.29924436746464955 }, { "actuator_index": 6, "unit": "N", "min": -0.0003387324135788461, "max": 0.000572294985905053, "max_abs": 0.000572294985905053 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.7229876250494272, "attempt_wall_seconds": 1.725550375180319, "step_compute_seconds": { "count": 1000, "min": 0.0014523749705404043, "mean": 0.0015514967215713112, "p50": 0.0015182921197265387, "p95": 0.0016689170151948929, "p99": 0.0017385829705744982, "max": 0.0021124579943716526, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.3034720033051107, -0.03475714885714075, 0.0798922445797837 ], "final_tcp_position_m": [ 0.30533263516185216, -0.03543202245548334, 0.08586216099633946 ] }, { "id": "227037:friction055-mass060-layout01--reacquire_placement", "cohort_seed": 227037, "scene_id": "friction055-mass060-layout01", "variant": "reacquire_placement", "mode": "reacquire", "control": "placement", "friction": 0.55, "mass_kg": 0.06, "layout_index": 1, "valid": true, "success": false, "failure_stage": "acquisition_never_qualified", "terminal_reason": "timeout", "abort_reason": "retry_budget_exhausted:object_not_following", "abort_time_s": 14.699999999997292, "completion_time_s": null, "milestones": { "grasp_seen": true, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 0.0001475584543388503, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12698095330036946 }, "qualification_count": 0, "retry_count": 1, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.4309103064931506, "peak_sampled_speed_m_s": 0.16096285353592493, "net_vertical_m": -0.280639925557133, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2847480628589686 }, "object": { "path_m": 0.004300792334276511, "peak_sampled_speed_m_s": 0.010194744253183822, "net_vertical_m": -6.567555360437183e-06, "max_vertical_from_window_start_m": 0.00014480576401997014, "min_vertical_from_window_start_m": -3.220530953522427e-05 } }, "max_pad_normal_force_n": 0.856609203807836, "max_abs_native_joint_velocity_rad_s": [ 0.12109842668962692, 0.4787440412352535, 0.41574034971850676, 0.20879251539418484, 0.22474368173630718, 0.1356799520297915 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.33312272314562286, "max": 0.3159078157881545, "max_abs": 0.33312272314562286 }, { "actuator_index": 1, "unit": "N m", "min": -1.549168076330929, "max": 1.9133453757416419, "max_abs": 1.9133453757416419 }, { "actuator_index": 2, "unit": "N m", "min": -1.1402035693365065, "max": 1.4064706453249158, "max_abs": 1.4064706453249158 }, { "actuator_index": 3, "unit": "N m", "min": -0.3374179422287851, "max": 0.30193379114799157, "max_abs": 0.3374179422287851 }, { "actuator_index": 4, "unit": "N m", "min": -0.17911144637913168, "max": 0.37900257690026695, "max_abs": 0.37900257690026695 }, { "actuator_index": 5, "unit": "N m", "min": -0.29924436746464955, "max": 0.21214873148917457, "max_abs": 0.29924436746464955 }, { "actuator_index": 6, "unit": "N", "min": -0.802397175985719, "max": 0.019770605023820997, "max_abs": 0.802397175985719 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 2.244344249833375, "attempt_wall_seconds": 2.246445666998625, "step_compute_seconds": { "count": 1000, "min": 0.001602791016921401, "mean": 0.0020623876622412355, "p50": 0.0017766659148037434, "p95": 0.0035896669141948223, "p99": 0.004905290901660919, "max": 0.012173791881650686, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [ "probe_started", "alarm", "retry_started", "retry_completed", "probe_started", "alarm", "abort" ], "final_object_position_m": [ 0.30683498140239657, -0.03512211935308851, 0.07988567696212338 ], "final_tcp_position_m": [ 0.30541854821660436, -0.03544230427363396, 0.08594501754717611 ] }, { "id": "227037:friction055-mass060-layout01--reacquire_open_jaw", "cohort_seed": 227037, "scene_id": "friction055-mass060-layout01", "variant": "reacquire_open_jaw", "mode": "reacquire", "control": "replay_open_jaw", "friction": 0.55, "mass_kg": 0.06, "layout_index": 1, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998735932967e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.1278568710138661 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.43523156377594163, "peak_sampled_speed_m_s": 0.16096285353592493, "net_vertical_m": -0.28072278210796964, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28476442358771614 }, "object": { "path_m": 1.6778854420944056e-10, "peak_sampled_speed_m_s": 1.6349227610006456e-09, "net_vertical_m": 6.22998735932967e-11, "max_vertical_from_window_start_m": 6.22998735932967e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.12109842668962692, 0.4787440412352535, 0.41574034971850676, 0.20879251539418484, 0.22474368173630718, 0.1356799520297915 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.33312272314562286, "max": 0.3159078157881545, "max_abs": 0.33312272314562286 }, { "actuator_index": 1, "unit": "N m", "min": -1.549168076330929, "max": 1.9133453757416419, "max_abs": 1.9133453757416419 }, { "actuator_index": 2, "unit": "N m", "min": -1.1178157875855703, "max": 1.4054117393263823, "max_abs": 1.4054117393263823 }, { "actuator_index": 3, "unit": "N m", "min": -0.3374179422287851, "max": 0.30193379114799157, "max_abs": 0.3374179422287851 }, { "actuator_index": 4, "unit": "N m", "min": -0.17951369581232868, "max": 0.37900257690026695, "max_abs": 0.37900257690026695 }, { "actuator_index": 5, "unit": "N m", "min": -0.29924436746464955, "max": 0.21214873148917457, "max_abs": 0.29924436746464955 }, { "actuator_index": 6, "unit": "N", "min": -0.0003387324135788461, "max": 0.000572294985905053, "max_abs": 0.000572294985905053 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.6780955418944359, "attempt_wall_seconds": 1.6807000830303878, "step_compute_seconds": { "count": 1000, "min": 0.001389124896377325, "mean": 0.0015050971587188542, "p50": 0.0014975420199334621, "p95": 0.0015645409002900124, "p99": 0.0016389170195907354, "max": 0.0021171250846236944, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.3034720033051107, -0.03475714885714075, 0.0798922445797837 ], "final_tcp_position_m": [ 0.30533263516185216, -0.03543202245548334, 0.08586216099633946 ] }, { "id": "227037:friction055-mass060-layout01--reacquire_grasp_placement", "cohort_seed": 227037, "scene_id": "friction055-mass060-layout01", "variant": "reacquire_grasp_placement", "mode": "reacquire_grasp", "control": "placement", "friction": 0.55, "mass_kg": 0.06, "layout_index": 1, "valid": true, "success": true, "failure_stage": "completed", "terminal_reason": "success", "abort_reason": null, "abort_time_s": null, "completion_time_s": 17.269999999998124, "milestones": { "grasp_seen": true, "lift_seen": true, "carry_complete": true, "retention_lost": false, "dwell_seconds": 2.979999999999783, "max_object_lift_m": 0.08776522194690546, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.0022491659680742844 }, "qualification_count": 1, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 1, "holds": [ { "start_s": 13.399999999998013, "end_s": 13.61999999999789, "duration_s": 0.21999999999987807, "outcome": "carry_resumed", "reason": "sustained_loaded_relative_settling", "includes_second_probe": false, "actual_motion": { "start_s": 13.399999999998013, "end_s": 13.61999999999789, "duration_s": 0.21999999999987807, "sample_count": 12, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.0012024447040374646, "peak_sampled_speed_m_s": 0.027922782601553033, "net_vertical_m": 0.0001911550674610768, "max_vertical_from_window_start_m": 0.0006843972026695927, "min_vertical_from_window_start_m": 0.0 }, "object": { "path_m": 0.001254644155989086, "peak_sampled_speed_m_s": 0.027385621626689095, "net_vertical_m": 9.996519548458038e-05, "max_vertical_from_window_start_m": 0.0006625954772429693, "min_vertical_from_window_start_m": 0.0 } }, "scope": "Recovery interval may include active second-probe motion; not all of this interval is stationary holding." } ], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8778274090731467, "peak_sampled_speed_m_s": 0.2042678961387614, "net_vertical_m": -0.15782849651398867, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2855206693115956 }, "object": { "path_m": 0.31701081348770266, "peak_sampled_speed_m_s": 0.204878044415491, "net_vertical_m": 6.230009563790162e-11, "max_vertical_from_window_start_m": 0.08776316161615604, "min_vertical_from_window_start_m": -0.0009673500355912301 } }, "max_pad_normal_force_n": 1.3879921724129047, "max_abs_native_joint_velocity_rad_s": [ 0.7151459134897202, 0.5503202719005242, 0.5332998114360091, 0.3760346633046936, 0.2126338786850659, 0.18795987288148458 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.46958289301784006, "max": 2.079476197639935, "max_abs": 2.079476197639935 }, { "actuator_index": 1, "unit": "N m", "min": -2.2317205371569457, "max": 1.9692880802736852, "max_abs": 2.2317205371569457 }, { "actuator_index": 2, "unit": "N m", "min": -0.8925700811240205, "max": 1.2659732369154426, "max_abs": 1.2659732369154426 }, { "actuator_index": 3, "unit": "N m", "min": -0.44791737080720706, "max": 0.3346940650464121, "max_abs": 0.44791737080720706 }, { "actuator_index": 4, "unit": "N m", "min": -0.21042409120450856, "max": 0.36672977208425395, "max_abs": 0.36672977208425395 }, { "actuator_index": 5, "unit": "N m", "min": -0.3001393957434786, "max": 0.3457176604743899, "max_abs": 0.3457176604743899 }, { "actuator_index": 6, "unit": "N", "min": -1.215267891569021, "max": 0.01774090302927478, "max_abs": 1.215267891569021 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.9701414159499109, "attempt_wall_seconds": 1.972575708059594, "step_compute_seconds": { "count": 1000, "min": 0.0015137090813368559, "mean": 0.0017874431589152665, "p50": 0.0016973339952528477, "p95": 0.0023972089402377605, "p99": 0.002718792064115405, "max": 0.003852540859952569, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [ "probe_started", "acquisition_qualified", "slowdown_started", "reassessment_started", "carry_resumed", "speed_restoration_started", "full_speed_restored" ], "final_object_position_m": [ 0.35341281864026786, 0.08438503115883758, 0.07989224457978392 ], "final_tcp_position_m": [ 0.34961576965843016, 0.08294019625425708, 0.20875644659032044 ] }, { "id": "227037:friction055-mass060-layout01--reacquire_grasp_open_jaw", "cohort_seed": 227037, "scene_id": "friction055-mass060-layout01", "variant": "reacquire_grasp_open_jaw", "mode": "reacquire_grasp", "control": "replay_open_jaw", "friction": 0.55, "mass_kg": 0.06, "layout_index": 1, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998735932967e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.1278568710138661 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8832070253685604, "peak_sampled_speed_m_s": 0.2029443379607142, "net_vertical_m": -0.1578244438305455, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2855206693115956 }, "object": { "path_m": 1.6778854420944056e-10, "peak_sampled_speed_m_s": 1.6349227610006456e-09, "net_vertical_m": 6.22998735932967e-11, "max_vertical_from_window_start_m": 6.22998735932967e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.7109917755622222, 0.5484134177857148, 0.5333798045549262, 0.3760346633046936, 0.2126338786850659, 0.18804984009698744 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.4465987045757309, "max": 2.037126241116032, "max_abs": 2.037126241116032 }, { "actuator_index": 1, "unit": "N m", "min": -2.0469099437877674, "max": 1.9856029765522294, "max_abs": 2.0469099437877674 }, { "actuator_index": 2, "unit": "N m", "min": -0.8925700811240205, "max": 1.2659732369154426, "max_abs": 1.2659732369154426 }, { "actuator_index": 3, "unit": "N m", "min": -0.432790884377968, "max": 0.31599091180560146, "max_abs": 0.432790884377968 }, { "actuator_index": 4, "unit": "N m", "min": -0.20242457493714916, "max": 0.36672977208425395, "max_abs": 0.36672977208425395 }, { "actuator_index": 5, "unit": "N m", "min": -0.30012983405612204, "max": 0.3457176604743899, "max_abs": 0.3457176604743899 }, { "actuator_index": 6, "unit": "N", "min": -0.006091970444722872, "max": 0.00929022505853494, "max_abs": 0.00929022505853494 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.998735582921654, "attempt_wall_seconds": 2.0010327917989343, "step_compute_seconds": { "count": 1000, "min": 0.0014469169545918703, "mean": 0.0017815907620824874, "p50": 0.0018111660610884428, "p95": 0.0019422080367803574, "p99": 0.002335458993911743, "max": 0.012865749886259437, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.3034720033051107, -0.03475714885714075, 0.0798922445797837 ], "final_tcp_position_m": [ 0.34962511974193483, 0.08294413106979528, 0.2087604992737636 ] }, { "id": "227037:friction055-mass060-layout01--hold", "cohort_seed": 227037, "scene_id": "friction055-mass060-layout01", "variant": "hold", "mode": "baseline", "control": "hold", "friction": 0.55, "mass_kg": 0.06, "layout_index": 1, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998735932967e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.1278568710138661 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 1.1376744407779719e-16, "peak_sampled_speed_m_s": 5.558267943191594e-15, "net_vertical_m": 1.1102230246251565e-16, "max_vertical_from_window_start_m": 1.1102230246251565e-16, "min_vertical_from_window_start_m": 0.0 }, "object": { "path_m": 1.6778854420944056e-10, "peak_sampled_speed_m_s": 1.6349227610006456e-09, "net_vertical_m": 6.22998735932967e-11, "max_vertical_from_window_start_m": 6.22998735932967e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 1.089099057831775e-19, 6.127451851049064e-18, 1.5410517561852992e-16, 1.2145569247038722e-17, 3.400546359107994e-16, 2.945467210750634e-17 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -5.149427585733612e-18, "max": -7.571162667696407e-19, "max_abs": 5.149427585733612e-18 }, { "actuator_index": 1, "unit": "N m", "min": 0.0, "max": 0.0, "max_abs": 0.0 }, { "actuator_index": 2, "unit": "N m", "min": 0.0, "max": 0.0, "max_abs": 0.0 }, { "actuator_index": 3, "unit": "N m", "min": 7.130976259465077e-17, "max": 1.5875460775817776e-16, "max_abs": 1.5875460775817776e-16 }, { "actuator_index": 4, "unit": "N m", "min": 5.770246053275149e-16, "max": 3.2953315452184146e-15, "max_abs": 3.2953315452184146e-15 }, { "actuator_index": 5, "unit": "N m", "min": -2.2098381316149117e-16, "max": -4.998795352997742e-17, "max_abs": 2.2098381316149117e-16 }, { "actuator_index": 6, "unit": "N", "min": 0.0, "max": 0.0, "max_abs": 0.0 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.8201510000508279, "attempt_wall_seconds": 1.8227399999741465, "step_compute_seconds": { "count": 1000, "min": 0.0014112091157585382, "mean": 0.0016483974559232592, "p50": 0.0014804159291088581, "p95": 0.0020636250264942646, "p99": 0.0031779578421264887, "max": 0.008037583902478218, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.3034720033051107, -0.03475714885714075, 0.0798922445797837 ], "final_tcp_position_m": [ 0.4890696662845219, 0.001414197565480896, 0.3665849431043092 ] }, { "id": "227037:friction015-mass040-layout00--recovery_placement", "cohort_seed": 227037, "scene_id": "friction015-mass040-layout00", "variant": "recovery_placement", "mode": "recovery", "control": "placement", "friction": 0.15, "mass_kg": 0.04, "layout_index": 0, "valid": true, "success": false, "failure_stage": "acquisition_never_qualified", "terminal_reason": "timeout", "abort_reason": "retry_budget_exhausted:object_not_following", "abort_time_s": 14.419999999997447, "completion_time_s": null, "milestones": { "grasp_seen": true, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 8.297281848684834e-05, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.11805730029216221 }, "qualification_count": 0, "retry_count": 1, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.42955695700397917, "peak_sampled_speed_m_s": 0.16131553498322626, "net_vertical_m": -0.2804327463699238, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.284754131659531 }, "object": { "path_m": 0.003959239308600326, "peak_sampled_speed_m_s": 0.010751466969406365, "net_vertical_m": -1.0516103611288297e-05, "max_vertical_from_window_start_m": 8.276232506271297e-05, "min_vertical_from_window_start_m": -2.6525898085827393e-05 } }, "max_pad_normal_force_n": 0.41200695831812095, "max_abs_native_joint_velocity_rad_s": [ 0.09811546699044142, 0.4819888145143076, 0.4195796716068277, 0.17161080747643245, 0.22940863186106844, 0.10006493785956744 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.32604997792132195, "max": 0.2954100893416154, "max_abs": 0.32604997792132195 }, { "actuator_index": 1, "unit": "N m", "min": -1.5492657349571601, "max": 1.9181633046279245, "max_abs": 1.9181633046279245 }, { "actuator_index": 2, "unit": "N m", "min": -0.9253890404646086, "max": 1.4092870143408334, "max_abs": 1.4092870143408334 }, { "actuator_index": 3, "unit": "N m", "min": -0.3044815478766427, "max": 0.3011959568406244, "max_abs": 0.3044815478766427 }, { "actuator_index": 4, "unit": "N m", "min": -0.1807677127098355, "max": 0.3804905686876747, "max_abs": 0.3804905686876747 }, { "actuator_index": 5, "unit": "N m", "min": -0.29917410265161426, "max": 0.1658515928056623, "max_abs": 0.29917410265161426 }, { "actuator_index": 6, "unit": "N", "min": -0.7896450496639064, "max": 0.0199606494389466, "max_abs": 0.7896450496639064 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 2.37245324999094, "attempt_wall_seconds": 2.374499959172681, "step_compute_seconds": { "count": 1000, "min": 0.0014852499589323997, "mean": 0.002136680636089295, "p50": 0.0019312910735607147, "p95": 0.004421709105372429, "p99": 0.004964499967172742, "max": 0.006398207973688841, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [ "probe_started", "alarm", "retry_started", "retry_completed", "probe_started", "alarm", "abort" ], "final_object_position_m": [ 0.30470763764485603, -0.02652078268512295, 0.07988172841387255 ], "final_tcp_position_m": [ 0.3041106374709505, -0.026842537311869197, 0.0861521967343853 ] }, { "id": "227037:friction015-mass040-layout00--recovery_open_jaw", "cohort_seed": 227037, "scene_id": "friction015-mass040-layout00", "variant": "recovery_open_jaw", "mode": "recovery", "control": "replay_open_jaw", "friction": 0.15, "mass_kg": 0.04, "layout_index": 0, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.229992910444793e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.11873951603531831 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.43098072199135035, "peak_sampled_speed_m_s": 0.16131553498322626, "net_vertical_m": -0.28052463901380403, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28476268321279014 }, "object": { "path_m": 8.267918484849025e-11, "peak_sampled_speed_m_s": 1.6349227538150635e-09, "net_vertical_m": 6.229992910444793e-11, "max_vertical_from_window_start_m": 6.229992910444793e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.09811546699044142, 0.4819888145143076, 0.4195796716068277, 0.17161080747643245, 0.22940863186106844, 0.10006493785956744 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.32604997792132195, "max": 0.2954100893416154, "max_abs": 0.32604997792132195 }, { "actuator_index": 1, "unit": "N m", "min": -1.5492657349571601, "max": 1.9181633046279245, "max_abs": 1.9181633046279245 }, { "actuator_index": 2, "unit": "N m", "min": -0.9190296993564147, "max": 1.4090427130654035, "max_abs": 1.4090427130654035 }, { "actuator_index": 3, "unit": "N m", "min": -0.3044815478766427, "max": 0.3011959568406244, "max_abs": 0.3044815478766427 }, { "actuator_index": 4, "unit": "N m", "min": -0.1807772979376132, "max": 0.3804905686876747, "max_abs": 0.3804905686876747 }, { "actuator_index": 5, "unit": "N m", "min": -0.29917410265161426, "max": 0.1658515928056623, "max_abs": 0.29917410265161426 }, { "actuator_index": 6, "unit": "N", "min": -0.0002840160350958687, "max": 0.0004421826051361766, "max_abs": 0.0004421826051361766 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.7169125000946224, "attempt_wall_seconds": 1.7195295840501785, "step_compute_seconds": { "count": 1000, "min": 0.001454707933589816, "mean": 0.0015375743596814572, "p50": 0.0015020829159766436, "p95": 0.0016530000139027834, "p99": 0.0017850419972091913, "max": 0.009935792069882154, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.30272986355341336, -0.02648363964710624, 0.07989224457978376 ], "final_tcp_position_m": [ 0.3040087108440643, -0.02683473977569069, 0.08606030409050507 ] }, { "id": "227037:friction015-mass040-layout00--reacquire_placement", "cohort_seed": 227037, "scene_id": "friction015-mass040-layout00", "variant": "reacquire_placement", "mode": "reacquire", "control": "placement", "friction": 0.15, "mass_kg": 0.04, "layout_index": 0, "valid": true, "success": false, "failure_stage": "acquisition_never_qualified", "terminal_reason": "timeout", "abort_reason": "retry_budget_exhausted:object_not_following", "abort_time_s": 14.419999999997447, "completion_time_s": null, "milestones": { "grasp_seen": true, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 8.297281848684834e-05, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.11805730029216221 }, "qualification_count": 0, "retry_count": 1, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.42955695700397917, "peak_sampled_speed_m_s": 0.16131553498322626, "net_vertical_m": -0.2804327463699238, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.284754131659531 }, "object": { "path_m": 0.003959239308600326, "peak_sampled_speed_m_s": 0.010751466969406365, "net_vertical_m": -1.0516103611288297e-05, "max_vertical_from_window_start_m": 8.276232506271297e-05, "min_vertical_from_window_start_m": -2.6525898085827393e-05 } }, "max_pad_normal_force_n": 0.41200695831812095, "max_abs_native_joint_velocity_rad_s": [ 0.09811546699044142, 0.4819888145143076, 0.4195796716068277, 0.17161080747643245, 0.22940863186106844, 0.10006493785956744 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.32604997792132195, "max": 0.2954100893416154, "max_abs": 0.32604997792132195 }, { "actuator_index": 1, "unit": "N m", "min": -1.5492657349571601, "max": 1.9181633046279245, "max_abs": 1.9181633046279245 }, { "actuator_index": 2, "unit": "N m", "min": -0.9253890404646086, "max": 1.4092870143408334, "max_abs": 1.4092870143408334 }, { "actuator_index": 3, "unit": "N m", "min": -0.3044815478766427, "max": 0.3011959568406244, "max_abs": 0.3044815478766427 }, { "actuator_index": 4, "unit": "N m", "min": -0.1807677127098355, "max": 0.3804905686876747, "max_abs": 0.3804905686876747 }, { "actuator_index": 5, "unit": "N m", "min": -0.29917410265161426, "max": 0.1658515928056623, "max_abs": 0.29917410265161426 }, { "actuator_index": 6, "unit": "N", "min": -0.7896450496639064, "max": 0.0199606494389466, "max_abs": 0.7896450496639064 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 2.598207834176719, "attempt_wall_seconds": 2.6004547921475023, "step_compute_seconds": { "count": 1000, "min": 0.001533083152025938, "mean": 0.0024219423772301523, "p50": 0.0020077498629689217, "p95": 0.005496332887560129, "p99": 0.006248832913115621, "max": 0.008680500090122223, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [ "probe_started", "alarm", "retry_started", "retry_completed", "probe_started", "alarm", "abort" ], "final_object_position_m": [ 0.30470763764485603, -0.02652078268512295, 0.07988172841387255 ], "final_tcp_position_m": [ 0.3041106374709505, -0.026842537311869197, 0.0861521967343853 ] }, { "id": "227037:friction015-mass040-layout00--reacquire_open_jaw", "cohort_seed": 227037, "scene_id": "friction015-mass040-layout00", "variant": "reacquire_open_jaw", "mode": "reacquire", "control": "replay_open_jaw", "friction": 0.15, "mass_kg": 0.04, "layout_index": 0, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.229992910444793e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.11873951603531831 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.43098072199135035, "peak_sampled_speed_m_s": 0.16131553498322626, "net_vertical_m": -0.28052463901380403, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28476268321279014 }, "object": { "path_m": 8.267918484849025e-11, "peak_sampled_speed_m_s": 1.6349227538150635e-09, "net_vertical_m": 6.229992910444793e-11, "max_vertical_from_window_start_m": 6.229992910444793e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.09811546699044142, 0.4819888145143076, 0.4195796716068277, 0.17161080747643245, 0.22940863186106844, 0.10006493785956744 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.32604997792132195, "max": 0.2954100893416154, "max_abs": 0.32604997792132195 }, { "actuator_index": 1, "unit": "N m", "min": -1.5492657349571601, "max": 1.9181633046279245, "max_abs": 1.9181633046279245 }, { "actuator_index": 2, "unit": "N m", "min": -0.9190296993564147, "max": 1.4090427130654035, "max_abs": 1.4090427130654035 }, { "actuator_index": 3, "unit": "N m", "min": -0.3044815478766427, "max": 0.3011959568406244, "max_abs": 0.3044815478766427 }, { "actuator_index": 4, "unit": "N m", "min": -0.1807772979376132, "max": 0.3804905686876747, "max_abs": 0.3804905686876747 }, { "actuator_index": 5, "unit": "N m", "min": -0.29917410265161426, "max": 0.1658515928056623, "max_abs": 0.29917410265161426 }, { "actuator_index": 6, "unit": "N", "min": -0.0002840160350958687, "max": 0.0004421826051361766, "max_abs": 0.0004421826051361766 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.6334148328751326, "attempt_wall_seconds": 1.6357726249843836, "step_compute_seconds": { "count": 1000, "min": 0.0013380830641835928, "mean": 0.0014603264625184238, "p50": 0.0014640830922871828, "p95": 0.001549749867990613, "p99": 0.001738541992381215, "max": 0.003738916013389826, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.30272986355341336, -0.02648363964710624, 0.07989224457978376 ], "final_tcp_position_m": [ 0.3040087108440643, -0.02683473977569069, 0.08606030409050507 ] }, { "id": "227037:friction015-mass040-layout00--reacquire_grasp_placement", "cohort_seed": 227037, "scene_id": "friction015-mass040-layout00", "variant": "reacquire_grasp_placement", "mode": "reacquire_grasp", "control": "placement", "friction": 0.15, "mass_kg": 0.04, "layout_index": 0, "valid": true, "success": false, "failure_stage": "acquisition_never_qualified", "terminal_reason": "timeout", "abort_reason": "unchanged_grasp_not_following", "abort_time_s": 12.679999999998412, "completion_time_s": null, "milestones": { "grasp_seen": true, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 0.0002031171236799162, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.1163030787951599 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.4089277864021835, "peak_sampled_speed_m_s": 0.17442970838365152, "net_vertical_m": -0.2809873677910454, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.285475729358383 }, "object": { "path_m": 0.005446348435511103, "peak_sampled_speed_m_s": 0.036053677389283195, "net_vertical_m": 5.001979040841764e-05, "max_vertical_from_window_start_m": 0.00020216543708763413, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.5873240525637443, "max_abs_native_joint_velocity_rad_s": [ 0.3401562741214931, 0.47687851288348687, 0.4195796716068277, 0.3739608834678373, 0.22607483934211717, 0.1864957825209121 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.36070982791459727, "max": 1.4363752966904766, "max_abs": 1.4363752966904766 }, { "actuator_index": 1, "unit": "N m", "min": -1.5492657349571601, "max": 1.9591955107780734, "max_abs": 1.9591955107780734 }, { "actuator_index": 2, "unit": "N m", "min": -0.8956225843148928, "max": 1.26602975003874, "max_abs": 1.26602975003874 }, { "actuator_index": 3, "unit": "N m", "min": -0.31008183015923896, "max": 0.3011959568406244, "max_abs": 0.31008183015923896 }, { "actuator_index": 4, "unit": "N m", "min": -0.08901219068914479, "max": 0.36767540253128134, "max_abs": 0.36767540253128134 }, { "actuator_index": 5, "unit": "N m", "min": -0.29917410265161426, "max": 0.3441129258780411, "max_abs": 0.3441129258780411 }, { "actuator_index": 6, "unit": "N", "min": -1.1095031194079272, "max": 0.005158347543098074, "max_abs": 1.1095031194079272 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 2.317951667122543, "attempt_wall_seconds": 2.3215735419653356, "step_compute_seconds": { "count": 1000, "min": 0.0014118340332061052, "mean": 0.0021563631717581304, "p50": 0.0017032090108841658, "p95": 0.004359500017017126, "p99": 0.005511666880920529, "max": 0.008859082823619246, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [ "probe_started", "alarm", "unchanged_retry_refused", "abort" ], "final_object_position_m": [ 0.3054551724767279, -0.024928190312717386, 0.07994226430789225 ], "final_tcp_position_m": [ 0.30689945657137785, -0.02686292495066597, 0.08559757531326374 ] }, { "id": "227037:friction015-mass040-layout00--reacquire_grasp_open_jaw", "cohort_seed": 227037, "scene_id": "friction015-mass040-layout00", "variant": "reacquire_grasp_open_jaw", "mode": "reacquire_grasp", "control": "replay_open_jaw", "friction": 0.15, "mass_kg": 0.04, "layout_index": 0, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.229992910444793e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.11873951603531831 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.4100310768054101, "peak_sampled_speed_m_s": 0.17442970838365152, "net_vertical_m": -0.28100338272662545, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.285475729358383 }, "object": { "path_m": 8.267918484849025e-11, "peak_sampled_speed_m_s": 1.6349227538150635e-09, "net_vertical_m": 6.229992910444793e-11, "max_vertical_from_window_start_m": 6.229992910444793e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.3401562741214931, 0.47687851288348687, 0.4195796716068277, 0.3739608834678373, 0.22607483934211717, 0.1864957825209121 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.36070982791459727, "max": 1.4363752966904766, "max_abs": 1.4363752966904766 }, { "actuator_index": 1, "unit": "N m", "min": -1.5492657349571601, "max": 1.9591955107780734, "max_abs": 1.9591955107780734 }, { "actuator_index": 2, "unit": "N m", "min": -0.8956225843148928, "max": 1.26602975003874, "max_abs": 1.26602975003874 }, { "actuator_index": 3, "unit": "N m", "min": -0.31008183015923896, "max": 0.3011959568406244, "max_abs": 0.31008183015923896 }, { "actuator_index": 4, "unit": "N m", "min": -0.08901219068914479, "max": 0.36767540253128134, "max_abs": 0.36767540253128134 }, { "actuator_index": 5, "unit": "N m", "min": -0.29917410265161426, "max": 0.3441129258780411, "max_abs": 0.3441129258780411 }, { "actuator_index": 6, "unit": "N", "min": -0.0049782328482324, "max": 0.005158347543098074, "max_abs": 0.005158347543098074 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.969822792103514, "attempt_wall_seconds": 1.972250958206132, "step_compute_seconds": { "count": 1000, "min": 0.0013749999925494194, "mean": 0.0016892952197231352, "p50": 0.0016405829228460789, "p95": 0.0020483750849962234, "p99": 0.0023029169533401728, "max": 0.004646042129024863, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.30272986355341336, -0.02648363964710624, 0.07989224457978376 ], "final_tcp_position_m": [ 0.30692743642108355, -0.026843675089090368, 0.08558156037768365 ] }, { "id": "227037:friction015-mass040-layout00--hold", "cohort_seed": 227037, "scene_id": "friction015-mass040-layout00", "variant": "hold", "mode": "baseline", "control": "hold", "friction": 0.15, "mass_kg": 0.04, "layout_index": 0, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.229992910444793e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.11873951603531831 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 1.1376744407779719e-16, "peak_sampled_speed_m_s": 5.558267943191594e-15, "net_vertical_m": 1.1102230246251565e-16, "max_vertical_from_window_start_m": 1.1102230246251565e-16, "min_vertical_from_window_start_m": 0.0 }, "object": { "path_m": 8.267918484849025e-11, "peak_sampled_speed_m_s": 1.6349227538150635e-09, "net_vertical_m": 6.229992910444793e-11, "max_vertical_from_window_start_m": 6.229992910444793e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 1.089099057831775e-19, 6.127451851049064e-18, 1.5410517561852992e-16, 1.2145569247038722e-17, 3.400546359107994e-16, 2.945467210750634e-17 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -5.149427585733612e-18, "max": -7.571162667696407e-19, "max_abs": 5.149427585733612e-18 }, { "actuator_index": 1, "unit": "N m", "min": 0.0, "max": 0.0, "max_abs": 0.0 }, { "actuator_index": 2, "unit": "N m", "min": 0.0, "max": 0.0, "max_abs": 0.0 }, { "actuator_index": 3, "unit": "N m", "min": 7.130976259465077e-17, "max": 1.5875460775817776e-16, "max_abs": 1.5875460775817776e-16 }, { "actuator_index": 4, "unit": "N m", "min": 5.770246053275149e-16, "max": 3.2953315452184146e-15, "max_abs": 3.2953315452184146e-15 }, { "actuator_index": 5, "unit": "N m", "min": -2.2098381316149117e-16, "max": -4.998795352997742e-17, "max_abs": 2.2098381316149117e-16 }, { "actuator_index": 6, "unit": "N", "min": 0.0, "max": 0.0, "max_abs": 0.0 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.5838577500544488, "attempt_wall_seconds": 1.5859354590065777, "step_compute_seconds": { "count": 1000, "min": 0.0013272080104798079, "mean": 0.0014200601307675243, "p50": 0.0014044169802218676, "p95": 0.0015132080297917128, "p99": 0.0016367500647902489, "max": 0.004585790913552046, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.30272986355341336, -0.02648363964710624, 0.07989224457978376 ], "final_tcp_position_m": [ 0.4890696662845219, 0.001414197565480896, 0.3665849431043092 ] }, { "id": "227037:friction015-mass040-layout01--recovery_placement", "cohort_seed": 227037, "scene_id": "friction015-mass040-layout01", "variant": "recovery_placement", "mode": "recovery", "control": "placement", "friction": 0.15, "mass_kg": 0.04, "layout_index": 1, "valid": true, "success": false, "failure_stage": "acquisition_never_qualified", "terminal_reason": "timeout", "abort_reason": "unchanged_grasp_not_following", "abort_time_s": 11.759999999998922, "completion_time_s": null, "milestones": { "grasp_seen": true, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 7.114469235498799e-05, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12786883441836547 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.4044622385154531, "peak_sampled_speed_m_s": 0.1609628224850391, "net_vertical_m": -0.28086146916208904, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2847567203243218 }, "object": { "path_m": 0.002091446898999604, "peak_sampled_speed_m_s": 0.01146394624894302, "net_vertical_m": -6.493649317082517e-06, "max_vertical_from_window_start_m": 6.923079102374996e-05, "min_vertical_from_window_start_m": -2.6830337081992783e-05 } }, "max_pad_normal_force_n": 0.4145177253043538, "max_abs_native_joint_velocity_rad_s": [ 0.12109832240863615, 0.47874375996704827, 0.4157403228201114, 0.20879247050430766, 0.2247436967609663, 0.13567990824592172 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3331215818590163, "max": 0.31590772391026434, "max_abs": 0.3331215818590163 }, { "actuator_index": 1, "unit": "N m", "min": -1.549168076425687, "max": 1.9133455921077314, "max_abs": 1.9133455921077314 }, { "actuator_index": 2, "unit": "N m", "min": -0.8272777281687382, "max": 1.2659732369764214, "max_abs": 1.2659732369764214 }, { "actuator_index": 3, "unit": "N m", "min": -0.3374178552716991, "max": 0.30193379075165616, "max_abs": 0.3374178552716991 }, { "actuator_index": 4, "unit": "N m", "min": -0.009255025163202646, "max": 0.3790025439470819, "max_abs": 0.3790025439470819 }, { "actuator_index": 5, "unit": "N m", "min": -0.2992443670373969, "max": 0.21214857661014652, "max_abs": 0.2992443670373969 }, { "actuator_index": 6, "unit": "N", "min": -0.7898795923880481, "max": 0.0010659278556416352, "max_abs": 0.7898795923880481 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 2.1301999159622937, "attempt_wall_seconds": 2.1322928750887513, "step_compute_seconds": { "count": 1000, "min": 0.0014009159058332443, "mean": 0.0019698726716451346, "p50": 0.0017208750359714031, "p95": 0.0025497497990727425, "p99": 0.004581250017508864, "max": 0.008781916927546263, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [ "probe_started", "alarm", "unchanged_retry_refused", "abort" ], "final_object_position_m": [ 0.3040635064737182, -0.03500649864940523, 0.07988575086816671 ], "final_tcp_position_m": [ 0.3077868861190123, -0.03530350425700313, 0.08572347394222009 ] }, { "id": "227037:friction015-mass040-layout01--recovery_open_jaw", "cohort_seed": 227037, "scene_id": "friction015-mass040-layout01", "variant": "recovery_open_jaw", "mode": "recovery", "control": "replay_open_jaw", "friction": 0.15, "mass_kg": 0.04, "layout_index": 1, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998735932967e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12785681814315922 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.40531712912722934, "peak_sampled_speed_m_s": 0.1609628224850391, "net_vertical_m": -0.28092438149932863, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2847647478513712 }, "object": { "path_m": 8.273377578109966e-11, "peak_sampled_speed_m_s": 1.6349234568030949e-09, "net_vertical_m": 6.22998735932967e-11, "max_vertical_from_window_start_m": 6.22998735932967e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.12109832240863615, 0.47874375996704827, 0.4157403228201114, 0.20879247050430766, 0.2247436967609663, 0.13567990824592172 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3331215818590163, "max": 0.31590772391026434, "max_abs": 0.3331215818590163 }, { "actuator_index": 1, "unit": "N m", "min": -1.549168076425687, "max": 1.9133455921077314, "max_abs": 1.9133455921077314 }, { "actuator_index": 2, "unit": "N m", "min": -0.8272777281687382, "max": 1.2659732369764214, "max_abs": 1.2659732369764214 }, { "actuator_index": 3, "unit": "N m", "min": -0.3374178552716991, "max": 0.30193379075165616, "max_abs": 0.3374178552716991 }, { "actuator_index": 4, "unit": "N m", "min": -0.007502334609698735, "max": 0.3790025439470819, "max_abs": 0.3790025439470819 }, { "actuator_index": 5, "unit": "N m", "min": -0.2992443670373969, "max": 0.21214857661014652, "max_abs": 0.2992443670373969 }, { "actuator_index": 6, "unit": "N", "min": -0.0003387321762917672, "max": 0.0005722942677701681, "max_abs": 0.0005722942677701681 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.7798178337980062, "attempt_wall_seconds": 1.7823519161902368, "step_compute_seconds": { "count": 1000, "min": 0.0013670411426573992, "mean": 0.0016083259463775903, "p50": 0.00154020800255239, "p95": 0.0018526669591665268, "p99": 0.0020027500577270985, "max": 0.0036144591867923737, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.30347210107632866, -0.03475713123250927, 0.07989224457978367 ], "final_tcp_position_m": [ 0.3077036987999556, -0.035296732056559275, 0.08566056160498049 ] }, { "id": "227037:friction015-mass040-layout01--reacquire_placement", "cohort_seed": 227037, "scene_id": "friction015-mass040-layout01", "variant": "reacquire_placement", "mode": "reacquire", "control": "placement", "friction": 0.15, "mass_kg": 0.04, "layout_index": 1, "valid": true, "success": false, "failure_stage": "acquisition_never_qualified", "terminal_reason": "timeout", "abort_reason": "unchanged_grasp_not_following", "abort_time_s": 11.759999999998922, "completion_time_s": null, "milestones": { "grasp_seen": true, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 7.114469235498799e-05, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12786883441836547 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.4044622385154531, "peak_sampled_speed_m_s": 0.1609628224850391, "net_vertical_m": -0.28086146916208904, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2847567203243218 }, "object": { "path_m": 0.002091446898999604, "peak_sampled_speed_m_s": 0.01146394624894302, "net_vertical_m": -6.493649317082517e-06, "max_vertical_from_window_start_m": 6.923079102374996e-05, "min_vertical_from_window_start_m": -2.6830337081992783e-05 } }, "max_pad_normal_force_n": 0.4145177253043538, "max_abs_native_joint_velocity_rad_s": [ 0.12109832240863615, 0.47874375996704827, 0.4157403228201114, 0.20879247050430766, 0.2247436967609663, 0.13567990824592172 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3331215818590163, "max": 0.31590772391026434, "max_abs": 0.3331215818590163 }, { "actuator_index": 1, "unit": "N m", "min": -1.549168076425687, "max": 1.9133455921077314, "max_abs": 1.9133455921077314 }, { "actuator_index": 2, "unit": "N m", "min": -0.8272777281687382, "max": 1.2659732369764214, "max_abs": 