{
  "schema": "dvidia.skill-prerequisites/v1",
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          "message": "lid robot contact cleared",
          "normal_force_n": 0.0
        },
        {
          "t": 5.726,
          "type": "hazard_started",
          "message": "hazard started",
          "lid_angle_rad": 0.9240317836515525,
          "lid_velocity_rad_s": -0.034359912565580755
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        {
          "t": 5.726,
          "type": "hazardous_contact",
          "message": "Lid contacted the robot above the synthetic benchmark threshold.",
          "normal_force_n": 6.474981028989265
        },
        {
          "t": 5.728,
          "type": "hazard_cleared",
          "message": "hazard cleared",
          "lid_angle_rad": 0.9242084106743222,
          "lid_velocity_rad_s": 0.08831351138488996
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        {
          "t": 5.732,
          "type": "lid_robot_contact_cleared",
          "message": "lid robot contact cleared",
          "normal_force_n": 0.0
        },
        {
          "t": 5.744,
          "type": "hazard_started",
          "message": "hazard started",
          "lid_angle_rad": 0.9262706217411357,
          "lid_velocity_rad_s": -0.07544176595926405
        },
        {
          "t": 5.744,
          "type": "hazardous_contact",
          "message": "Lid contacted the robot above the synthetic benchmark threshold.",
          "normal_force_n": 6.642775348164384
        },
        {
          "t": 5.746,
          "type": "hazard_cleared",
          "message": "hazard cleared",
          "lid_angle_rad": 0.9268129188990644,
          "lid_velocity_rad_s": 0.2711485789643087
        },
        {
          "t": 5.748,
          "type": "lid_robot_contact_cleared",
          "message": "lid robot contact cleared",
          "normal_force_n": 0.0
        },
        {
          "t": 5.766,
          "type": "hazard_started",
          "message": "hazard started",
          "lid_angle_rad": 0.9320129773978277,
          "lid_velocity_rad_s": -0.03558062235379913
        },
        {
          "t": 5.768,
          "type": "hazardous_contact",
          "message": "Lid contacted the robot above the synthetic benchmark threshold.",
          "normal_force_n": 3.460224732794111
        },
        {
          "t": 5.77,
          "type": "hazard_cleared",
          "message": "hazard cleared",
          "lid_angle_rad": 0.9325243505922517,
          "lid_velocity_rad_s": 0.3532802761037329
        },
        {
          "t": 5.77,
          "type": "lid_robot_contact_cleared",
          "message": "lid robot contact cleared",
          "normal_force_n": 0.0
        },
        {
          "t": 5.778,
          "type": "hazardous_contact",
          "message": "Lid contacted the robot above the synthetic benchmark threshold.",
          "normal_force_n": 2.1687000521378224
        },
        {
          "t": 5.78,
          "type": "lid_robot_contact_cleared",
          "message": "lid robot contact cleared",
          "normal_force_n": 0.0
        },
        {
          "t": 5.796,
          "type": "hazard_started",
          "message": "hazard started",
          "lid_angle_rad": 0.9372082735755632,
          "lid_velocity_rad_s": -0.07914753630848893
        },
        {
          "t": 5.8,
          "type": "hazardous_contact",
          "message": "Lid contacted the robot above the synthetic benchmark threshold.",
          "normal_force_n": 3.083021668315596
        },
        {
          "t": 5.802,
          "type": "hazard_cleared",
          "message": "hazard cleared",
          "lid_angle_rad": 0.936865919226627,
          "lid_velocity_rad_s": 0.1689586720461404
        },
        {
          "t": 5.804,
          "type": "lid_robot_contact_cleared",
          "message": "lid robot contact cleared",
          "normal_force_n": 0.0
        },
        {
          "t": 5.82,
          "type": "hazard_started",
          "message": "hazard started",
          "lid_angle_rad": 0.9401664179124709,