1.2659732369764214 }, { "actuator_index": 3, "unit": "N m", "min": -0.3374178552716991, "max": 0.30193379075165616, "max_abs": 0.3374178552716991 }, { "actuator_index": 4, "unit": "N m", "min": -0.009255025163202646, "max": 0.3790025439470819, "max_abs": 0.3790025439470819 }, { "actuator_index": 5, "unit": "N m", "min": -0.2992443670373969, "max": 0.21214857661014652, "max_abs": 0.2992443670373969 }, { "actuator_index": 6, "unit": "N", "min": -0.7898795923880481, "max": 0.0010659278556416352, "max_abs": 0.7898795923880481 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 2.1110934999305755, "attempt_wall_seconds": 2.11319737508893, "step_compute_seconds": { "count": 1000, "min": 0.0014942081179469824, "mean": 0.001936215600464493, "p50": 0.0016254589427262545, "p95": 0.002402417128905654, "p99": 0.00457637500949204, "max": 0.011206000111997128, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [ "probe_started", "alarm", "unchanged_retry_refused", "abort" ], "final_object_position_m": [ 0.3040635064737182, -0.03500649864940523, 0.07988575086816671 ], "final_tcp_position_m": [ 0.3077868861190123, -0.03530350425700313, 0.08572347394222009 ] }, { "id": "227037:friction015-mass040-layout01--reacquire_open_jaw", "cohort_seed": 227037, "scene_id": "friction015-mass040-layout01", "variant": "reacquire_open_jaw", "mode": "reacquire", "control": "replay_open_jaw", "friction": 0.15, "mass_kg": 0.04, "layout_index": 1, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998735932967e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12785681814315922 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.40531712912722934, "peak_sampled_speed_m_s": 0.1609628224850391, "net_vertical_m": -0.28092438149932863, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2847647478513712 }, "object": { "path_m": 8.273377578109966e-11, "peak_sampled_speed_m_s": 1.6349234568030949e-09, "net_vertical_m": 6.22998735932967e-11, "max_vertical_from_window_start_m": 6.22998735932967e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.12109832240863615, 0.47874375996704827, 0.4157403228201114, 0.20879247050430766, 0.2247436967609663, 0.13567990824592172 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3331215818590163, "max": 0.31590772391026434, "max_abs": 0.3331215818590163 }, { "actuator_index": 1, "unit": "N m", "min": -1.549168076425687, "max": 1.9133455921077314, "max_abs": 1.9133455921077314 }, { "actuator_index": 2, "unit": "N m", "min": -0.8272777281687382, "max": 1.2659732369764214, "max_abs": 1.2659732369764214 }, { "actuator_index": 3, "unit": "N m", "min": -0.3374178552716991, "max": 0.30193379075165616, "max_abs": 0.3374178552716991 }, { "actuator_index": 4, "unit": "N m", "min": -0.007502334609698735, "max": 0.3790025439470819, "max_abs": 0.3790025439470819 }, { "actuator_index": 5, "unit": "N m", "min": -0.2992443670373969, "max": 0.21214857661014652, "max_abs": 0.2992443670373969 }, { "actuator_index": 6, "unit": "N", "min": -0.0003387321762917672, "max": 0.0005722942677701681, "max_abs": 0.0005722942677701681 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.6938910000026226, "attempt_wall_seconds": 1.6967488329391927, "step_compute_seconds": { "count": 1000, "min": 0.001364666037261486, "mean": 0.001531652067322284, "p50": 0.0015057919081300497, "p95": 0.0016623749397695065, "p99": 0.0018092910759150982, "max": 0.0036703748628497124, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.30347210107632866, -0.03475713123250927, 0.07989224457978367 ], "final_tcp_position_m": [ 0.3077036987999556, -0.035296732056559275, 0.08566056160498049 ] }, { "id": "227037:friction015-mass040-layout01--reacquire_grasp_placement", "cohort_seed": 227037, "scene_id": "friction015-mass040-layout01", "variant": "reacquire_grasp_placement", "mode": "reacquire_grasp", "control": "placement", "friction": 0.15, "mass_kg": 0.04, "layout_index": 1, "valid": true, "success": false, "failure_stage": "acquisition_never_qualified", "terminal_reason": "timeout", "abort_reason": "unchanged_grasp_not_following", "abort_time_s": 12.89999999999829, "completion_time_s": null, "milestones": { "grasp_seen": true, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 0.00019213572199201778, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12546654459002132 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.4108155470690198, "peak_sampled_speed_m_s": 0.1741048381748637, "net_vertical_m": -0.28098698153706536, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28552067037534434 }, "object": { "path_m": 0.005355682012161593, "peak_sampled_speed_m_s": 0.03606033256974742, "net_vertical_m": 4.5953764146053344e-05, "max_vertical_from_window_start_m": 0.00019130070419812184, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.5870891610608517, "max_abs_native_joint_velocity_rad_s": [ 0.3541795284638996, 0.4880601421583147, 0.4157403228201114, 0.3760346550111846, 0.21263387403024767, 0.1859914418708527 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.36935932833645335, "max": 1.430734479778641, "max_abs": 1.430734479778641 }, { "actuator_index": 1, "unit": "N m", "min": -1.549168076425687, "max": 1.9692883697840102, "max_abs": 1.9692883697840102 }, { "actuator_index": 2, "unit": "N m", "min": -0.8925701672018675, "max": 1.2659732369764214, "max_abs": 1.2659732369764214 }, { "actuator_index": 3, "unit": "N m", "min": -0.3098855497792652, "max": 0.30193379075165616, "max_abs": 0.3098855497792652 }, { "actuator_index": 4, "unit": "N m", "min": -0.09777639608337019, "max": 0.3667297673242079, "max_abs": 0.3667297673242079 }, { "actuator_index": 5, "unit": "N m", "min": -0.2992443670373969, "max": 0.345717661775772, "max_abs": 0.345717661775772 }, { "actuator_index": 6, "unit": "N", "min": -1.109560586509922, "max": 0.005205551977703449, "max_abs": 1.109560586509922 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 2.125958832912147, "attempt_wall_seconds": 2.128904707962647, "step_compute_seconds": { "count": 1000, "min": 0.0015030000358819962, "mean": 0.001936334296828136, "p50": 0.001715916907414794, "p95": 0.00241062487475574, "p99": 0.0036360411904752254, "max": 0.004215917084366083, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [ "probe_started", "alarm", "unchanged_retry_refused", "abort" ], "final_object_position_m": [ 0.30614997977206715, -0.03324291624536768, 0.07993819828162985 ], "final_tcp_position_m": [ 0.30766303433867803, -0.03524351206405778, 0.08559796156724378 ] }, { "id": "227037:friction015-mass040-layout01--reacquire_grasp_open_jaw", "cohort_seed": 227037, "scene_id": "friction015-mass040-layout01", "variant": "reacquire_grasp_open_jaw", "mode": "reacquire_grasp", "control": "replay_open_jaw", "friction": 0.15, "mass_kg": 0.04, "layout_index": 1, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998735932967e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12785681814315922 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.41193586274563293, "peak_sampled_speed_m_s": 0.1741048381748637, "net_vertical_m": -0.2810107843103621, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28552067037534434 }, "object": { "path_m": 8.273377578109966e-11, "peak_sampled_speed_m_s": 1.6349234568030949e-09, "net_vertical_m": 6.22998735932967e-11, "max_vertical_from_window_start_m": 6.22998735932967e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.3541795284638996, 0.4880601421583147, 0.4157403228201114, 0.3760346550111846, 0.21263387403024767, 0.1859914418708527 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.36935932833645335, "max": 1.430734479778641, "max_abs": 1.430734479778641 }, { "actuator_index": 1, "unit": "N m", "min": -1.549168076425687, "max": 1.9692883697840102, "max_abs": 1.9692883697840102 }, { "actuator_index": 2, "unit": "N m", "min": -0.8925701672018675, "max": 1.2659732369764214, "max_abs": 1.2659732369764214 }, { "actuator_index": 3, "unit": "N m", "min": -0.3098855497792652, "max": 0.30193379075165616, "max_abs": 0.3098855497792652 }, { "actuator_index": 4, "unit": "N m", "min": -0.09777639608337019, "max": 0.3667297673242079, "max_abs": 0.3667297673242079 }, { "actuator_index": 5, "unit": "N m", "min": -0.2992443670373969, "max": 0.345717661775772, "max_abs": 0.345717661775772 }, { "actuator_index": 6, "unit": "N", "min": -0.0050924064405168945, "max": 0.005205551977703449, "max_abs": 0.005205551977703449 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 2.048754333052784, "attempt_wall_seconds": 2.051501499954611, "step_compute_seconds": { "count": 1000, "min": 0.001450875075533986, "mean": 0.0018258392887655645, "p50": 0.0018040831200778484, "p95": 0.0022475000005215406, "p99": 0.003695625113323331, "max": 0.010063374880701303, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.30347210107632866, -0.03475713123250927, 0.07989224457978367 ], "final_tcp_position_m": [ 0.30767679908585827, -0.035229569835870826, 0.08557415879394702 ] }, { "id": "227037:friction015-mass040-layout01--hold", "cohort_seed": 227037, "scene_id": "friction015-mass040-layout01", "variant": "hold", "mode": "baseline", "control": "hold", "friction": 0.15, "mass_kg": 0.04, "layout_index": 1, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998735932967e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12785681814315922 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 1.1376744407779719e-16, "peak_sampled_speed_m_s": 5.558267943191594e-15, "net_vertical_m": 1.1102230246251565e-16, "max_vertical_from_window_start_m": 1.1102230246251565e-16, "min_vertical_from_window_start_m": 0.0 }, "object": { "path_m": 8.273377578109966e-11, "peak_sampled_speed_m_s": 1.6349234568030949e-09, "net_vertical_m": 6.22998735932967e-11, "max_vertical_from_window_start_m": 6.22998735932967e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 1.089099057831775e-19, 6.127451851049064e-18, 1.5410517561852992e-16, 1.2145569247038722e-17, 3.400546359107994e-16, 2.945467210750634e-17 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -5.149427585733612e-18, "max": -7.571162667696407e-19, "max_abs": 5.149427585733612e-18 }, { "actuator_index": 1, "unit": "N m", "min": 0.0, "max": 0.0, "max_abs": 0.0 }, { "actuator_index": 2, "unit": "N m", "min": 0.0, "max": 0.0, "max_abs": 0.0 }, { "actuator_index": 3, "unit": "N m", "min": 7.130976259465077e-17, "max": 1.5875460775817776e-16, "max_abs": 1.5875460775817776e-16 }, { "actuator_index": 4, "unit": "N m", "min": 5.770246053275149e-16, "max": 3.2953315452184146e-15, "max_abs": 3.2953315452184146e-15 }, { "actuator_index": 5, "unit": "N m", "min": -2.2098381316149117e-16, "max": -4.998795352997742e-17, "max_abs": 2.2098381316149117e-16 }, { "actuator_index": 6, "unit": "N", "min": 0.0, "max": 0.0, "max_abs": 0.0 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.7658480829559267, "attempt_wall_seconds": 1.7679160409606993, "step_compute_seconds": { "count": 1000, "min": 0.0013202500995248556, "mean": 0.0015475178898777813, "p50": 0.0014907920267432928, "p95": 0.0017945831641554832, "p99": 0.0019099158234894276, "max": 0.003965958021581173, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.30347210107632866, -0.03475713123250927, 0.07989224457978367 ], "final_tcp_position_m": [ 0.4890696662845219, 0.001414197565480896, 0.3665849431043092 ] }, { "id": "227037:friction015-mass060-layout00--recovery_placement", "cohort_seed": 227037, "scene_id": "friction015-mass060-layout00", "variant": "recovery_placement", "mode": "recovery", "control": "placement", "friction": 0.15, "mass_kg": 0.06, "layout_index": 0, "valid": true, "success": false, "failure_stage": "acquisition_never_qualified", "terminal_reason": "timeout", "abort_reason": "retry_budget_exhausted:object_not_following", "abort_time_s": 14.399999999997458, "completion_time_s": null, "milestones": { "grasp_seen": true, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 4.3498928042035034e-05, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.11863330025744347 }, "qualification_count": 0, "retry_count": 1, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.4289464148741212, "peak_sampled_speed_m_s": 0.16131555080439416, "net_vertical_m": -0.2804201218176393, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.284751536876379 }, "object": { "path_m": 0.0019692842687732293, "peak_sampled_speed_m_s": 0.009305557256564264, "net_vertical_m": -9.284224003619501e-06, "max_vertical_from_window_start_m": 4.224363788606078e-05, "min_vertical_from_window_start_m": -2.0349440112768513e-05 } }, "max_pad_normal_force_n": 0.420455794320647, "max_abs_native_joint_velocity_rad_s": [ 0.09811512092597342, 0.48198894843286016, 0.4195797298669348, 0.17161021304838067, 0.22940860186675094, 0.10006436882913652 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3260506070430029, "max": 0.2954102366450009, "max_abs": 0.3260506070430029 }, { "actuator_index": 1, "unit": "N m", "min": -1.5492657364293763, "max": 1.9181633545575352, "max_abs": 1.9181633545575352 }, { "actuator_index": 2, "unit": "N m", "min": -0.8282628350163748, "max": 1.4097557092798496, "max_abs": 1.4097557092798496 }, { "actuator_index": 3, "unit": "N m", "min": -0.30448157975583134, "max": 0.3011959224946974, "max_abs": 0.30448157975583134 }, { "actuator_index": 4, "unit": "N m", "min": -0.17958300192558063, "max": 0.3804905918942989, "max_abs": 0.3804905918942989 }, { "actuator_index": 5, "unit": "N m", "min": -0.29917410269860767, "max": 0.1658501499886187, "max_abs": 0.29917410269860767 }, { "actuator_index": 6, "unit": "N", "min": -0.7930112376357038, "max": 0.019863308878038555, "max_abs": 0.7930112376357038 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 2.179076333064586, "attempt_wall_seconds": 2.181456291116774, "step_compute_seconds": { "count": 1000, "min": 0.001393292099237442, "mean": 0.0020075944212730973, "p50": 0.0015543329063802958, "p95": 0.004465832840651274, "p99": 0.005722374888136983, "max": 0.007620540913194418, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [ "probe_started", "alarm", "retry_started", "retry_completed", "probe_started", "alarm", "abort" ], "final_object_position_m": [ 0.3030598330180369, -0.026500176344277357, 0.07988296029348019 ], "final_tcp_position_m": [ 0.3033099093406721, -0.026822159510901996, 0.08616482128666982 ] }, { "id": "227037:friction015-mass060-layout00--recovery_open_jaw", "cohort_seed": 227037, "scene_id": "friction015-mass060-layout00", "variant": "recovery_open_jaw", "mode": "recovery", "control": "replay_open_jaw", "friction": 0.15, "mass_kg": 0.06, "layout_index": 0, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998874710845e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.11873941221839011 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.43051177847250427, "peak_sampled_speed_m_s": 0.16131555080439416, "net_vertical_m": -0.28053647452199826, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2847626534324351 }, "object": { "path_m": 8.30578038653498e-11, "peak_sampled_speed_m_s": 1.6349227560203152e-09, "net_vertical_m": 6.22998874710845e-11, "max_vertical_from_window_start_m": 6.22998874710845e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.09811512092597342, 0.48198894843286016, 0.4195797298669348, 0.17161021304838067, 0.22940860186675094, 0.10006436882913652 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3260506070430029, "max": 0.2954102366450009, "max_abs": 0.3260506070430029 }, { "actuator_index": 1, "unit": "N m", "min": -1.5492657364293763, "max": 1.9181633545575352, "max_abs": 1.9181633545575352 }, { "actuator_index": 2, "unit": "N m", "min": -0.8282628350163748, "max": 1.409493186487822, "max_abs": 1.409493186487822 }, { "actuator_index": 3, "unit": "N m", "min": -0.30448157975583134, "max": 0.3011959224946974, "max_abs": 0.30448157975583134 }, { "actuator_index": 4, "unit": "N m", "min": -0.179578856040294, "max": 0.3804905918942989, "max_abs": 0.3804905918942989 }, { "actuator_index": 5, "unit": "N m", "min": -0.29917410269860767, "max": 0.1658501499886187, "max_abs": 0.29917410269860767 }, { "actuator_index": 6, "unit": "N", "min": -0.000284015028953144, "max": 0.00044218046919475285, "max_abs": 0.00044218046919475285 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.757190000033006, "attempt_wall_seconds": 1.7597797920461744, "step_compute_seconds": { "count": 1000, "min": 0.0014484580606222153, "mean": 0.0015629690843634307, "p50": 0.001520874910056591, "p95": 0.0016811660025268793, "p99": 0.0017730840481817722, "max": 0.010146790882572532, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.3027298305987309, -0.02648351479840558, 0.0798922445797837 ], "final_tcp_position_m": [ 0.3031917746005136, -0.02681503192701466, 0.08604846858231086 ] }, { "id": "227037:friction015-mass060-layout00--reacquire_placement", "cohort_seed": 227037, "scene_id": "friction015-mass060-layout00", "variant": "reacquire_placement", "mode": "reacquire", "control": "placement", "friction": 0.15, "mass_kg": 0.06, "layout_index": 0, "valid": true, "success": false, "failure_stage": "acquisition_never_qualified", "terminal_reason": "timeout", "abort_reason": "retry_budget_exhausted:object_not_following", "abort_time_s": 14.399999999997458, "completion_time_s": null, "milestones": { "grasp_seen": true, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 4.3498928042035034e-05, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.11863330025744347 }, "qualification_count": 0, "retry_count": 1, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.4289464148741212, "peak_sampled_speed_m_s": 0.16131555080439416, "net_vertical_m": -0.2804201218176393, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.284751536876379 }, "object": { "path_m": 0.0019692842687732293, "peak_sampled_speed_m_s": 0.009305557256564264, "net_vertical_m": -9.284224003619501e-06, "max_vertical_from_window_start_m": 4.224363788606078e-05, "min_vertical_from_window_start_m": -2.0349440112768513e-05 } }, "max_pad_normal_force_n": 0.420455794320647, "max_abs_native_joint_velocity_rad_s": [ 0.09811512092597342, 0.48198894843286016, 0.4195797298669348, 0.17161021304838067, 0.22940860186675094, 0.10006436882913652 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3260506070430029, "max": 0.2954102366450009, "max_abs": 0.3260506070430029 }, { "actuator_index": 1, "unit": "N m", "min": -1.5492657364293763, "max": 1.9181633545575352, "max_abs": 1.9181633545575352 }, { "actuator_index": 2, "unit": "N m", "min": -0.8282628350163748, "max": 1.4097557092798496, "max_abs": 1.4097557092798496 }, { "actuator_index": 3, "unit": "N m", "min": -0.30448157975583134, "max": 0.3011959224946974, "max_abs": 0.30448157975583134 }, { "actuator_index": 4, "unit": "N m", "min": -0.17958300192558063, "max": 0.3804905918942989, "max_abs": 0.3804905918942989 }, { "actuator_index": 5, "unit": "N m", "min": -0.29917410269860767, "max": 0.1658501499886187, "max_abs": 0.29917410269860767 }, { "actuator_index": 6, "unit": "N", "min": -0.7930112376357038, "max": 0.019863308878038555, "max_abs": 0.7930112376357038 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 2.434925208101049, "attempt_wall_seconds": 2.4386152499355376, "step_compute_seconds": { "count": 1000, "min": 0.0013999170623719692, "mean": 0.0022674608307424932, "p50": 0.0015765829011797905, "p95": 0.00476787518709898, "p99": 0.006172333145514131, "max": 0.03237599995918572, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 1, "policy_event_types": [ "probe_started", "alarm", "retry_started", "retry_completed", "probe_started", "alarm", "abort" ], "final_object_position_m": [ 0.3030598330180369, -0.026500176344277357, 0.07988296029348019 ], "final_tcp_position_m": [ 0.3033099093406721, -0.026822159510901996, 0.08616482128666982 ] }, { "id": "227037:friction015-mass060-layout00--reacquire_open_jaw", "cohort_seed": 227037, "scene_id": "friction015-mass060-layout00", "variant": "reacquire_open_jaw", "mode": "reacquire", "control": "replay_open_jaw", "friction": 0.15, "mass_kg": 0.06, "layout_index": 0, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998874710845e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.11873941221839011 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.43051177847250427, "peak_sampled_speed_m_s": 0.16131555080439416, "net_vertical_m": -0.28053647452199826, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2847626534324351 }, "object": { "path_m": 8.30578038653498e-11, "peak_sampled_speed_m_s": 1.6349227560203152e-09, "net_vertical_m": 6.22998874710845e-11, "max_vertical_from_window_start_m": 6.22998874710845e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.09811512092597342, 0.48198894843286016, 0.4195797298669348, 0.17161021304838067, 0.22940860186675094, 0.10006436882913652 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3260506070430029, "max": 0.2954102366450009, "max_abs": 0.3260506070430029 }, { "actuator_index": 1, "unit": "N m", "min": -1.5492657364293763, "max": 1.9181633545575352, "max_abs": 1.9181633545575352 }, { "actuator_index": 2, "unit": "N m", "min": -0.8282628350163748, "max": 1.409493186487822, "max_abs": 1.409493186487822 }, { "actuator_index": 3, "unit": "N m", "min": -0.30448157975583134, "max": 0.3011959224946974, "max_abs": 0.30448157975583134 }, { "actuator_index": 4, "unit": "N m", "min": -0.179578856040294, "max": 0.3804905918942989, "max_abs": 0.3804905918942989 }, { "actuator_index": 5, "unit": "N m", "min": -0.29917410269860767, "max": 0.1658501499886187, "max_abs": 0.29917410269860767 }, { "actuator_index": 6, "unit": "N", "min": -0.000284015028953144, "max": 0.00044218046919475285, "max_abs": 0.00044218046919475285 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.7353209170978516, "attempt_wall_seconds": 1.7376942501869053, "step_compute_seconds": { "count": 1000, "min": 0.0013490829151123762, "mean": 0.0015157783259637655, "p50": 0.0014866248238831758, "p95": 0.0018012081272900105, "p99": 0.0019104580860584974, "max": 0.011328291147947311, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.3027298305987309, -0.02648351479840558, 0.0798922445797837 ], "final_tcp_position_m": [ 0.3031917746005136, -0.02681503192701466, 0.08604846858231086 ] }, { "id": "227037:friction015-mass060-layout00--reacquire_grasp_placement", "cohort_seed": 227037, "scene_id": "friction015-mass060-layout00", "variant": "reacquire_grasp_placement", "mode": "reacquire_grasp", "control": "placement", "friction": 0.15, "mass_kg": 0.06, "layout_index": 0, "valid": true, "success": false, "failure_stage": "acquisition_never_qualified", "terminal_reason": "timeout", "abort_reason": "unchanged_grasp_not_following", "abort_time_s": 12.679999999998412, "completion_time_s": null, "milestones": { "grasp_seen": true, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 0.00011330810796206237, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.11620228114881577 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.4087816675753635, "peak_sampled_speed_m_s": 0.17442973541835322, "net_vertical_m": -0.28102390162751945, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2854757306514778 }, "object": { "path_m": 0.004785611288123297, "peak_sampled_speed_m_s": 0.030571405974343907, "net_vertical_m": 2.5633162357346917e-05, "max_vertical_from_window_start_m": 0.0001111925305875977, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.5867941535097797, "max_abs_native_joint_velocity_rad_s": [ 0.3401560718900358, 0.47687866600704687, 0.4195797298669348, 0.3739608434936574, 0.22607557263242026, 0.18649579536629987 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3607099346182663, "max": 1.4363754182864295, "max_abs": 1.4363754182864295 }, { "actuator_index": 1, "unit": "N m", "min": -1.5492657364293763, "max": 1.9591955474612206, "max_abs": 1.9591955474612206 }, { "actuator_index": 2, "unit": "N m", "min": -0.8956227204620149, "max": 1.2660297508688387, "max_abs": 1.2660297508688387 }, { "actuator_index": 3, "unit": "N m", "min": -0.31008180759244386, "max": 0.3011959224946974, "max_abs": 0.31008180759244386 }, { "actuator_index": 4, "unit": "N m", "min": -0.0890122926342638, "max": 0.36767541645225355, "max_abs": 0.36767541645225355 }, { "actuator_index": 5, "unit": "N m", "min": -0.29917410269860767, "max": 0.3441129160682346, "max_abs": 0.3441129160682346 }, { "actuator_index": 6, "unit": "N", "min": -1.1129933058493537, "max": 0.0051583465090543346, "max_abs": 1.1129933058493537 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 2.0697469159495085, "attempt_wall_seconds": 2.0733680420089513, "step_compute_seconds": { "count": 1000, "min": 0.0014097080565989017, "mean": 0.001905938337324187, "p50": 0.001692082965746522, "p95": 0.0027869169134646654, "p99": 0.0038307500071823597, "max": 0.010283000068739057, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [ "probe_started", "alarm", "unchanged_retry_refused", "abort" ], "final_object_position_m": [ 0.30526633413953663, -0.024748641916345012, 0.07991787767984115 ], "final_tcp_position_m": [ 0.30687422452532775, -0.02685834896336269, 0.08556104147678967 ] }, { "id": "227037:friction015-mass060-layout00--reacquire_grasp_open_jaw", "cohort_seed": 227037, "scene_id": "friction015-mass060-layout00", "variant": "reacquire_grasp_open_jaw", "mode": "reacquire_grasp", "control": "replay_open_jaw", "friction": 0.15, "mass_kg": 0.06, "layout_index": 0, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998874710845e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.11873941221839011 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.4101079171477971, "peak_sampled_speed_m_s": 0.17442973541835322, "net_vertical_m": -0.28104006784365765, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2854757306514778 }, "object": { "path_m": 8.30578038653498e-11, "peak_sampled_speed_m_s": 1.6349227560203152e-09, "net_vertical_m": 6.22998874710845e-11, "max_vertical_from_window_start_m": 6.22998874710845e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.3401560718900358, 0.47687866600704687, 0.4195797298669348, 0.3739608434936574, 0.22607557263242026, 0.18649579536629987 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3607099346182663, "max": 1.4363754182864295, "max_abs": 1.4363754182864295 }, { "actuator_index": 1, "unit": "N m", "min": -1.5492657364293763, "max": 1.9591955474612206, "max_abs": 1.9591955474612206 }, { "actuator_index": 2, "unit": "N m", "min": -0.8956227204620149, "max": 1.2660297508688387, "max_abs": 1.2660297508688387 }, { "actuator_index": 3, "unit": "N m", "min": -0.31008180759244386, "max": 0.3011959224946974, "max_abs": 0.31008180759244386 }, { "actuator_index": 4, "unit": "N m", "min": -0.0890122926342638, "max": 0.36767541645225355, "max_abs": 0.36767541645225355 }, { "actuator_index": 5, "unit": "N m", "min": -0.29917410269860767, "max": 0.3441129160682346, "max_abs": 0.3441129160682346 }, { "actuator_index": 6, "unit": "N", "min": -0.004978232937728588, "max": 0.0051583465090543346, "max_abs": 0.0051583465090543346 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 2.1823122079949826, "attempt_wall_seconds": 2.1849358750041574, "step_compute_seconds": { "count": 1000, "min": 0.0017584171146154404, "mean": 0.0019447337873280048, "p50": 0.0018655001185834408, "p95": 0.002152124885469675, "p99": 0.0023381670471280813, "max": 0.0034628750290721655, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.3027298305987309, -0.02648351479840558, 0.0798922445797837 ], "final_tcp_position_m": [ 0.3068908188368362, -0.02684559954715282, 0.08554487526065144 ] }, { "id": "227037:friction015-mass060-layout00--hold", "cohort_seed": 227037, "scene_id": "friction015-mass060-layout00", "variant": "hold", "mode": "baseline", "control": "hold", "friction": 0.15, "mass_kg": 0.06, "layout_index": 0, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998874710845e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.11873941221839011 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 1.1376744407779719e-16, "peak_sampled_speed_m_s": 5.558267943191594e-15, "net_vertical_m": 1.1102230246251565e-16, "max_vertical_from_window_start_m": 1.1102230246251565e-16, "min_vertical_from_window_start_m": 0.0 }, "object": { "path_m": 8.30578038653498e-11, "peak_sampled_speed_m_s": 1.6349227560203152e-09, "net_vertical_m": 6.22998874710845e-11, "max_vertical_from_window_start_m": 6.22998874710845e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 1.089099057831775e-19, 6.127451851049064e-18, 1.5410517561852992e-16, 1.2145569247038722e-17, 3.400546359107994e-16, 2.945467210750634e-17 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -5.149427585733612e-18, "max": -7.571162667696407e-19, "max_abs": 5.149427585733612e-18 }, { "actuator_index": 1, "unit": "N m", "min": 0.0, "max": 0.0, "max_abs": 0.0 }, { "actuator_index": 2, "unit": "N m", "min": 0.0, "max": 0.0, "max_abs": 0.0 }, { "actuator_index": 3, "unit": "N m", "min": 7.130976259465077e-17, "max": 1.5875460775817776e-16, "max_abs": 1.5875460775817776e-16 }, { "actuator_index": 4, "unit": "N m", "min": 5.770246053275149e-16, "max": 3.2953315452184146e-15, "max_abs": 3.2953315452184146e-15 }, { "actuator_index": 5, "unit": "N m", "min": -2.2098381316149117e-16, "max": -4.998795352997742e-17, "max_abs": 2.2098381316149117e-16 }, { "actuator_index": 6, "unit": "N", "min": 0.0, "max": 0.0, "max_abs": 0.0 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.9177738330326974, "attempt_wall_seconds": 1.920479916036129, "step_compute_seconds": { "count": 1000, "min": 0.0014169591013342142, "mean": 0.0016986964398529381, "p50": 0.0016409580130130053, "p95": 0.0018565838690847158, "p99": 0.002051000017672777, "max": 0.013660082826390862, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.3027298305987309, -0.02648351479840558, 0.0798922445797837 ], "final_tcp_position_m": [ 0.4890696662845219, 0.001414197565480896, 0.3665849431043092 ] }, { "id": "227037:friction015-mass060-layout01--recovery_placement", "cohort_seed": 227037, "scene_id": "friction015-mass060-layout01", "variant": "recovery_placement", "mode": "recovery", "control": "placement", "friction": 0.15, "mass_kg": 0.06, "layout_index": 1, "valid": true, "success": false, "failure_stage": "acquisition_never_qualified", "terminal_reason": "timeout", "abort_reason": "unchanged_grasp_not_following", "abort_time_s": 11.759999999998922, "completion_time_s": null, "milestones": { "grasp_seen": true, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 4.9681666500850374e-05, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12810509000199988 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.40437792524284777, "peak_sampled_speed_m_s": 0.16096285355123482, "net_vertical_m": -0.28084368037173835, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2847542192418161 }, "object": { "path_m": 0.001202410709890348, "peak_sampled_speed_m_s": 0.01021357056229349, "net_vertical_m": -6.052954915736208e-06, "max_vertical_from_window_start_m": 4.876937533107584e-05, "min_vertical_from_window_start_m": -2.0178549300392534e-05 } }, "max_pad_normal_force_n": 0.4218625765825228, "max_abs_native_joint_velocity_rad_s": [ 0.12109842657974602, 0.4787440413417278, 0.41574034971850676, 0.2087925152721214, 0.2247436817337819, 0.13567995183670856 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.33312272355505357, "max": 0.31590781561913417, "max_abs": 0.33312272355505357 }, { "actuator_index": 1, "unit": "N m", "min": -1.549168076330929, "max": 1.9133453757402918, "max_abs": 1.9133453757402918 }, { "actuator_index": 2, "unit": "N m", "min": -0.827277832452836, "max": 1.2659732369154426, "max_abs": 1.2659732369154426 }, { "actuator_index": 3, "unit": "N m", "min": -0.33741794199050545, "max": 0.3019337911682971, "max_abs": 0.33741794199050545 }, { "actuator_index": 4, "unit": "N m", "min": -0.009754541726987753, "max": 0.37900257691262507, "max_abs": 0.37900257691262507 }, { "actuator_index": 5, "unit": "N m", "min": -0.29924436746467065, "max": 0.2121487312456225, "max_abs": 0.29924436746467065 }, { "actuator_index": 6, "unit": "N", "min": -0.7933686473560864, "max": 0.0010659278554012719, "max_abs": 0.7933686473560864 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 2.744782916037366, "attempt_wall_seconds": 2.747024375014007, "step_compute_seconds": { "count": 1000, "min": 0.0018335841596126556, "mean": 0.002548278850968927, "p50": 0.0022594169713556767, "p95": 0.004169665975496173, "p99": 0.006696333875879645, "max": 0.01044337498024106, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [ "probe_started", "alarm", "unchanged_retry_refused", "abort" ], "final_object_position_m": [ 0.3034373229348359, -0.035010750426134954, 0.07988619156256808 ], "final_tcp_position_m": [ 0.30779754072317306, -0.03530534334794717, 0.0857412627325708 ] }, { "id": "227037:friction015-mass060-layout01--recovery_open_jaw", "cohort_seed": 227037, "scene_id": "friction015-mass060-layout01", "variant": "recovery_open_jaw", "mode": "recovery", "control": "replay_open_jaw", "friction": 0.15, "mass_kg": 0.06, "layout_index": 1, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998735932967e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12785687094945328 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.4053504197371834, "peak_sampled_speed_m_s": 0.16096285355123482, "net_vertical_m": -0.28092767263860113, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28476472011191223 }, "object": { "path_m": 8.217173563024682e-11, "peak_sampled_speed_m_s": 1.6349227610006456e-09, "net_vertical_m": 6.22998735932967e-11, "max_vertical_from_window_start_m": 6.22998735932967e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.12109842657974602, 0.4787440413417278, 0.41574034971850676, 0.2087925152721214, 0.2247436817337819, 0.13567995183670856 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.33312272355505357, "max": 0.31590781561913417, "max_abs": 0.33312272355505357 }, { "actuator_index": 1, "unit": "N m", "min": -1.549168076330929, "max": 1.9133453757402918, "max_abs": 1.9133453757402918 }, { "actuator_index": 2, "unit": "N m", "min": -0.827277832452836, "max": 1.2659732369154426, "max_abs": 1.2659732369154426 }, { "actuator_index": 3, "unit": "N m", "min": -0.33741794199050545, "max": 0.3019337911682971, "max_abs": 0.33741794199050545 }, { "actuator_index": 4, "unit": "N m", "min": -0.007295048625019618, "max": 0.37900257691262507, "max_abs": 0.37900257691262507 }, { "actuator_index": 5, "unit": "N m", "min": -0.29924436746467065, "max": 0.2121487312456225, "max_abs": 0.29924436746467065 }, { "actuator_index": 6, "unit": "N", "min": -0.00033873241341431104, "max": 0.0005722949851227899, "max_abs": 0.0005722949851227899 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.773467707913369, "attempt_wall_seconds": 1.776248750044033, "step_compute_seconds": { "count": 1000, "min": 0.0013729999773204327, "mean": 0.0015998448426835239, "p50": 0.001520334044471383, "p95": 0.0018517079297453165, "p99": 0.0019779580179601908, "max": 0.005044790916144848, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.3034720032768539, -0.03475714877632244, 0.0798922445797837 ], "final_tcp_position_m": [ 0.30769534517337477, -0.03529547318236903, 0.08565727046570798 ] }, { "id": "227037:friction015-mass060-layout01--reacquire_placement", "cohort_seed": 227037, "scene_id": "friction015-mass060-layout01", "variant": "reacquire_placement", "mode": "reacquire", "control": "placement", "friction": 0.15, "mass_kg": 0.06, "layout_index": 1, "valid": true, "success": false, "failure_stage": "acquisition_never_qualified", "terminal_reason": "timeout", "abort_reason": "unchanged_grasp_not_following", "abort_time_s": 11.759999999998922, "completion_time_s": null, "milestones": { "grasp_seen": true, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 4.9681666500850374e-05, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12810509000199988 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.40437792524284777, "peak_sampled_speed_m_s": 0.16096285355123482, "net_vertical_m": -0.28084368037173835, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2847542192418161 }, "object": { "path_m": 0.001202410709890348, "peak_sampled_speed_m_s": 0.01021357056229349, "net_vertical_m": -6.052954915736208e-06, "max_vertical_from_window_start_m": 4.876937533107584e-05, "min_vertical_from_window_start_m": -2.0178549300392534e-05 } }, "max_pad_normal_force_n": 0.4218625765825228, "max_abs_native_joint_velocity_rad_s": [ 0.12109842657974602, 0.4787440413417278, 0.41574034971850676, 0.2087925152721214, 0.2247436817337819, 0.13567995183670856 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.33312272355505357, "max": 0.31590781561913417, "max_abs": 0.33312272355505357 }, { "actuator_index": 1, "unit": "N m", "min": -1.549168076330929, "max": 1.9133453757402918, "max_abs": 1.9133453757402918 }, { "actuator_index": 2, "unit": "N m", "min": -0.827277832452836, "max": 1.2659732369154426, "max_abs": 1.2659732369154426 }, { "actuator_index": 3, "unit": "N m", "min": -0.33741794199050545, "max": 0.3019337911682971, "max_abs": 0.33741794199050545 }, { "actuator_index": 4, "unit": "N m", "min": -0.009754541726987753, "max": 0.37900257691262507, "max_abs": 0.37900257691262507 }, { "actuator_index": 5, "unit": "N m", "min": -0.29924436746467065, "max": 0.2121487312456225, "max_abs": 0.29924436746467065 }, { "actuator_index": 6, "unit": "N", "min": -0.7933686473560864, "max": 0.0010659278554012719, "max_abs": 0.7933686473560864 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 2.442954249912873, "attempt_wall_seconds": 2.445187916047871, "step_compute_seconds": { "count": 1000, "min": 0.0016373330727219582, "mean": 0.0022555184124503284, "p50": 0.001913666957989335, "p95": 0.0032779581379145384, "p99": 0.005722709000110626, "max": 0.012501082848757505, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [ "probe_started", "alarm", "unchanged_retry_refused", "abort" ], "final_object_position_m": [ 0.3034373229348359, -0.035010750426134954, 0.07988619156256808 ], "final_tcp_position_m": [ 0.30779754072317306, -0.03530534334794717, 0.0857412627325708 ] }, { "id": "227037:friction015-mass060-layout01--reacquire_open_jaw", "cohort_seed": 227037, "scene_id": "friction015-mass060-layout01", "variant": "reacquire_open_jaw", "mode": "reacquire", "control": "replay_open_jaw", "friction": 0.15, "mass_kg": 0.06, "layout_index": 1, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998735932967e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12785687094945328 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.4053504197371834, "peak_sampled_speed_m_s": 0.16096285355123482, "net_vertical_m": -0.28092767263860113, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28476472011191223 }, "object": { "path_m": 8.217173563024682e-11, "peak_sampled_speed_m_s": 1.6349227610006456e-09, "net_vertical_m": 6.22998735932967e-11, "max_vertical_from_window_start_m": 6.22998735932967e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.12109842657974602, 0.4787440413417278, 0.41574034971850676, 0.2087925152721214, 0.2247436817337819, 0.13567995183670856 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.33312272355505357, "max": 0.31590781561913417, "max_abs": 0.33312272355505357 }, { "actuator_index": 1, "unit": "N m", "min": -1.549168076330929, "max": 1.9133453757402918, "max_abs": 1.9133453757402918 }, { "actuator_index": 2, "unit": "N m", "min": -0.827277832452836, "max": 1.2659732369154426, "max_abs": 1.2659732369154426 }, { "actuator_index": 3, "unit": "N m", "min": -0.33741794199050545, "max": 0.3019337911682971, "max_abs": 0.33741794199050545 }, { "actuator_index": 4, "unit": "N m", "min": -0.007295048625019618, "max": 0.37900257691262507, "max_abs": 0.37900257691262507 }, { "actuator_index": 5, "unit": "N m", "min": -0.29924436746467065, "max": 0.2121487312456225, "max_abs": 0.29924436746467065 }, { "actuator_index": 6, "unit": "N", "min": -0.00033873241341431104, "max": 0.0005722949851227899, "max_abs": 0.0005722949851227899 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.7680669170804322, "attempt_wall_seconds": 1.77092270902358, "step_compute_seconds": { "count": 1000, "min": 0.0014391248114407063, "mean": 0.0015789040070958436, "p50": 0.0016007081139832735, "p95": 0.0016917078755795956, "p99": 0.0017882080283015966, "max": 0.0024236671160906553, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.3034720032768539, -0.03475714877632244, 0.0798922445797837 ], "final_tcp_position_m": [ 0.30769534517337477, -0.03529547318236903, 0.08565727046570798 ] }, { "id": "227037:friction015-mass060-layout01--reacquire_grasp_placement", "cohort_seed": 227037, "scene_id": "friction015-mass060-layout01", "variant": "reacquire_grasp_placement", "mode": "reacquire_grasp", "control": "placement", "friction": 0.15, "mass_kg": 0.06, "layout_index": 1, "valid": true, "success": false, "failure_stage": "acquisition_never_qualified", "terminal_reason": "timeout", "abort_reason": "unchanged_grasp_not_following", "abort_time_s": 12.89999999999829, "completion_time_s": null, "milestones": { "grasp_seen": true, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 0.00010941338079184515, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12537615616221506 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.410683015548326, "peak_sampled_speed_m_s": 0.17410484588277944, "net_vertical_m": -0.2810274573112043, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2855206693122217 }, "object": { "path_m": 0.004713452569872819, "peak_sampled_speed_m_s": 0.03039464682213746, "net_vertical_m": 2.4033454024741108e-05, "max_vertical_from_window_start_m": 0.00010904071577705343, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.5854219606187387, "max_abs_native_joint_velocity_rad_s": [ 0.3541798453979831, 0.4880604031585088, 0.41574034971850676, 0.3760346632814634, 0.21263387871255948, 0.18599144129057754 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.36935944151118694, "max": 1.4307340056912512, "max_abs": 1.4307340056912512 }, { "actuator_index": 1, "unit": "N m", "min": -1.549168076330929, "max": 1.9692880805298927, "max_abs": 1.9692880805298927 }, { "actuator_index": 2, "unit": "N m", "min": -0.8925700806191657, "max": 1.2659732369154426, "max_abs": 1.2659732369154426 }, { "actuator_index": 3, "unit": "N m", "min": -0.3098855803200693, "max": 0.3019337911682971, "max_abs": 0.3098855803200693 }, { "actuator_index": 4, "unit": "N m", "min": -0.09777650973729646, "max": 0.36672977208425395, "max_abs": 0.36672977208425395 }, { "actuator_index": 5, "unit": "N m", "min": -0.29924436746467065, "max": 0.34571766051028474, "max_abs": 0.34571766051028474 }, { "actuator_index": 6, "unit": "N", "min": -1.1125034720458604, "max": 0.005205552518726453, "max_abs": 1.1125034720458604 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 2.3428360419347882, "attempt_wall_seconds": 2.3455010410398245, "step_compute_seconds": { "count": 1000, "min": 0.0016534589231014252, "mean": 0.0021703704700339584, "p50": 0.0021015419624745846, "p95": 0.0031415000557899475, "p99": 0.0038363339845091105, "max": 0.0070865831803530455, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [ "probe_started", "alarm", "unchanged_retry_refused", "abort" ], "final_object_position_m": [ 0.30595246221068884, -0.03306973541578772, 0.07991627797150856 ], "final_tcp_position_m": [ 0.30763039929768493, -0.035244279133966716, 0.08555748579310478 ] }, { "id": "227037:friction015-mass060-layout01--reacquire_grasp_open_jaw", "cohort_seed": 227037, "scene_id": "friction015-mass060-layout01", "variant": "reacquire_grasp_open_jaw", "mode": "reacquire_grasp", "control": "replay_open_jaw", "friction": 0.15, "mass_kg": 0.06, "layout_index": 1, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998735932967e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12785687094945328 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.41201129426038663, "peak_sampled_speed_m_s": 0.17410484588277944, "net_vertical_m": -0.2810465193669027, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2855206693122217 }, "object": { "path_m": 8.217173563024682e-11, "peak_sampled_speed_m_s": 1.6349227610006456e-09, "net_vertical_m": 6.22998735932967e-11, "max_vertical_from_window_start_m": 6.22998735932967e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.3541798453979831, 0.4880604031585088, 0.41574034971850676, 0.3760346632814634, 0.21263387871255948, 0.18599144129057754 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.36935944151118694, "max": 1.4307340056912512, "max_abs": 1.4307340056912512 }, { "actuator_index": 1, "unit": "N m", "min": -1.549168076330929, "max": 1.9692880805298927, "max_abs": 1.9692880805298927 }, { "actuator_index": 2, "unit": "N m", "min": -0.8925700806191657, "max": 1.2659732369154426, "max_abs": 1.2659732369154426 }, { "actuator_index": 3, "unit": "N m", "min": -0.3098855803200693, "max": 0.3019337911682971, "max_abs": 0.3098855803200693 }, { "actuator_index": 4, "unit": "N m", "min": -0.09777650973729646, "max": 0.36672977208425395, "max_abs": 0.36672977208425395 }, { "actuator_index": 5, "unit": "N m", "min": -0.29924436746467065, "max": 0.34571766051028474, "max_abs": 0.34571766051028474 }, { "actuator_index": 6, "unit": "N", "min": -0.005092402034580168, "max": 0.005205552518726453, "max_abs": 0.005205552518726453 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.6717968750745058, "attempt_wall_seconds": 1.6743007919285446, "step_compute_seconds": { "count": 1000, "min": 0.001351583981886506, "mean": 0.001463739731349051, "p50": 0.001438625156879425, "p95": 0.0015533750411123037, "p99": 0.0016620419919490814, "max": 0.010184124810621142, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.3034720032768539, -0.03475714877632244, 0.0798922445797837 ], "final_tcp_position_m": [ 0.30764124485680844, -0.03523086119992136, 0.08553842373740637 ] }, { "id": "227037:friction015-mass060-layout01--hold", "cohort_seed": 227037, "scene_id": "friction015-mass060-layout01", "variant": "hold", "mode": "baseline", "control": "hold", "friction": 0.15, "mass_kg": 0.06, "layout_index": 1, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998735932967e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12785687094945328 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 1.1376744407779719e-16, "peak_sampled_speed_m_s": 5.558267943191594e-15, "net_vertical_m": 1.1102230246251565e-16, "max_vertical_from_window_start_m": 1.1102230246251565e-16, "min_vertical_from_window_start_m": 0.0 }, "object": { "path_m": 8.217173563024682e-11, "peak_sampled_speed_m_s": 1.6349227610006456e-09, "net_vertical_m": 6.22998735932967e-11, "max_vertical_from_window_start_m": 6.22998735932967e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 1.089099057831775e-19, 6.127451851049064e-18, 1.5410517561852992e-16, 1.2145569247038722e-17, 3.400546359107994e-16, 2.945467210750634e-17 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -5.149427585733612e-18, "max": -7.571162667696407e-19, "max_abs": 5.149427585733612e-18 }, { "actuator_index": 1, "unit": "N m", "min": 0.0, "max": 0.0, "max_abs": 0.0 }, { "actuator_index": 2, "unit": "N m", "min": 0.0, "max": 0.0, "max_abs": 0.0 }, { "actuator_index": 3, "unit": "N m", "min": 7.130976259465077e-17, "max": 1.5875460775817776e-16, "max_abs": 1.5875460775817776e-16 }, { "actuator_index": 4, "unit": "N m", "min": 5.770246053275149e-16, "max": 3.2953315452184146e-15, "max_abs": 3.2953315452184146e-15 }, { "actuator_index": 5, "unit": "N m", "min": -2.2098381316149117e-16, "max": -4.998795352997742e-17, "max_abs": 2.2098381316149117e-16 }, { "actuator_index": 6, "unit": "N", "min": 0.0, "max": 0.0, "max_abs": 0.0 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.9605017921421677, "attempt_wall_seconds": 1.9627930000424385, "step_compute_seconds": { "count": 1000, "min": 0.0015416250098496675, "mean": 0.0017482532919384538, "p50": 0.0017741250339895487, "p95": 0.0018961247988045216, "p99": 0.0025059590116143227, "max": 0.006114665884524584, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.3034720032768539, -0.03475714877632244, 0.0798922445797837 ], "final_tcp_position_m": [ 0.4890696662845219, 0.001414197565480896, 0.3665849431043092 ] }, { "id": "862186:friction080-mass040-layout00--recovery_placement", "cohort_seed": 862186, "scene_id": "friction080-mass040-layout00", "variant": "recovery_placement", "mode": "recovery", "control": "placement", "friction": 0.8, "mass_kg": 0.04, "layout_index": 0, "valid": true, "success": true, "failure_stage": "completed", "terminal_reason": "success", "abort_reason": null, "abort_time_s": null, "completion_time_s": 15.571999999996809, "milestones": { "grasp_seen": true, "lift_seen": true, "carry_complete": true, "retention_lost": false, "dwell_seconds": 4.677999999999897, "max_object_lift_m": 0.09810068179820387, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.004081113670758604 }, "qualification_count": 1, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8966276721134588, "peak_sampled_speed_m_s": 0.19459407331196463, "net_vertical_m": -0.15665588361652366, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.287376466544076 }, "object": { "path_m": 0.34270691138412795, "peak_sampled_speed_m_s": 0.19428801325055842, "net_vertical_m": 6.22998874710845e-11, "max_vertical_from_window_start_m": 0.09805597294694977, "min_vertical_from_window_start_m": -9.753325466867191e-05 } }, "max_pad_normal_force_n": 1.0178175816071424, "max_abs_native_joint_velocity_rad_s": [ 0.6544043840069983, 0.6273179650414856, 0.501554219045392, 0.18444279347837284, 0.22417277969890934, 0.18507377736690206 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3353169499721709, "max": 1.862929376973553, "max_abs": 1.862929376973553 }, { "actuator_index": 1, "unit": "N m", "min": -2.2066649288902056, "max": 2.0550639027325275, "max_abs": 2.2066649288902056 }, { "actuator_index": 2, "unit": "N m", "min": -0.9307844777428471, "max": 1.266011692073704, "max_abs": 1.266011692073704 }, { "actuator_index": 3, "unit": "N m", "min": -0.3699093907523805, "max": 0.3018391976931003, "max_abs": 0.3699093907523805 }, { "actuator_index": 4, "unit": "N m", "min": -0.37103115201478154, "max": 0.3828703268857616, "max_abs": 0.3828703268857616 }, { "actuator_index": 5, "unit": "N m", "min": -0.2992179083150353, "max": 0.3337899346622053, "max_abs": 0.3337899346622053 }, { "actuator_index": 6, "unit": "N", "min": -0.86217068340442, "max": 0.014865308388655962, "max_abs": 0.86217068340442 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.7061818342190236, "attempt_wall_seconds": 1.7064409169834107, "step_compute_seconds": { "count": 1000, "min": 0.0010569589212536812, "mean": 0.0012691166561562568, "p50": 0.0011151251383125782, "p95": 0.0020820421632379293, "p99": 0.002514583058655262, "max": 0.0032306669745594263, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [ "probe_started", "acquisition_qualified" ], "final_object_position_m": [ 0.3520176459398464, 0.08106904797445705, 0.07989224457978368 ], "final_tcp_position_m": [ 0.3477756761132769, 0.08114158565787294, 0.20992905948778545 ] }, { "id": "862186:friction080-mass040-layout00--recovery_open_jaw", "cohort_seed": 862186, "scene_id": "friction080-mass040-layout00", "variant": "recovery_open_jaw", "mode": "recovery", "control": "replay_open_jaw", "friction": 0.8, "mass_kg": 0.04, "layout_index": 0, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.229992910444793e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12097711709669973 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8996489332867164, "peak_sampled_speed_m_s": 0.19529169463329626, "net_vertical_m": -0.15665556384629253, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2875813280074345 }, "object": { "path_m": 1.9884039970751706e-10, "peak_sampled_speed_m_s": 1.63492345684068e-09, "net_vertical_m": 6.229992910444793e-11, "max_vertical_from_window_start_m": 6.229992910444793e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.6530281355212103, 0.6271456074324496, 0.5015885195679682, 0.18444279347837284, 0.22417277969890934, 0.18506493732076057 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3353169499721709, "max": 1.8340608250045074, "max_abs": 1.8340608250045074 }, { "actuator_index": 1, "unit": "N m", "min": -2.2083890344387385, "max": 2.18393730914714, "max_abs": 2.2083890344387385 }, { "actuator_index": 2, "unit": "N m", "min": -0.8552649152886573, "max": 1.266011692073704, "max_abs": 1.266011692073704 }, { "actuator_index": 3, "unit": "N m", "min": -0.3671762368472753, "max": 0.3018391976931003, "max_abs": 0.3671762368472753 }, { "actuator_index": 4, "unit": "N m", "min": -0.33940771225583966, "max": 0.3828703268857616, "max_abs": 0.3828703268857616 }, { "actuator_index": 5, "unit": "N m", "min": -0.2992179083150353, "max": 0.332944657049561, "max_abs": 0.332944657049561 }, { "actuator_index": 6, "unit": "N", "min": -0.0041557296898406815, "max": 0.006935269343831374, "max_abs": 0.006935269343831374 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.2074200420174748, "attempt_wall_seconds": 1.2087662080302835, "step_compute_seconds": { "count": 1000, "min": 0.0010228329338133335, "mean": 0.0010716471171472223, "p50": 0.001062082825228572, "p95": 0.0011085420846939087, "p99": 0.0011775000020861626, "max": 0.005865791812539101, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.2992591908494679, -0.029521027576007202, 0.07989224457978372 ], "final_tcp_position_m": [ 0.3477762438284438, 0.08114185978408157, 0.20992937925801658 ] }, { "id": "862186:friction080-mass040-layout00--reacquire_placement", "cohort_seed": 862186, "scene_id": "friction080-mass040-layout00", "variant": "reacquire_placement", "mode": "reacquire", "control": "placement", "friction": 0.8, "mass_kg": 0.04, "layout_index": 0, "valid": true, "success": true, "failure_stage": "completed", "terminal_reason": "success", "abort_reason": null, "abort_time_s": null, "completion_time_s": 15.571999999996809, "milestones": { "grasp_seen": true, "lift_seen": true, "carry_complete": true, "retention_lost": false, "dwell_seconds": 4.677999999999897, "max_object_lift_m": 0.09810068179820387, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.004081113670758604 }, "qualification_count": 1, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8966276721134588, "peak_sampled_speed_m_s": 0.19459407331196463, "net_vertical_m": -0.15665588361652366, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.287376466544076 }, "object": { "path_m": 0.34270691138412795, "peak_sampled_speed_m_s": 0.19428801325055842, "net_vertical_m": 6.22998874710845e-11, "max_vertical_from_window_start_m": 0.09805597294694977, "min_vertical_from_window_start_m": -9.753325466867191e-05 } }, "max_pad_normal_force_n": 1.0178175816071424, "max_abs_native_joint_velocity_rad_s": [ 0.6544043840069983, 0.6273179650414856, 0.501554219045392, 0.18444279347837284, 0.22417277969890934, 0.18507377736690206 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3353169499721709, "max": 1.862929376973553, "max_abs": 1.862929376973553 }, { "actuator_index": 1, "unit": "N m", "min": -2.2066649288902056, "max": 2.0550639027325275, "max_abs": 2.2066649288902056 }, { "actuator_index": 2, "unit": "N m", "min": -0.9307844777428471, "max": 1.266011692073704, "max_abs": 1.266011692073704 }, { "actuator_index": 3, "unit": "N m", "min": -0.3699093907523805, "max": 0.3018391976931003, "max_abs": 0.3699093907523805 }, { "actuator_index": 4, "unit": "N m", "min": -0.37103115201478154, "max": 0.3828703268857616, "max_abs": 0.3828703268857616 }, { "actuator_index": 5, "unit": "N m", "min": -0.2992179083150353, "max": 0.3337899346622053, "max_abs": 0.3337899346622053 }, { "actuator_index": 6, "unit": "N", "min": -0.86217068340442, "max": 0.014865308388655962, "max_abs": 0.86217068340442 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.4451435001101345, "attempt_wall_seconds": 1.4464603329543024, "step_compute_seconds": { "count": 1000, "min": 0.001056541921570897, "mean": 0.0013157637913245707, "p50": 0.0011095830705016851, "p95": 0.0022293340880423784, "p99": 0.003218166995793581, "max": 0.005741083063185215, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [ "probe_started", "acquisition_qualified" ], "final_object_position_m": [ 0.3520176459398464, 0.08106904797445705, 0.07989224457978368 ], "final_tcp_position_m": [ 0.3477756761132769, 0.08114158565787294, 0.20992905948778545 ] }, { "id": "862186:friction080-mass040-layout00--reacquire_open_jaw", "cohort_seed": 862186, "scene_id": "friction080-mass040-layout00", "variant": "reacquire_open_jaw", "mode": "reacquire", "control": "replay_open_jaw", "friction": 0.8, "mass_kg": 0.04, "layout_index": 0, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.229992910444793e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12097711709669973 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8996489332867164, "peak_sampled_speed_m_s": 0.19529169463329626, "net_vertical_m": -0.15665556384629253, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2875813280074345 }, "object": { "path_m": 1.9884039970751706e-10, "peak_sampled_speed_m_s": 1.63492345684068e-09, "net_vertical_m": 6.229992910444793e-11, "max_vertical_from_window_start_m": 6.229992910444793e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.6530281355212103, 0.6271456074324496, 0.5015885195679682, 0.18444279347837284, 0.22417277969890934, 0.18506493732076057 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3353169499721709, "max": 1.8340608250045074, "max_abs": 1.8340608250045074 }, { "actuator_index": 1, "unit": "N m", "min": -2.2083890344387385, "max": 2.18393730914714, "max_abs": 2.2083890344387385 }, { "actuator_index": 2, "unit": "N m", "min": -0.8552649152886573, "max": 1.266011692073704, "max_abs": 1.266011692073704 }, { "actuator_index": 3, "unit": "N m", "min": -0.3671762368472753, "max": 0.3018391976931003, "max_abs": 0.3671762368472753 }, { "actuator_index": 4, "unit": "N m", "min": -0.33940771225583966, "max": 0.3828703268857616, "max_abs": 0.3828703268857616 }, { "actuator_index": 5, "unit": "N m", "min": -0.2992179083150353, "max": 0.332944657049561, "max_abs": 0.332944657049561 }, { "actuator_index": 6, "unit": "N", "min": -0.0041557296898406815, "max": 0.006935269343831374, "max_abs": 0.006935269343831374 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.3621697921771556, "attempt_wall_seconds": 1.3640059169847518, "step_compute_seconds": { "count": 1000, "min": 0.0010144999250769615, "mean": 0.001235866212286055, "p50": 0.0011001250240951777, "p95": 0.0016418339218944311, "p99": 0.0025551659055054188, "max": 0.012560874922201037, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.2992591908494679, -0.029521027576007202, 0.07989224457978372 ], "final_tcp_position_m": [ 0.3477762438284438, 0.08114185978408157, 0.20992937925801658 ] }, { "id": "862186:friction080-mass040-layout00--reacquire_grasp_placement", "cohort_seed": 862186, "scene_id": "friction080-mass040-layout00", "variant": "reacquire_grasp_placement", "mode": "reacquire_grasp", "control": "placement", "friction": 0.8, "mass_kg": 0.04, "layout_index": 0, "valid": true, "success": true, "failure_stage": "completed", "terminal_reason": "success", "abort_reason": null, "abort_time_s": null, "completion_time_s": 16.599999999997305, "milestones": { "grasp_seen": true, "lift_seen": true, "carry_complete": true, "retention_lost": false, "dwell_seconds": 3.649999999999709, "max_object_lift_m": 0.10129586330476488, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.002940468911336496 }, "qualification_count": 1, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8888215269733031, "peak_sampled_speed_m_s": 0.20191022399945852, "net_vertical_m": -0.1577902742568465, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28701327807535204 }, "object": { "path_m": 0.33714354550071024, "peak_sampled_speed_m_s": 0.20118187768551657, "net_vertical_m": 6.22998735932967e-11, "max_vertical_from_window_start_m": 0.10129356149491832, "min_vertical_from_window_start_m": -0.000368976643308469 } }, "max_pad_normal_force_n": 1.293060381190208, "max_abs_native_joint_velocity_rad_s": [ 0.7195689443408112, 0.5830240316920701, 0.5316255088172278, 0.3745780455359055, 0.22116339845319805, 0.1880115587748054 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3724574608139566, "max": 2.0889801593327597, "max_abs": 2.0889801593327597 }, { "actuator_index": 1, "unit": "N m", "min": -2.1673694071065484, "max": 1.9584615476799172, "max_abs": 2.1673694071065484 }, { "actuator_index": 2, "unit": "N m", "min": -0.8941184893804177, "max": 1.266011692073704, "max_abs": 1.266011692073704 }, { "actuator_index": 3, "unit": "N m", "min": -0.41047084396322964, "max": 0.4171606690028966, "max_abs": 0.4171606690028966 }, { "actuator_index": 4, "unit": "N m", "min": -0.21918394410207043, "max": 0.3676290532100426, "max_abs": 0.3676290532100426 }, { "actuator_index": 5, "unit": "N m", "min": -0.3009517081625823, "max": 0.3556883707509426, "max_abs": 0.3556883707509426 }, { "actuator_index": 6, "unit": "N", "min": -1.235259635455089, "max": 0.018644851824494824, "max_abs": 1.235259635455089 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 2.235079374862835, "attempt_wall_seconds": 2.236954875057563, "step_compute_seconds": { "count": 1000, "min": 0.0016309579368680716, "mean": 0.0020467527746222914, "p50": 0.0019138329662382603, "p95": 0.0026832500007003546, "p99": 0.003424332942813635, "max": 0.004506499972194433, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [ "probe_started", "acquisition_qualified" ], "final_object_position_m": [ 0.3508458364428658, 0.08078477400750159, 0.07989224457978367 ], "final_tcp_position_m": [ 0.3464473301499212, 0.08015684815400309, 0.20879466884746262 ] }, { "id": "862186:friction080-mass040-layout00--reacquire_grasp_open_jaw", "cohort_seed": 862186, "scene_id": "friction080-mass040-layout00", "variant": "reacquire_grasp_open_jaw", "mode": "reacquire_grasp", "control": "replay_open_jaw", "friction": 0.8, "mass_kg": 0.04, "layout_index": 0, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 0.00020289360399468326, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12092123069900897 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8913569798352284, "peak_sampled_speed_m_s": 0.2011977038981001, "net_vertical_m": -0.15778816337619564, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2873989276221692 }, "object": { "path_m": 0.0008858279403990486, "peak_sampled_speed_m_s": 0.020970196295372116, "net_vertical_m": 6.22998874710845e-11, "max_vertical_from_window_start_m": 0.00019745081301854317, "min_vertical_from_window_start_m": -0.00015354784294038804 } }, "max_pad_normal_force_n": 0.24375300434740046, "max_abs_native_joint_velocity_rad_s": [ 0.7177062519761995, 0.5826526292171524, 0.5317142308408261, 0.3745780455359055, 0.22116339845319805, 0.18787260811997625 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3724574608139566, "max": 2.059987798145512, "max_abs": 2.059987798145512 }, { "actuator_index": 1, "unit": "N m", "min": -2.0416957212302407, "max": 1.9989914011133862, "max_abs": 2.0416957212302407 }, { "actuator_index": 2, "unit": "N m", "min": -0.8941184893804177, "max": 1.266011692073704, "max_abs": 1.266011692073704 }, { "actuator_index": 3, "unit": "N m", "min": -0.40038784625632173, "max": 0.30974260207155657, "max_abs": 0.40038784625632173 }, { "actuator_index": 4, "unit": "N m", "min": -0.19435075803414392, "max": 0.3676290532100426, "max_abs": 0.3676290532100426 }, { "actuator_index": 5, "unit": "N m", "min": -0.3010489472971729, "max": 0.35548134668978815, "max_abs": 0.35548134668978815 }, { "actuator_index": 6, "unit": "N", "min": -0.010625172024810725, "max": 0.007955569238422555, "max_abs": 0.010625172024810725 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.5852813750971109, "attempt_wall_seconds": 1.5868971250019968, "step_compute_seconds": { "count": 1000, "min": 0.0012527499347925186, "mean": 0.0013897665422409773, "p50": 0.0013752090744674206, "p95": 0.0016053752042353153, "p99": 0.0016621248796582222, "max": 0.002001209184527397, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.2993224502002214, -0.02948777802283837, 0.07989224457978368 ], "final_tcp_position_m": [ 0.34645200674378795, 0.08015885979054485, 0.20879677972811347 ] }, { "id": "862186:friction080-mass040-layout00--hold", "cohort_seed": 862186, "scene_id": "friction080-mass040-layout00", "variant": "hold", "mode": "baseline", "control": "hold", "friction": 0.8, "mass_kg": 0.04, "layout_index": 0, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.229992910444793e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12097711709669973 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 1.1376744407779719e-16, "peak_sampled_speed_m_s": 5.558267943191594e-15, "net_vertical_m": 1.1102230246251565e-16, "max_vertical_from_window_start_m": 1.1102230246251565e-16, "min_vertical_from_window_start_m": 0.0 }, "object": { "path_m": 1.9884039970751706e-10, "peak_sampled_speed_m_s": 1.63492345684068e-09, "net_vertical_m": 6.229992910444793e-11, "max_vertical_from_window_start_m": 6.229992910444793e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 1.089099057831775e-19, 6.127451851049064e-18, 1.5410517561852992e-16, 1.2145569247038722e-17, 3.400546359107994e-16, 2.945467210750634e-17 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -5.149427585733612e-18, "max": -7.571162667696407e-19, "max_abs": 5.149427585733612e-18 }, { "actuator_index": 1, "unit": "N m", "min": 0.0, "max": 0.0, "max_abs": 0.0 }, { "actuator_index": 2, "unit": "N m", "min": 0.0, "max": 0.0, "max_abs": 0.0 }, { "actuator_index": 3, "unit": "N m", "min": 7.130976259465077e-17, "max": 1.5875460775817776e-16, "max_abs": 1.5875460775817776e-16 }, { "actuator_index": 4, "unit": "N m", "min": 5.770246053275149e-16, "max": 3.2953315452184146e-15, "max_abs": 3.2953315452184146e-15 }, { "actuator_index": 5, "unit": "N m", "min": -2.2098381316149117e-16, "max": -4.998795352997742e-17, "max_abs": 2.2098381316149117e-16 }, { "actuator_index": 6, "unit": "N", "min": 0.0, "max": 0.0, "max_abs": 0.0 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.6404251249041408, "attempt_wall_seconds": 1.6522640839684755, "step_compute_seconds": { "count": 1000, "min": 0.0013094579335302114, "mean": 0.0014700151546858252, "p50": 0.0013575830962508917, "p95": 0.001534332986921072, "p99": 0.003760291961953044, "max": 0.023113791132345796, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 1, "policy_event_types": [], "final_object_position_m": [ 0.2992591908494679, -0.029521027576007202, 0.07989224457978372 ], "final_tcp_position_m": [ 0.4890696662845219, 0.001414197565480896, 0.3665849431043092 ] }, { "id": "862186:friction080-mass040-layout01--recovery_placement", "cohort_seed": 862186, "scene_id": "friction080-mass040-layout01", "variant": "recovery_placement", "mode": "recovery", "control": "placement", "friction": 0.8, "mass_kg": 0.04, "layout_index": 1, "valid": true, "success": true, "failure_stage": "completed", "terminal_reason": "success", "abort_reason": null, "abort_time_s": null, "completion_time_s": 15.631999999996776, "milestones": { "grasp_seen": true, "lift_seen": true, "carry_complete": true, "retention_lost": false, "dwell_seconds": 4.617999999999877, "max_object_lift_m": 0.09810527921389352, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.003840928409555395 }, "qualification_count": 1, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8966903500108288, "peak_sampled_speed_m_s": 0.19480952964072346, "net_vertical_m": -0.15666428067004132, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28743974623443735 }, "object": { "path_m": 0.3460349279536557, "peak_sampled_speed_m_s": 0.19448862489362503, "net_vertical_m": 6.229991522666012e-11, "max_vertical_from_window_start_m": 0.09807681235707823, "min_vertical_from_window_start_m": -0.00015817513808108474 } }, "max_pad_normal_force_n": 1.0223426357091323, "max_abs_native_joint_velocity_rad_s": [ 0.6632813374257402, 0.6219685560842009, 0.513458628481419, 0.19788696551074977, 0.2264107100317253, 0.18507668702310637 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.334813333172308, "max": 1.8786543832620577, "max_abs": 1.8786543832620577 }, { "actuator_index": 1, "unit": "N m", "min": -2.1785661490256985, "max": 2.0625617449773586, "max_abs": 2.1785661490256985 }, { "actuator_index": 2, "unit": "N m", "min": -0.9230547719912039, "max": 1.2659912730426157, "max_abs": 1.2659912730426157 }, { "actuator_index": 3, "unit": "N m", "min": -0.37030044459161116, "max": 0.3020107914183239, "max_abs": 0.37030044459161116 }, { "actuator_index": 4, "unit": "N m", "min": -0.3730387175167955, "max": 0.37973158445297894, "max_abs": 0.37973158445297894 }, { "actuator_index": 5, "unit": "N m", "min": -0.29923514931784123, "max": 0.33296689936875135, "max_abs": 0.33296689936875135 }, { "actuator_index": 6, "unit": "N", "min": -0.8683840404103826, "max": 0.01509574523195345, "max_abs": 0.8683840404103826 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 2.2947768338490278, "attempt_wall_seconds": 2.296309500001371, "step_compute_seconds": { "count": 1000, "min": 0.0014111250638961792, "mean": 0.002016633421648294, "p50": 0.001868249848484993, "p95": 0.003414499806240201, "p99": 0.004034791840240359, "max": 0.005271957954391837, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [ "probe_started", "acquisition_qualified" ], "final_object_position_m": [ 0.3505638061446664, 0.08275276341839875, 0.07989224457978371 ], "final_tcp_position_m": [ 0.3465407260878042, 0.08278902814033245, 0.2099206624342678 ] }, { "id": "862186:friction080-mass040-layout01--recovery_open_jaw", "cohort_seed": 862186, "scene_id": "friction080-mass040-layout01", "variant": "recovery_open_jaw", "mode": "recovery", "control": "replay_open_jaw", "friction": 0.8, "mass_kg": 0.04, "layout_index": 1, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.229992910444793e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.1233502361044326 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8996375967281687, "peak_sampled_speed_m_s": 0.19550337468684698, "net_vertical_m": -0.1566639791827307, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28760852756754135 }, "object": { "path_m": 1.9638312438956148e-10, "peak_sampled_speed_m_s": 1.6349234568030949e-09, "net_vertical_m": 6.229992910444793e-11, "max_vertical_from_window_start_m": 6.229992910444793e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.6623325721406288, 0.6218241295988229, 0.5134969225008998, 0.19788696551074977, 0.2264107100317253, 0.185064972971131 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.334813333172308, "max": 1.849837497888931, "max_abs": 1.849837497888931 }, { "actuator_index": 1, "unit": "N m", "min": -2.180955832281512, "max": 2.196530869070827, "max_abs": 2.196530869070827 }, { "actuator_index": 2, "unit": "N m", "min": -0.8411561676629162, "max": 1.2659912730426157, "max_abs": 1.2659912730426157 }, { "actuator_index": 3, "unit": "N m", "min": -0.36758411916686407, "max": 0.3020107914183239, "max_abs": 0.36758411916686407 }, { "actuator_index": 4, "unit": "N m", "min": -0.34173589637657287, "max": 0.37973158445297894, "max_abs": 0.37973158445297894 }, { "actuator_index": 5, "unit": "N m", "min": -0.29923514931784123, "max": 0.3321138014950804, "max_abs": 0.3321138014950804 }, { "actuator_index": 6, "unit": "N", "min": -0.0040088183638737895, "max": 0.0068890009043613976, "max_abs": 0.0068890009043613976 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.4678975839633495, "attempt_wall_seconds": 1.4698645840398967, "step_compute_seconds": { "count": 1000, "min": 0.0012467079795897007, "mean": 0.0013167104611638933, "p50": 0.0013076248578727245, "p95": 0.0013821669854223728, "p99": 0.0014370409771800041, "max": 0.0016724159941077232, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.3026184787060304, -0.03230409208956086, 0.07989224457978372 ], "final_tcp_position_m": [ 0.346541259486731, 0.08278929229947073, 0.2099209639215784 ] }, { "id": "862186:friction080-mass040-layout01--reacquire_placement", "cohort_seed": 862186, "scene_id": "friction080-mass040-layout01", "variant": "reacquire_placement", "mode": "reacquire", "control": "placement", "friction": 0.8, "mass_kg": 0.04, "layout_index": 1, "valid": true, "success": true, "failure_stage": "completed", "terminal_reason": "success", "abort_reason": null, "abort_time_s": null, "completion_time_s": 15.631999999996776, "milestones": { "grasp_seen": true, "lift_seen": true, "carry_complete": true, "retention_lost": false, "dwell_seconds": 4.617999999999877, "max_object_lift_m": 0.09810527921389352, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.003840928409555395 }, "qualification_count": 1, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8966903500108288, "peak_sampled_speed_m_s": 0.19480952964072346, "net_vertical_m": -0.15666428067004132, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28743974623443735 }, "object": { "path_m": 0.3460349279536557, "peak_sampled_speed_m_s": 0.19448862489362503, "net_vertical_m": 6.229991522666012e-11, "max_vertical_from_window_start_m": 0.09807681235707823, "min_vertical_from_window_start_m": -0.00015817513808108474 } }, "max_pad_normal_force_n": 1.0223426357091323, "max_abs_native_joint_velocity_rad_s": [ 0.6632813374257402, 0.6219685560842009, 0.513458628481419, 0.19788696551074977, 0.2264107100317253, 0.18507668702310637 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.334813333172308, "max": 1.8786543832620577, "max_abs": 1.8786543832620577 }, { "actuator_index": 1, "unit": "N m", "min": -2.1785661490256985, "max": 2.0625617449773586, "max_abs": 2.1785661490256985 }, { "actuator_index": 2, "unit": "N m", "min": -0.9230547719912039, "max": 1.2659912730426157, "max_abs": 1.2659912730426157 }, { "actuator_index": 3, "unit": "N m", "min": -0.37030044459161116, "max": 0.3020107914183239, "max_abs": 0.37030044459161116 }, { "actuator_index": 4, "unit": "N m", "min": -0.3730387175167955, "max": 0.37973158445297894, "max_abs": 0.37973158445297894 }, { "actuator_index": 5, "unit": "N m", "min": -0.29923514931784123, "max": 0.33296689936875135, "max_abs": 0.33296689936875135 }, { "actuator_index": 6, "unit": "N", "min": -0.8683840404103826, "max": 0.01509574523195345, "max_abs": 0.8683840404103826 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.8612364169675857, "attempt_wall_seconds": 1.862742624944076, "step_compute_seconds": { "count": 1000, "min": 0.0013050839770585299, "mean": 0.001711089623393491, "p50": 0.001542084151878953, "p95": 0.002890292089432478, "p99": 0.003349750069901347, "max": 0.00883879093453288, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [ "probe_started", "acquisition_qualified" ], "final_object_position_m": [ 0.3505638061446664, 0.08275276341839875, 0.07989224457978371 ], "final_tcp_position_m": [ 0.3465407260878042, 0.08278902814033245, 0.2099206624342678 ] }, { "id": "862186:friction080-mass040-layout01--reacquire_open_jaw", "cohort_seed": 862186, "scene_id": "friction080-mass040-layout01", "variant": "reacquire_open_jaw", "mode": "reacquire", "control": "replay_open_jaw", "friction": 0.8, "mass_kg": 0.04, "layout_index": 1, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.229992910444793e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.1233502361044326 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8996375967281687, "peak_sampled_speed_m_s": 0.19550337468684698, "net_vertical_m": -0.1566639791827307, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28760852756754135 }, "object": { "path_m": 1.9638312438956148e-10, "peak_sampled_speed_m_s": 1.6349234568030949e-09, "net_vertical_m": 6.229992910444793e-11, "max_vertical_from_window_start_m": 6.229992910444793e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.6623325721406288, 0.6218241295988229, 0.5134969225008998, 0.19788696551074977, 0.2264107100317253, 0.185064972971131 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.334813333172308, "max": 1.849837497888931, "max_abs": 1.849837497888931 }, { "actuator_index": 1, "unit": "N m", "min": -2.180955832281512, "max": 2.196530869070827, "max_abs": 2.196530869070827 }, { "actuator_index": 2, "unit": "N m", "min": -0.8411561676629162, "max": 1.2659912730426157, "max_abs": 1.2659912730426157 }, { "actuator_index": 3, "unit": "N m", "min": -0.36758411916686407, "max": 0.3020107914183239, "max_abs": 0.36758411916686407 }, { "actuator_index": 4, "unit": "N m", "min": -0.34173589637657287, "max": 0.37973158445297894, "max_abs": 0.37973158445297894 }, { "actuator_index": 5, "unit": "N m", "min": -0.29923514931784123, "max": 0.3321138014950804, "max_abs": 0.3321138014950804 }, { "actuator_index": 6, "unit": "N", "min": -0.0040088183638737895, "max": 0.0068890009043613976, "max_abs": 0.0068890009043613976 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.7276378748938441, "attempt_wall_seconds": 1.7297604999039322, "step_compute_seconds": { "count": 1000, "min": 0.0013563749380409718, "mean": 0.0015613207432907076, "p50": 0.0014971659984439611, "p95": 0.0016787080094218254, "p99": 0.002673499984666705, "max": 0.007350499974563718, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.3026184787060304, -0.03230409208956086, 0.07989224457978372 ], "final_tcp_position_m": [ 0.346541259486731, 0.08278929229947073, 0.2099209639215784 ] }, { "id": "862186:friction080-mass040-layout01--reacquire_grasp_placement", "cohort_seed": 862186, "scene_id": "friction080-mass040-layout01", "variant": "reacquire_grasp_placement", "mode": "reacquire_grasp", "control": "placement", "friction": 0.8, "mass_kg": 0.04, "layout_index": 1, "valid": true, "success": true, "failure_stage": "completed", "terminal_reason": "success", "abort_reason": null, "abort_time_s": null, "completion_time_s": 16.639999999997354, "milestones": { "grasp_seen": true, "lift_seen": true, "carry_complete": true, "retention_lost": false, "dwell_seconds": 3.6099999999997134, "max_object_lift_m": 0.10118442466413848, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.002967981380307925 }, "qualification_count": 1, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8892849884463608, "peak_sampled_speed_m_s": 0.20422809101320857, "net_vertical_m": -0.15782089029843882, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28702684023556524 }, "object": { "path_m": 0.33947860454488116, "peak_sampled_speed_m_s": 0.20332922427081446, "net_vertical_m": 6.230013727126504e-11, "max_vertical_from_window_start_m": 0.10117692249337963, "min_vertical_from_window_start_m": -0.0003897683161687149 } }, "max_pad_normal_force_n": 1.3135683012180865, "max_abs_native_joint_velocity_rad_s": [ 0.7218713281287013, 0.5734453005012771, 0.5079452238138155, 0.37544199483120505, 0.21300380259653112, 0.18779866239198773 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.36742895535823283, "max": 2.113989575276187, "max_abs": 2.113989575276187 }, { "actuator_index": 1, "unit": "N m", "min": -2.1749580775798734, "max": 1.9641540119422416, "max_abs": 2.1749580775798734 }, { "actuator_index": 2, "unit": "N m", "min": -0.8967481434721094, "max": 1.2659912730426157, "max_abs": 1.2659912730426157 }, { "actuator_index": 3, "unit": "N m", "min": -0.4240937446259401, "max": 0.39549352981169283, "max_abs": 0.4240937446259401 }, { "actuator_index": 4, "unit": "N m", "min": -0.19795255433439962, "max": 0.36707736032493493, "max_abs": 0.36707736032493493 }, { "actuator_index": 5, "unit": "N m", "min": -0.30079075657869936, "max": 0.3600947028594179, "max_abs": 0.3600947028594179 }, { "actuator_index": 6, "unit": "N", "min": -1.2374926471701664, "max": 0.019789818633095146, "max_abs": 1.2374926471701664 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.6408165409229696, "attempt_wall_seconds": 1.6423850827850401, "step_compute_seconds": { "count": 1000, "min": 0.001317499903962016, "mean": 0.0014817816650029272, "p50": 0.001428874908015132, "p95": 0.0018289159052073956, "p99": 0.0022289578337222338, "max": 0.0031539169140160084, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [ "probe_started", "acquisition_qualified" ], "final_object_position_m": [ 0.34969220432965537, 0.08282714841249683, 0.07989224457978393 ], "final_tcp_position_m": [ 0.34521086821411123, 0.08181082502027287, 0.2087640528058703 ] }, { "id": "862186:friction080-mass040-layout01--reacquire_grasp_open_jaw", "cohort_seed": 862186, "scene_id": "friction080-mass040-layout01", "variant": "reacquire_grasp_open_jaw", "mode": "reacquire_grasp", "control": "replay_open_jaw", "friction": 0.8, "mass_kg": 0.04, "layout_index": 1, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 5.103126748721987e-05, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12335048323903237 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8917549866272648, "peak_sampled_speed_m_s": 0.20334925795053638, "net_vertical_m": -0.15781898898176294, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28742544985403107 }, "object": { "path_m": 0.00011268804729806666, "peak_sampled_speed_m_s": 0.001797938698042266, "net_vertical_m": 