          "lid_velocity_rad_s": -0.07259775591052274
        },
        {
          "t": 5.828,
          "type": "hazardous_contact",
          "message": "Lid contacted the robot above the synthetic benchmark threshold.",
          "normal_force_n": 3.347580132049067
        },
        {
          "t": 5.83,
          "type": "hazard_cleared",
          "message": "hazard cleared",
          "lid_angle_rad": 0.9385934416223872,
          "lid_velocity_rad_s": 0.1026564403041449
        },
        {
          "t": 5.832,
          "type": "lid_robot_contact_cleared",
          "message": "lid robot contact cleared",
          "normal_force_n": 0.0
        },
        {
          "t": 5.846,
          "type": "hazard_started",
          "message": "hazard started",
          "lid_angle_rad": 0.9413740064811053,
          "lid_velocity_rad_s": -0.04990953410785816
        },
        {
          "t": 5.858,
          "type": "hazardous_contact",
          "message": "Lid contacted the robot above the synthetic benchmark threshold.",
          "normal_force_n": 3.305622073956844
        },
        {
          "t": 5.86,
          "type": "hazard_cleared",
          "message": "hazard cleared",
          "lid_angle_rad": 0.9383167755684451,
          "lid_velocity_rad_s": 0.021031417877421778
        },
        {
          "t": 5.862,
          "type": "lid_robot_contact_cleared",
          "message": "lid robot contact cleared",
          "normal_force_n": 0.0
        },
        {
          "t": 5.874,
          "type": "hazard_started",
          "message": "hazard started",
          "lid_angle_rad": 0.940391520253433,
          "lid_velocity_rad_s": -0.04311313921121756
        },
        {
          "t": 5.884,
          "type": "hazardous_contact",
          "message": "Lid contacted the robot above the synthetic benchmark threshold.",
          "normal_force_n": 3.4994860199157354
        },
        {
          "t": 5.886,
          "type": "hazard_cleared",
          "message": "hazard cleared",
          "lid_angle_rad": 0.9384165025876424,
          "lid_velocity_rad_s": 0.12806579659795506
        },
        {
          "t": 5.888,
          "type": "lid_robot_contact_cleared",
          "message": "lid robot contact cleared",
          "normal_force_n": 0.0
        },
        {
          "t": 5.904,
          "type": "hazard_started",
          "message": "hazard started",
          "lid_angle_rad": 0.9421341332446737,
          "lid_velocity_rad_s": -0.050205300898568624
        },
        {
          "t": 5.904,
          "type": "hazardous_contact",
          "message": "Lid contacted the robot above the synthetic benchmark threshold.",
          "normal_force_n": 42.03594081853243
        },
        {
          "t": 5.924,
          "type": "hazard_cleared",
          "message": "hazard cleared",
          "lid_angle_rad": 0.9402487674027503,
          "lid_velocity_rad_s": -0.027798914446549035
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      ],
      "errors": [],
      "wall_seconds": 0.22275129100307822,
      "native_trace_columns": [
        "t",
        "lid_angle_rad",
        "lid_velocity_rad_s",
        "lid_robot_normal_force_n",
        "risk",
        "other_environment_robot_force_n"
      ],
      "replay": {
        "model": "trials/hinged-box-falling-low-baseline.model.json",
        "motion": "trials/hinged-box-falling-low-baseline.motion.json"
      },
      "export_seconds": 0.767625791952014
    },
    {
      "id": "hinged-box-falling-low-recovery",
      "task": "hinged-box",
      "policy": "recovery",
      "case": {
        "id": "falling-low",
        "lid_angle_deg": 58.0,
        "lid_velocity_rad_s": -0.25,
        "lid_mass_kg": 0.1,
        "hinge_damping": 0.02,
        "split": "heldout"
      },
      "valid": true,
      "success": false,
      "metrics": {
        "outcome": "safe_abort",
        "task_success": false,
        "inspection_waypoint_reached": false,
        "return_completed": false,
        "safe_abort": true,
        "help_requested": true,
        "resumed_count": 0,
        "recovery_count": 0,