6.230012339347724e-11, "max_vertical_from_window_start_m": 4.375735610433196e-05, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.22439255928683322, "max_abs_native_joint_velocity_rad_s": [ 0.7191834500581564, 0.5732067579271848, 0.5080078739009014, 0.37544199483120505, 0.21300380259653112, 0.18771455004505613 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.36742895535823283, "max": 2.0848863045947725, "max_abs": 2.0848863045947725 }, { "actuator_index": 1, "unit": "N m", "min": -2.0480597206412767, "max": 1.9641540119422416, "max_abs": 2.0480597206412767 }, { "actuator_index": 2, "unit": "N m", "min": -0.8967481434721094, "max": 1.2659912730426157, "max_abs": 1.2659912730426157 }, { "actuator_index": 3, "unit": "N m", "min": -0.4127405548928933, "max": 0.3096748790304993, "max_abs": 0.4127405548928933 }, { "actuator_index": 4, "unit": "N m", "min": -0.19083192537127047, "max": 0.36707736032493493, "max_abs": 0.36707736032493493 }, { "actuator_index": 5, "unit": "N m", "min": -0.3008886851309036, "max": 0.3598183524074319, "max_abs": 0.3598183524074319 }, { "actuator_index": 6, "unit": "N", "min": -0.007114911326714823, "max": 0.00809964893963877, "max_abs": 0.00809964893963877 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.5642761250492185, "attempt_wall_seconds": 1.5662786669563502, "step_compute_seconds": { "count": 1000, "min": 0.001259499927982688, "mean": 0.0014095957966055721, "p50": 0.0013850410468876362, "p95": 0.0015206248499453068, "p99": 0.001654291059821844, "max": 0.007476708153262734, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.30262044782667213, -0.03230511068522286, 0.07989224457978392 ], "final_tcp_position_m": [ 0.34521506603255186, 0.08181267789128716, 0.20876595412254617 ] }, { "id": "862186:friction080-mass040-layout01--hold", "cohort_seed": 862186, "scene_id": "friction080-mass040-layout01", "variant": "hold", "mode": "baseline", "control": "hold", "friction": 0.8, "mass_kg": 0.04, "layout_index": 1, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.229992910444793e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.1233502361044326 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 1.1376744407779719e-16, "peak_sampled_speed_m_s": 5.558267943191594e-15, "net_vertical_m": 1.1102230246251565e-16, "max_vertical_from_window_start_m": 1.1102230246251565e-16, "min_vertical_from_window_start_m": 0.0 }, "object": { "path_m": 1.9638312438956148e-10, "peak_sampled_speed_m_s": 1.6349234568030949e-09, "net_vertical_m": 6.229992910444793e-11, "max_vertical_from_window_start_m": 6.229992910444793e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 1.089099057831775e-19, 6.127451851049064e-18, 1.5410517561852992e-16, 1.2145569247038722e-17, 3.400546359107994e-16, 2.945467210750634e-17 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -5.149427585733612e-18, "max": -7.571162667696407e-19, "max_abs": 5.149427585733612e-18 }, { "actuator_index": 1, "unit": "N m", "min": 0.0, "max": 0.0, "max_abs": 0.0 }, { "actuator_index": 2, "unit": "N m", "min": 0.0, "max": 0.0, "max_abs": 0.0 }, { "actuator_index": 3, "unit": "N m", "min": 7.130976259465077e-17, "max": 1.5875460775817776e-16, "max_abs": 1.5875460775817776e-16 }, { "actuator_index": 4, "unit": "N m", "min": 5.770246053275149e-16, "max": 3.2953315452184146e-15, "max_abs": 3.2953315452184146e-15 }, { "actuator_index": 5, "unit": "N m", "min": -2.2098381316149117e-16, "max": -4.998795352997742e-17, "max_abs": 2.2098381316149117e-16 }, { "actuator_index": 6, "unit": "N", "min": 0.0, "max": 0.0, "max_abs": 0.0 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.5665744580328465, "attempt_wall_seconds": 1.56825629202649, "step_compute_seconds": { "count": 1000, "min": 0.001304625067859888, "mean": 0.0014070759855676442, "p50": 0.001382709015160799, "p95": 0.0015049169305711985, "p99": 0.0016925830859690905, "max": 0.0031469999812543392, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.3026184787060304, -0.03230409208956086, 0.07989224457978372 ], "final_tcp_position_m": [ 0.4890696662845219, 0.001414197565480896, 0.3665849431043092 ] }, { "id": "862186:friction080-mass060-layout00--recovery_placement", "cohort_seed": 862186, "scene_id": "friction080-mass060-layout00", "variant": "recovery_placement", "mode": "recovery", "control": "placement", "friction": 0.8, "mass_kg": 0.06, "layout_index": 0, "valid": true, "success": true, "failure_stage": "completed", "terminal_reason": "success", "abort_reason": null, "abort_time_s": null, "completion_time_s": 15.944999999996602, "milestones": { "grasp_seen": true, "lift_seen": true, "carry_complete": true, "retention_lost": false, "dwell_seconds": 4.304999999999772, "max_object_lift_m": 0.09552675859851799, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.004879450989866453 }, "qualification_count": 1, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 1, "holds": [ { "start_s": 12.099999999998733, "end_s": 12.319999999998611, "duration_s": 0.21999999999987807, "outcome": "carry_resumed", "reason": "sustained_loaded_relative_settling", "includes_second_probe": false, "actual_motion": { "start_s": 12.099999999998733, "end_s": 12.319999999998611, "duration_s": 0.21999999999987807, "sample_count": 12, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.0017785061494251077, "peak_sampled_speed_m_s": 0.04107117643636579, "net_vertical_m": 0.0003509853996515877, "max_vertical_from_window_start_m": 0.0010511813160772598, "min_vertical_from_window_start_m": 0.0 }, "object": { "path_m": 0.0018154324890461155, "peak_sampled_speed_m_s": 0.04006436293310615, "net_vertical_m": 0.00025742315245451397, "max_vertical_from_window_start_m": 0.0010168477585996288, "min_vertical_from_window_start_m": 0.0 } }, "scope": "Recovery interval may include active second-probe motion; not all of this interval is stationary holding." } ], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8807255463722445, "peak_sampled_speed_m_s": 0.20423671082846123, "net_vertical_m": -0.1567611723525114, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2847472430820344 }, "object": { "path_m": 0.32816137287165786, "peak_sampled_speed_m_s": 0.20452423055033023, "net_vertical_m": 6.229985971550889e-11, "max_vertical_from_window_start_m": 0.09546451331619386, "min_vertical_from_window_start_m": -0.000291048149083567 } }, "max_pad_normal_force_n": 1.2613643972768556, "max_abs_native_joint_velocity_rad_s": [ 0.6647681072454706, 0.6489390821137736, 0.5360384720346241, 0.18444284094295574, 0.22417268648550007, 0.1831868362073895 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3353162382053174, "max": 1.9029837883591973, "max_abs": 1.9029837883591973 }, { "actuator_index": 1, "unit": "N m", "min": -2.1757846994292436, "max": 2.019330586345532, "max_abs": 2.1757846994292436 }, { "actuator_index": 2, "unit": "N m", "min": -0.8497929371954456, "max": 1.2660116920092435, "max_abs": 1.2660116920092435 }, { "actuator_index": 3, "unit": "N m", "min": -0.3714938160918073, "max": 0.3018391987921216, "max_abs": 0.3714938160918073 }, { "actuator_index": 4, "unit": "N m", "min": -0.3789038036068497, "max": 0.3828704809938346, "max_abs": 0.3828704809938346 }, { "actuator_index": 5, "unit": "N m", "min": -0.2992179087211972, "max": 0.33306037608808636, "max_abs": 0.33306037608808636 }, { "actuator_index": 6, "unit": "N", "min": -0.9340660247305016, "max": 0.017734284519529075, "max_abs": 0.9340660247305016 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.8911582920700312, "attempt_wall_seconds": 1.8929502500686795, "step_compute_seconds": { "count": 1000, "min": 0.0013911668211221695, "mean": 0.001720570085104555, "p50": 0.0014836250338703394, "p95": 0.0029277908615767956, "p99": 0.003949292004108429, "max": 0.004951999988406897, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [ "probe_started", "acquisition_qualified", "slowdown_started", "reassessment_started", "carry_resumed", "speed_restoration_started", "full_speed_restored" ], "final_object_position_m": [ 0.3527681848696178, 0.08052415299194837, 0.07989224457978368 ], "final_tcp_position_m": [ 0.34753065495569424, 0.08100859334758914, 0.2098237707517977 ] }, { "id": "862186:friction080-mass060-layout00--recovery_open_jaw", "cohort_seed": 862186, "scene_id": "friction080-mass060-layout00", "variant": "recovery_open_jaw", "mode": "recovery", "control": "replay_open_jaw", "friction": 0.8, "mass_kg": 0.06, "layout_index": 0, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998735932967e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12097717248400493 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8853310424970832, "peak_sampled_speed_m_s": 0.20539424380112825, "net_vertical_m": -0.1567611235051187, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28476328759850034 }, "object": { "path_m": 2.0280753891012192e-10, "peak_sampled_speed_m_s": 1.634922761033519e-09, "net_vertical_m": 6.22998735932967e-11, "max_vertical_from_window_start_m": 6.22998735932967e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.6625158730887348, 0.648647120934515, 0.5361501259064487, 0.18444284094295574, 0.22417268648550007, 0.1831311069171116 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3353162382053174, "max": 1.861954525314685, "max_abs": 1.861954525314685 }, { "actuator_index": 1, "unit": "N m", "min": -2.1716649928597747, "max": 2.2110338774987213, "max_abs": 2.2110338774987213 }, { "actuator_index": 2, "unit": "N m", "min": -0.8497929371954456, "max": 1.2660116920092435, "max_abs": 1.2660116920092435 }, { "actuator_index": 3, "unit": "N m", "min": -0.36743412330870995, "max": 0.3018391987921216, "max_abs": 0.36743412330870995 }, { "actuator_index": 4, "unit": "N m", "min": -0.33232436531018905, "max": 0.3828704809938346, "max_abs": 0.3828704809938346 }, { "actuator_index": 5, "unit": "N m", "min": -0.2992179087211972, "max": 0.33185241803583176, "max_abs": 0.33185241803583176 }, { "actuator_index": 6, "unit": "N", "min": -0.0041053438647729035, "max": 0.006977314227352149, "max_abs": 0.006977314227352149 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.564908582950011, "attempt_wall_seconds": 1.566895917057991, "step_compute_seconds": { "count": 1000, "min": 0.0012574170250445604, "mean": 0.0014092989871278404, "p50": 0.0013840410392731428, "p95": 0.0014951250050216913, "p99": 0.0016502919606864452, "max": 0.007806292036548257, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.29925909311849647, -0.029521045118827995, 0.0798922445797837 ], "final_tcp_position_m": [ 0.34753074494948977, 0.08100863694205675, 0.20982381959919041 ] }, { "id": "862186:friction080-mass060-layout00--reacquire_placement", "cohort_seed": 862186, "scene_id": "friction080-mass060-layout00", "variant": "reacquire_placement", "mode": "reacquire", "control": "placement", "friction": 0.8, "mass_kg": 0.06, "layout_index": 0, "valid": true, "success": true, "failure_stage": "completed", "terminal_reason": "success", "abort_reason": null, "abort_time_s": null, "completion_time_s": 15.944999999996602, "milestones": { "grasp_seen": true, "lift_seen": true, "carry_complete": true, "retention_lost": false, "dwell_seconds": 4.304999999999772, "max_object_lift_m": 0.09552675859851799, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.004879450989866453 }, "qualification_count": 1, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 1, "holds": [ { "start_s": 12.099999999998733, "end_s": 12.319999999998611, "duration_s": 0.21999999999987807, "outcome": "carry_resumed", "reason": "sustained_loaded_relative_settling", "includes_second_probe": false, "actual_motion": { "start_s": 12.099999999998733, "end_s": 12.319999999998611, "duration_s": 0.21999999999987807, "sample_count": 12, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.0017785061494251077, "peak_sampled_speed_m_s": 0.04107117643636579, "net_vertical_m": 0.0003509853996515877, "max_vertical_from_window_start_m": 0.0010511813160772598, "min_vertical_from_window_start_m": 0.0 }, "object": { "path_m": 0.0018154324890461155, "peak_sampled_speed_m_s": 0.04006436293310615, "net_vertical_m": 0.00025742315245451397, "max_vertical_from_window_start_m": 0.0010168477585996288, "min_vertical_from_window_start_m": 0.0 } }, "scope": "Recovery interval may include active second-probe motion; not all of this interval is stationary holding." } ], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8807255463722445, "peak_sampled_speed_m_s": 0.20423671082846123, "net_vertical_m": -0.1567611723525114, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2847472430820344 }, "object": { "path_m": 0.32816137287165786, "peak_sampled_speed_m_s": 0.20452423055033023, "net_vertical_m": 6.229985971550889e-11, "max_vertical_from_window_start_m": 0.09546451331619386, "min_vertical_from_window_start_m": -0.000291048149083567 } }, "max_pad_normal_force_n": 1.2613643972768556, "max_abs_native_joint_velocity_rad_s": [ 0.6647681072454706, 0.6489390821137736, 0.5360384720346241, 0.18444284094295574, 0.22417268648550007, 0.1831868362073895 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3353162382053174, "max": 1.9029837883591973, "max_abs": 1.9029837883591973 }, { "actuator_index": 1, "unit": "N m", "min": -2.1757846994292436, "max": 2.019330586345532, "max_abs": 2.1757846994292436 }, { "actuator_index": 2, "unit": "N m", "min": -0.8497929371954456, "max": 1.2660116920092435, "max_abs": 1.2660116920092435 }, { "actuator_index": 3, "unit": "N m", "min": -0.3714938160918073, "max": 0.3018391987921216, "max_abs": 0.3714938160918073 }, { "actuator_index": 4, "unit": "N m", "min": -0.3789038036068497, "max": 0.3828704809938346, "max_abs": 0.3828704809938346 }, { "actuator_index": 5, "unit": "N m", "min": -0.2992179087211972, "max": 0.33306037608808636, "max_abs": 0.33306037608808636 }, { "actuator_index": 6, "unit": "N", "min": -0.9340660247305016, "max": 0.017734284519529075, "max_abs": 0.9340660247305016 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.9463113751262426, "attempt_wall_seconds": 1.9482286248821765, "step_compute_seconds": { "count": 1000, "min": 0.0013868329115211964, "mean": 0.0017867509159259498, "p50": 0.0015612910501658916, "p95": 0.002916750032454729, "p99": 0.003876500064507127, "max": 0.0046581251081079245, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [ "probe_started", "acquisition_qualified", "slowdown_started", "reassessment_started", "carry_resumed", "speed_restoration_started", "full_speed_restored" ], "final_object_position_m": [ 0.3527681848696178, 0.08052415299194837, 0.07989224457978368 ], "final_tcp_position_m": [ 0.34753065495569424, 0.08100859334758914, 0.2098237707517977 ] }, { "id": "862186:friction080-mass060-layout00--reacquire_open_jaw", "cohort_seed": 862186, "scene_id": "friction080-mass060-layout00", "variant": "reacquire_open_jaw", "mode": "reacquire", "control": "replay_open_jaw", "friction": 0.8, "mass_kg": 0.06, "layout_index": 0, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998735932967e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12097717248400493 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8853310424970832, "peak_sampled_speed_m_s": 0.20539424380112825, "net_vertical_m": -0.1567611235051187, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28476328759850034 }, "object": { "path_m": 2.0280753891012192e-10, "peak_sampled_speed_m_s": 1.634922761033519e-09, "net_vertical_m": 6.22998735932967e-11, "max_vertical_from_window_start_m": 6.22998735932967e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.6625158730887348, 0.648647120934515, 0.5361501259064487, 0.18444284094295574, 0.22417268648550007, 0.1831311069171116 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3353162382053174, "max": 1.861954525314685, "max_abs": 1.861954525314685 }, { "actuator_index": 1, "unit": "N m", "min": -2.1716649928597747, "max": 2.2110338774987213, "max_abs": 2.2110338774987213 }, { "actuator_index": 2, "unit": "N m", "min": -0.8497929371954456, "max": 1.2660116920092435, "max_abs": 1.2660116920092435 }, { "actuator_index": 3, "unit": "N m", "min": -0.36743412330870995, "max": 0.3018391987921216, "max_abs": 0.36743412330870995 }, { "actuator_index": 4, "unit": "N m", "min": -0.33232436531018905, "max": 0.3828704809938346, "max_abs": 0.3828704809938346 }, { "actuator_index": 5, "unit": "N m", "min": -0.2992179087211972, "max": 0.33185241803583176, "max_abs": 0.33185241803583176 }, { "actuator_index": 6, "unit": "N", "min": -0.0041053438647729035, "max": 0.006977314227352149, "max_abs": 0.006977314227352149 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.6204224170651287, "attempt_wall_seconds": 1.6224086249712855, "step_compute_seconds": { "count": 1000, "min": 0.0013300830032676458, "mean": 0.0014464832700323313, "p50": 0.001457958947867155, "p95": 0.0015351248439401388, "p99": 0.0016358750872313976, "max": 0.0019543750677257776, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.29925909311849647, -0.029521045118827995, 0.0798922445797837 ], "final_tcp_position_m": [ 0.34753074494948977, 0.08100863694205675, 0.20982381959919041 ] }, { "id": "862186:friction080-mass060-layout00--reacquire_grasp_placement", "cohort_seed": 862186, "scene_id": "friction080-mass060-layout00", "variant": "reacquire_grasp_placement", "mode": "reacquire_grasp", "control": "placement", "friction": 0.8, "mass_kg": 0.06, "layout_index": 0, "valid": true, "success": true, "failure_stage": "completed", "terminal_reason": "success", "abort_reason": null, "abort_time_s": null, "completion_time_s": 16.640999999997355, "milestones": { "grasp_seen": true, "lift_seen": true, "carry_complete": true, "retention_lost": false, "dwell_seconds": 3.6089999999997135, "max_object_lift_m": 0.1007651436022184, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.0019412812275797556 }, "qualification_count": 1, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8902489164836414, "peak_sampled_speed_m_s": 0.20190153904847924, "net_vertical_m": -0.15784871671287984, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2873881218490715 }, "object": { "path_m": 0.3367588960097885, "peak_sampled_speed_m_s": 0.20125846176162354, "net_vertical_m": 6.229983195993327e-11, "max_vertical_from_window_start_m": 0.10076046247291597, "min_vertical_from_window_start_m": -0.00048220938258439205 } }, "max_pad_normal_force_n": 1.388942797452244, "max_abs_native_joint_velocity_rad_s": [ 0.7177372108681888, 0.5588415642532322, 0.5355655499508941, 0.37457805498482444, 0.22116121848660691, 0.19080810708275703 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.37245752524933184, "max": 2.087481731290714, "max_abs": 2.087481731290714 }, { "actuator_index": 1, "unit": "N m", "min": -2.2275449829446927, "max": 1.9584612215406878, "max_abs": 2.2275449829446927 }, { "actuator_index": 2, "unit": "N m", "min": -0.9552280331873106, "max": 1.2660116920092435, "max_abs": 1.2660116920092435 }, { "actuator_index": 3, "unit": "N m", "min": -0.4119047967848952, "max": 0.4420902622171057, "max_abs": 0.4420902622171057 }, { "actuator_index": 4, "unit": "N m", "min": -0.2169263369827643, "max": 0.3676290585081105, "max_abs": 0.3676290585081105 }, { "actuator_index": 5, "unit": "N m", "min": -0.3000354299350185, "max": 0.3633312648502143, "max_abs": 0.3633312648502143 }, { "actuator_index": 6, "unit": "N", "min": -1.2624904692663068, "max": 0.018046252197565282, "max_abs": 1.2624904692663068 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.6719637920614332, "attempt_wall_seconds": 1.6737594169098884, "step_compute_seconds": { "count": 1000, "min": 0.00130574987269938, "mean": 0.001512483375845477, "p50": 0.0014403748791664839, "p95": 0.001866042148321867, "p99": 0.0023971660993993282, "max": 0.007717875065281987, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [ "probe_started", "acquisition_qualified" ], "final_object_position_m": [ 0.34982202547481606, 0.08076080409380748, 0.07989224457978365 ], "final_tcp_position_m": [ 0.34638366904755513, 0.08013574445026107, 0.20873622639142927 ] }, { "id": "862186:friction080-mass060-layout00--reacquire_grasp_open_jaw", "cohort_seed": 862186, "scene_id": "friction080-mass060-layout00", "variant": "reacquire_grasp_open_jaw", "mode": "reacquire_grasp", "control": "replay_open_jaw", "friction": 0.8, "mass_kg": 0.06, "layout_index": 0, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 9.208657497453143e-05, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.1209773324839043 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8931513217935595, "peak_sampled_speed_m_s": 0.20076821615071208, "net_vertical_m": -0.1578452137763759, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28756737925422876 }, "object": { "path_m": 0.0001562489368937978, "peak_sampled_speed_m_s": 0.0028310034241246806, "net_vertical_m": 6.22998874710845e-11, "max_vertical_from_window_start_m": 4.888993391483076e-05, "min_vertical_from_window_start_m": -4.899065870894725e-07 } }, "max_pad_normal_force_n": 0.32883238756595995, "max_abs_native_joint_velocity_rad_s": [ 0.7148462911923115, 0.5582794752510829, 0.5357204022739815, 0.37457805498482444, 0.22116121848660691, 0.1877732583598399 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.37245752524933184, "max": 2.044772475649341, "max_abs": 2.044772475649341 }, { "actuator_index": 1, "unit": "N m", "min": -2.038829639434624, "max": 2.018962629519251, "max_abs": 2.038829639434624 }, { "actuator_index": 2, "unit": "N m", "min": -0.894118552538302, "max": 1.2660116920092435, "max_abs": 1.2660116920092435 }, { "actuator_index": 3, "unit": "N m", "min": -0.39840671752352463, "max": 0.30932107108222473, "max_abs": 0.39840671752352463 }, { "actuator_index": 4, "unit": "N m", "min": -0.1878137156319042, "max": 0.3676290585081105, "max_abs": 0.3676290585081105 }, { "actuator_index": 5, "unit": "N m", "min": -0.3001873182711581, "max": 0.36275403513509374, "max_abs": 0.36275403513509374 }, { "actuator_index": 6, "unit": "N", "min": -0.016112502099762782, "max": 0.008194270015672744, "max_abs": 0.016112502099762782 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.559514791937545, "attempt_wall_seconds": 1.561504750046879, "step_compute_seconds": { "count": 1000, "min": 0.0012615839950740337, "mean": 0.0014088592478074134, "p50": 0.001393584068864584, "p95": 0.0015123330522328615, "p99": 0.0015887918416410685, "max": 0.0019497920293360949, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.2992637305294427, -0.029523258228398654, 0.07989224457978371 ], "final_tcp_position_m": [ 0.3463914902044629, 0.08013910546609011, 0.20873972932793322 ] }, { "id": "862186:friction080-mass060-layout00--hold", "cohort_seed": 862186, "scene_id": "friction080-mass060-layout00", "variant": "hold", "mode": "baseline", "control": "hold", "friction": 0.8, "mass_kg": 0.06, "layout_index": 0, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998735932967e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12097717248400493 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 1.1376744407779719e-16, "peak_sampled_speed_m_s": 5.558267943191594e-15, "net_vertical_m": 1.1102230246251565e-16, "max_vertical_from_window_start_m": 1.1102230246251565e-16, "min_vertical_from_window_start_m": 0.0 }, "object": { "path_m": 2.0280753891012192e-10, "peak_sampled_speed_m_s": 1.634922761033519e-09, "net_vertical_m": 6.22998735932967e-11, "max_vertical_from_window_start_m": 6.22998735932967e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 1.089099057831775e-19, 6.127451851049064e-18, 1.5410517561852992e-16, 1.2145569247038722e-17, 3.400546359107994e-16, 2.945467210750634e-17 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -5.149427585733612e-18, "max": -7.571162667696407e-19, "max_abs": 5.149427585733612e-18 }, { "actuator_index": 1, "unit": "N m", "min": 0.0, "max": 0.0, "max_abs": 0.0 }, { "actuator_index": 2, "unit": "N m", "min": 0.0, "max": 0.0, "max_abs": 0.0 }, { "actuator_index": 3, "unit": "N m", "min": 7.130976259465077e-17, "max": 1.5875460775817776e-16, "max_abs": 1.5875460775817776e-16 }, { "actuator_index": 4, "unit": "N m", "min": 5.770246053275149e-16, "max": 3.2953315452184146e-15, "max_abs": 3.2953315452184146e-15 }, { "actuator_index": 5, "unit": "N m", "min": -2.2098381316149117e-16, "max": -4.998795352997742e-17, "max_abs": 2.2098381316149117e-16 }, { "actuator_index": 6, "unit": "N", "min": 0.0, "max": 0.0, "max_abs": 0.0 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.5014765420928597, "attempt_wall_seconds": 1.5031791660003364, "step_compute_seconds": { "count": 1000, "min": 0.0012259997893124819, "mean": 0.0013432782425079495, "p50": 0.001345291966572404, "p95": 0.001406499883159995, "p99": 0.0014758340548723936, "max": 0.0018057078123092651, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.29925909311849647, -0.029521045118827995, 0.0798922445797837 ], "final_tcp_position_m": [ 0.4890696662845219, 0.001414197565480896, 0.3665849431043092 ] }, { "id": "862186:friction080-mass060-layout01--recovery_placement", "cohort_seed": 862186, "scene_id": "friction080-mass060-layout01", "variant": "recovery_placement", "mode": "recovery", "control": "placement", "friction": 0.8, "mass_kg": 0.06, "layout_index": 1, "valid": true, "success": false, "failure_stage": "qualified_without_full_60mm_lift", "terminal_reason": "timeout", "abort_reason": "reassessment_timeout_unsettled_or_unknown", "abort_time_s": 12.859999999998312, "completion_time_s": null, "milestones": { "grasp_seen": true, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 0.009842495994322922, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12351618853840046 }, "qualification_count": 1, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [ { "start_s": 12.039999999998766, "end_s": 12.859999999998312, "duration_s": 0.8199999999995455, "outcome": "abort", "reason": "reassessment_timeout_unsettled_or_unknown", "includes_second_probe": false, "actual_motion": { "start_s": 12.039999999998766, "end_s": 12.859999999998312, "duration_s": 0.8199999999995455, "sample_count": 42, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.010473057337005529, "peak_sampled_speed_m_s": 0.13270557643102193, "net_vertical_m": -0.0006030917149007636, "max_vertical_from_window_start_m": 0.004759624995402917, "min_vertical_from_window_start_m": -0.0006030917149007636 }, "object": { "path_m": 0.007578333359172052, "peak_sampled_speed_m_s": 0.039633789141155944, "net_vertical_m": -0.004253330634996694, "max_vertical_from_window_start_m": 0.0013481411860544051, "min_vertical_from_window_start_m": -0.004253330634996694 } }, "scope": "Recovery interval may include active second-probe motion; not all of this interval is stationary holding." } ], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.4257202587315371, "peak_sampled_speed_m_s": 0.16127294988996252, "net_vertical_m": -0.2736790938380497, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2847473508546806 }, "object": { "path_m": 0.022278720960563034, "peak_sampled_speed_m_s": 0.053729379849359354, "net_vertical_m": 0.0014774860104130039, "max_vertical_from_window_start_m": 0.009841718423484677, "min_vertical_from_window_start_m": -1.267955199030224e-06 } }, "max_pad_normal_force_n": 0.7008752191639738, "max_abs_native_joint_velocity_rad_s": [ 0.11469947082287993, 0.5774373361111709, 0.4171984305136914, 0.1978870123363611, 0.22641069988996765, 0.12527851490459543 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.334812390922993, "max": 0.3061492547703555, "max_abs": 0.334812390922993 }, { "actuator_index": 1, "unit": "N m", "min": -2.170088696632803, "max": 1.9135892495954323, "max_abs": 2.170088696632803 }, { "actuator_index": 2, "unit": "N m", "min": -0.8284192485370028, "max": 1.265991272976919, "max_abs": 1.265991272976919 }, { "actuator_index": 3, "unit": "N m", "min": -0.32470710575183226, "max": 0.30201079164774747, "max_abs": 0.32470710575183226 }, { "actuator_index": 4, "unit": "N m", "min": -0.05165069253819787, "max": 0.3797316204628922, "max_abs": 0.3797316204628922 }, { "actuator_index": 5, "unit": "N m", "min": -0.29923514958807956, "max": 0.19855909315046594, "max_abs": 0.29923514958807956 }, { "actuator_index": 6, "unit": "N", "min": -0.826718570943167, "max": 0.0010659351650340598, "max_abs": 0.826718570943167 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 2.5246626669541, "attempt_wall_seconds": 2.527504458092153, "step_compute_seconds": { "count": 1000, "min": 0.0013306669425219297, "mean": 0.0023660979580599813, "p50": 0.0016922091599553823, "p95": 0.004007000010460615, "p99": 0.005472624907270074, "max": 0.01412700000219047, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [ "probe_started", "acquisition_qualified", "reassessment_started", "abort" ], "final_object_position_m": [ 0.3019276434040283, -0.032207184710791585, 0.08136973052789682 ], "final_tcp_position_m": [ 0.3044362520305082, -0.03248903501486315, 0.0929058492662594 ] }, { "id": "862186:friction080-mass060-layout01--recovery_open_jaw", "cohort_seed": 862186, "scene_id": "friction080-mass060-layout01", "variant": "recovery_open_jaw", "mode": "recovery", "control": "replay_open_jaw", "friction": 0.8, "mass_kg": 0.06, "layout_index": 1, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998735932967e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12335028743937458 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.42755338712427704, "peak_sampled_speed_m_s": 0.16127294988996252, "net_vertical_m": -0.2725719697271036, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28476357677518127 }, "object": { "path_m": 2.0137007733090439e-10, "peak_sampled_speed_m_s": 1.6349227610006456e-09, "net_vertical_m": 6.22998735932967e-11, "max_vertical_from_window_start_m": 6.22998735932967e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.11469947082287993, 0.5771396916619789, 0.4171984305136914, 0.1978870123363611, 0.22641069988996765, 0.12527851490459543 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.334812390922993, "max": 0.3061492547703555, "max_abs": 0.334812390922993 }, { "actuator_index": 1, "unit": "N m", "min": -1.9824983526135327, "max": 1.9135892495954323, "max_abs": 1.9824983526135327 }, { "actuator_index": 2, "unit": "N m", "min": -0.8284192485370028, "max": 1.265991272976919, "max_abs": 1.265991272976919 }, { "actuator_index": 3, "unit": "N m", "min": -0.32470710575183226, "max": 0.30201079164774747, "max_abs": 0.32470710575183226 }, { "actuator_index": 4, "unit": "N m", "min": -0.045754131554836874, "max": 0.3797316204628922, "max_abs": 0.3797316204628922 }, { "actuator_index": 5, "unit": "N m", "min": -0.29923514958807956, "max": 0.19855909315046594, "max_abs": 0.29923514958807956 }, { "actuator_index": 6, "unit": "N", "min": -0.00031973918095573595, "max": 0.0005406962565515094, "max_abs": 0.0005406962565515094 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.6301434999331832, "attempt_wall_seconds": 1.6323966251220554, "step_compute_seconds": { "count": 1000, "min": 0.0012457079719752073, "mean": 0.0013982164468616246, "p50": 0.001382916932925582, "p95": 0.0015968331135809422, "p99": 0.0016679998952895403, "max": 0.0019820828456431627, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.3026183809653306, -0.0323041096337538, 0.0798922445797837 ], "final_tcp_position_m": [ 0.305094883616964, -0.03255897353883079, 0.0940129733772055 ] }, { "id": "862186:friction080-mass060-layout01--reacquire_placement", "cohort_seed": 862186, "scene_id": "friction080-mass060-layout01", "variant": "reacquire_placement", "mode": "reacquire", "control": "placement", "friction": 0.8, "mass_kg": 0.06, "layout_index": 1, "valid": true, "success": true, "failure_stage": "completed", "terminal_reason": "success", "abort_reason": null, "abort_time_s": null, "completion_time_s": 17.049999999997855, "milestones": { "grasp_seen": true, "lift_seen": true, "carry_complete": true, "retention_lost": false, "dwell_seconds": 3.1999999999997586, "max_object_lift_m": 0.09422069766416834, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.003239842485243205 }, "qualification_count": 1, "retry_count": 0, "second_probe_count": 1, "second_probe_resume_count": 1, "resume_count": 1, "holds": [ { "start_s": 12.039999999998766, "end_s": 13.199999999998123, "duration_s": 1.159999999999357, "outcome": "carry_resumed", "reason": "second_probe_sustained_loaded_relative_settling", "includes_second_probe": true, "actual_motion": { "start_s": 12.039999999998766, "end_s": 13.199999999998123, "duration_s": 1.159999999999357, "sample_count": 59, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.01544928315006951, "peak_sampled_speed_m_s": 0.13270557643102193, "net_vertical_m": 0.005061600044781456, "max_vertical_from_window_start_m": 0.005061600044781456, "min_vertical_from_window_start_m": 0.0 }, "object": { "path_m": 0.012341616369474805, "peak_sampled_speed_m_s": 0.039633789141155944, "net_vertical_m": 0.0013076876494884787, "max_vertical_from_window_start_m": 0.0013481411860544051, "min_vertical_from_window_start_m": -0.003537270218997121 } }, "scope": "Recovery interval may include active second-probe motion; not all of this interval is stationary holding." } ], "second_probes": [ { "start_s": 12.3399999999986, "end_s": 13.199999999998123, "duration_s": 0.8599999999995234, "outcome": "second_probe_qualified", "reason": "original_height_and_settling_gates_met", "task_completed": true, "actual_motion": { "start_s": 12.3399999999986, "end_s": 13.199999999998123, "duration_s": 0.8599999999995234, "sample_count": 44, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.00578213640637976, "peak_sampled_speed_m_s": 0.01048477905045636, "net_vertical_m": 0.004921180361890501, "max_vertical_from_window_start_m": 0.004921180361890501, "min_vertical_from_window_start_m": -0.00011605822484557493 }, "object": { "path_m": 0.005680606486969664, "peak_sampled_speed_m_s": 0.010291155600146613, "net_vertical_m": 0.004703327018717077, "max_vertical_from_window_start_m": 0.004703327018717077, "min_vertical_from_window_start_m": -0.00014163084976852314 } }, "max_requested_vertical_rise_m": 0.008, "max_relative_drift_m": 0.00019866278061068197, "start_original_probe_relative_object_height_m": 0.005074336624453543, "end_original_probe_relative_object_height_m": 0.00977766364317062, "loaded_bilateral_all_samples": true, "unsupported_all_samples": true } ], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8940177009503625, "peak_sampled_speed_m_s": 0.2016572232456599, "net_vertical_m": -0.1572156143147989, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2847473508546806 }, "object": { "path_m": 0.341912264617058, "peak_sampled_speed_m_s": 0.20184735666531423, "net_vertical_m": 6.229984583772108e-11, "max_vertical_from_window_start_m": 0.09417062088184676, "min_vertical_from_window_start_m": -0.0003572425119553885 } }, "max_pad_normal_force_n": 1.27276680277452, "max_abs_native_joint_velocity_rad_s": [ 0.6627061560787431, 0.6343451828906208, 0.5204664766191359, 0.1978870123363611, 0.22641069988996765, 0.18357041506068547 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.334812390922993, "max": 1.9048008952241018, "max_abs": 1.9048008952241018 }, { "actuator_index": 1, "unit": "N m", "min": -2.170088696632803, "max": 2.0380750373073226, "max_abs": 2.170088696632803 }, { "actuator_index": 2, "unit": "N m", "min": -0.8284192485370028, "max": 1.265991272976919, "max_abs": 1.265991272976919 }, { "actuator_index": 3, "unit": "N m", "min": -0.3730920027279854, "max": 0.30201079164774747, "max_abs": 0.3730920027279854 }, { "actuator_index": 4, "unit": "N m", "min": -0.3819163409204016, "max": 0.3797316204628922, "max_abs": 0.3819163409204016 }, { "actuator_index": 5, "unit": "N m", "min": -0.29923514958807956, "max": 0.33383435874466705, "max_abs": 0.33383435874466705 }, { "actuator_index": 6, "unit": "N", "min": -0.901742874198855, "max": 0.018041092269741932, "max_abs": 0.901742874198855 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.7797158749308437, "attempt_wall_seconds": 1.7816544999368489, "step_compute_seconds": { "count": 1000, "min": 0.0013031249400228262, "mean": 0.0016292847050353885, "p50": 0.0013806670904159546, "p95": 0.002663625171408057, "p99": 0.0034306251909583807, "max": 0.009228999959304929, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [ "probe_started", "acquisition_qualified", "reassessment_started", "second_probe_started", "second_probe_qualified", "carry_resumed", "speed_restoration_started", "full_speed_restored" ], "final_object_position_m": [ 0.34986539538700656, 0.08209362802048441, 0.07989224457978367 ], "final_tcp_position_m": [ 0.34535070175873916, 0.0820929271621876, 0.2093693287895102 ] }, { "id": "862186:friction080-mass060-layout01--reacquire_open_jaw", "cohort_seed": 862186, "scene_id": "friction080-mass060-layout01", "variant": "reacquire_open_jaw", "mode": "reacquire", "control": "replay_open_jaw", "friction": 0.8, "mass_kg": 0.06, "layout_index": 1, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998735932967e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12335028743937458 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8988669455487295, "peak_sampled_speed_m_s": 0.20287910930766762, "net_vertical_m": -0.15721548070344613, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28476357677518127 }, "object": { "path_m": 2.0137007733090439e-10, "peak_sampled_speed_m_s": 1.6349227610006456e-09, "net_vertical_m": 6.22998735932967e-11, "max_vertical_from_window_start_m": 6.22998735932967e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.661112473249723, 0.6371720874203703, 0.520570499743587, 0.1978870123363611, 0.22641069988996765, 0.1835336522359947 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.334812390922993, "max": 1.8636773806624545, "max_abs": 1.8636773806624545 }, { "actuator_index": 1, "unit": "N m", "min": -2.1704583233446897, "max": 2.2369171871539777, "max_abs": 2.2369171871539777 }, { "actuator_index": 2, "unit": "N m", "min": -0.8284192485370028, "max": 1.265991272976919, "max_abs": 1.265991272976919 }, { "actuator_index": 3, "unit": "N m", "min": -0.3691944863825267, "max": 0.30201079164774747, "max_abs": 0.3691944863825267 }, { "actuator_index": 4, "unit": "N m", "min": -0.33706122806307093, "max": 0.3797316204628922, "max_abs": 0.3797316204628922 }, { "actuator_index": 5, "unit": "N m", "min": -0.29923514958807956, "max": 0.33252217375039494, "max_abs": 0.33252217375039494 }, { "actuator_index": 6, "unit": "N", "min": -0.003805129418251063, "max": 0.006881935011566975, "max_abs": 0.006881935011566975 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.556731458986178, "attempt_wall_seconds": 1.5592437500599772, "step_compute_seconds": { "count": 1000, "min": 0.0012657090555876493, "mean": 0.0014042878658510744, "p50": 0.0013824580237269402, "p95": 0.0016317078843712807, "p99": 0.0017080418765544891, "max": 0.0020648750942200422, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.3026183809653306, -0.0323041096337538, 0.0798922445797837 ], "final_tcp_position_m": [ 0.34535095429369383, 0.08209305254088474, 0.209369462400863 ] }, { "id": "862186:friction080-mass060-layout01--reacquire_grasp_placement", "cohort_seed": 862186, "scene_id": "friction080-mass060-layout01", "variant": "reacquire_grasp_placement", "mode": "reacquire_grasp", "control": "placement", "friction": 0.8, "mass_kg": 0.06, "layout_index": 1, "valid": true, "success": true, "failure_stage": "completed", "terminal_reason": "success", "abort_reason": null, "abort_time_s": null, "completion_time_s": 16.66199999999738, "milestones": { "grasp_seen": true, "lift_seen": true, "carry_complete": true, "retention_lost": false, "dwell_seconds": 3.587999999999716, "max_object_lift_m": 0.10074737055207499, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.0014223217460664838 }, "qualification_count": 1, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8900691265600389, "peak_sampled_speed_m_s": 0.20410402860340227, "net_vertical_m": -0.15788829048476138, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2875054639952703 }, "object": { "path_m": 0.3379327360573465, "peak_sampled_speed_m_s": 0.20329485379599263, "net_vertical_m": 6.230012339347724e-11, "max_vertical_from_window_start_m": 0.10074737055207499, "min_vertical_from_window_start_m": -0.0003839389994161474 } }, "max_pad_normal_force_n": 1.4149350596239172, "max_abs_native_joint_velocity_rad_s": [ 0.7200915655568998, 0.5493213007130734, 0.5373938514816083, 0.37544200387826454, 0.21300379362994662, 0.1895720458455315 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3674290305915777, "max": 2.1117610571566705, "max_abs": 2.1117610571566705 }, { "actuator_index": 1, "unit": "N m", "min": -2.2357306448516567, "max": 1.9641536885517326, "max_abs": 2.2357306448516567 }, { "actuator_index": 2, "unit": "N m", "min": -0.9273417915426876, "max": 1.265991272976919, "max_abs": 1.265991272976919 }, { "actuator_index": 3, "unit": "N m", "min": -0.4255771593410058, "max": 0.4705925827118458, "max_abs": 0.4705925827118458 }, { "actuator_index": 4, "unit": "N m", "min": -0.20166853091241776, "max": 0.3670773649163724, "max_abs": 0.3670773649163724 }, { "actuator_index": 5, "unit": "N m", "min": -0.29994296297013445, "max": 0.35607831556377256, "max_abs": 0.35607831556377256 }, { "actuator_index": 6, "unit": "N", "min": -1.2644016423370663, "max": 0.018366710499526873, "max_abs": 1.2644016423370663 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.7717760829254985, "attempt_wall_seconds": 1.7737322498578578, "step_compute_seconds": { "count": 1000, "min": 0.001411499921232462, "mean": 0.0015999053751584143, "p50": 0.0015539999585598707, "p95": 0.0019287080504000187, "p99": 0.0025110419373959303, "max": 0.0029029168654233217, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [ "probe_started", "acquisition_qualified" ], "final_object_position_m": [ 0.34809941791354926, 0.08253318892142518, 0.07989224457978394 ], "final_tcp_position_m": [ 0.34514030517779587, 0.0817772474613718, 0.20869665261954773 ] }, { "id": "862186:friction080-mass060-layout01--reacquire_grasp_open_jaw", "cohort_seed": 862186, "scene_id": "friction080-mass060-layout01", "variant": "reacquire_grasp_open_jaw", "mode": "reacquire_grasp", "control": "replay_open_jaw", "friction": 0.8, "mass_kg": 0.06, "layout_index": 1, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998735932967e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12335028743937458 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8929009594994122, "peak_sampled_speed_m_s": 0.20279197294553122, "net_vertical_m": -0.15788489435022418, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28767533021439157 }, "object": { "path_m": 2.0137007733090439e-10, "peak_sampled_speed_m_s": 1.6349227610006456e-09, "net_vertical_m": 6.22998735932967e-11, "max_vertical_from_window_start_m": 6.22998735932967e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.7160337975477659, 0.5488862565962079, 0.5375668282183631, 0.37544200387826454, 0.21300379362994662, 0.18779051166553035 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3674290305915777, "max": 2.068794541449193, "max_abs": 2.068794541449193 }, { "actuator_index": 1, "unit": "N m", "min": -2.0451951730518374, "max": 1.9641536885517326, "max_abs": 2.0451951730518374 }, { "actuator_index": 2, "unit": "N m", "min": -0.8967481397132104, "max": 1.265991272976919, "max_abs": 1.265991272976919 }, { "actuator_index": 3, "unit": "N m", "min": -0.40927448743328343, "max": 0.3095872301628968, "max_abs": 0.40927448743328343 }, { "actuator_index": 4, "unit": "N m", "min": -0.1891810629565427, "max": 0.3670773649163724, "max_abs": 0.3670773649163724 }, { "actuator_index": 5, "unit": "N m", "min": -0.3000886432154539, "max": 0.3556071171764499, "max_abs": 0.3556071171764499 }, { "actuator_index": 6, "unit": "N", "min": -0.006324906947775766, "max": 0.007879372090822567, "max_abs": 0.007879372090822567 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.5516522079706192, "attempt_wall_seconds": 1.5537409582175314, "step_compute_seconds": { "count": 1000, "min": 0.0012459580320864916, "mean": 0.001389764200663194, "p50": 0.0013722919393330812, "p95": 0.0014387499541044235, "p99": 0.0016820409800857306, "max": 0.008792625041678548, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.3026183809653306, -0.0323041096337538, 0.0798922445797837 ], "final_tcp_position_m": [ 0.3451478630708663, 0.08178058403538215, 0.20870004875408493 ] }, { "id": "862186:friction080-mass060-layout01--hold", "cohort_seed": 862186, "scene_id": "friction080-mass060-layout01", "variant": "hold", "mode": "baseline", "control": "hold", "friction": 0.8, "mass_kg": 0.06, "layout_index": 1, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998735932967e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12335028743937458 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 1.1376744407779719e-16, "peak_sampled_speed_m_s": 5.558267943191594e-15, "net_vertical_m": 1.1102230246251565e-16, "max_vertical_from_window_start_m": 1.1102230246251565e-16, "min_vertical_from_window_start_m": 0.0 }, "object": { "path_m": 2.0137007733090439e-10, "peak_sampled_speed_m_s": 1.6349227610006456e-09, "net_vertical_m": 6.22998735932967e-11, "max_vertical_from_window_start_m": 6.22998735932967e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 1.089099057831775e-19, 6.127451851049064e-18, 1.5410517561852992e-16, 1.2145569247038722e-17, 3.400546359107994e-16, 2.945467210750634e-17 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -5.149427585733612e-18, "max": -7.571162667696407e-19, "max_abs": 5.149427585733612e-18 }, { "actuator_index": 1, "unit": "N m", "min": 0.0, "max": 0.0, "max_abs": 0.0 }, { "actuator_index": 2, "unit": "N m", "min": 0.0, "max": 0.0, "max_abs": 0.0 }, { "actuator_index": 3, "unit": "N m", "min": 7.130976259465077e-17, "max": 1.5875460775817776e-16, "max_abs": 1.5875460775817776e-16 }, { "actuator_index": 4, "unit": "N m", "min": 5.770246053275149e-16, "max": 3.2953315452184146e-15, "max_abs": 3.2953315452184146e-15 }, { "actuator_index": 5, "unit": "N m", "min": -2.2098381316149117e-16, "max": -4.998795352997742e-17, "max_abs": 2.2098381316149117e-16 }, { "actuator_index": 6, "unit": "N", "min": 0.0, "max": 0.0, "max_abs": 0.0 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.5563458329997957, "attempt_wall_seconds": 1.5582533339038491, "step_compute_seconds": { "count": 1000, "min": 0.001318083144724369, "mean": 0.0013981276724953204, "p50": 0.0013747080229222775, "p95": 0.0015060410369187593, "p99": 0.0015646659303456545, "max": 0.0019847089424729347, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.3026183809653306, -0.0323041096337538, 0.0798922445797837 ], "final_tcp_position_m": [ 0.4890696662845219, 0.001414197565480896, 0.3665849431043092 ] }, { "id": "862186:friction055-mass040-layout00--recovery_placement", "cohort_seed": 862186, "scene_id": "friction055-mass040-layout00", "variant": "recovery_placement", "mode": "recovery", "control": "placement", "friction": 0.55, "mass_kg": 0.04, "layout_index": 0, "valid": true, "success": true, "failure_stage": "completed", "terminal_reason": "success", "abort_reason": null, "abort_time_s": null, "completion_time_s": 15.942999999996603, "milestones": { "grasp_seen": true, "lift_seen": true, "carry_complete": true, "retention_lost": false, "dwell_seconds": 4.306999999999773, "max_object_lift_m": 0.09702158294256018, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.005522000542117803 }, "qualification_count": 1, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 1, "holds": [ { "start_s": 12.079999999998744, "end_s": 12.299999999998622, "duration_s": 0.21999999999987807, "outcome": "carry_resumed", "reason": "sustained_loaded_relative_settling", "includes_second_probe": false, "actual_motion": { "start_s": 12.079999999998744, "end_s": 12.299999999998622, "duration_s": 0.21999999999987807, "sample_count": 12, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.0017870630972225943, "peak_sampled_speed_m_s": 0.044694836471968306, "net_vertical_m": 0.0006348353287313896, "max_vertical_from_window_start_m": 0.0011955124385712168, "min_vertical_from_window_start_m": 0.0 }, "object": { "path_m": 0.0018005298840469135, "peak_sampled_speed_m_s": 0.04410846831389024, "net_vertical_m": 0.0005717591930003707, "max_vertical_from_window_start_m": 0.0011646747487752268, "min_vertical_from_window_start_m": 0.0 } }, "scope": "Recovery interval may include active second-probe motion; not all of this interval is stationary holding." } ], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8859873579585853, "peak_sampled_speed_m_s": 0.19837591409031755, "net_vertical_m": -0.15672931581428073, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2847471347573526 }, "object": { "path_m": 0.3331388644479447, "peak_sampled_speed_m_s": 0.1983530798153216, "net_vertical_m": 6.22998874710845e-11, "max_vertical_from_window_start_m": 0.09694043999822761, "min_vertical_from_window_start_m": -0.000318730548249227 } }, "max_pad_normal_force_n": 0.8137250169765813, "max_abs_native_joint_velocity_rad_s": [ 0.6634107498605133, 0.615036529100077, 0.5287612845033156, 0.18444279347907408, 0.22417277964937166, 0.18470720957744616 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3353169499932367, "max": 1.8842846504360162, "max_abs": 1.8842846504360162 }, { "actuator_index": 1, "unit": "N m", "min": -2.173963067428616, "max": 2.059420232320093, "max_abs": 2.173963067428616 }, { "actuator_index": 2, "unit": "N m", "min": -0.852167620426826, "max": 1.266011692073704, "max_abs": 1.266011692073704 }, { "actuator_index": 3, "unit": "N m", "min": -0.36988324067011114, "max": 0.3018391976926704, "max_abs": 0.36988324067011114 }, { "actuator_index": 4, "unit": "N m", "min": -0.3623345850683233, "max": 0.38287032689973266, "max_abs": 0.38287032689973266 }, { "actuator_index": 5, "unit": "N m", "min": -0.2992179083150495, "max": 0.3335243081904341, "max_abs": 0.3335243081904341 }, { "actuator_index": 6, "unit": "N", "min": -0.8352930639467593, "max": 0.016990163658375135, "max_abs": 0.8352930639467593 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.933417082997039, "attempt_wall_seconds": 1.9354349169880152, "step_compute_seconds": { "count": 1000, "min": 0.001392667181789875, "mean": 0.0017738547495100647, "p50": 0.0015302079264074564, "p95": 0.003423917107284069, "p99": 0.0043184999376535416, "max": 0.008185124956071377, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [ "probe_started", "acquisition_qualified", "slowdown_started", "reassessment_started", "carry_resumed", "speed_restoration_started", "full_speed_restored" ], "final_object_position_m": [ 0.35346151654545827, 0.08115327467882628, 0.07989224457978368 ], "final_tcp_position_m": [ 0.3476044689715051, 0.08104869757437781, 0.20985562729002838 ] }, { "id": "862186:friction055-mass040-layout00--recovery_open_jaw", "cohort_seed": 862186, "scene_id": "friction055-mass040-layout00", "variant": "recovery_open_jaw", "mode": "recovery", "control": "replay_open_jaw", "friction": 0.55, "mass_kg": 0.04, "layout_index": 0, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998735932967e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12097711706781765 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8884960493911929, "peak_sampled_speed_m_s": 0.19912853288522558, "net_vertical_m": -0.15672923180214243, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2847635021427131 }, "object": { "path_m": 1.7015129781993476e-10, "peak_sampled_speed_m_s": 1.63492345684068e-09, "net_vertical_m": 6.22998735932967e-11, "max_vertical_from_window_start_m": 6.22998735932967e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.6619867172772602, 0.6147728708491161, 0.5287931808182701, 0.18444279347907408, 0.22417277964937166, 0.18469593071847787 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3353169499932367, "max": 1.8557923564037857, "max_abs": 1.8557923564037857 }, { "actuator_index": 1, "unit": "N m", "min": -2.1737521380723024, "max": 2.1889740811797367, "max_abs": 2.1889740811797367 }, { "actuator_index": 2, "unit": "N m", "min": -0.8497920581111629, "max": 1.266011692073704, "max_abs": 1.266011692073704 }, { "actuator_index": 3, "unit": "N m", "min": -0.36705571160889283, "max": 0.3018391976926704, "max_abs": 0.36705571160889283 }, { "actuator_index": 4, "unit": "N m", "min": -0.33046611414215477, "max": 0.38287032689973266, "max_abs": 0.38287032689973266 }, { "actuator_index": 5, "unit": "N m", "min": -0.2992179083150495, "max": 0.3325271675936322, "max_abs": 0.3325271675936322 }, { "actuator_index": 6, "unit": "N", "min": -0.004132620813150911, "max": 0.006951908550602015, "max_abs": 0.006951908550602015 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.6232330000493675, "attempt_wall_seconds": 1.6253719171509147, "step_compute_seconds": { "count": 1000, "min": 0.001338666072115302, "mean": 0.0014617035973351448, "p50": 0.001472374889999628, "p95": 0.0015422089491039515, "p99": 0.0016231660265475512, "max": 0.008911750046536326, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.299259190859011, -0.029521027548652806, 0.07989224457978367 ], "final_tcp_position_m": [ 0.3476046270076745, 0.08104877444897846, 0.20985571130216668 ] }, { "id": "862186:friction055-mass040-layout00--reacquire_placement", "cohort_seed": 862186, "scene_id": "friction055-mass040-layout00", "variant": "reacquire_placement", "mode": "reacquire", "control": "placement", "friction": 0.55, "mass_kg": 0.04, "layout_index": 0, "valid": true, "success": true, "failure_stage": "completed", "terminal_reason": "success", "abort_reason": null, "abort_time_s": null, "completion_time_s": 15.942999999996603, "milestones": { "grasp_seen": true, "lift_seen": true, "carry_complete": true, "retention_lost": false, "dwell_seconds": 4.306999999999773, "max_object_lift_m": 0.09702158294256018, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.005522000542117803 }, "qualification_count": 1, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 1, "holds": [ { "start_s": 12.079999999998744, "end_s": 12.299999999998622, "duration_s": 0.21999999999987807, "outcome": "carry_resumed", "reason": "sustained_loaded_relative_settling", "includes_second_probe": false, "actual_motion": { "start_s": 12.079999999998744, "end_s": 12.299999999998622, "duration_s": 0.21999999999987807, "sample_count": 12, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.0017870630972225943, "peak_sampled_speed_m_s": 0.044694836471968306, "net_vertical_m": 0.0006348353287313896, "max_vertical_from_window_start_m": 0.0011955124385712168, "min_vertical_from_window_start_m": 0.0 }, "object": { "path_m": 0.0018005298840469135, "peak_sampled_speed_m_s": 0.04410846831389024, "net_vertical_m": 0.0005717591930003707, "max_vertical_from_window_start_m": 0.0011646747487752268, "min_vertical_from_window_start_m": 0.0 } }, "scope": "Recovery interval may include active second-probe motion; not all of this interval is stationary holding." } ], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8859873579585853, "peak_sampled_speed_m_s": 0.19837591409031755, "net_vertical_m": -0.15672931581428073, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2847471347573526 }, "object": { "path_m": 0.3331388644479447, "peak_sampled_speed_m_s": 0.1983530798153216, "net_vertical_m": 6.22998874710845e-11, "max_vertical_from_window_start_m": 0.09694043999822761, "min_vertical_from_window_start_m": -0.000318730548249227 } }, "max_pad_normal_force_n": 0.8137250169765813, "max_abs_native_joint_velocity_rad_s": [ 0.6634107498605133, 0.615036529100077, 0.5287612845033156, 0.18444279347907408, 0.22417277964937166, 0.18470720957744616 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3353169499932367, "max": 1.8842846504360162, "max_abs": 1.8842846504360162 }, { "actuator_index": 1, "unit": "N m", "min": -2.173963067428616, "max": 2.059420232320093, "max_abs": 2.173963067428616 }, { "actuator_index": 2, "unit": "N m", "min": -0.852167620426826, "max": 1.266011692073704, "max_abs": 1.266011692073704 }, { "actuator_index": 3, "unit": "N m", "min": -0.36988324067011114, "max": 0.3018391976926704, "max_abs": 0.36988324067011114 }, { "actuator_index": 4, "unit": "N m", "min": -0.3623345850683233, "max": 0.38287032689973266, "max_abs": 0.38287032689973266 }, { "actuator_index": 5, "unit": "N m", "min": -0.2992179083150495, "max": 0.3335243081904341, "max_abs": 0.3335243081904341 }, { "actuator_index": 6, "unit": "N", "min": -0.8352930639467593, "max": 0.016990163658375135, "max_abs": 0.8352930639467593 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.8311564170289785, "attempt_wall_seconds": 1.8330832910723984, "step_compute_seconds": { "count": 1000, "min": 0.0013171250466257334, "mean": 0.0016713821277953684, "p50": 0.0014645000919699669, "p95": 0.002870250027626753, "p99": 0.0036455420777201653, "max": 0.00526612508110702, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [ "probe_started", "acquisition_qualified", "slowdown_started", "reassessment_started", "carry_resumed", "speed_restoration_started", "full_speed_restored" ], "final_object_position_m": [ 0.35346151654545827, 0.08115327467882628, 0.07989224457978368 ], "final_tcp_position_m": [ 0.3476044689715051, 0.08104869757437781, 0.20985562729002838 ] }, { "id": "862186:friction055-mass040-layout00--reacquire_open_jaw", "cohort_seed": 862186, "scene_id": "friction055-mass040-layout00", "variant": "reacquire_open_jaw", "mode": "reacquire", "control": "replay_open_jaw", "friction": 0.55, "mass_kg": 0.04, "layout_index": 0, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998735932967e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12097711706781765 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8884960493911929, "peak_sampled_speed_m_s": 0.19912853288522558, "net_vertical_m": -0.15672923180214243, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2847635021427131 }, "object": { "path_m": 1.7015129781993476e-10, "peak_sampled_speed_m_s": 1.63492345684068e-09, "net_vertical_m": 6.22998735932967e-11, "max_vertical_from_window_start_m": 6.22998735932967e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.6619867172772602, 0.6147728708491161, 0.5287931808182701, 0.18444279347907408, 0.22417277964937166, 0.18469593071847787 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3353169499932367, "max": 1.8557923564037857, "max_abs": 1.8557923564037857 }, { "actuator_index": 1, "unit": "N m", "min": -2.1737521380723024, "max": 2.1889740811797367, "max_abs": 2.1889740811797367 }, { "actuator_index": 2, "unit": "N m", "min": -0.8497920581111629, "max": 1.266011692073704, "max_abs": 1.266011692073704 }, { "actuator_index": 3, "unit": "N m", "min": -0.36705571160889283, "max": 0.3018391976926704, "max_abs": 0.36705571160889283 }, { "actuator_index": 4, "unit": "N m", "min": -0.33046611414215477, "max": 0.38287032689973266, "max_abs": 0.38287032689973266 }, { "actuator_index": 5, "unit": "N m", "min": -0.2992179083150495, "max": 0.3325271675936322, "max_abs": 0.3325271675936322 }, { "actuator_index": 6, "unit": "N", "min": -0.004132620813150911, "max": 0.006951908550602015, "max_abs": 0.006951908550602015 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.559463582932949, "attempt_wall_seconds": 1.561907917028293, "step_compute_seconds": { "count": 1000, "min": 0.0013351249508559704, "mean": 0.0013989022995810957, "p50": 0.0013799171429127455, "p95": 0.0014958339743316174, "p99": 0.0015428329352289438, "max": 0.0022763751912862062, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.299259190859011, -0.029521027548652806, 0.07989224457978367 ], "final_tcp_position_m": [ 0.3476046270076745, 0.08104877444897846, 0.20985571130216668 ] }, { "id": "862186:friction055-mass040-layout00--reacquire_grasp_placement", "cohort_seed": 862186, "scene_id": "friction055-mass040-layout00", "variant": "reacquire_grasp_placement", "mode": "reacquire_grasp", "control": "placement", "friction": 0.55, "mass_kg": 0.04, "layout_index": 0, "valid": true, "success": true, "failure_stage": "completed", "terminal_reason": "success", "abort_reason": null, "abort_time_s": null, "completion_time_s": 16.599999999997305, "milestones": { "grasp_seen": true, "lift_seen": true, "carry_complete": true, "retention_lost": false, "dwell_seconds": 3.649999999999709, "max_object_lift_m": 0.10129064257751501, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.0033987240820639755 }, "qualification_count": 1, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8887847480690624, "peak_sampled_speed_m_s": 0.20195170783420535, "net_vertical_m": -0.15777716717856158, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2872252941400047 }, "object": { "path_m": 0.3374706344168031, "peak_sampled_speed_m_s": 0.2012530293676681, "net_vertical_m": 6.230016502684066e-11, "max_vertical_from_window_start_m": 0.10128858028380545, "min_vertical_from_window_start_m": -0.00046790278795699747 } }, "max_pad_normal_force_n": 1.0342629347020367, "max_abs_native_joint_velocity_rad_s": [ 0.7197999422361812, 0.5832774020525071, 0.5319138550509245, 0.3745780454653377, 0.22116339851380956, 0.187848507131649 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3724574611028526, "max": 2.09798565357684, "max_abs": 2.09798565357684 }, { "actuator_index": 1, "unit": "N m", "min": -2.16741582396412, "max": 1.9584615482182954, "max_abs": 2.16741582396412 }, { "actuator_index": 2, "unit": "N m", "min": -0.8941184896016097, "max": 1.266011692073704, "max_abs": 1.266011692073704 }, { "actuator_index": 3, "unit": "N m", "min": -0.41091877315897785, "max": 0.36472917455182197, "max_abs": 0.41091877315897785 }, { "actuator_index": 4, "unit": "N m", "min": -0.21912307060566683, "max": 0.36762905321004224, "max_abs": 0.36762905321004224 }, { "actuator_index": 5, "unit": "N m", "min": -0.30090256480235755, "max": 0.3558817633247875, "max_abs": 0.3558817633247875 }, { "actuator_index": 6, "unit": "N", "min": -1.2115099805592275, "max": 0.019454144487023983, "max_abs": 1.2115099805592275 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.9315887088887393, "attempt_wall_seconds": 1.9335903748869896, "step_compute_seconds": { "count": 1000, "min": 0.001519541023299098, "mean": 0.0017597168253269046, "p50": 0.001679833047091961, "p95": 0.0022754999808967113, "p99": 0.0028716668020933867, "max": 0.00890120817348361, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [ "probe_started", "acquisition_qualified" ], "final_object_position_m": [ 0.3513254718787799, 0.08093616906684765, 0.07989224457978396 ], "final_tcp_position_m": [ 0.34646223927945, 0.08016253095519248, 0.20880777592574754 ] }, { "id": "862186:friction055-mass040-layout00--reacquire_grasp_open_jaw", "cohort_seed": 862186, "scene_id": "friction055-mass040-layout00", "variant": "reacquire_grasp_open_jaw", "mode": "reacquire_grasp", "control": "replay_open_jaw", "friction": 0.55, "mass_kg": 0.04, "layout_index": 0, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 0.00018093573372716942, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12062788300453395 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8910848969305629, "peak_sampled_speed_m_s": 0.2012401939104558, "net_vertical_m": -0.15777598740353932, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28737026755378303 }, "object": { "path_m": 0.0007990535052822046, "peak_sampled_speed_m_s": 0.014299383007429929, "net_vertical_m": 6.22998874710845e-11, "max_vertical_from_window_start_m": 0.00018093573372716942, "min_vertical_from_window_start_m": -9.752819462045814e-05 } }, "max_pad_normal_force_n": 0.2690091884400127, "max_abs_native_joint_velocity_rad_s": [ 0.7179838063501504, 0.5828845336166101, 0.5320038039471152, 0.3745780454653377, 0.22116339851380956, 0.18787704807147618 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3724574611028526, "max": 2.0691330418406153, "max_abs": 2.0691330418406153 }, { "actuator_index": 1, "unit": "N m", "min": -2.0417309405873425, "max": 1.9952939772190206, "max_abs": 2.0417309405873425 }, { "actuator_index": 2, "unit": "N m", "min": -0.8941184896016097, "max": 1.266011692073704, "max_abs": 1.266011692073704 }, { "actuator_index": 3, "unit": "N m", "min": -0.4005695511510363, "max": 0.30967927849552845, "max_abs": 0.4005695511510363 }, { "actuator_index": 4, "unit": "N m", "min": -0.1944139183886211, "max": 0.36762905321004224, "max_abs": 0.36762905321004224 }, { "actuator_index": 5, "unit": "N m", "min": -0.30099819186812393, "max": 0.3556729514442596, "max_abs": 0.3556729514442596 }, { "actuator_index": 6, "unit": "N", "min": -0.022576091489469485, "max": 0.00794476692047219, "max_abs": 0.022576091489469485 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.5567218340002, "attempt_wall_seconds": 1.5588057078421116, "step_compute_seconds": { "count": 1000, "min": 0.0012756669893860817, "mean": 0.0013927054640371353, "p50": 0.0013872918207198381, "p95": 0.0014518329408019781, "p99": 0.0015354591887444258, "max": 0.0018710838630795479, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.29953379787564366, -0.029260154093089474, 0.07989224457978368 ], "final_tcp_position_m": [ 0.3464648457985965, 0.08016365250747148, 0.2088089557007698 ] }, { "id": "862186:friction055-mass040-layout00--hold", "cohort_seed": 862186, "scene_id": "friction055-mass040-layout00", "variant": "hold", "mode": "baseline", "control": "hold", "friction": 0.55, "mass_kg": 0.04, "layout_index": 0, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998735932967e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12097711706781765 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 1.1376744407779719e-16, "peak_sampled_speed_m_s": 5.558267943191594e-15, "net_vertical_m": 1.1102230246251565e-16, "max_vertical_from_window_start_m": 1.1102230246251565e-16, "min_vertical_from_window_start_m": 0.0 }, "object": { "path_m": 1.7015129781993476e-10, "peak_sampled_speed_m_s": 1.63492345684068e-09, "net_vertical_m": 6.22998735932967e-11, "max_vertical_from_window_start_m": 6.22998735932967e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 1.089099057831775e-19, 6.127451851049064e-18, 1.5410517561852992e-16, 1.2145569247038722e-17, 3.400546359107994e-16, 2.945467210750634e-17 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -5.149427585733612e-18, "max": -7.571162667696407e-19, "max_abs": 5.149427585733612e-18 }, { "actuator_index": 1, "unit": "N m", "min": 0.0, "max": 0.0, "max_abs": 0.0 }, { "actuator_index": 2, "unit": "N m", "min": 0.0, "max": 0.0, "max_abs": 0.0 }, { "actuator_index": 3, "unit": "N m", "min": 7.130976259465077e-17, "max": 1.5875460775817776e-16, "max_abs": 1.5875460775817776e-16 }, { "actuator_index": 4, "unit": "N m", "min": 5.770246053275149e-16, "max": 3.2953315452184146e-15, "max_abs": 3.2953315452184146e-15 }, { "actuator_index": 5, "unit": "N m", "min": -2.2098381316149117e-16, "max": -4.998795352997742e-17, "max_abs": 2.2098381316149117e-16 }, { "actuator_index": 6, "unit": "N", "min": 0.0, "max": 0.0, "max_abs": 0.0 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.5694249169901013, "attempt_wall_seconds": 1.5715287919156253, "step_compute_seconds": { "count": 1000, "min": 0.0012400830164551735, "mean": 0.0014096580764744431, "p50": 0.0013595419004559517, "p95": 0.0015846251044422388, "p99": 0.001665250165387988, "max": 0.0030264579690992832, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.299259190859011, -0.029521027548652806, 0.07989224457978367 ], "final_tcp_position_m": [ 0.4890696662845219, 0.001414197565480896, 0.3665849431043092 ] }, { "id": "862186:friction055-mass040-layout01--recovery_placement", "cohort_seed": 862186, "scene_id": "friction055-mass040-layout01", "variant": "recovery_placement", "mode": "recovery", "control": "placement", "friction": 0.55, "mass_kg": 0.04, "layout_index": 1, "valid": true, "success": true, "failure_stage": "completed", "terminal_reason": "success", "abort_reason": null, "abort_time_s": null, "completion_time_s": 16.026999999996605, "milestones": { "grasp_seen": true, "lift_seen": true, "carry_complete": true, "retention_lost": false, "dwell_seconds": 4.222999999999745, "max_object_lift_m": 0.09713531017374942, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.004953288769060027 }, "qualification_count": 1, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 1, "holds": [ { "start_s": 12.1599999999987, "end_s": 12.379999999998578, "duration_s": 0.21999999999987807, "outcome": "carry_resumed", "reason": "sustained_loaded_relative_settling", "includes_second_probe": false, "actual_motion": { "start_s": 12.1599999999987, "end_s": 12.379999999998578, "duration_s": 0.21999999999987807, "sample_count": 12, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.0018112533698570181, "peak_sampled_speed_m_s": 0.04499621934782403, "net_vertical_m": 0.0006398818065628531, "max_vertical_from_window_start_m": 0.001210297331341842, "min_vertical_from_window_start_m": 0.0 }, "object": { "path_m": 0.0018208624300477213, "peak_sampled_speed_m_s": 0.04451940813314369, "net_vertical_m": 0.0005862586134218473, "max_vertical_from_window_start_m": 0.0011829004295750706, "min_vertical_from_window_start_m": 0.0 } }, "scope": "Recovery interval may include active second-probe motion; not all of this interval is stationary holding." } ], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8871522790852506, "peak_sampled_speed_m_s": 0.1968358598088578, "net_vertical_m": -0.15674699522340516, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28474723551914743 }, "object": { "path_m": 0.33659721921795277, "peak_sampled_speed_m_s": 0.19689647453380787, "net_vertical_m": 6.22998735932967e-11, "max_vertical_from_window_start_m": 0.09704559508613238, "min_vertical_from_window_start_m": -0.0003522489049325589 } }, "max_pad_normal_force_n": 0.8180840562118772, "max_abs_native_joint_velocity_rad_s": [ 0.6716045181796341, 0.6094383419672779, 0.5340661303082108, 0.1978869655119788, 0.22641071000457066, 0.1848412314261812 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3348133331715921, "max": 1.8920249720386515, "max_abs": 1.8920249720386515 }, { "actuator_index": 1, "unit": "N m", "min": -2.1558067194106343, "max": 2.0716022522208988, "max_abs": 2.1558067194106343 }, { "actuator_index": 2, "unit": "N m", "min": -0.8494622123646565, "max": 1.2659912730426157, "max_abs": 1.2659912730426157 }, { "actuator_index": 3, "unit": "N m", "min": -0.3700483270578623, "max": 0.3020107914183594, "max_abs": 0.3700483270578623 }, { "actuator_index": 4, "unit": "N m", "min": -0.3681926201442298, "max": 0.3797315844460307, "max_abs": 0.3797315844460307 }, { "actuator_index": 5, "unit": "N m", "min": -0.29923514931783485, "max": 0.33274634450008134, "max_abs": 0.33274634450008134 }, { "actuator_index": 6, "unit": "N", "min": -0.8673618202446091, "max": 0.017031292711423562, "max_abs": 0.8673618202446091 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.8778032078407705, "attempt_wall_seconds": 1.8796579169575125, "step_compute_seconds": { "count": 1000, "min": 0.001400916837155819, "mean": 0.0017069543940015138, "p50": 0.0015330419410020113, "p95": 0.002838792046532035, "p99": 0.0036659580655395985, "max": 0.008333250181749463, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [ "probe_started", "acquisition_qualified", "slowdown_started", "reassessment_started", "carry_resumed", "speed_restoration_started", "full_speed_restored" ], "final_object_position_m": [ 0.3516785422320108, 0.08282539075835992, 0.07989224457978367 ], "final_tcp_position_m": [ 0.34634817971879667, 0.08268124393913295, 0.20983794788090396 ] }, { "id": "862186:friction055-mass040-layout01--recovery_open_jaw", "cohort_seed": 862186, "scene_id": "friction055-mass040-layout01", "variant": "recovery_open_jaw", "mode": "recovery", "control": "replay_open_jaw", "friction": 0.55, "mass_kg": 0.04, "layout_index": 1, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.229995686002354e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12335023607887907 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8896309546766924, "peak_sampled_speed_m_s": 0.19761258727560707, "net_vertical_m": -0.15674686669202867, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2847637928703507 }, "object": { "path_m": 1.702949289400207e-10, "peak_sampled_speed_m_s": 1.6349234568030949e-09, "net_vertical_m": 6.229995686002354e-11, "max_vertical_from_window_start_m": 6.229995686002354e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.670618824489058, 0.6091850435968867, 0.5340909764374834, 0.1978869655119788, 0.22641071000457066, 0.18483818589357945 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3348133331715921, "max": 1.8634889065280111, "max_abs": 1.8634889065280111 }, { "actuator_index": 1, "unit": "N m", "min": -2.151910238098054, "max": 2.1992183113654846, "max_abs": 2.1992183113654846 }, { "actuator_index": 2, "unit": "N m", "min": -0.8284191295401229, "max": 1.2659912730426157, "max_abs": 1.2659912730426157 }, { "actuator_index": 3, "unit": "N m", "min": -0.36723241003919216, "max": 0.3020107914183594, "max_abs": 0.36723241003919216 }, { "actuator_index": 4, "unit": "N m", "min": -0.33698783354957307, "max": 0.3797315844460307, "max_abs": 0.3797315844460307 }, { "actuator_index": 5, "unit": "N m", "min": -0.29923514931783485, "max": 0.33174515071618904, "max_abs": 0.33174515071618904 }, { "actuator_index": 6, "unit": "N", "min": -0.0039666460742218135, "max": 0.006894748208623458, "max_abs": 0.006894748208623458 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.672721124952659, "attempt_wall_seconds": 1.6753624170087278, "step_compute_seconds": { "count": 1000, "min": 0.001331249950453639, "mean": 0.0015093538695946337, "p50": 0.0014080419205129147, "p95": 0.0018729590810835361, "p99": 0.0020524580031633377, "max": 0.0028140409849584103, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.30261847871018294, -0.03230409206378811, 0.07989224457978375 ], "final_tcp_position_m": [ 0.3463484204928464, 0.08268136405415777, 0.20983807641228044 ] }, { "id": "862186:friction055-mass040-layout01--reacquire_placement", "cohort_seed": 862186, "scene_id": "friction055-mass040-layout01", "variant": "reacquire_placement", "mode": "reacquire", "control": "placement", "friction": 0.55, "mass_kg": 0.04, "layout_index": 1, "valid": true, "success": true, "failure_stage": "completed", "terminal_reason": "success", "abort_reason": null, "abort_time_s": null, "completion_time_s": 16.026999999996605, "milestones": { "grasp_seen": true, "lift_seen": true, "carry_complete": true, "retention_lost": false, "dwell_seconds": 4.222999999999745, "max_object_lift_m": 0.09713531017374942, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.004953288769060027 }, "qualification_count": 1, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 1, "holds": [ { "start_s": 12.1599999999987, "end_s": 12.379999999998578, "duration_s": 0.21999999999987807, "outcome": "carry_resumed", "reason": "sustained_loaded_relative_settling", "includes_second_probe": false, "actual_motion": { "start_s": 12.1599999999987, "end_s": 12.379999999998578, "duration_s": 0.21999999999987807, "sample_count": 12, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.0018112533698570181, "peak_sampled_speed_m_s": 0.04499621934782403, "net_vertical_m": 0.0006398818065628531, "max_vertical_from_window_start_m": 0.001210297331341842, "min_vertical_from_window_start_m": 0.0 }, "object": { "path_m": 0.0018208624300477213, "peak_sampled_speed_m_s": 0.04451940813314369, "net_vertical_m": 0.0005862586134218473, "max_vertical_from_window_start_m": 0.0011829004295750706, "min_vertical_from_window_start_m": 0.0 } }, "scope": "Recovery interval may include active second-probe motion; not all of this interval is stationary holding." } ], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8871522790852506, "peak_sampled_speed_m_s": 0.1968358598088578, "net_vertical_m": -0.15674699522340516, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28474723551914743 }, "object": { "path_m": 0.33659721921795277, "peak_sampled_speed_m_s": 0.19689647453380787, "net_vertical_m": 6.22998735932967e-11, "max_vertical_from_window_start_m": 0.09704559508613238, "min_vertical_from_window_start_m": -0.0003522489049325589 } }, "max_pad_normal_force_n": 0.8180840562118772, "max_abs_native_joint_velocity_rad_s": [ 0.6716045181796341, 0.6094383419672779, 0.5340661303082108, 0.1978869655119788, 0.22641071000457066, 0.1848412314261812 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3348133331715921, "max": 1.8920249720386515, "max_abs": 1.8920249720386515 }, { "actuator_index": 1, "unit": "N m", "min": -2.1558067194106343, "max": 2.0716022522208988, "max_abs": 2.1558067194106343 }, { "actuator_index": 2, "unit": "N m", "min": -0.8494622123646565, "max": 1.2659912730426157, "max_abs": 1.2659912730426157 }, { "actuator_index": 3, "unit": "N m", "min": -0.3700483270578623, "max": 0.3020107914183594, "max_abs": 0.3700483270578623 }, { "actuator_index": 4, "unit": "N m", "min": -0.3681926201442298, "max": 0.3797315844460307, "max_abs": 0.3797315844460307 }, { "actuator_index": 5, "unit": "N m", "min": -0.29923514931783485, "max": 0.33274634450008134, "max_abs": 0.33274634450008134 }, { "actuator_index": 6, "unit": "N", "min": -0.8673618202446091, "max": 0.017031292711423562, "max_abs": 0.8673618202446091 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.8956492920406163, "attempt_wall_seconds": 1.8975617499090731, "step_compute_seconds": { "count": 1000, "min": 0.001396459061652422, "mean": 0.0017032471282873304, "p50": 0.0015369579195976257, "p95": 0.0028076251037418842, "p99": 0.003740290878340602, "max": 0.010141416918486357, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [ "probe_started", "acquisition_qualified", "slowdown_started", "reassessment_started", "carry_resumed", "speed_restoration_started", "full_speed_restored" ], "final_object_position_m": [ 0.3516785422320108, 0.08282539075835992, 0.07989224457978367 ], "final_tcp_position_m": [ 0.34634817971879667, 0.08268124393913295, 0.20983794788090396 ] }, { "id": "862186:friction055-mass040-layout01--reacquire_open_jaw", "cohort_seed": 862186, "scene_id": "friction055-mass040-layout01", "variant": "reacquire_open_jaw", "mode": "reacquire", "control": "replay_open_jaw", "friction": 0.55, "mass_kg": 0.04, "layout_index": 1, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.229995686002354e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12335023607887907 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8896309546766924, "peak_sampled_speed_m_s": 0.19761258727560707, "net_vertical_m": -0.15674686669202867, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2847637928703507 }, "object": { "path_m": 1.702949289400207e-10, "peak_sampled_speed_m_s": 1.6349234568030949e-09, "net_vertical_m": 6.229995686002354e-11, "max_vertical_from_window_start_m": 6.229995686002354e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.670618824489058, 0.6091850435968867, 0.5340909764374834, 0.1978869655119788, 0.22641071000457066, 0.18483818589357945 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3348133331715921, "max": 1.8634889065280111, "max_abs": 1.8634889065280111 }, { "actuator_index": 1, "unit": "N m", "min": -2.151910238098054, "max": 2.1992183113654846, "max_abs": 2.1992183113654846 }, { "actuator_index": 2, "unit": "N m", "min": -0.8284191295401229, "max": 1.2659912730426157, "max_abs": 1.2659912730426157 }, { "actuator_index": 3, "unit": "N m", "min": -0.36723241003919216, "max": 0.3020107914183594, "max_abs": 0.36723241003919216 }, { "actuator_index": 4, "unit": "N m", "min": -0.33698783354957307, "max": 0.3797315844460307, "max_abs": 0.3797315844460307 }, { "actuator_index": 5, "unit": "N m", "min": -0.29923514931783485, "max": 0.33174515071618904, "max_abs": 0.33174515071618904 }, { "actuator_index": 6, "unit": "N", "min": -0.0039666460742218135, "max": 0.006894748208623458, "max_abs": 0.006894748208623458 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.502879000036046, "attempt_wall_seconds": 1.5050555830821395, "step_compute_seconds": { "count": 1000, "min": 0.0012606249656528234, "mean": 0.0013499553489964456, "p50": 0.0013426248915493488, "p95": 0.001440415857359767, "p99": 0.001512040849775076, "max": 0.0018036658875644207, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.30261847871018294, -0.03230409206378811, 0.07989224457978375 ], "final_tcp_position_m": [ 0.3463484204928464, 0.08268136405415777, 0.20983807641228044 ] }, { "id": "862186:friction055-mass040-layout01--reacquire_grasp_placement", "cohort_seed": 862186, "scene_id": "friction055-mass040-layout01", "variant": "reacquire_grasp_placement", "mode": "reacquire_grasp", "control": "placement", "friction": 0.55, "mass_kg": 0.04, "layout_index": 1, "valid": true, "success": true, "failure_stage": "completed", "terminal_reason": "success", "abort_reason": null, "abort_time_s": null, "completion_time_s": 16.639999999997354, "milestones": { "grasp_seen": true, "lift_seen": true, "carry_complete": true, "retention_lost": false, "dwell_seconds": 3.6099999999997134, "max_object_lift_m": 0.10119834166739351, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.0030325311021201272 }, "qualification_count": 1, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8892399841597205, "peak_sampled_speed_m_s": 0.20426629638933566, "net_vertical_m": -0.1578127229082525, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28727924079470735 }, "object": { "path_m": 0.3397778250257186, "peak_sampled_speed_m_s": 0.20338655065984423, "net_vertical_m": 6.230015114905285e-11, "max_vertical_from_window_start_m": 0.10119115988124834, "min_vertical_from_window_start_m": -0.0003157755491889763 } }, "max_pad_normal_force_n": 1.046695797232503, "max_abs_native_joint_velocity_rad_s": [ 0.722142472993687, 0.5740645948995814, 0.5084334210815143, 0.3754419948161147, 0.21300380259755203, 0.18766947789320143 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.36742895559071975, "max": 2.1240292822817333, "max_abs": 2.1240292822817333 }, { "actuator_index": 1, "unit": "N m", "min": -2.1749558036637495, "max": 1.9641540123576107, "max_abs": 2.1749558036637495 }, { "actuator_index": 2, "unit": "N m", "min": -0.8967481431342748, "max": 1.2659912730426157, "max_abs": 1.2659912730426157 }, { "actuator_index": 3, "unit": "N m", "min": -0.4241968685665163, "max": 0.37512070692432165, "max_abs": 0.4241968685665163 }, { "actuator_index": 4, "unit": "N m", "min": -0.19748277342169196, "max": 0.36707736032493493, "max_abs": 0.36707736032493493 }, { "actuator_index": 5, "unit": "N m", "min": -0.3007511848086182, "max": 0.3602871810956554, "max_abs": 0.3602871810956554 }, { "actuator_index": 6, "unit": "N", "min": -1.2140944602146537, "max": 0.019632104924027116, "max_abs": 1.2140944602146537 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.8151248330250382, "attempt_wall_seconds": 1.8170831250026822, "step_compute_seconds": { "count": 1000, "min": 0.001312709180638194, "mean": 0.0016629710837733, "p50": 0.0015737919602543116, "p95": 0.00210016593337059, "p99": 0.0029007080011069775, "max": 0.004168750019744039, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [ "probe_started", "acquisition_qualified" ], "final_object_position_m": [ 0.349727065109959, 0.08246199946180656, 0.07989224457978394 ], "final_tcp_position_m": [ 0.34522159284528414, 0.08181064901504831, 0.20877222019605662 ] }, { "id": "862186:friction055-mass040-layout01--reacquire_grasp_open_jaw", "cohort_seed": 862186, "scene_id": "friction055-mass040-layout01", "variant": "reacquire_grasp_open_jaw", "mode": "reacquire_grasp", "control": "replay_open_jaw", "friction": 0.55, "mass_kg": 0.04, "layout_index": 1, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 0.00010743474213242843, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12331869743802511 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8915283148969773, "peak_sampled_speed_m_s": 0.20337950952794875, "net_vertical_m": -0.1578115095790258, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2874190534874598 }, "object": { "path_m": 0.0003427494431256814, "peak_sampled_speed_m_s": 0.006955418220210043, "net_vertical_m": 6.22998735932967e-11, "max_vertical_from_window_start_m": 0.00010270293389426366, "min_vertical_from_window_start_m": -2.342293668960993e-05 } }, "max_pad_normal_force_n": 0.2522090935716041, "max_abs_native_joint_velocity_rad_s": [ 0.7194602499127427, 0.5737828917147323, 0.508497299350872, 0.3754419948161147, 0.21300380259755203, 0.18772084758359797 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.36742895559071975, "max": 2.0949842726352896, "max_abs": 2.0949842726352896 }, { "actuator_index": 1, "unit": "N m", "min": -2.0479957926969234, "max": 1.9641540123576107, "max_abs": 2.0479957926969234 }, { "actuator_index": 2, "unit": "N m", "min": -0.8967481431342748, "max": 1.2659912730426157, "max_abs": 1.2659912730426157 }, { "actuator_index": 3, "unit": "N m", "min": -0.4128328050755421, "max": 0.3096643047795036, "max_abs": 0.4128328050755421 }, { "actuator_index": 4, "unit": "N m", "min": -0.19286509054676237, "max": 0.36707736032493493, "max_abs": 0.36707736032493493 }, { "actuator_index": 5, "unit": "N m", "min": -0.3008502268424218, "max": 0.36000664660705795, "max_abs": 0.36000664660705795 }, { "actuator_index": 6, "unit": "N", "min": -0.012248405384377437, "max": 0.008111254691955727, "max_abs": 0.012248405384377437 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.5590732500422746, "attempt_wall_seconds": 1.561325625050813, "step_compute_seconds": { "count": 1000, "min": 0.0013316669501364231, "mean": 0.0013941870934795588, "p50": 0.0013811669778078794, "p95": 0.0014322919305413961, "p99": 0.0015073749236762524, "max": 0.00955495797097683, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.3026677392041384, -0.032289175299166195, 0.07989224457978367 ], "final_tcp_position_m": [ 0.3452242650865901, 0.08181182958716864, 0.20877343352528333 ] }, { "id": "862186:friction055-mass040-layout01--hold", "cohort_seed": 862186, "scene_id": "friction055-mass040-layout01", "variant": "hold", "mode": "baseline", "control": "hold", "friction": 0.55, "mass_kg": 0.04, "layout_index": 1, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.229995686002354e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12335023607887907 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 1.1376744407779719e-16, "peak_sampled_speed_m_s": 5.558267943191594e-15, "net_vertical_m": 1.1102230246251565e-16, "max_vertical_from_window_start_m": 1.1102230246251565e-16, "min_vertical_from_window_start_m": 0.0 }, "object": { "path_m": 1.702949289400207e-10, "peak_sampled_speed_m_s": 1.6349234568030949e-09, "net_vertical_m": 6.229995686002354e-11, "max_vertical_from_window_start_m": 6.229995686002354e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 1.089099057831775e-19, 6.127451851049064e-18, 1.5410517561852992e-16, 1.2145569247038722e-17, 3.400546359107994e-16, 2.945467210750634e-17 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -5.149427585733612e-18, "max": -7.571162667696407e-19, "max_abs": 5.149427585733612e-18 }, { "actuator_index": 1, "unit": "N m", "min": 0.0, "max": 0.0, "max_abs": 0.0 }, { "actuator_index": 2, "unit": "N m", "min": 0.0, "max": 0.0, "max_abs": 0.0 }, { "actuator_index": 3, "unit": "N m", "min": 7.130976259465077e-17, "max": 1.5875460775817776e-16, "max_abs": 1.5875460775817776e-16 }, { "actuator_index": 4, "unit": "N m", "min": 5.770246053275149e-16, "max": 3.2953315452184146e-15, "max_abs": 3.2953315452184146e-15 }, { "actuator_index": 5, "unit": "N m", "min": -2.2098381316149117e-16, "max": -4.998795352997742e-17, "max_abs": 2.2098381316149117e-16 }, { "actuator_index": 6, "unit": "N", "min": 0.0, "max": 0.0, "max_abs": 0.0 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.5966062089428306, "attempt_wall_seconds": 1.5987048328388482, "step_compute_seconds": { "count": 1000, "min": 0.0013141250237822533, "mean": 0.0014385025836527348, "p50": 0.0014211670495569706, "p95": 0.0016116248443722725, "p99": 0.0016899998299777508, "max": 0.0019297499675303698, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.30261847871018294, -0.03230409206378811, 0.07989224457978375 ], "final_tcp_position_m": [ 0.4890696662845219, 0.001414197565480896, 0.3665849431043092 ] }, { "id": "862186:friction055-mass060-layout00--recovery_placement", "cohort_seed": 862186, "scene_id": "friction055-mass060-layout00", "variant": "recovery_placement", "mode": "recovery", "control": "placement", "friction": 0.55, "mass_kg": 0.06, "layout_index": 0, "valid": true, "success": false, "failure_stage": "acquisition_never_qualified", "terminal_reason": "timeout", "abort_reason": "retry_budget_exhausted:object_not_following", "abort_time_s": 14.53999999999738, "completion_time_s": null, "milestones": { "grasp_seen": true, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 0.00014264378965549163, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.11993178812002411 }, "qualification_count": 0, "retry_count": 1, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.4337652237447901, "peak_sampled_speed_m_s": 0.16252209067016715, "net_vertical_m": -0.28056049378117986, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2847473102949038 }, "object": { "path_m": 0.004384989375563246, "peak_sampled_speed_m_s": 0.00956040491832328, "net_vertical_m": -6.8361663637800385e-06, "max_vertical_from_window_start_m": 0.00013612881910154973, "min_vertical_from_window_start_m": -3.427217602011701e-05 } }, "max_pad_normal_force_n": 0.6382173636753526, "max_abs_native_joint_velocity_rad_s": [ 0.10850132152154117, 0.49296245566553437, 0.4195218989920208, 0.18444284094678168, 0.22417268641399873, 0.11244882174658975 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3353162381834274, "max": 0.2980117756324052, "max_abs": 0.3353162381834274 }, { "actuator_index": 1, "unit": "N m", "min": -1.5492340494921422, "max": 1.909466982399124, "max_abs": 1.909466982399124 }, { "actuator_index": 2, "unit": "N m", "min": -1.1362322394085425, "max": 1.4135532842941387, "max_abs": 1.4135532842941387 }, { "actuator_index": 3, "unit": "N m", "min": -0.30780938338277686, "max": 0.3018391987921625, "max_abs": 0.30780938338277686 }, { "actuator_index": 4, "unit": "N m", "min": -0.18058854756576892, "max": 0.3828704810479211, "max_abs": 0.3828704810479211 }, { "actuator_index": 5, "unit": "N m", "min": -0.2992179087212, "max": 0.1875521744165627, "max_abs": 0.2992179087212 }, { "actuator_index": 6, "unit": "N", "min": -0.8012011012897138, "max": 0.019760613697303975, "max_abs": 0.8012011012897138 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.9552882499992847, "attempt_wall_seconds": 1.9572738341521472, "step_compute_seconds": { "count": 1000, "min": 0.0013695410452783108, "mean": 0.0017842033552005886, "p50": 0.001541375182569027, "p95": 0.0029959159437566996, "p99": 0.004147167084738612, "max": 0.0044199160765856504, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [ "probe_started", "alarm", "retry_started", "retry_completed", "probe_started", "alarm", "abort" ], "final_object_position_m": [ 0.3027105446671117, -0.029846934348609556, 0.07988540835112004 ], "final_tcp_position_m": [ 0.30125000364133064, -0.030167733800252377, 0.08602444932312922 ] }, { "id": "862186:friction055-mass060-layout00--recovery_open_jaw", "cohort_seed": 862186, "scene_id": "friction055-mass060-layout00", "variant": "recovery_open_jaw", "mode": "recovery", "control": "replay_open_jaw", "friction": 0.55, "mass_kg": 0.06, "layout_index": 0, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998735932967e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12097717246408708 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.4379371679532709, "peak_sampled_speed_m_s": 0.16252209067016715, "net_vertical_m": -0.2806462373729791, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2847634374776865 }, "object": { "path_m": 1.7079293699532994e-10, "peak_sampled_speed_m_s": 1.634922761033519e-09, "net_vertical_m": 6.22998735932967e-11, "max_vertical_from_window_start_m": 6.22998735932967e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.10850132152154117, 0.49296245566553437, 0.4195218989920208, 0.18444284094678168, 0.22417268641399873, 0.11244882174658975 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3353162381834274, "max": 0.2980117756324052, "max_abs": 0.3353162381834274 }, { "actuator_index": 1, "unit": "N m", "min": -1.5492340494921422, "max": 1.909466982399124, "max_abs": 1.909466982399124 }, { "actuator_index": 2, "unit": "N m", "min": -1.114307295184659, "max": 1.4125101570137275, "max_abs": 1.4125101570137275 }, { "actuator_index": 3, "unit": "N m", "min": -0.30780938338277686, "max": 0.3018391987921625, "max_abs": 0.30780938338277686 }, { "actuator_index": 4, "unit": "N m", "min": -0.1810013607731289, "max": 0.3828704810479211, "max_abs": 0.3828704810479211 }, { "actuator_index": 5, "unit": "N m", "min": -0.2992179087212, "max": 0.1875521744165627, "max_abs": 0.2992179087212 }, { "actuator_index": 6, "unit": "N", "min": -0.00031091789006110204, "max": 0.0005224638997087805, "max_abs": 0.0005224638997087805 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.5478322498966008, "attempt_wall_seconds": 1.5500684168655425, "step_compute_seconds": { "count": 1000, "min": 0.0012742499820888042, "mean": 0.0013926876410841943, "p50": 0.0013855830766260624, "p95": 0.0014457500074058771, "p99": 0.0015878749545663595, "max": 0.008965292014181614, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.2992590931032125, -0.0295210450903525, 0.0798922445797837 ], "final_tcp_position_m": [ 0.3011552035465086, -0.030161564930905483, 0.08593870573133003 ] }, { "id": "862186:friction055-mass060-layout00--reacquire_placement", "cohort_seed": 862186, "scene_id": "friction055-mass060-layout00", "variant": "reacquire_placement", "mode": "reacquire", "control": "placement", "friction": 0.55, "mass_kg": 0.06, "layout_index": 0, "valid": true, "success": false, "failure_stage": "acquisition_never_qualified", "terminal_reason": "timeout", "abort_reason": "retry_budget_exhausted:object_not_following", "abort_time_s": 14.53999999999738, "completion_time_s": null, "milestones": { "grasp_seen": true, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 0.00014264378965549163, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.11993178812002411 }, "qualification_count": 0, "retry_count": 1, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.4337652237447901, "peak_sampled_speed_m_s": 0.16252209067016715, "net_vertical_m": -0.28056049378117986, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2847473102949038 }, "object": { "path_m": 0.004384989375563246, "peak_sampled_speed_m_s": 0.00956040491832328, "net_vertical_m": -6.8361663637800385e-06, "max_vertical_from_window_start_m": 0.00013612881910154973, "min_vertical_from_window_start_m": -3.427217602011701e-05 } }, "max_pad_normal_force_n": 0.6382173636753526, "max_abs_native_joint_velocity_rad_s": [ 0.10850132152154117, 0.49296245566553437, 0.4195218989920208, 0.18444284094678168, 0.22417268641399873, 0.11244882174658975 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3353162381834274, "max": 0.2980117756324052, "max_abs": 0.3353162381834274 }, { "actuator_index": 1, "unit": "N m", "min": -1.5492340494921422, "max": 1.909466982399124, "max_abs": 1.909466982399124 }, { "actuator_index": 2, "unit": "N m", "min": -1.1362322394085425, "max": 1.4135532842941387, "max_abs": 1.4135532842941387 }, { "actuator_index": 3, "unit": "N m", "min": -0.30780938338277686, "max": 0.3018391987921625, "max_abs": 0.30780938338277686 }, { "actuator_index": 4, "unit": "N m", "min": -0.18058854756576892, "max": 0.3828704810479211, "max_abs": 0.3828704810479211 }, { "actuator_index": 5, "unit": "N m", "min": -0.2992179087212, "max": 0.1875521744165627, "max_abs": 0.2992179087212 }, { "actuator_index": 6, "unit": "N", "min": -0.8012011012897138, "max": 0.019760613697303975, "max_abs": 0.8012011012897138 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.8853270001709461, "attempt_wall_seconds": 1.8872303331736475, "step_compute_seconds": { "count": 1000, "min": 0.0013147080317139626, "mean": 0.0017357172823976726, "p50": 0.0014552499633282423, "p95": 0.0030275830067694187, "p99": 0.00418041693046689, "max": 0.00456466618925333, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [ "probe_started", "alarm", "retry_started", "retry_completed", "probe_started", "alarm", "abort" ], "final_object_position_m": [ 0.3027105446671117, -0.029846934348609556, 0.07988540835112004 ], "final_tcp_position_m": [ 0.30125000364133064, -0.030167733800252377, 0.08602444932312922 ] }, { "id": "862186:friction055-mass060-layout00--reacquire_open_jaw", "cohort_seed": 862186, "scene_id": "friction055-mass060-layout00", "variant": "reacquire_open_jaw", "mode": "reacquire", "control": "replay_open_jaw", "friction": 0.55, "mass_kg": 0.06, "layout_index": 0, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998735932967e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12097717246408708 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.4379371679532709, "peak_sampled_speed_m_s": 0.16252209067016715, "net_vertical_m": -0.2806462373729791, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2847634374776865 }, "object": { "path_m": 1.7079293699532994e-10, "peak_sampled_speed_m_s": 1.634922761033519e-09, "net_vertical_m": 6.22998735932967e-11, "max_vertical_from_window_start_m": 6.22998735932967e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.10850132152154117, 0.49296245566553437, 0.4195218989920208, 0.18444284094678168, 0.22417268641399873, 0.11244882174658975 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3353162381834274, "max": 0.2980117756324052, "max_abs": 0.3353162381834274 }, { "actuator_index": 1, "unit": "N m", "min": -1.5492340494921422, "max": 1.909466982399124, "max_abs": 1.909466982399124 }, { "actuator_index": 2, "unit": "N m", "min": -1.114307295184659, "max": 1.4125101570137275, "max_abs": 1.4125101570137275 }, { "actuator_index": 3, "unit": "N m", "min": -0.30780938338277686, "max": 0.3018391987921625, "max_abs": 0.30780938338277686 }, { "actuator_index": 4, "unit": "N m", "min": -0.1810013607731289, "max": 0.3828704810479211, "max_abs": 0.3828704810479211 }, { "actuator_index": 5, "unit": "N m", "min": -0.2992179087212, "max": 0.1875521744165627, "max_abs": 0.2992179087212 }, { "actuator_index": 6, "unit": "N", "min": -0.00031091789006110204, "max": 0.0005224638997087805, "max_abs": 0.0005224638997087805 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.527001166017726, "attempt_wall_seconds": 1.5293083749711514, "step_compute_seconds": { "count": 1000, "min": 0.0012635830789804459, "mean": 0.0013748251649085433, "p50": 0.001379749970510602, "p95": 0.0014421669766306877, "p99": 0.0015280409716069698, "max": 0.0018951250240206718, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.2992590931032125, -0.0295210450903525, 0.0798922445797837 ], "final_tcp_position_m": [ 0.3011552035465086, -0.030161564930905483, 0.08593870573133003 ] }, { "id": "862186:friction055-mass060-layout00--reacquire_grasp_placement", "cohort_seed": 862186, "scene_id": "friction055-mass060-layout00", "variant": "reacquire_grasp_placement", "mode": "reacquire_grasp", "control": "placement", "friction": 0.55, "mass_kg": 0.06, "layout_index": 0, "valid": true, "success": true, "failure_stage": "completed", "terminal_reason": "success", "abort_reason": null, "abort_time_s": null, "completion_time_s": 17.149999999997977, "milestones": { "grasp_seen": true, "lift_seen": true, "carry_complete": true, "retention_lost": false, "dwell_seconds": 3.0999999999997696, "max_object_lift_m": 0.08806106021977371, "max_carry_contact_loss_seconds": 0.001, "carry_contact_loss_events": 0, "target_distance_m": 0.0026853825353622173 }, "qualification_count": 1, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 1, "holds": [ { "start_s": 13.319999999998057, "end_s": 13.539999999997935, "duration_s": 0.21999999999987807, "outcome": "carry_resumed", "reason": "sustained_loaded_relative_settling", "includes_second_probe": false, "actual_motion": { "start_s": 13.319999999998057, "end_s": 13.539999999997935, "duration_s": 0.21999999999987807, "sample_count": 12, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.0011882212511598808, "peak_sampled_speed_m_s": 0.027714744067495967, "net_vertical_m": 0.00019072250970168791, "max_vertical_from_window_start_m": 0.0006767366528546703, "min_vertical_from_window_start_m": 0.0 }, "object": { "path_m": 0.001250502802820945, "peak_sampled_speed_m_s": 0.027202697647814918, "net_vertical_m": 9.03522980780086e-05, "max_vertical_from_window_start_m": 0.0006553012305847289, "min_vertical_from_window_start_m": 0.0 } }, "scope": "Recovery interval may include active second-probe motion; not all of this interval is stationary holding." } ], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.873336077332032, "peak_sampled_speed_m_s": 0.20303551593646552, "net_vertical_m": -0.15776977161776562, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2854983804739984 }, "object": { "path_m": 0.3104475785559835, "peak_sampled_speed_m_s": 0.20375006407868101, "net_vertical_m": 6.230012339347724e-11, "max_vertical_from_window_start_m": 0.08806076563448868, "min_vertical_from_window_start_m": -0.0008929926637810115 } }, "max_pad_normal_force_n": 1.3438652760377474, "max_abs_native_joint_velocity_rad_s": [ 0.7226176738579033, 0.5623673470045175, 0.5361528386138781, 0.37457805490367735, 0.22116121843206882, 0.18796233052879813 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.48849303770597885, "max": 2.048841172220297, "max_abs": 2.048841172220297 }, { "actuator_index": 1, "unit": "N m", "min": -2.2212651827578327, "max": 1.9584612220335487, "max_abs": 2.2212651827578327 }, { "actuator_index": 2, "unit": "N m", "min": -0.8941185528030502, "max": 1.2660116920092435, "max_abs": 1.2660116920092435 }, { "actuator_index": 3, "unit": "N m", "min": -0.44128993262332505, "max": 0.3455011522234701, "max_abs": 0.44128993262332505 }, { "actuator_index": 4, "unit": "N m", "min": -0.20672688946687856, "max": 0.3676290585081105, "max_abs": 0.3676290585081105 }, { "actuator_index": 5, "unit": "N m", "min": -0.3003950706270988, "max": 0.34665121762648177, "max_abs": 0.34665121762648177 }, { "actuator_index": 6, "unit": "N", "min": -1.159955894807732, "max": 0.01681490402523589, "max_abs": 1.159955894807732 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.9290713330265135, "attempt_wall_seconds": 1.9313106669578701, "step_compute_seconds": { "count": 1000, "min": 0.001321250107139349, "mean": 0.0017694096704944967, "p50": 0.0015858749393373728, "p95": 0.0024819171521812677, "p99": 0.003045083023607731, "max": 0.008832457941025496, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [ "probe_started", "acquisition_qualified", "slowdown_started", "reassessment_started", "carry_resumed", "speed_restoration_started", "full_speed_restored" ], "final_object_position_m": [ 0.3505945879635812, 0.08162702866246745, 0.07989224457978394 ], "final_tcp_position_m": [ 0.3463780687468112, 0.08035278687684848, 0.2088151714865435 ] }, { "id": "862186:friction055-mass060-layout00--reacquire_grasp_open_jaw", "cohort_seed": 862186, "scene_id": "friction055-mass060-layout00", "variant": "reacquire_grasp_open_jaw", "mode": "reacquire_grasp", "control": "replay_open_jaw", "friction": 0.55, "mass_kg": 0.06, "layout_index": 0, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998735932967e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12097717246408708 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8786308873726334, "peak_sampled_speed_m_s": 0.20180590837575754, "net_vertical_m": -0.15776639407547255, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2854983804739984 }, "object": { "path_m": 1.7079293699532994e-10, "peak_sampled_speed_m_s": 1.634922761033519e-09, "net_vertical_m": 6.22998735932967e-11, "max_vertical_from_window_start_m": 6.22998735932967e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.7184901384509722, 0.5612692089760799, 0.5361934747180604, 0.37457805490367735, 0.22116121843206882, 0.18806838100324663 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.4652073849184468, "max": 2.0065875312175283, "max_abs": 2.0065875312175283 }, { "actuator_index": 1, "unit": "N m", "min": -2.038848344237209, "max": 1.996327226251907, "max_abs": 2.038848344237209 }, { "actuator_index": 2, "unit": "N m", "min": -0.8941185528030502, "max": 1.2660116920092435, "max_abs": 1.2660116920092435 }, { "actuator_index": 3, "unit": "N m", "min": -0.4252498163046594, "max": 0.31456471504672834, "max_abs": 0.4252498163046594 }, { "actuator_index": 4, "unit": "N m", "min": -0.19914469382597488, "max": 0.3676290585081105, "max_abs": 0.3676290585081105 }, { "actuator_index": 5, "unit": "N m", "min": -0.3003848861228544, "max": 0.34597666777625946, "max_abs": 0.34597666777625946 }, { "actuator_index": 6, "unit": "N", "min": -0.0065345526915487895, "max": 0.009464301775888195, "max_abs": 0.009464301775888195 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.5722643749322742, "attempt_wall_seconds": 1.5745146251283586, "step_compute_seconds": { "count": 1000, "min": 0.0012610841076821089, "mean": 0.0013779254648834467, "p50": 0.0013792500831186771, "p95": 0.0014374589081853628, "p99": 0.001529207918792963, "max": 0.0018379159737378359, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.2992590931032125, -0.0295210450903525, 0.0798922445797837 ], "final_tcp_position_m": [ 0.34638587613699806, 0.0803560129066753, 0.20881854902883656 ] }, { "id": "862186:friction055-mass060-layout00--hold", "cohort_seed": 862186, "scene_id": "friction055-mass060-layout00", "variant": "hold", "mode": "baseline", "control": "hold", "friction": 0.55, "mass_kg": 0.06, "layout_index": 0, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998735932967e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12097717246408708 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 1.1376744407779719e-16, "peak_sampled_speed_m_s": 5.558267943191594e-15, "net_vertical_m": 1.1102230246251565e-16, "max_vertical_from_window_start_m": 1.1102230246251565e-16, "min_vertical_from_window_start_m": 0.0 }, "object": { "path_m": 1.7079293699532994e-10, "peak_sampled_speed_m_s": 1.634922761033519e-09, "net_vertical_m": 6.22998735932967e-11, "max_vertical_from_window_start_m": 6.22998735932967e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 1.089099057831775e-19, 6.127451851049064e-18, 1.5410517561852992e-16, 1.2145569247038722e-17, 3.400546359107994e-16, 2.945467210750634e-17 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -5.149427585733612e-18, "max": -7.571162667696407e-19, "max_abs": 5.149427585733612e-18 }, { "actuator_index": 1, "unit": "N m", "min": 0.0, "max": 0.0, "max_abs": 0.0 }, { "actuator_index": 2, "unit": "N m", "min": 0.0, "max": 0.0, "max_abs": 0.0 }, { "actuator_index": 3, "unit": "N m", "min": 7.130976259465077e-17, "max": 1.5875460775817776e-16, "max_abs": 1.5875460775817776e-16 }, { "actuator_index": 4, "unit": "N m", "min": 5.770246053275149e-16, "max": 3.2953315452184146e-15, "max_abs": 3.2953315452184146e-15 }, { "actuator_index": 5, "unit": "N m", "min": -2.2098381316149117e-16, "max": -4.998795352997742e-17, "max_abs": 2.2098381316149117e-16 }, { "actuator_index": 6, "unit": "N", "min": 0.0, "max": 0.0, "max_abs": 0.0 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.4623537079896778, "attempt_wall_seconds": 1.4644085420295596, "step_compute_seconds": { "count": 1000, "min": 0.0012307080905884504, "mean": 0.00131292613199912, "p50": 0.0012951251119375229, "p95": 0.0014004157856106758, "p99": 0.0014499591197818518, "max": 0.0020093750208616257, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.2992590931032125, -0.0295210450903525, 0.0798922445797837 ], "final_tcp_position_m": [ 0.4890696662845219, 0.001414197565480896, 0.3665849431043092 ] }, { "id": "862186:friction055-mass060-layout01--recovery_placement", "cohort_seed": 862186, "scene_id": "friction055-mass060-layout01", "variant": "recovery_placement", "mode": "recovery", "control": "placement", "friction": 0.55, "mass_kg": 0.06, "layout_index": 1, "valid": true, "success": false, "failure_stage": "acquisition_never_qualified", "terminal_reason": "timeout", "abort_reason": "retry_budget_exhausted:object_not_following", "abort_time_s": 14.619999999997336, "completion_time_s": null, "milestones": { "grasp_seen": true, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 0.00014196436277079394, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12245533242313913 }, "qualification_count": 0, "retry_count": 1, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.43106543404780473, "peak_sampled_speed_m_s": 0.161272949899281, "net_vertical_m": -0.2805846737607882, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2847474124474226 }, "object": { "path_m": 0.004467100332654572, "peak_sampled_speed_m_s": 0.011109621874412669, "net_vertical_m": -8.220938755354457e-06, "max_vertical_from_window_start_m": 0.00013781456406786186, "min_vertical_from_window_start_m": -3.228938507425505e-05 } }, "max_pad_normal_force_n": 1.0933324749550866, "max_abs_native_joint_velocity_rad_s": [ 0.11469947082095824, 0.4815799016638903, 0.4171984305136914, 0.19788701233389552, 0.2264106998626564, 0.1252785149016607 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3348123909287839, "max": 0.30614925485510724, "max_abs": 0.3348123909287839 }, { "actuator_index": 1, "unit": "N m", "min": -1.5491983417809365, "max": 1.9135892496238682, "max_abs": 1.9135892496238682 }, { "actuator_index": 2, "unit": "N m", "min": -1.1407648208424774, "max": 1.408083196836202, "max_abs": 1.408083196836202 }, { "actuator_index": 3, "unit": "N m", "min": -0.3247071055484483, "max": 0.302010791647616, "max_abs": 0.3247071055484483 }, { "actuator_index": 4, "unit": "N m", "min": -0.1794339531235991, "max": 0.37973162046159903, "max_abs": 0.37973162046159903 }, { "actuator_index": 5, "unit": "N m", "min": -0.29923514958808345, "max": 0.19855909292255602, "max_abs": 0.29923514958808345 }, { "actuator_index": 6, "unit": "N", "min": -0.8147412944692936, "max": 0.019751173918761133, "max_abs": 0.8147412944692936 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 2.0433084999676794, "attempt_wall_seconds": 2.0453875828534365, "step_compute_seconds": { "count": 1000, "min": 0.0014036667998880148, "mean": 0.0018793778244871645, "p50": 0.001600957941263914, "p95": 0.0030941669829189777, "p99": 0.004362249979749322, "max": 0.010726416949182749, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [ "probe_started", "alarm", "retry_started", "retry_completed", "probe_started", "alarm", "abort" ], "final_object_position_m": [ 0.3061347748909518, -0.03264153870455448, 0.07988402357872847 ], "final_tcp_position_m": [ 0.30462137888078505, -0.032962980663162146, 0.08600026934352091 ] }, { "id": "862186:friction055-mass060-layout01--recovery_open_jaw", "cohort_seed": 862186, "scene_id": "friction055-mass060-layout01", "variant": "recovery_open_jaw", "mode": "recovery", "control": "replay_open_jaw", "friction": 0.55, "mass_kg": 0.06, "layout_index": 1, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998735932967e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12335028741333984 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.4353085946856371, "peak_sampled_speed_m_s": 0.161272949899281, "net_vertical_m": -0.2806869439412946, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28476372578954867 }, "object": { "path_m": 1.6797977010648547e-10, "peak_sampled_speed_m_s": 1.6349227610006456e-09, "net_vertical_m": 6.22998735932967e-11, "max_vertical_from_window_start_m": 6.22998735932967e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.11469947082095824, 0.4815799016638903, 0.4171984305136914, 0.19788701233389552, 0.2264106998626564, 0.1252785149016607 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3348123909287839, "max": 0.30614925485510724, "max_abs": 0.3348123909287839 }, { "actuator_index": 1, "unit": "N m", "min": -1.5491983417809365, "max": 1.9135892496238682, "max_abs": 1.9135892496238682 }, { "actuator_index": 2, "unit": "N m", "min": -1.1187399337461983, "max": 1.4070457081964918, "max_abs": 1.4070457081964918 }, { "actuator_index": 3, "unit": "N m", "min": -0.3247071055484483, "max": 0.302010791647616, "max_abs": 0.3247071055484483 }, { "actuator_index": 4, "unit": "N m", "min": -0.17983641400776662, "max": 0.37973162046159903, "max_abs": 0.37973162046159903 }, { "actuator_index": 5, "unit": "N m", "min": -0.29923514958808345, "max": 0.19855909292255602, "max_abs": 0.29923514958808345 }, { "actuator_index": 6, "unit": "N", "min": -0.00031973918095373755, "max": 0.0005406962560077222, "max_abs": 0.0005406962560077222 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.5171231660060585, "attempt_wall_seconds": 1.5193937080912292, "step_compute_seconds": { "count": 1000, "min": 0.0012519580777734518, "mean": 0.0013567215388175101, "p50": 0.0013578329235315323, "p95": 0.0014425409026443958, "p99": 0.0015968340449035168, "max": 0.0028877081349492073, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.3026183809550645, -0.0323041096019448, 0.0798922445797837 ], "final_tcp_position_m": [ 0.3045206099920795, -0.032959505979445775, 0.0858979991630145 ] }, { "id": "862186:friction055-mass060-layout01--reacquire_placement", "cohort_seed": 862186, "scene_id": "friction055-mass060-layout01", "variant": "reacquire_placement", "mode": "reacquire", "control": "placement", "friction": 0.55, "mass_kg": 0.06, "layout_index": 1, "valid": true, "success": false, "failure_stage": "acquisition_never_qualified", "terminal_reason": "timeout", "abort_reason": "retry_budget_exhausted:object_not_following", "abort_time_s": 14.619999999997336, "completion_time_s": null, "milestones": { "grasp_seen": true, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 0.00014196436277079394, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12245533242313913 }, "qualification_count": 0, "retry_count": 1, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.43106543404780473, "peak_sampled_speed_m_s": 0.161272949899281, "net_vertical_m": -0.2805846737607882, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2847474124474226 }, "object": { "path_m": 0.004467100332654572, "peak_sampled_speed_m_s": 0.011109621874412669, "net_vertical_m": -8.220938755354457e-06, "max_vertical_from_window_start_m": 0.00013781456406786186, "min_vertical_from_window_start_m": -3.228938507425505e-05 } }, "max_pad_normal_force_n": 1.0933324749550866, "max_abs_native_joint_velocity_rad_s": [ 0.11469947082095824, 0.4815799016638903, 0.4171984305136914, 0.19788701233389552, 0.2264106998626564, 0.1252785149016607 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3348123909287839, "max": 0.30614925485510724, "max_abs": 0.3348123909287839 }, { "actuator_index": 1, "unit": "N m", "min": -1.5491983417809365, "max": 1.9135892496238682, "max_abs": 1.9135892496238682 }, { "actuator_index": 2, "unit": "N m", "min": -1.1407648208424774, "max": 1.408083196836202, "max_abs": 1.408083196836202 }, { "actuator_index": 3, "unit": "N m", "min": -0.3247071055484483, "max": 0.302010791647616, "max_abs": 0.3247071055484483 }, { "actuator_index": 4, "unit": "N m", "min": -0.1794339531235991, "max": 0.37973162046159903, "max_abs": 0.37973162046159903 }, { "actuator_index": 5, "unit": "N m", "min": -0.29923514958808345, "max": 0.19855909292255602, "max_abs": 0.29923514958808345 }, { "actuator_index": 6, "unit": "N", "min": -0.8147412944692936, "max": 0.019751173918761133, "max_abs": 0.8147412944692936 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.9406297500245273, "attempt_wall_seconds": 1.9429956248495728, "step_compute_seconds": { "count": 1000, "min": 0.0012932498939335346, "mean": 0.001786739536561072, "p50": 0.001438208157196641, "p95": 0.003140208078548312, "p99": 0.0042432500049471855, "max": 0.011477792169898748, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [ "probe_started", "alarm", "retry_started", "retry_completed", "probe_started", "alarm", "abort" ], "final_object_position_m": [ 0.3061347748909518, -0.03264153870455448, 0.07988402357872847 ], "final_tcp_position_m": [ 0.30462137888078505, -0.032962980663162146, 0.08600026934352091 ] }, { "id": "862186:friction055-mass060-layout01--reacquire_open_jaw", "cohort_seed": 862186, "scene_id": "friction055-mass060-layout01", "variant": "reacquire_open_jaw", "mode": "reacquire", "control": "replay_open_jaw", "friction": 0.55, "mass_kg": 0.06, "layout_index": 1, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998735932967e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12335028741333984 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.4353085946856371, "peak_sampled_speed_m_s": 0.161272949899281, "net_vertical_m": -0.2806869439412946, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28476372578954867 }, "object": { "path_m": 1.6797977010648547e-10, "peak_sampled_speed_m_s": 1.6349227610006456e-09, "net_vertical_m": 6.22998735932967e-11, "max_vertical_from_window_start_m": 6.22998735932967e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.11469947082095824, 0.4815799016638903, 0.4171984305136914, 0.19788701233389552, 0.2264106998626564, 0.1252785149016607 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3348123909287839, "max": 0.30614925485510724, "max_abs": 0.3348123909287839 }, { "actuator_index": 1, "unit": "N m", "min": -1.5491983417809365, "max": 1.9135892496238682, "max_abs": 1.9135892496238682 }, { "actuator_index": 2, "unit": "N m", "min": -1.1187399337461983, "max": 1.4070457081964918, "max_abs": 1.4070457081964918 }, { "actuator_index": 3, "unit": "N m", "min": -0.3247071055484483, "max": 0.302010791647616, "max_abs": 0.3247071055484483 }, { "actuator_index": 4, "unit": "N m", "min": -0.17983641400776662, "max": 0.37973162046159903, "max_abs": 0.37973162046159903 }, { "actuator_index": 5, "unit": "N m", "min": -0.29923514958808345, "max": 0.19855909292255602, "max_abs": 0.29923514958808345 }, { "actuator_index": 6, "unit": "N", "min": -0.00031973918095373755, "max": 0.0005406962560077222, "max_abs": 0.0005406962560077222 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.547071082983166, "attempt_wall_seconds": 1.5494529579300433, "step_compute_seconds": { "count": 1000, "min": 0.0012620000634342432, "mean": 0.0013840427503455431, "p50": 0.0013854580465704203, "p95": 0.0014451248571276665, "p99": 0.0015016670804470778, "max": 0.0018730000592768192, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.3026183809550645, -0.0323041096019448, 0.0798922445797837 ], "final_tcp_position_m": [ 0.3045206099920795, -0.032959505979445775, 0.0858979991630145 ] }, { "id": "862186:friction055-mass060-layout01--reacquire_grasp_placement", "cohort_seed": 862186, "scene_id": "friction055-mass060-layout01", "variant": "reacquire_grasp_placement", "mode": "reacquire_grasp", "control": "placement", "friction": 0.55, "mass_kg": 0.06, "layout_index": 1, "valid": true, "success": true, "failure_stage": "completed", "terminal_reason": "success", "abort_reason": null, "abort_time_s": null, "completion_time_s": 17.18599999999802, "milestones": { "grasp_seen": true, "lift_seen": true, "carry_complete": true, "retention_lost": false, "dwell_seconds": 3.0639999999997736, "max_object_lift_m": 0.08713834422452928, "max_carry_contact_loss_seconds": 0.001, "carry_contact_loss_events": 0, "target_distance_m": 0.0020158040014486927 }, "qualification_count": 1, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 1, "holds": [ { "start_s": 13.339999999998046, "end_s": 13.559999999997924, "duration_s": 0.21999999999987807, "outcome": "carry_resumed", "reason": "sustained_loaded_relative_settling", "includes_second_probe": false, "actual_motion": { "start_s": 13.339999999998046, "end_s": 13.559999999997924, "duration_s": 0.21999999999987807, "sample_count": 12, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.0011976056474763638, "peak_sampled_speed_m_s": 0.02782987472683031, "net_vertical_m": 0.0001901679477244178, "max_vertical_from_window_start_m": 0.0006813869136563372, "min_vertical_from_window_start_m": 0.0 }, "object": { "path_m": 0.0012514964410262096, "peak_sampled_speed_m_s": 0.027340452898704317, "net_vertical_m": 9.948155484303112e-05, "max_vertical_from_window_start_m": 0.0006601168647940303, "min_vertical_from_window_start_m": 0.0 } }, "scope": "Recovery interval may include active second-probe motion; not all of this interval is stationary holding." } ], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.872796026209473, "peak_sampled_speed_m_s": 0.20530325821286205, "net_vertical_m": -0.1578050449539764, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2855137726586336 }, "object": { "path_m": 0.31093521493940246, "peak_sampled_speed_m_s": 0.2060084079663761, "net_vertical_m": 6.230009563790162e-11, "max_vertical_from_window_start_m": 0.08713831998949247, "min_vertical_from_window_start_m": -0.0009917310981224364 } }, "max_pad_normal_force_n": 1.403877987486204, "max_abs_native_joint_velocity_rad_s": [ 0.7232308907489715, 0.5548468316425839, 0.5351360073959518, 0.3754420038559442, 0.21300379363064317, 0.1876956200415853 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.42158124901462557, "max": 2.0907810938022173, "max_abs": 2.0907810938022173 }, { "actuator_index": 1, "unit": "N m", "min": -2.2295922024493677, "max": 1.964153688998195, "max_abs": 2.2295922024493677 }, { "actuator_index": 2, "unit": "N m", "min": -0.8967481393223835, "max": 1.265991272976919, "max_abs": 1.265991272976919 }, { "actuator_index": 3, "unit": "N m", "min": -0.4592797481084143, "max": 0.3508728009358073, "max_abs": 0.4592797481084143 }, { "actuator_index": 4, "unit": "N m", "min": -0.20736224117672641, "max": 0.3670773649163724, "max_abs": 0.3670773649163724 }, { "actuator_index": 5, "unit": "N m", "min": -0.3001357337554378, "max": 0.3583932992436276, "max_abs": 0.3583932992436276 }, { "actuator_index": 6, "unit": "N", "min": -1.207497064624194, "max": 0.017207543534754066, "max_abs": 1.207497064624194 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 2.236528999870643, "attempt_wall_seconds": 2.238592250039801, "step_compute_seconds": { "count": 1000, "min": 0.0015373339410871267, "mean": 0.002053086878499016, "p50": 0.0019117500633001328, "p95": 0.0027911250945180655, "p99": 0.003528167027980089, "max": 0.015926667023450136, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [ "probe_started", "acquisition_qualified", "slowdown_started", "reassessment_started", "carry_resumed", "speed_restoration_started", "full_speed_restored" ], "final_object_position_m": [ 0.3486495239393096, 0.08348614975921834, 0.07989224457978392 ], "final_tcp_position_m": [ 0.34513389052055526, 0.08200436686216624, 0.2087798981503327 ] }, { "id": "862186:friction055-mass060-layout01--reacquire_grasp_open_jaw", "cohort_seed": 862186, "scene_id": "friction055-mass060-layout01", "variant": "reacquire_grasp_open_jaw", "mode": "reacquire_grasp", "control": "replay_open_jaw", "friction": 0.55, "mass_kg": 0.06, "layout_index": 1, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998735932967e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12335028741333984 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.8783558343730409, "peak_sampled_speed_m_s": 0.20398309092920025, "net_vertical_m": -0.1578014741661845, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2855137726586336 }, "object": { "path_m": 1.6797977010648547e-10, "peak_sampled_speed_m_s": 1.6349227610006456e-09, "net_vertical_m": 6.22998735932967e-11, "max_vertical_from_window_start_m": 6.22998735932967e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.7190549964895784, 0.5530302031532552, 0.5350085584185004, 0.3754420038559442, 0.21300379363064317, 0.1878601833675551 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3988796764659597, "max": 2.0485543675223568, "max_abs": 2.0485543675223568 }, { "actuator_index": 1, "unit": "N m", "min": -2.0451868874104946, "max": 2.087330403387085, "max_abs": 2.087330403387085 }, { "actuator_index": 2, "unit": "N m", "min": -0.8967481393223835, "max": 1.265991272976919, "max_abs": 1.265991272976919 }, { "actuator_index": 3, "unit": "N m", "min": -0.4434118126289146, "max": 0.31528813304376735, "max_abs": 0.4434118126289146 }, { "actuator_index": 4, "unit": "N m", "min": -0.1996791592603362, "max": 0.3670773649163724, "max_abs": 0.3670773649163724 }, { "actuator_index": 5, "unit": "N m", "min": -0.3001265266834512, "max": 0.3575527153050144, "max_abs": 0.3575527153050144 }, { "actuator_index": 6, "unit": "N", "min": -0.005943334829489499, "max": 0.00934187058815139, "max_abs": 0.00934187058815139 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.5229331247974187, "attempt_wall_seconds": 1.5250578748527914, "step_compute_seconds": { "count": 1000, "min": 0.0012627500109374523, "mean": 0.001364029224961996, "p50": 0.001327125122770667, "p95": 0.0014537081588059664, "p99": 0.0016812500543892384, "max": 0.00926283304579556, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.3026183809550645, -0.0323041096019448, 0.0798922445797837 ], "final_tcp_position_m": [ 0.3451421192098221, 0.08200785852627875, 0.2087834689381246 ] }, { "id": "862186:friction055-mass060-layout01--hold", "cohort_seed": 862186, "scene_id": "friction055-mass060-layout01", "variant": "hold", "mode": "baseline", "control": "hold", "friction": 0.55, "mass_kg": 0.06, "layout_index": 1, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998735932967e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12335028741333984 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 1.1376744407779719e-16, "peak_sampled_speed_m_s": 5.558267943191594e-15, "net_vertical_m": 1.1102230246251565e-16, "max_vertical_from_window_start_m": 1.1102230246251565e-16, "min_vertical_from_window_start_m": 0.0 }, "object": { "path_m": 1.6797977010648547e-10, "peak_sampled_speed_m_s": 1.6349227610006456e-09, "net_vertical_m": 6.22998735932967e-11, "max_vertical_from_window_start_m": 6.22998735932967e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 1.089099057831775e-19, 6.127451851049064e-18, 1.5410517561852992e-16, 1.2145569247038722e-17, 3.400546359107994e-16, 2.945467210750634e-17 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -5.149427585733612e-18, "max": -7.571162667696407e-19, "max_abs": 5.149427585733612e-18 }, { "actuator_index": 1, "unit": "N m", "min": 0.0, "max": 0.0, "max_abs": 0.0 }, { "actuator_index": 2, "unit": "N m", "min": 0.0, "max": 0.0, "max_abs": 0.0 }, { "actuator_index": 3, "unit": "N m", "min": 7.130976259465077e-17, "max": 1.5875460775817776e-16, "max_abs": 1.5875460775817776e-16 }, { "actuator_index": 4, "unit": "N m", "min": 5.770246053275149e-16, "max": 3.2953315452184146e-15, "max_abs": 3.2953315452184146e-15 }, { "actuator_index": 5, "unit": "N m", "min": -2.2098381316149117e-16, "max": -4.998795352997742e-17, "max_abs": 2.2098381316149117e-16 }, { "actuator_index": 6, "unit": "N", "min": 0.0, "max": 0.0, "max_abs": 0.0 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.8679542921017855, "attempt_wall_seconds": 1.8701232918538153, "step_compute_seconds": { "count": 1000, "min": 0.0014181670267134905, "mean": 0.0016635157112032176, "p50": 0.001609124941751361, "p95": 0.0018788340967148542, "p99": 0.0020668329671025276, "max": 0.0033518329728394747, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.3026183809550645, -0.0323041096019448, 0.0798922445797837 ], "final_tcp_position_m": [ 0.4890696662845219, 0.001414197565480896, 0.3665849431043092 ] }, { "id": "862186:friction015-mass040-layout00--recovery_placement", "cohort_seed": 862186, "scene_id": "friction015-mass040-layout00", "variant": "recovery_placement", "mode": "recovery", "control": "placement", "friction": 0.15, "mass_kg": 0.04, "layout_index": 0, "valid": true, "success": false, "failure_stage": "acquisition_never_qualified", "terminal_reason": "timeout", "abort_reason": "unchanged_grasp_not_following", "abort_time_s": 11.59999999999901, "completion_time_s": null, "milestones": { "grasp_seen": true, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.907451011284316e-05, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12094779471998597 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.407210771758808, "peak_sampled_speed_m_s": 0.16252205893952576, "net_vertical_m": -0.2808349269262399, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28475541739462773 }, "object": { "path_m": 0.002055128850266821, "peak_sampled_speed_m_s": 0.01110863659795019, "net_vertical_m": -6.249533038321653e-06, "max_vertical_from_window_start_m": 6.885271964142403e-05, "min_vertical_from_window_start_m": -2.682195351429162e-05 } }, "max_pad_normal_force_n": 0.4123821959143365, "max_abs_native_joint_velocity_rad_s": [ 0.10850122091677313, 0.49296213951445306, 0.41952187520395334, 0.18444279334337374, 0.22417277963126137, 0.11244877363139681 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3353169501569049, "max": 0.29801169895862856, "max_abs": 0.3353169501569049 }, { "actuator_index": 1, "unit": "N m", "min": -1.549234049598283, "max": 1.90946723455842, "max_abs": 1.90946723455842 }, { "actuator_index": 2, "unit": "N m", "min": -0.8497920580688714, "max": 1.266011692073704, "max_abs": 1.266011692073704 }, { "actuator_index": 3, "unit": "N m", "min": -0.30780924347473615, "max": 0.30183919771055656, "max_abs": 0.30780924347473615 }, { "actuator_index": 4, "unit": "N m", "min": -0.009328044218445797, "max": 0.38287032690709744, "max_abs": 0.38287032690709744 }, { "actuator_index": 5, "unit": "N m", "min": -0.29921790831502193, "max": 0.18755189312678144, "max_abs": 0.29921790831502193 }, { "actuator_index": 6, "unit": "N", "min": -0.7926212433817054, "max": 0.0010659408911858348, "max_abs": 0.7926212433817054 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 2.1050194159615785, "attempt_wall_seconds": 2.10722329095006, "step_compute_seconds": { "count": 1000, "min": 0.001397457905113697, "mean": 0.0019198198744561524, "p50": 0.0015781251713633537, "p95": 0.002543665934354067, "p99": 0.005107874982059002, "max": 0.014515917049720883, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [ "probe_started", "alarm", "unchanged_retry_refused", "abort" ], "final_object_position_m": [ 0.29978791445732755, -0.02971996336501176, 0.07988599498444547 ], "final_tcp_position_m": [ 0.30362372449113584, -0.03001941755972953, 0.0857500161780692 ] }, { "id": "862186:friction015-mass040-layout00--recovery_open_jaw", "cohort_seed": 862186, "scene_id": "friction015-mass040-layout00", "variant": "recovery_open_jaw", "mode": "recovery", "control": "replay_open_jaw", "friction": 0.15, "mass_kg": 0.04, "layout_index": 0, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998735932967e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.1209771169834944 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.40806299013182284, "peak_sampled_speed_m_s": 0.16252205893952576, "net_vertical_m": -0.28089471676435235, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28476377171909995 }, "object": { "path_m": 8.338302788171184e-11, "peak_sampled_speed_m_s": 1.63492345684068e-09, "net_vertical_m": 6.22998735932967e-11, "max_vertical_from_window_start_m": 6.22998735932967e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.10850122091677313, 0.49296213951445306, 0.41952187520395334, 0.18444279334337374, 0.22417277963126137, 0.11244877363139681 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3353169501569049, "max": 0.29801169895862856, "max_abs": 0.3353169501569049 }, { "actuator_index": 1, "unit": "N m", "min": -1.549234049598283, "max": 1.90946723455842, "max_abs": 1.90946723455842 }, { "actuator_index": 2, "unit": "N m", "min": -0.8497920580688714, "max": 1.266011692073704, "max_abs": 1.266011692073704 }, { "actuator_index": 3, "unit": "N m", "min": -0.30780924347473615, "max": 0.30183919771055656, "max_abs": 0.30780924347473615 }, { "actuator_index": 4, "unit": "N m", "min": -0.0075671818525773205, "max": 0.38287032690709744, "max_abs": 0.38287032690709744 }, { "actuator_index": 5, "unit": "N m", "min": -0.29921790831502193, "max": 0.18755189312678144, "max_abs": 0.29921790831502193 }, { "actuator_index": 6, "unit": "N", "min": -0.0003109176921340939, "max": 0.0005224626393223186, "max_abs": 0.0005224626393223186 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.528663834091276, "attempt_wall_seconds": 1.530932999914512, "step_compute_seconds": { "count": 1000, "min": 0.0012617919128388166, "mean": 0.001367939835647121, "p50": 0.00135908299125731, "p95": 0.0014339159242808819, "p99": 0.0015798329841345549, "max": 0.008483625017106533, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.2992591908742037, -0.029521027463220877, 0.07989224457978367 ], "final_tcp_position_m": [ 0.3035418710706805, -0.030013787126549552, 0.08569022633995678 ] }, { "id": "862186:friction015-mass040-layout00--reacquire_placement", "cohort_seed": 862186, "scene_id": "friction015-mass040-layout00", "variant": "reacquire_placement", "mode": "reacquire", "control": "placement", "friction": 0.15, "mass_kg": 0.04, "layout_index": 0, "valid": true, "success": false, "failure_stage": "acquisition_never_qualified", "terminal_reason": "timeout", "abort_reason": "unchanged_grasp_not_following", "abort_time_s": 11.59999999999901, "completion_time_s": null, "milestones": { "grasp_seen": true, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.907451011284316e-05, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12094779471998597 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.407210771758808, "peak_sampled_speed_m_s": 0.16252205893952576, "net_vertical_m": -0.2808349269262399, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28475541739462773 }, "object": { "path_m": 0.002055128850266821, "peak_sampled_speed_m_s": 0.01110863659795019, "net_vertical_m": -6.249533038321653e-06, "max_vertical_from_window_start_m": 6.885271964142403e-05, "min_vertical_from_window_start_m": -2.682195351429162e-05 } }, "max_pad_normal_force_n": 0.4123821959143365, "max_abs_native_joint_velocity_rad_s": [ 0.10850122091677313, 0.49296213951445306, 0.41952187520395334, 0.18444279334337374, 0.22417277963126137, 0.11244877363139681 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3353169501569049, "max": 0.29801169895862856, "max_abs": 0.3353169501569049 }, { "actuator_index": 1, "unit": "N m", "min": -1.549234049598283, "max": 1.90946723455842, "max_abs": 1.90946723455842 }, { "actuator_index": 2, "unit": "N m", "min": -0.8497920580688714, "max": 1.266011692073704, "max_abs": 1.266011692073704 }, { "actuator_index": 3, "unit": "N m", "min": -0.30780924347473615, "max": 0.30183919771055656, "max_abs": 0.30780924347473615 }, { "actuator_index": 4, "unit": "N m", "min": -0.009328044218445797, "max": 0.38287032690709744, "max_abs": 0.38287032690709744 }, { "actuator_index": 5, "unit": "N m", "min": -0.29921790831502193, "max": 0.18755189312678144, "max_abs": 0.29921790831502193 }, { "actuator_index": 6, "unit": "N", "min": -0.7926212433817054, "max": 0.0010659408911858348, "max_abs": 0.7926212433817054 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.9591626250185072, "attempt_wall_seconds": 1.9611038342118263, "step_compute_seconds": { "count": 1000, "min": 0.0013918341137468815, "mean": 0.0017914145677350461, "p50": 0.0014957080129534006, "p95": 0.002229791833087802, "p99": 0.0043697499204427, "max": 0.005566583015024662, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [ "probe_started", "alarm", "unchanged_retry_refused", "abort" ], "final_object_position_m": [ 0.29978791445732755, -0.02971996336501176, 0.07988599498444547 ], "final_tcp_position_m": [ 0.30362372449113584, -0.03001941755972953, 0.0857500161780692 ] }, { "id": "862186:friction015-mass040-layout00--reacquire_open_jaw", "cohort_seed": 862186, "scene_id": "friction015-mass040-layout00", "variant": "reacquire_open_jaw", "mode": "reacquire", "control": "replay_open_jaw", "friction": 0.15, "mass_kg": 0.04, "layout_index": 0, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998735932967e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.1209771169834944 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.40806299013182284, "peak_sampled_speed_m_s": 0.16252205893952576, "net_vertical_m": -0.28089471676435235, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28476377171909995 }, "object": { "path_m": 8.338302788171184e-11, "peak_sampled_speed_m_s": 1.63492345684068e-09, "net_vertical_m": 6.22998735932967e-11, "max_vertical_from_window_start_m": 6.22998735932967e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.10850122091677313, 0.49296213951445306, 0.41952187520395334, 0.18444279334337374, 0.22417277963126137, 0.11244877363139681 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3353169501569049, "max": 0.29801169895862856, "max_abs": 0.3353169501569049 }, { "actuator_index": 1, "unit": "N m", "min": -1.549234049598283, "max": 1.90946723455842, "max_abs": 1.90946723455842 }, { "actuator_index": 2, "unit": "N m", "min": -0.8497920580688714, "max": 1.266011692073704, "max_abs": 1.266011692073704 }, { "actuator_index": 3, "unit": "N m", "min": -0.30780924347473615, "max": 0.30183919771055656, "max_abs": 0.30780924347473615 }, { "actuator_index": 4, "unit": "N m", "min": -0.0075671818525773205, "max": 0.38287032690709744, "max_abs": 0.38287032690709744 }, { "actuator_index": 5, "unit": "N m", "min": -0.29921790831502193, "max": 0.18755189312678144, "max_abs": 0.29921790831502193 }, { "actuator_index": 6, "unit": "N", "min": -0.0003109176921340939, "max": 0.0005224626393223186, "max_abs": 0.0005224626393223186 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.5162837500683963, "attempt_wall_seconds": 1.5186699170153588, "step_compute_seconds": { "count": 1000, "min": 0.0012657919432967901, "mean": 0.001361561112338677, "p50": 0.0013663331046700478, "p95": 0.0014418750070035458, "p99": 0.001494541997089982, "max": 0.0018220001365989447, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.2992591908742037, -0.029521027463220877, 0.07989224457978367 ], "final_tcp_position_m": [ 0.3035418710706805, -0.030013787126549552, 0.08569022633995678 ] }, { "id": "862186:friction015-mass040-layout00--reacquire_grasp_placement", "cohort_seed": 862186, "scene_id": "friction015-mass040-layout00", "variant": "reacquire_grasp_placement", "mode": "reacquire_grasp", "control": "placement", "friction": 0.15, "mass_kg": 0.04, "layout_index": 0, "valid": true, "success": false, "failure_stage": "acquisition_never_qualified", "terminal_reason": "timeout", "abort_reason": "unchanged_grasp_not_following", "abort_time_s": 12.819999999998334, "completion_time_s": null, "milestones": { "grasp_seen": true, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 0.00019930019592746817, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.11850485645572297 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.4129968102929094, "peak_sampled_speed_m_s": 0.17538909558402954, "net_vertical_m": -0.2809612529668788, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28549838164315167 }, "object": { "path_m": 0.005425928837981782, "peak_sampled_speed_m_s": 0.035978268705513364, "net_vertical_m": 4.8997278042639536e-05, "max_vertical_from_window_start_m": 0.0001990456720421252, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.5871798702810368, "max_abs_native_joint_velocity_rad_s": [ 0.3541657005762958, 0.49839712622266363, 0.41952187520395334, 0.3745780454327847, 0.22116339849432784, 0.18623281241873207 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.37245746131094304, "max": 1.4142115018930976, "max_abs": 1.4142115018930976 }, { "actuator_index": 1, "unit": "N m", "min": -1.549234049598283, "max": 1.958461548657823, "max_abs": 1.958461548657823 }, { "actuator_index": 2, "unit": "N m", "min": -0.8941184898577319, "max": 1.266011692073704, "max_abs": 1.266011692073704 }, { "actuator_index": 3, "unit": "N m", "min": -0.31132270971407316, "max": 0.30183919771055656, "max_abs": 0.31132270971407316 }, { "actuator_index": 4, "unit": "N m", "min": -0.10255156520347075, "max": 0.36762905321004224, "max_abs": 0.36762905321004224 }, { "actuator_index": 5, "unit": "N m", "min": -0.29921790831502193, "max": 0.343665395569972, "max_abs": 0.343665395569972 }, { "actuator_index": 6, "unit": "N", "min": -1.1096380861873556, "max": 0.00523251941530245, "max_abs": 1.1096380861873556 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.7739013337995857, "attempt_wall_seconds": 1.7759812080767006, "step_compute_seconds": { "count": 1000, "min": 0.0013019167818129063, "mean": 0.0016239748785737901, "p50": 0.0014815409667789936, "p95": 0.002100749872624874, "p99": 0.002819834044203162, "max": 0.009659291012212634, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [ "probe_started", "alarm", "unchanged_retry_refused", "abort" ], "final_object_position_m": [ 0.30199439214458473, -0.028006262324440652, 0.07994124179552643 ], "final_tcp_position_m": [ 0.30344596845170246, -0.02994817563647605, 0.08562369013743033 ] }, { "id": "862186:friction015-mass040-layout00--reacquire_grasp_open_jaw", "cohort_seed": 862186, "scene_id": "friction015-mass040-layout00", "variant": "reacquire_grasp_open_jaw", "mode": "reacquire_grasp", "control": "replay_open_jaw", "friction": 0.15, "mass_kg": 0.04, "layout_index": 0, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998735932967e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.1209771169834944 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.41409866020895253, "peak_sampled_speed_m_s": 0.17538909558402954, "net_vertical_m": -0.2809794929987821, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28549838164315167 }, "object": { "path_m": 8.338302788171184e-11, "peak_sampled_speed_m_s": 1.63492345684068e-09, "net_vertical_m": 6.22998735932967e-11, "max_vertical_from_window_start_m": 6.22998735932967e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.3541657005762958, 0.49839712622266363, 0.41952187520395334, 0.3745780454327847, 0.22116339849432784, 0.18623281241873207 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.37245746131094304, "max": 1.4142115018930976, "max_abs": 1.4142115018930976 }, { "actuator_index": 1, "unit": "N m", "min": -1.549234049598283, "max": 1.958461548657823, "max_abs": 1.958461548657823 }, { "actuator_index": 2, "unit": "N m", "min": -0.8941184898577319, "max": 1.266011692073704, "max_abs": 1.266011692073704 }, { "actuator_index": 3, "unit": "N m", "min": -0.31132270971407316, "max": 0.30183919771055656, "max_abs": 0.31132270971407316 }, { "actuator_index": 4, "unit": "N m", "min": -0.10255156520347075, "max": 0.36762905321004224, "max_abs": 0.36762905321004224 }, { "actuator_index": 5, "unit": "N m", "min": -0.29921790831502193, "max": 0.343665395569972, "max_abs": 0.343665395569972 }, { "actuator_index": 6, "unit": "N", "min": -0.0049409976590184534, "max": 0.00523251941530245, "max_abs": 0.00523251941530245 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.6801725421100855, "attempt_wall_seconds": 1.6824097090866417, "step_compute_seconds": { "count": 1000, "min": 0.0013500829227268696, "mean": 0.0015157215793151408, "p50": 0.0014880418311804533, "p95": 0.0016276668757200241, "p99": 0.0025084998924285173, "max": 0.005672333994880319, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.2992591908742037, -0.029521027463220877, 0.07989224457978367 ], "final_tcp_position_m": [ 0.3034680776920037, -0.029930242504752475, 0.08560545010552702 ] }, { "id": "862186:friction015-mass040-layout00--hold", "cohort_seed": 862186, "scene_id": "friction015-mass040-layout00", "variant": "hold", "mode": "baseline", "control": "hold", "friction": 0.15, "mass_kg": 0.04, "layout_index": 0, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998735932967e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.1209771169834944 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 1.1376744407779719e-16, "peak_sampled_speed_m_s": 5.558267943191594e-15, "net_vertical_m": 1.1102230246251565e-16, "max_vertical_from_window_start_m": 1.1102230246251565e-16, "min_vertical_from_window_start_m": 0.0 }, "object": { "path_m": 8.338302788171184e-11, "peak_sampled_speed_m_s": 1.63492345684068e-09, "net_vertical_m": 6.22998735932967e-11, "max_vertical_from_window_start_m": 6.22998735932967e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 1.089099057831775e-19, 6.127451851049064e-18, 1.5410517561852992e-16, 1.2145569247038722e-17, 3.400546359107994e-16, 2.945467210750634e-17 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -5.149427585733612e-18, "max": -7.571162667696407e-19, "max_abs": 5.149427585733612e-18 }, { "actuator_index": 1, "unit": "N m", "min": 0.0, "max": 0.0, "max_abs": 0.0 }, { "actuator_index": 2, "unit": "N m", "min": 0.0, "max": 0.0, "max_abs": 0.0 }, { "actuator_index": 3, "unit": "N m", "min": 7.130976259465077e-17, "max": 1.5875460775817776e-16, "max_abs": 1.5875460775817776e-16 }, { "actuator_index": 4, "unit": "N m", "min": 5.770246053275149e-16, "max": 3.2953315452184146e-15, "max_abs": 3.2953315452184146e-15 }, { "actuator_index": 5, "unit": "N m", "min": -2.2098381316149117e-16, "max": -4.998795352997742e-17, "max_abs": 2.2098381316149117e-16 }, { "actuator_index": 6, "unit": "N", "min": 0.0, "max": 0.0, "max_abs": 0.0 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.494276207871735, "attempt_wall_seconds": 1.4961704998277128, "step_compute_seconds": { "count": 1000, "min": 0.0012346669100224972, "mean": 0.001335508708609268, "p50": 0.001333415973931551, "p95": 0.0014003750402480364, "p99": 0.0014893750194460154, "max": 0.010002832859754562, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.2992591908742037, -0.029521027463220877, 0.07989224457978367 ], "final_tcp_position_m": [ 0.4890696662845219, 0.001414197565480896, 0.3665849431043092 ] }, { "id": "862186:friction015-mass040-layout01--recovery_placement", "cohort_seed": 862186, "scene_id": "friction015-mass040-layout01", "variant": "recovery_placement", "mode": "recovery", "control": "placement", "friction": 0.15, "mass_kg": 0.04, "layout_index": 1, "valid": true, "success": false, "failure_stage": "acquisition_never_qualified", "terminal_reason": "timeout", "abort_reason": "unchanged_grasp_not_following", "abort_time_s": 11.679999999998966, "completion_time_s": null, "milestones": { "grasp_seen": true, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 7.252107193220225e-05, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12336168234940664 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.40456907339079456, "peak_sampled_speed_m_s": 0.1612729188223847, "net_vertical_m": -0.2808550076741972, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2847558573621614 }, "object": { "path_m": 0.002055724019125704, "peak_sampled_speed_m_s": 0.01126360219507609, "net_vertical_m": -6.43991076346162e-06, "max_vertical_from_window_start_m": 6.955369235750464e-05, "min_vertical_from_window_start_m": -2.6953458580183942e-05 } }, "max_pad_normal_force_n": 0.4070569999934856, "max_abs_native_joint_velocity_rad_s": [ 0.11469936931493935, 0.4815795999251682, 0.4171984043240031, 0.1978869653889318, 0.22641071000562776, 0.1252784697363997 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.33481333321543616, "max": 0.30614916899724953, "max_abs": 0.33481333321543616 }, { "actuator_index": 1, "unit": "N m", "min": -1.549198341883553, "max": 1.913589482841445, "max_abs": 1.913589482841445 }, { "actuator_index": 2, "unit": "N m", "min": -0.8284191294783483, "max": 1.2659912730426157, "max_abs": 1.2659912730426157 }, { "actuator_index": 3, "unit": "N m", "min": -0.3247069911627172, "max": 0.3020107914370094, "max_abs": 0.3247069911627172 }, { "actuator_index": 4, "unit": "N m", "min": -0.009346344742223067, "max": 0.3797315844426157, "max_abs": 0.3797315844426157 }, { "actuator_index": 5, "unit": "N m", "min": -0.2992351493179496, "max": 0.19855894734798785, "max_abs": 0.2992351493179496 }, { "actuator_index": 6, "unit": "N", "min": -0.793830758402735, "max": 0.001065935165278531, "max_abs": 0.793830758402735 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.912836458068341, "attempt_wall_seconds": 1.915021084016189, "step_compute_seconds": { "count": 1000, "min": 0.001307707978412509, "mean": 0.001762570939026773, "p50": 0.001396083040162921, "p95": 0.002290708012878895, "p99": 0.004704583901911974, "max": 0.006288167089223862, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [ "probe_started", "alarm", "unchanged_retry_refused", "abort" ], "final_object_position_m": [ 0.3031690333507312, -0.032525624132513455, 0.07988580460672033 ], "final_tcp_position_m": [ 0.3069476480548554, -0.03282425226266288, 0.08572993543011193 ] }, { "id": "862186:friction015-mass040-layout01--recovery_open_jaw", "cohort_seed": 862186, "scene_id": "friction015-mass040-layout01", "variant": "recovery_open_jaw", "mode": "recovery", "control": "replay_open_jaw", "friction": 0.15, "mass_kg": 0.04, "layout_index": 1, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998735932967e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12335023599334603 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.4054265156235812, "peak_sampled_speed_m_s": 0.1612729188223847, "net_vertical_m": -0.28091685400422745, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2847640552498105 }, "object": { "path_m": 8.314924450253518e-11, "peak_sampled_speed_m_s": 1.6349234568030949e-09, "net_vertical_m": 6.22998735932967e-11, "max_vertical_from_window_start_m": 6.22998735932967e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.11469936931493935, 0.4815795999251682, 0.4171984043240031, 0.1978869653889318, 0.22641071000562776, 0.1252784697363997 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.33481333321543616, "max": 0.30614916899724953, "max_abs": 0.33481333321543616 }, { "actuator_index": 1, "unit": "N m", "min": -1.549198341883553, "max": 1.913589482841445, "max_abs": 1.913589482841445 }, { "actuator_index": 2, "unit": "N m", "min": -0.8284191294783483, "max": 1.2659912730426157, "max_abs": 1.2659912730426157 }, { "actuator_index": 3, "unit": "N m", "min": -0.3247069911627172, "max": 0.3020107914370094, "max_abs": 0.3247069911627172 }, { "actuator_index": 4, "unit": "N m", "min": -0.007504170324875048, "max": 0.3797315844426157, "max_abs": 0.3797315844426157 }, { "actuator_index": 5, "unit": "N m", "min": -0.2992351493179496, "max": 0.19855894734798785, "max_abs": 0.2992351493179496 }, { "actuator_index": 6, "unit": "N", "min": -0.00031973895093551086, "max": 0.0005406955006810321, "max_abs": 0.0005406955006810321 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.5520233330316842, "attempt_wall_seconds": 1.5544168748892844, "step_compute_seconds": { "count": 1000, "min": 0.0012550000101327896, "mean": 0.0013891643015667796, "p50": 0.0013851667754352093, "p95": 0.0014407499693334103, "p99": 0.0015059160068631172, "max": 0.0019977919291704893, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.30261847872511455, -0.03230409197791654, 0.07989224457978367 ], "final_tcp_position_m": [ 0.30686612439567695, -0.03281966600434963, 0.08566808910008167 ] }, { "id": "862186:friction015-mass040-layout01--reacquire_placement", "cohort_seed": 862186, "scene_id": "friction015-mass040-layout01", "variant": "reacquire_placement", "mode": "reacquire", "control": "placement", "friction": 0.15, "mass_kg": 0.04, "layout_index": 1, "valid": true, "success": false, "failure_stage": "acquisition_never_qualified", "terminal_reason": "timeout", "abort_reason": "unchanged_grasp_not_following", "abort_time_s": 11.679999999998966, "completion_time_s": null, "milestones": { "grasp_seen": true, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 7.252107193220225e-05, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12336168234940664 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.40456907339079456, "peak_sampled_speed_m_s": 0.1612729188223847, "net_vertical_m": -0.2808550076741972, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2847558573621614 }, "object": { "path_m": 0.002055724019125704, "peak_sampled_speed_m_s": 0.01126360219507609, "net_vertical_m": -6.43991076346162e-06, "max_vertical_from_window_start_m": 6.955369235750464e-05, "min_vertical_from_window_start_m": -2.6953458580183942e-05 } }, "max_pad_normal_force_n": 0.4070569999934856, "max_abs_native_joint_velocity_rad_s": [ 0.11469936931493935, 0.4815795999251682, 0.4171984043240031, 0.1978869653889318, 0.22641071000562776, 0.1252784697363997 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.33481333321543616, "max": 0.30614916899724953, "max_abs": 0.33481333321543616 }, { "actuator_index": 1, "unit": "N m", "min": -1.549198341883553, "max": 1.913589482841445, "max_abs": 1.913589482841445 }, { "actuator_index": 2, "unit": "N m", "min": -0.8284191294783483, "max": 1.2659912730426157, "max_abs": 1.2659912730426157 }, { "actuator_index": 3, "unit": "N m", "min": -0.3247069911627172, "max": 0.3020107914370094, "max_abs": 0.3247069911627172 }, { "actuator_index": 4, "unit": "N m", "min": -0.009346344742223067, "max": 0.3797315844426157, "max_abs": 0.3797315844426157 }, { "actuator_index": 5, "unit": "N m", "min": -0.2992351493179496, "max": 0.19855894734798785, "max_abs": 0.2992351493179496 }, { "actuator_index": 6, "unit": "N", "min": -0.793830758402735, "max": 0.001065935165278531, "max_abs": 0.793830758402735 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.9277354578953236, "attempt_wall_seconds": 1.9297186660114676, "step_compute_seconds": { "count": 1000, "min": 0.0013148749712854624, "mean": 0.001771684946725145, "p50": 0.0014690000098198652, "p95": 0.0022704158909618855, "p99": 0.00432266597636044, "max": 0.010842291871085763, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [ "probe_started", "alarm", "unchanged_retry_refused", "abort" ], "final_object_position_m": [ 0.3031690333507312, -0.032525624132513455, 0.07988580460672033 ], "final_tcp_position_m": [ 0.3069476480548554, -0.03282425226266288, 0.08572993543011193 ] }, { "id": "862186:friction015-mass040-layout01--reacquire_open_jaw", "cohort_seed": 862186, "scene_id": "friction015-mass040-layout01", "variant": "reacquire_open_jaw", "mode": "reacquire", "control": "replay_open_jaw", "friction": 0.15, "mass_kg": 0.04, "layout_index": 1, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998735932967e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12335023599334603 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.4054265156235812, "peak_sampled_speed_m_s": 0.1612729188223847, "net_vertical_m": -0.28091685400422745, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2847640552498105 }, "object": { "path_m": 8.314924450253518e-11, "peak_sampled_speed_m_s": 1.6349234568030949e-09, "net_vertical_m": 6.22998735932967e-11, "max_vertical_from_window_start_m": 6.22998735932967e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.11469936931493935, 0.4815795999251682, 0.4171984043240031, 0.1978869653889318, 0.22641071000562776, 0.1252784697363997 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.33481333321543616, "max": 0.30614916899724953, "max_abs": 0.33481333321543616 }, { "actuator_index": 1, "unit": "N m", "min": -1.549198341883553, "max": 1.913589482841445, "max_abs": 1.913589482841445 }, { "actuator_index": 2, "unit": "N m", "min": -0.8284191294783483, "max": 1.2659912730426157, "max_abs": 1.2659912730426157 }, { "actuator_index": 3, "unit": "N m", "min": -0.3247069911627172, "max": 0.3020107914370094, "max_abs": 0.3247069911627172 }, { "actuator_index": 4, "unit": "N m", "min": -0.007504170324875048, "max": 0.3797315844426157, "max_abs": 0.3797315844426157 }, { "actuator_index": 5, "unit": "N m", "min": -0.2992351493179496, "max": 0.19855894734798785, "max_abs": 0.2992351493179496 }, { "actuator_index": 6, "unit": "N", "min": -0.00031973895093551086, "max": 0.0005406955006810321, "max_abs": 0.0005406955006810321 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.5799834590870887, "attempt_wall_seconds": 1.5824261659290642, "step_compute_seconds": { "count": 1000, "min": 0.001333208056166768, "mean": 0.0014177879062481225, "p50": 0.0013904578518122435, "p95": 0.0015280840452760458, "p99": 0.0016129999421536922, "max": 0.0019704578444361687, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.30261847872511455, -0.03230409197791654, 0.07989224457978367 ], "final_tcp_position_m": [ 0.30686612439567695, -0.03281966600434963, 0.08566808910008167 ] }, { "id": "862186:friction015-mass040-layout01--reacquire_grasp_placement", "cohort_seed": 862186, "scene_id": "friction015-mass040-layout01", "variant": "reacquire_grasp_placement", "mode": "reacquire_grasp", "control": "placement", "friction": 0.15, "mass_kg": 0.04, "layout_index": 1, "valid": true, "success": false, "failure_stage": "acquisition_never_qualified", "terminal_reason": "timeout", "abort_reason": "unchanged_grasp_not_following", "abort_time_s": 12.839999999998323, "completion_time_s": null, "milestones": { "grasp_seen": true, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 0.00019540174656540454, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12098535738836122 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.4107738120424635, "peak_sampled_speed_m_s": 0.17431471663476134, "net_vertical_m": -0.2809806008759856, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28551377368364167 }, "object": { "path_m": 0.00540057585844031, "peak_sampled_speed_m_s": 0.036003685942986245, "net_vertical_m": 4.72290208620163e-05, "max_vertical_from_window_start_m": 0.0001945141292380853, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.5870678278821542, "max_abs_native_joint_velocity_rad_s": [ 0.351801268560813, 0.48639328048505726, 0.4171984043240031, 0.3754419947891628, 0.2130038026299374, 0.18608480875117647 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.36742895579554435, "max": 1.4278649010486486, "max_abs": 1.4278649010486486 }, { "actuator_index": 1, "unit": "N m", "min": -1.549198341883553, "max": 1.9641540127821884, "max_abs": 1.9641540127821884 }, { "actuator_index": 2, "unit": "N m", "min": -0.8967481428163921, "max": 1.2659912730426157, "max_abs": 1.2659912730426157 }, { "actuator_index": 3, "unit": "N m", "min": -0.3101555352663934, "max": 0.3020107914370094, "max_abs": 0.3101555352663934 }, { "actuator_index": 4, "unit": "N m", "min": -0.09589391664423808, "max": 0.36707736032493493, "max_abs": 0.36707736032493493 }, { "actuator_index": 5, "unit": "N m", "min": -0.2992351493179496, "max": 0.3449248333058146, "max_abs": 0.3449248333058146 }, { "actuator_index": 6, "unit": "N", "min": -1.1095628971199818, "max": 0.005204181840934297, "max_abs": 1.1095628971199818 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.933541791047901, "attempt_wall_seconds": 1.9361987500451505, "step_compute_seconds": { "count": 1000, "min": 0.001320249866694212, "mean": 0.0017749093112070114, "p50": 0.0016825420316308737, "p95": 0.002412250032648444, "p99": 0.003377750050276518, "max": 0.003880375064909458, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [ "probe_started", "alarm", "unchanged_retry_refused", "abort" ], "final_object_position_m": [ 0.30532464688268435, -0.03079055813919625, 0.07993947353834581 ], "final_tcp_position_m": [ 0.30680553017048595, -0.03276071909510046, 0.08560434222832353 ] }, { "id": "862186:friction015-mass040-layout01--reacquire_grasp_open_jaw", "cohort_seed": 862186, "scene_id": "friction015-mass040-layout01", "variant": "reacquire_grasp_open_jaw", "mode": "reacquire_grasp", "control": "replay_open_jaw", "friction": 0.15, "mass_kg": 0.04, "layout_index": 1, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998735932967e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12335023599334603 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.4118912213847688, "peak_sampled_speed_m_s": 0.17431471663476134, "net_vertical_m": -0.28100222010468, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28551377368364167 }, "object": { "path_m": 8.314924450253518e-11, "peak_sampled_speed_m_s": 1.6349234568030949e-09, "net_vertical_m": 6.22998735932967e-11, "max_vertical_from_window_start_m": 6.22998735932967e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.351801268560813, 0.48639328048505726, 0.4171984043240031, 0.3754419947891628, 0.2130038026299374, 0.18608480875117647 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.36742895579554435, "max": 1.4278649010486486, "max_abs": 1.4278649010486486 }, { "actuator_index": 1, "unit": "N m", "min": -1.549198341883553, "max": 1.9641540127821884, "max_abs": 1.9641540127821884 }, { "actuator_index": 2, "unit": "N m", "min": -0.8967481428163921, "max": 1.2659912730426157, "max_abs": 1.2659912730426157 }, { "actuator_index": 3, "unit": "N m", "min": -0.3101555352663934, "max": 0.3020107914370094, "max_abs": 0.3101555352663934 }, { "actuator_index": 4, "unit": "N m", "min": -0.09589391664423808, "max": 0.36707736032493493, "max_abs": 0.36707736032493493 }, { "actuator_index": 5, "unit": "N m", "min": -0.2992351493179496, "max": 0.3449248333058146, "max_abs": 0.3449248333058146 }, { "actuator_index": 6, "unit": "N", "min": -0.005029940123364884, "max": 0.005204181840934297, "max_abs": 0.005204181840934297 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.6769864580128342, "attempt_wall_seconds": 1.6792349580209702, "step_compute_seconds": { "count": 1000, "min": 0.0013400418683886528, "mean": 0.0014966641771607101, "p50": 0.0014856250490993261, "p95": 0.0016366660129278898, "p99": 0.0017318748869001865, "max": 0.0094154579564929, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.30261847872511455, -0.03230409197791654, 0.07989224457978367 ], "final_tcp_position_m": [ 0.30682276857947655, -0.03274547939626101, 0.08558272299962909 ] }, { "id": "862186:friction015-mass040-layout01--hold", "cohort_seed": 862186, "scene_id": "friction015-mass040-layout01", "variant": "hold", "mode": "baseline", "control": "hold", "friction": 0.15, "mass_kg": 0.04, "layout_index": 1, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998735932967e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12335023599334603 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 1.1376744407779719e-16, "peak_sampled_speed_m_s": 5.558267943191594e-15, "net_vertical_m": 1.1102230246251565e-16, "max_vertical_from_window_start_m": 1.1102230246251565e-16, "min_vertical_from_window_start_m": 0.0 }, "object": { "path_m": 8.314924450253518e-11, "peak_sampled_speed_m_s": 1.6349234568030949e-09, "net_vertical_m": 6.22998735932967e-11, "max_vertical_from_window_start_m": 6.22998735932967e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 1.089099057831775e-19, 6.127451851049064e-18, 1.5410517561852992e-16, 1.2145569247038722e-17, 3.400546359107994e-16, 2.945467210750634e-17 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -5.149427585733612e-18, "max": -7.571162667696407e-19, "max_abs": 5.149427585733612e-18 }, { "actuator_index": 1, "unit": "N m", "min": 0.0, "max": 0.0, "max_abs": 0.0 }, { "actuator_index": 2, "unit": "N m", "min": 0.0, "max": 0.0, "max_abs": 0.0 }, { "actuator_index": 3, "unit": "N m", "min": 7.130976259465077e-17, "max": 1.5875460775817776e-16, "max_abs": 1.5875460775817776e-16 }, { "actuator_index": 4, "unit": "N m", "min": 5.770246053275149e-16, "max": 3.2953315452184146e-15, "max_abs": 3.2953315452184146e-15 }, { "actuator_index": 5, "unit": "N m", "min": -2.2098381316149117e-16, "max": -4.998795352997742e-17, "max_abs": 2.2098381316149117e-16 }, { "actuator_index": 6, "unit": "N", "min": 0.0, "max": 0.0, "max_abs": 0.0 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.4699524589814246, "attempt_wall_seconds": 1.4719300831202418, "step_compute_seconds": { "count": 1000, "min": 0.001219708938151598, "mean": 0.0013115774693433196, "p50": 0.0013170000165700912, "p95": 0.0013831250835210085, "p99": 0.0014414580073207617, "max": 0.0018160832114517689, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.30261847872511455, -0.03230409197791654, 0.07989224457978367 ], "final_tcp_position_m": [ 0.4890696662845219, 0.001414197565480896, 0.3665849431043092 ] }, { "id": "862186:friction015-mass060-layout00--recovery_placement", "cohort_seed": 862186, "scene_id": "friction015-mass060-layout00", "variant": "recovery_placement", "mode": "recovery", "control": "placement", "friction": 0.15, "mass_kg": 0.06, "layout_index": 0, "valid": true, "success": false, "failure_stage": "acquisition_never_qualified", "terminal_reason": "timeout", "abort_reason": "unchanged_grasp_not_following", "abort_time_s": 11.59999999999901, "completion_time_s": null, "milestones": { "grasp_seen": true, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 3.711162487728126e-05, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12122193866580296 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.40712949872678106, "peak_sampled_speed_m_s": 0.1625220906850982, "net_vertical_m": -0.28081488800045096, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2847528829356998 }, "object": { "path_m": 0.0011052371008801376, "peak_sampled_speed_m_s": 0.009907636357907184, "net_vertical_m": -5.878380756246804e-06, "max_vertical_from_window_start_m": 3.635403494753331e-05, "min_vertical_from_window_start_m": -2.048652669048301e-05 } }, "max_pad_normal_force_n": 0.42003853736169894, "max_abs_native_joint_velocity_rad_s": [ 0.1085013214000638, 0.492962455781705, 0.4195218989920208, 0.18444284080466422, 0.2241726863552682, 0.11244882152779459 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.33531623809997413, "max": 0.2980117754665592, "max_abs": 0.33531623809997413 }, { "actuator_index": 1, "unit": "N m", "min": -1.5492340494921422, "max": 1.9094669823877553, "max_abs": 1.9094669823877553 }, { "actuator_index": 2, "unit": "N m", "min": -0.8497929378068108, "max": 1.2660116920092435, "max_abs": 1.2660116920092435 }, { "actuator_index": 3, "unit": "N m", "min": -0.3078093829148987, "max": 0.30183919881056553, "max_abs": 0.3078093829148987 }, { "actuator_index": 4, "unit": "N m", "min": -0.009851550311637425, "max": 0.3828704811256678, "max_abs": 0.3828704811256678 }, { "actuator_index": 5, "unit": "N m", "min": -0.2992179087210356, "max": 0.1875521733353014, "max_abs": 0.2992179087210356 }, { "actuator_index": 6, "unit": "N", "min": -0.7930052491336311, "max": 0.0010659408909954315, "max_abs": 0.7930052491336311 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 2.0574330408126116, "attempt_wall_seconds": 2.059511666884646, "step_compute_seconds": { "count": 1000, "min": 0.001401333138346672, "mean": 0.00189921842305921, "p50": 0.0016141668893396854, "p95": 0.0025699171237647533, "p99": 0.004911457886919379, "max": 0.012316500069573522, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [ "probe_started", "alarm", "unchanged_retry_refused", "abort" ], "final_object_position_m": [ 0.2991140040832101, -0.029724620617219217, 0.07988636613672757 ], "final_tcp_position_m": [ 0.30363518586863586, -0.03002187682553117, 0.08577005510385818 ] }, { "id": "862186:friction015-mass060-layout00--recovery_open_jaw", "cohort_seed": 862186, "scene_id": "friction015-mass060-layout00", "variant": "recovery_open_jaw", "mode": "recovery", "control": "replay_open_jaw", "friction": 0.15, "mass_kg": 0.06, "layout_index": 0, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998735932967e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12097717239900851 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.4080947460831076, "peak_sampled_speed_m_s": 0.1625220906850982, "net_vertical_m": -0.2808955482553171, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2847637433059482 }, "object": { "path_m": 8.253748125698225e-11, "peak_sampled_speed_m_s": 1.634922761033519e-09, "net_vertical_m": 6.22998735932967e-11, "max_vertical_from_window_start_m": 6.22998735932967e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.1085013214000638, 0.492962455781705, 0.4195218989920208, 0.18444284080466422, 0.2241726863552682, 0.11244882152779459 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.33531623809997413, "max": 0.2980117754665592, "max_abs": 0.33531623809997413 }, { "actuator_index": 1, "unit": "N m", "min": -1.5492340494921422, "max": 1.9094669823877553, "max_abs": 1.9094669823877553 }, { "actuator_index": 2, "unit": "N m", "min": -0.8497929378068108, "max": 1.2660116920092435, "max_abs": 1.2660116920092435 }, { "actuator_index": 3, "unit": "N m", "min": -0.3078093829148987, "max": 0.30183919881056553, "max_abs": 0.3078093829148987 }, { "actuator_index": 4, "unit": "N m", "min": -0.007297760527098518, "max": 0.3828704811256678, "max_abs": 0.3828704811256678 }, { "actuator_index": 5, "unit": "N m", "min": -0.2992179087210356, "max": 0.1875521733353014, "max_abs": 0.2992179087210356 }, { "actuator_index": 6, "unit": "N", "min": -0.00031091788971027157, "max": 0.0005224638988621244, "max_abs": 0.0005224638988621244 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.5619349998887628, "attempt_wall_seconds": 1.5642669999506325, "step_compute_seconds": { "count": 1000, "min": 0.0012650000862777233, "mean": 0.001401427342556417, "p50": 0.0013900829944759607, "p95": 0.0015153330750763416, "p99": 0.001572999870404601, "max": 0.002045332919806242, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.29925909307482135, -0.029521045006784347, 0.0798922445797837 ], "final_tcp_position_m": [ 0.3035326368454283, -0.030014162306662855, 0.08568939484899203 ] }, { "id": "862186:friction015-mass060-layout00--reacquire_placement", "cohort_seed": 862186, "scene_id": "friction015-mass060-layout00", "variant": "reacquire_placement", "mode": "reacquire", "control": "placement", "friction": 0.15, "mass_kg": 0.06, "layout_index": 0, "valid": true, "success": false, "failure_stage": "acquisition_never_qualified", "terminal_reason": "timeout", "abort_reason": "unchanged_grasp_not_following", "abort_time_s": 11.59999999999901, "completion_time_s": null, "milestones": { "grasp_seen": true, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 3.711162487728126e-05, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12122193866580296 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.40712949872678106, "peak_sampled_speed_m_s": 0.1625220906850982, "net_vertical_m": -0.28081488800045096, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2847528829356998 }, "object": { "path_m": 0.0011052371008801376, "peak_sampled_speed_m_s": 0.009907636357907184, "net_vertical_m": -5.878380756246804e-06, "max_vertical_from_window_start_m": 3.635403494753331e-05, "min_vertical_from_window_start_m": -2.048652669048301e-05 } }, "max_pad_normal_force_n": 0.42003853736169894, "max_abs_native_joint_velocity_rad_s": [ 0.1085013214000638, 0.492962455781705, 0.4195218989920208, 0.18444284080466422, 0.2241726863552682, 0.11244882152779459 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.33531623809997413, "max": 0.2980117754665592, "max_abs": 0.33531623809997413 }, { "actuator_index": 1, "unit": "N m", "min": -1.5492340494921422, "max": 1.9094669823877553, "max_abs": 1.9094669823877553 }, { "actuator_index": 2, "unit": "N m", "min": -0.8497929378068108, "max": 1.2660116920092435, "max_abs": 1.2660116920092435 }, { "actuator_index": 3, "unit": "N m", "min": -0.3078093829148987, "max": 0.30183919881056553, "max_abs": 0.3078093829148987 }, { "actuator_index": 4, "unit": "N m", "min": -0.009851550311637425, "max": 0.3828704811256678, "max_abs": 0.3828704811256678 }, { "actuator_index": 5, "unit": "N m", "min": -0.2992179087210356, "max": 0.1875521733353014, "max_abs": 0.2992179087210356 }, { "actuator_index": 6, "unit": "N", "min": -0.7930052491336311, "max": 0.0010659408909954315, "max_abs": 0.7930052491336311 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 2.010246583027765, "attempt_wall_seconds": 2.0122709169518203, "step_compute_seconds": { "count": 1000, "min": 0.0013942909426987171, "mean": 0.001846088758436963, "p50": 0.0014952090568840504, "p95": 0.002518499968573451, "p99": 0.004274875158444047, "max": 0.006124291801825166, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [ "probe_started", "alarm", "unchanged_retry_refused", "abort" ], "final_object_position_m": [ 0.2991140040832101, -0.029724620617219217, 0.07988636613672757 ], "final_tcp_position_m": [ 0.30363518586863586, -0.03002187682553117, 0.08577005510385818 ] }, { "id": "862186:friction015-mass060-layout00--reacquire_open_jaw", "cohort_seed": 862186, "scene_id": "friction015-mass060-layout00", "variant": "reacquire_open_jaw", "mode": "reacquire", "control": "replay_open_jaw", "friction": 0.15, "mass_kg": 0.06, "layout_index": 0, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998735932967e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12097717239900851 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.4080947460831076, "peak_sampled_speed_m_s": 0.1625220906850982, "net_vertical_m": -0.2808955482553171, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2847637433059482 }, "object": { "path_m": 8.253748125698225e-11, "peak_sampled_speed_m_s": 1.634922761033519e-09, "net_vertical_m": 6.22998735932967e-11, "max_vertical_from_window_start_m": 6.22998735932967e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.1085013214000638, 0.492962455781705, 0.4195218989920208, 0.18444284080466422, 0.2241726863552682, 0.11244882152779459 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.33531623809997413, "max": 0.2980117754665592, "max_abs": 0.33531623809997413 }, { "actuator_index": 1, "unit": "N m", "min": -1.5492340494921422, "max": 1.9094669823877553, "max_abs": 1.9094669823877553 }, { "actuator_index": 2, "unit": "N m", "min": -0.8497929378068108, "max": 1.2660116920092435, "max_abs": 1.2660116920092435 }, { "actuator_index": 3, "unit": "N m", "min": -0.3078093829148987, "max": 0.30183919881056553, "max_abs": 0.3078093829148987 }, { "actuator_index": 4, "unit": "N m", "min": -0.007297760527098518, "max": 0.3828704811256678, "max_abs": 0.3828704811256678 }, { "actuator_index": 5, "unit": "N m", "min": -0.2992179087210356, "max": 0.1875521733353014, "max_abs": 0.2992179087210356 }, { "actuator_index": 6, "unit": "N", "min": -0.00031091788971027157, "max": 0.0005224638988621244, "max_abs": 0.0005224638988621244 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.6181882910896093, "attempt_wall_seconds": 1.621023208135739, "step_compute_seconds": { "count": 1000, "min": 0.0012596671003848314, "mean": 0.0014627930377610029, "p50": 0.0013838750310242176, "p95": 0.001805666135624051, "p99": 0.001970916986465454, "max": 0.01118445792235434, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.29925909307482135, -0.029521045006784347, 0.0798922445797837 ], "final_tcp_position_m": [ 0.3035326368454283, -0.030014162306662855, 0.08568939484899203 ] }, { "id": "862186:friction015-mass060-layout00--reacquire_grasp_placement", "cohort_seed": 862186, "scene_id": "friction015-mass060-layout00", "variant": "reacquire_grasp_placement", "mode": "reacquire_grasp", "control": "placement", "friction": 0.15, "mass_kg": 0.06, "layout_index": 0, "valid": true, "success": false, "failure_stage": "acquisition_never_qualified", "terminal_reason": "timeout", "abort_reason": "unchanged_grasp_not_following", "abort_time_s": 12.819999999998334, "completion_time_s": null, "milestones": { "grasp_seen": true, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 0.00011226656123983214, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.1184079613680249 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.412855034549603, "peak_sampled_speed_m_s": 0.17538910251612183, "net_vertical_m": -0.2810006775163889, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2854983804745701 }, "object": { "path_m": 0.00475740342347817, "peak_sampled_speed_m_s": 0.030448148665162437, "net_vertical_m": 2.5065159500528567e-05, "max_vertical_from_window_start_m": 0.0001114923559511205, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.5861751113790723, "max_abs_native_joint_velocity_rad_s": [ 0.35416603012051306, 0.49839736001334517, 0.4195218989920208, 0.37457805487342083, 0.2211612177847871, 0.1862328103706243 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.37245752579918356, "max": 1.4142110044692071, "max_abs": 1.4142110044692071 }, { "actuator_index": 1, "unit": "N m", "min": -1.5492340494921422, "max": 1.9584612223257665, "max_abs": 1.9584612223257665 }, { "actuator_index": 2, "unit": "N m", "min": -0.8941185530947848, "max": 1.2660116920092435, "max_abs": 1.2660116920092435 }, { "actuator_index": 3, "unit": "N m", "min": -0.3113227333444599, "max": 0.30183919881056553, "max_abs": 0.3113227333444599 }, { "actuator_index": 4, "unit": "N m", "min": -0.1025516571139935, "max": 0.3676290585081105, "max_abs": 0.3676290585081105 }, { "actuator_index": 5, "unit": "N m", "min": -0.2992179087210356, "max": 0.34366539007747443, "max_abs": 0.34366539007747443 }, { "actuator_index": 6, "unit": "N", "min": -1.1130566880596593, "max": 0.005232519930250312, "max_abs": 1.1130566880596593 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.7715186250861734, "attempt_wall_seconds": 1.7735415000934154, "step_compute_seconds": { "count": 1000, "min": 0.0014010421000421047, "mean": 0.001591822286369279, "p50": 0.0015624158550053835, "p95": 0.0018153339624404907, "p99": 0.0024876249954104424, "max": 0.0028526671230793, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [ "probe_started", "alarm", "unchanged_retry_refused", "abort" ], "final_object_position_m": [ 0.30178795990616397, -0.02781397782948589, 0.07991730967698435 ], "final_tcp_position_m": [ 0.3034175256403855, -0.029944335329464146, 0.08558426558792022 ] }, { "id": "862186:friction015-mass060-layout00--reacquire_grasp_open_jaw", "cohort_seed": 862186, "scene_id": "friction015-mass060-layout00", "variant": "reacquire_grasp_open_jaw", "mode": "reacquire_grasp", "control": "replay_open_jaw", "friction": 0.15, "mass_kg": 0.06, "layout_index": 0, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998735932967e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12097717239900851 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.4141724514513297, "peak_sampled_speed_m_s": 0.17538910251612183, "net_vertical_m": -0.28101805812565234, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2854983804745701 }, "object": { "path_m": 8.253748125698225e-11, "peak_sampled_speed_m_s": 1.634922761033519e-09, "net_vertical_m": 6.22998735932967e-11, "max_vertical_from_window_start_m": 6.22998735932967e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.35416603012051306, 0.49839736001334517, 0.4195218989920208, 0.37457805487342083, 0.2211612177847871, 0.1862328103706243 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.37245752579918356, "max": 1.4142110044692071, "max_abs": 1.4142110044692071 }, { "actuator_index": 1, "unit": "N m", "min": -1.5492340494921422, "max": 1.9584612223257665, "max_abs": 1.9584612223257665 }, { "actuator_index": 2, "unit": "N m", "min": -0.8941185530947848, "max": 1.2660116920092435, "max_abs": 1.2660116920092435 }, { "actuator_index": 3, "unit": "N m", "min": -0.3113227333444599, "max": 0.30183919881056553, "max_abs": 0.3113227333444599 }, { "actuator_index": 4, "unit": "N m", "min": -0.1025516571139935, "max": 0.3676290585081105, "max_abs": 0.3676290585081105 }, { "actuator_index": 5, "unit": "N m", "min": -0.2992179087210356, "max": 0.34366539007747443, "max_abs": 0.34366539007747443 }, { "actuator_index": 6, "unit": "N", "min": -0.004940992721670812, "max": 0.005232519930250312, "max_abs": 0.005232519930250312 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.5002031668554991, "attempt_wall_seconds": 1.5024488340131938, "step_compute_seconds": { "count": 1000, "min": 0.0012639579363167286, "mean": 0.0013496378953568638, "p50": 0.0013353750109672546, "p95": 0.0014351250138133764, "p99": 0.0014903328847140074, "max": 0.0018655830062925816, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.29925909307482135, -0.029521045006784347, 0.0798922445797837 ], "final_tcp_position_m": [ 0.30343059153239166, -0.029931215979874266, 0.08556688497865679 ] }, { "id": "862186:friction015-mass060-layout00--hold", "cohort_seed": 862186, "scene_id": "friction015-mass060-layout00", "variant": "hold", "mode": "baseline", "control": "hold", "friction": 0.15, "mass_kg": 0.06, "layout_index": 0, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998735932967e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12097717239900851 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 1.1376744407779719e-16, "peak_sampled_speed_m_s": 5.558267943191594e-15, "net_vertical_m": 1.1102230246251565e-16, "max_vertical_from_window_start_m": 1.1102230246251565e-16, "min_vertical_from_window_start_m": 0.0 }, "object": { "path_m": 8.253748125698225e-11, "peak_sampled_speed_m_s": 1.634922761033519e-09, "net_vertical_m": 6.22998735932967e-11, "max_vertical_from_window_start_m": 6.22998735932967e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 1.089099057831775e-19, 6.127451851049064e-18, 1.5410517561852992e-16, 1.2145569247038722e-17, 3.400546359107994e-16, 2.945467210750634e-17 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -5.149427585733612e-18, "max": -7.571162667696407e-19, "max_abs": 5.149427585733612e-18 }, { "actuator_index": 1, "unit": "N m", "min": 0.0, "max": 0.0, "max_abs": 0.0 }, { "actuator_index": 2, "unit": "N m", "min": 0.0, "max": 0.0, "max_abs": 0.0 }, { "actuator_index": 3, "unit": "N m", "min": 7.130976259465077e-17, "max": 1.5875460775817776e-16, "max_abs": 1.5875460775817776e-16 }, { "actuator_index": 4, "unit": "N m", "min": 5.770246053275149e-16, "max": 3.2953315452184146e-15, "max_abs": 3.2953315452184146e-15 }, { "actuator_index": 5, "unit": "N m", "min": -2.2098381316149117e-16, "max": -4.998795352997742e-17, "max_abs": 2.2098381316149117e-16 }, { "actuator_index": 6, "unit": "N", "min": 0.0, "max": 0.0, "max_abs": 0.0 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.6432753750123084, "attempt_wall_seconds": 1.6452949999365956, "step_compute_seconds": { "count": 1000, "min": 0.0013247919268906116, "mean": 0.0014843735287431627, "p50": 0.0014619168359786272, "p95": 0.0016309581696987152, "p99": 0.001774500124156475, "max": 0.010438041994348168, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.29925909307482135, -0.029521045006784347, 0.0798922445797837 ], "final_tcp_position_m": [ 0.4890696662845219, 0.001414197565480896, 0.3665849431043092 ] }, { "id": "862186:friction015-mass060-layout01--recovery_placement", "cohort_seed": 862186, "scene_id": "friction015-mass060-layout01", "variant": "recovery_placement", "mode": "recovery", "control": "placement", "friction": 0.15, "mass_kg": 0.06, "layout_index": 1, "valid": true, "success": false, "failure_stage": "acquisition_never_qualified", "terminal_reason": "timeout", "abort_reason": "unchanged_grasp_not_following", "abort_time_s": 11.679999999998966, "completion_time_s": null, "milestones": { "grasp_seen": true, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 4.1277832551284144e-05, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12360170075890266 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.40449006096565826, "peak_sampled_speed_m_s": 0.1612729499144149, "net_vertical_m": -0.280837095808522, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28475329894994195 }, "object": { "path_m": 0.001149823430984475, "peak_sampled_speed_m_s": 0.010032743074730602, "net_vertical_m": -5.970972659308238e-06, "max_vertical_from_window_start_m": 4.105778590619835e-05, "min_vertical_from_window_start_m": -2.0150859030912405e-05 } }, "max_pad_normal_force_n": 0.4264995554281909, "max_abs_native_joint_velocity_rad_s": [ 0.11469947070829019, 0.4815799017762631, 0.41719843051369127, 0.19788701220765234, 0.22641069986442341, 0.1252785146996183 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3348123906706757, "max": 0.3061492546743043, "max_abs": 0.3348123906706757 }, { "actuator_index": 1, "unit": "N m", "min": -1.5491983417809365, "max": 1.9135892496068152, "max_abs": 1.9135892496068152 }, { "actuator_index": 2, "unit": "N m", "min": -0.8284192484843373, "max": 1.265991272976919, "max_abs": 1.265991272976919 }, { "actuator_index": 3, "unit": "N m", "min": -0.3247071051951087, "max": 0.30201079166738154, "max_abs": 0.3247071051951087 }, { "actuator_index": 4, "unit": "N m", "min": -0.009697842893853448, "max": 0.37973162047554165, "max_abs": 0.37973162047554165 }, { "actuator_index": 5, "unit": "N m", "min": -0.2992351495880725, "max": 0.19855909264159743, "max_abs": 0.2992351495880725 }, { "actuator_index": 6, "unit": "N", "min": -0.793457227506463, "max": 0.0010659351650360582, "max_abs": 0.793457227506463 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.9843352499883622, "attempt_wall_seconds": 1.9863206669688225, "step_compute_seconds": { "count": 1000, "min": 0.0013207090087234974, "mean": 0.0018254488974343986, "p50": 0.0014811251312494278, "p95": 0.0025439169257879257, "p99": 0.004260416841134429, "max": 0.005679374793544412, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [ "probe_started", "alarm", "unchanged_retry_refused", "abort" ], "final_object_position_m": [ 0.30251788804553725, -0.0325348380141926, 0.07988627354482451 ], "final_tcp_position_m": [ 0.3069597702609982, -0.032830229065914165, 0.08574784729578708 ] }, { "id": "862186:friction015-mass060-layout01--recovery_open_jaw", "cohort_seed": 862186, "scene_id": "friction015-mass060-layout01", "variant": "recovery_open_jaw", "mode": "recovery", "control": "replay_open_jaw", "friction": 0.15, "mass_kg": 0.06, "layout_index": 1, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998735932967e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.1233502873485222 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.40546012522088243, "peak_sampled_speed_m_s": 0.1612729499144149, "net_vertical_m": -0.28092000786269383, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28476402710370097 }, "object": { "path_m": 8.225214736017882e-11, "peak_sampled_speed_m_s": 1.6349227610006456e-09, "net_vertical_m": 6.22998735932967e-11, "max_vertical_from_window_start_m": 6.22998735932967e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.11469947070829019, 0.4815799017762631, 0.41719843051369127, 0.19788701220765234, 0.22641069986442341, 0.1252785146996183 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3348123906706757, "max": 0.3061492546743043, "max_abs": 0.3348123906706757 }, { "actuator_index": 1, "unit": "N m", "min": -1.5491983417809365, "max": 1.9135892496068152, "max_abs": 1.9135892496068152 }, { "actuator_index": 2, "unit": "N m", "min": -0.8284192484843373, "max": 1.265991272976919, "max_abs": 1.265991272976919 }, { "actuator_index": 3, "unit": "N m", "min": -0.3247071051951087, "max": 0.30201079166738154, "max_abs": 0.3247071051951087 }, { "actuator_index": 4, "unit": "N m", "min": -0.007259349540582605, "max": 0.37973162047554165, "max_abs": 0.37973162047554165 }, { "actuator_index": 5, "unit": "N m", "min": -0.2992351495880725, "max": 0.19855909264159743, "max_abs": 0.2992351495880725 }, { "actuator_index": 6, "unit": "N", "min": -0.00031973918078409547, "max": 0.0005406962551410821, "max_abs": 0.0005406962551410821 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.6374615000095218, "attempt_wall_seconds": 1.6399170830845833, "step_compute_seconds": { "count": 1000, "min": 0.0012687079142779112, "mean": 0.0014772634089458734, "p50": 0.0014687920920550823, "p95": 0.0016383749898523092, "p99": 0.0017370418645441532, "max": 0.0022311669308692217, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.3026183809258489, -0.03230410952135114, 0.0798922445797837 ], "final_tcp_position_m": [ 0.3068568611716242, -0.03281857245647229, 0.08566493524161527 ] }, { "id": "862186:friction015-mass060-layout01--reacquire_placement", "cohort_seed": 862186, "scene_id": "friction015-mass060-layout01", "variant": "reacquire_placement", "mode": "reacquire", "control": "placement", "friction": 0.15, "mass_kg": 0.06, "layout_index": 1, "valid": true, "success": false, "failure_stage": "acquisition_never_qualified", "terminal_reason": "timeout", "abort_reason": "unchanged_grasp_not_following", "abort_time_s": 11.679999999998966, "completion_time_s": null, "milestones": { "grasp_seen": true, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 4.1277832551284144e-05, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12360170075890266 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.40449006096565826, "peak_sampled_speed_m_s": 0.1612729499144149, "net_vertical_m": -0.280837095808522, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28475329894994195 }, "object": { "path_m": 0.001149823430984475, "peak_sampled_speed_m_s": 0.010032743074730602, "net_vertical_m": -5.970972659308238e-06, "max_vertical_from_window_start_m": 4.105778590619835e-05, "min_vertical_from_window_start_m": -2.0150859030912405e-05 } }, "max_pad_normal_force_n": 0.4264995554281909, "max_abs_native_joint_velocity_rad_s": [ 0.11469947070829019, 0.4815799017762631, 0.41719843051369127, 0.19788701220765234, 0.22641069986442341, 0.1252785146996183 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3348123906706757, "max": 0.3061492546743043, "max_abs": 0.3348123906706757 }, { "actuator_index": 1, "unit": "N m", "min": -1.5491983417809365, "max": 1.9135892496068152, "max_abs": 1.9135892496068152 }, { "actuator_index": 2, "unit": "N m", "min": -0.8284192484843373, "max": 1.265991272976919, "max_abs": 1.265991272976919 }, { "actuator_index": 3, "unit": "N m", "min": -0.3247071051951087, "max": 0.30201079166738154, "max_abs": 0.3247071051951087 }, { "actuator_index": 4, "unit": "N m", "min": -0.009697842893853448, "max": 0.37973162047554165, "max_abs": 0.37973162047554165 }, { "actuator_index": 5, "unit": "N m", "min": -0.2992351495880725, "max": 0.19855909264159743, "max_abs": 0.2992351495880725 }, { "actuator_index": 6, "unit": "N", "min": -0.793457227506463, "max": 0.0010659351650360582, "max_abs": 0.793457227506463 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 2.082742749946192, "attempt_wall_seconds": 2.084796749986708, "step_compute_seconds": { "count": 1000, "min": 0.001434624893590808, "mean": 0.0019225316536612808, "p50": 0.0016078338958323002, "p95": 0.0026746250223368406, "p99": 0.005000332836061716, "max": 0.009363708086311817, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [ "probe_started", "alarm", "unchanged_retry_refused", "abort" ], "final_object_position_m": [ 0.30251788804553725, -0.0325348380141926, 0.07988627354482451 ], "final_tcp_position_m": [ 0.3069597702609982, -0.032830229065914165, 0.08574784729578708 ] }, { "id": "862186:friction015-mass060-layout01--reacquire_open_jaw", "cohort_seed": 862186, "scene_id": "friction015-mass060-layout01", "variant": "reacquire_open_jaw", "mode": "reacquire", "control": "replay_open_jaw", "friction": 0.15, "mass_kg": 0.06, "layout_index": 1, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998735932967e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.1233502873485222 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.40546012522088243, "peak_sampled_speed_m_s": 0.1612729499144149, "net_vertical_m": -0.28092000786269383, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.28476402710370097 }, "object": { "path_m": 8.225214736017882e-11, "peak_sampled_speed_m_s": 1.6349227610006456e-09, "net_vertical_m": 6.22998735932967e-11, "max_vertical_from_window_start_m": 6.22998735932967e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.11469947070829019, 0.4815799017762631, 0.41719843051369127, 0.19788701220765234, 0.22641069986442341, 0.1252785146996183 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3348123906706757, "max": 0.3061492546743043, "max_abs": 0.3348123906706757 }, { "actuator_index": 1, "unit": "N m", "min": -1.5491983417809365, "max": 1.9135892496068152, "max_abs": 1.9135892496068152 }, { "actuator_index": 2, "unit": "N m", "min": -0.8284192484843373, "max": 1.265991272976919, "max_abs": 1.265991272976919 }, { "actuator_index": 3, "unit": "N m", "min": -0.3247071051951087, "max": 0.30201079166738154, "max_abs": 0.3247071051951087 }, { "actuator_index": 4, "unit": "N m", "min": -0.007259349540582605, "max": 0.37973162047554165, "max_abs": 0.37973162047554165 }, { "actuator_index": 5, "unit": "N m", "min": -0.2992351495880725, "max": 0.19855909264159743, "max_abs": 0.2992351495880725 }, { "actuator_index": 6, "unit": "N", "min": -0.00031973918078409547, "max": 0.0005406962551410821, "max_abs": 0.0005406962551410821 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.605787750100717, "attempt_wall_seconds": 1.608503749826923, "step_compute_seconds": { "count": 1000, "min": 0.0012757908552885056, "mean": 0.0014448855312075466, "p50": 0.0013952909503132105, "p95": 0.001633708132430911, "p99": 0.0018017080146819353, "max": 0.002051708986982703, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.3026183809258489, -0.03230410952135114, 0.0798922445797837 ], "final_tcp_position_m": [ 0.3068568611716242, -0.03281857245647229, 0.08566493524161527 ] }, { "id": "862186:friction015-mass060-layout01--reacquire_grasp_placement", "cohort_seed": 862186, "scene_id": "friction015-mass060-layout01", "variant": "reacquire_grasp_placement", "mode": "reacquire_grasp", "control": "placement", "friction": 0.15, "mass_kg": 0.06, "layout_index": 1, "valid": true, "success": false, "failure_stage": "acquisition_never_qualified", "terminal_reason": "timeout", "abort_reason": "unchanged_grasp_not_following", "abort_time_s": 12.839999999998323, "completion_time_s": null, "milestones": { "grasp_seen": true, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 0.00011059390022302718, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.12088182349355575 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.41063852810052776, "peak_sampled_speed_m_s": 0.17431472313135787, "net_vertical_m": -0.28102229994135997, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2855137726598145 }, "object": { "path_m": 0.004732826692138729, "peak_sampled_speed_m_s": 0.03047541982643269, "net_vertical_m": 2.449442300291038e-05, "max_vertical_from_window_start_m": 0.0001101560799410678, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.5859101446274827, "max_abs_native_joint_velocity_rad_s": [ 0.3518015913462731, 0.4863935101468081, 0.41719843051369127, 0.3754420038310766, 0.21300379367886466, 0.18608480853538095 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3674290310921773, "max": 1.4278644125238795, "max_abs": 1.4278644125238795 }, { "actuator_index": 1, "unit": "N m", "min": -1.5491983417809365, "max": 1.9641536892526403, "max_abs": 1.9641536892526403 }, { "actuator_index": 2, "unit": "N m", "min": -0.8967481390283751, "max": 1.265991272976919, "max_abs": 1.265991272976919 }, { "actuator_index": 3, "unit": "N m", "min": -0.310155569070623, "max": 0.30201079166738154, "max_abs": 0.310155569070623 }, { "actuator_index": 4, "unit": "N m", "min": -0.09589400543778748, "max": 0.3670773649163724, "max_abs": 0.3670773649163724 }, { "actuator_index": 5, "unit": "N m", "min": -0.2992351495880725, "max": 0.34492483028142007, "max_abs": 0.34492483028142007 }, { "actuator_index": 6, "unit": "N", "min": -1.11269173583047, "max": 0.005204182303296445, "max_abs": 1.11269173583047 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.791708624921739, "attempt_wall_seconds": 1.7938182500656694, "step_compute_seconds": { "count": 1000, "min": 0.0014131669886410236, "mean": 0.0016197559756692499, "p50": 0.001569791929796338, "p95": 0.0018716668710112572, "p99": 0.00267220800742507, "max": 0.011213874910026789, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [ "probe_started", "alarm", "unchanged_retry_refused", "abort" ], "final_object_position_m": [ 0.30511726970150527, -0.03060453685899557, 0.07991673894048673 ], "final_tcp_position_m": [ 0.3067736897159403, -0.032759247652810845, 0.08556264316294918 ] }, { "id": "862186:friction015-mass060-layout01--reacquire_grasp_open_jaw", "cohort_seed": 862186, "scene_id": "friction015-mass060-layout01", "variant": "reacquire_grasp_open_jaw", "mode": "reacquire_grasp", "control": "replay_open_jaw", "friction": 0.15, "mass_kg": 0.06, "layout_index": 1, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998735932967e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.1233502873485222 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 0.41196398172768994, "peak_sampled_speed_m_s": 0.17431472313135787, "net_vertical_m": -0.2810404829780381, "max_vertical_from_window_start_m": 0.0, "min_vertical_from_window_start_m": -0.2855137726598145 }, "object": { "path_m": 8.225214736017882e-11, "peak_sampled_speed_m_s": 1.6349227610006456e-09, "net_vertical_m": 6.22998735932967e-11, "max_vertical_from_window_start_m": 6.22998735932967e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 0.3518015913462731, 0.4863935101468081, 0.41719843051369127, 0.3754420038310766, 0.21300379367886466, 0.18608480853538095 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -0.3674290310921773, "max": 1.4278644125238795, "max_abs": 1.4278644125238795 }, { "actuator_index": 1, "unit": "N m", "min": -1.5491983417809365, "max": 1.9641536892526403, "max_abs": 1.9641536892526403 }, { "actuator_index": 2, "unit": "N m", "min": -0.8967481390283751, "max": 1.265991272976919, "max_abs": 1.265991272976919 }, { "actuator_index": 3, "unit": "N m", "min": -0.310155569070623, "max": 0.30201079166738154, "max_abs": 0.310155569070623 }, { "actuator_index": 4, "unit": "N m", "min": -0.09589400543778748, "max": 0.3670773649163724, "max_abs": 0.3670773649163724 }, { "actuator_index": 5, "unit": "N m", "min": -0.2992351495880725, "max": 0.34492483028142007, "max_abs": 0.34492483028142007 }, { "actuator_index": 6, "unit": "N", "min": -0.005029935242282013, "max": 0.005204182303296445, "max_abs": 0.005204182303296445 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.51977879088372, "attempt_wall_seconds": 1.5220788749866188, "step_compute_seconds": { "count": 1000, "min": 0.0012630419805645943, "mean": 0.001365659561008215, "p50": 0.0013736248947679996, "p95": 0.001434833975508809, "p99": 0.0015139169991016388, "max": 0.0019139170181006193, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.3026183809258489, -0.03230410952135114, 0.0798922445797837 ], "final_tcp_position_m": [ 0.30678620284720615, -0.032745885821054456, 0.08554446012627104 ] }, { "id": "862186:friction015-mass060-layout01--hold", "cohort_seed": 862186, "scene_id": "friction015-mass060-layout01", "variant": "hold", "mode": "baseline", "control": "hold", "friction": 0.15, "mass_kg": 0.06, "layout_index": 1, "valid": true, "success": false, "failure_stage": null, "terminal_reason": "timeout", "abort_reason": null, "abort_time_s": null, "completion_time_s": null, "milestones": { "grasp_seen": false, "lift_seen": false, "carry_complete": false, "retention_lost": false, "dwell_seconds": 0.0, "max_object_lift_m": 6.22998735932967e-11, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "target_distance_m": 0.1233502873485222 }, "qualification_count": 0, "retry_count": 0, "second_probe_count": 0, "second_probe_resume_count": 0, "resume_count": 0, "holds": [], "second_probes": [], "whole_episode_sampled_motion": { "start_s": 0.0, "end_s": 20.00000000000146, "duration_s": 20.00000000000146, "sample_count": 1001, "scope": "20ms sampled motion; does not bound native-substep peak speed or prove instantaneous arrest.", "tcp": { "path_m": 1.1376744407779719e-16, "peak_sampled_speed_m_s": 5.558267943191594e-15, "net_vertical_m": 1.1102230246251565e-16, "max_vertical_from_window_start_m": 1.1102230246251565e-16, "min_vertical_from_window_start_m": 0.0 }, "object": { "path_m": 8.225214736017882e-11, "peak_sampled_speed_m_s": 1.6349227610006456e-09, "net_vertical_m": 6.22998735932967e-11, "max_vertical_from_window_start_m": 6.22998735932967e-11, "min_vertical_from_window_start_m": 0.0 } }, "max_pad_normal_force_n": 0.0, "max_abs_native_joint_velocity_rad_s": [ 1.089099057831775e-19, 6.127451851049064e-18, 1.5410517561852992e-16, 1.2145569247038722e-17, 3.400546359107994e-16, 2.945467210750634e-17 ], "actuator_force_extrema": [ { "actuator_index": 0, "unit": "N m", "min": -5.149427585733612e-18, "max": -7.571162667696407e-19, "max_abs": 5.149427585733612e-18 }, { "actuator_index": 1, "unit": "N m", "min": 0.0, "max": 0.0, "max_abs": 0.0 }, { "actuator_index": 2, "unit": "N m", "min": 0.0, "max": 0.0, "max_abs": 0.0 }, { "actuator_index": 3, "unit": "N m", "min": 7.130976259465077e-17, "max": 1.5875460775817776e-16, "max_abs": 1.5875460775817776e-16 }, { "actuator_index": 4, "unit": "N m", "min": 5.770246053275149e-16, "max": 3.2953315452184146e-15, "max_abs": 3.2953315452184146e-15 }, { "actuator_index": 5, "unit": "N m", "min": -2.2098381316149117e-16, "max": -4.998795352997742e-17, "max_abs": 2.2098381316149117e-16 }, { "actuator_index": 6, "unit": "N", "min": 0.0, "max": 0.0, "max_abs": 0.0 } ], "unexpected_contact_native_ticks": 0, "warnings": [], "simulated_seconds": 20.00000000000146, "episode_wall_seconds": 1.4910014590714127, "attempt_wall_seconds": 1.4929679159540683, "step_compute_seconds": { "count": 1000, "min": 0.00123924994841218, "mean": 0.001337009126553312, "p50": 0.001339958980679512, "p95": 0.001407667063176632, "p99": 0.0015739582013338804, "max": 0.004867000039666891, "quantile_method": "nearest_rank" }, "missed_20ms_windows": 0, "policy_event_types": [], "final_object_position_m": [ 0.3026183809258489, -0.03230410952135114, 0.0798922445797837 ], "final_tcp_position_m": [ 0.4890696662845219, 0.001414197565480896, 0.3665849431043092 ] } ], "limits": [ "Three cohorts contain six sampled XY layouts shared by mass/friction strata; 36 placements per mode are not 36 independent real-world trials.", "All results are descriptive for this narrow synthetic rigid-block distribution. No IID confidence interval or probability of physical reliability is inferred.", "Authored controllers use privileged native observations and an existing native lift latch. No learned skills, sensor robustness, deformation calibration or physical transfer demonstrated.", "Completion gains/losses and failures remain in denominators. Common-success timing is conditional and cannot stand in for task reliability.", "Probe and recovery motion is sampled at20ms. Holding targets is not immediate physical stopping; a recovery interval can include active second lifting.", "Every raw overrun and loaded-host result is retained. No outcome-triggered tuning or substitute reruns are used." ] }