        "intervention_count": 1,
        "missed_interventions": 0,
        "false_interventions": null,
        "predicate_mismatch_interventions": 0,
        "false_intervention_definition": "Not identifiable from the treated rollout alone. Compare this case against baseline: a withdrawal when baseline completes without contact is a counterfactual nuisance interruption, not proven necessary avoidance.",
        "missed_intervention_definition": "At least one observed descending-lid predicate with no withdrawal command; this is guard coverage, not calibrated danger classification.",
        "lid_robot_collision": false,
        "other_environment_robot_collision": false,
        "peak_contact_force_n": 0.0,
        "peak_lid_robot_normal_force_n": 0.0,
        "peak_other_environment_robot_force_n": 0.0,
        "lid_robot_peak_force_time_integral_ns": 0.0,
        "contact_duration_s": 0.0,
        "hazard_duration_s": 0.234,
        "first_hazard_s": 0.0,
        "first_intervention_s": 0.0,
        "first_command_s": 0.0,
        "first_contact_s": null,
        "detection_time_s": 0.0,
        "command_time_s": 0.0,
        "reaction_measurement_scope": "Privileged native predicate sampled at 2 ms; authored command at 20 ms. No sensor, transport or actuator-response latency included.",
        "first_response_latency_s": 0.0,
        "completion_time_s": null,
        "withdrawal_duration_s": 0.24,
        "simulated_seconds": 5.999999999999561,
        "wall_seconds": 0.2775578750297427,
        "physics_realtime_factor": 21.617113185336965,
        "decision_latency_p50_ms": 0.045082997530698776,
        "decision_latency_p95_ms": 0.15316717326641083,
        "decision_latency_max_ms": 1.6051670536398888,
        "native_steps": 3000,
        "state_action_frame_timing": "Frame state and issued_ctrl are observed at t before the next native step; requested_joint_target is the authored 20 ms decision subsequently rate-limited into issued_ctrl.",
        "state_action_units": {
          "qpos_rad_m": {
            "0:6": "arm rad",
            "6:8": "finger m",
            "8:11": "shoe position m",
            "11:15": "shoe quaternion wxyz dimensionless",
            "15": "hinge rad"
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          "qvel_rad_m_s": {
            "0:6": "arm rad/s",
            "6:8": "finger m/s",
            "8:11": "shoe linear m/s",
            "11:14": "shoe angular rad/s",
            "14": "hinge rad/s"
          },
          "issued_ctrl": {
            "0:6": "arm rad",
            "6": "jaw m"
          },
          "requested_joint_target": {
            "0:6": "arm rad",
            "6": "jaw m"
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        },
        "terminal_phase": "help",
        "failure_reason": null,
        "solver_warnings": 0
      },
      "events": [
        {
          "t": 0.0,
          "type": "hazard_started",
          "message": "hazard started",
          "lid_angle_rad": 1.0122909661567112,
          "lid_velocity_rad_s": -0.25
        },
        {
          "t": 0.0,
          "type": "withdrawal_started",
          "message": "Lid descending. Withdraw from the access path.",
          "reason": "descending_lid_in_access_volume"
        },
        {
          "t": 0.236,
          "type": "hazard_cleared",
          "message": "hazard cleared",
          "lid_angle_rad": 0.4240051705403173,
          "lid_velocity_rad_s": -4.354716345155209
        },
        {
          "t": 0.24,
          "type": "withdrawal_complete",
          "message": "Arm has reached the withdrawal waypoint."
        },
        {
          "t": 0.38,
          "type": "help_requested",
          "message": "Box closed. Stop here and request help reopening it.",
          "reason": "closed_box_requires_reopening"
        }
      ],
      "errors": [],
      "wall_seconds": 0.36826050002127886,
      "native_trace_columns": [
        "t",
        "lid_angle_rad",
        "lid_velocity_rad_s",
        "lid_robot_normal_force_n",
        "risk",
        "other_environment_robot_force_n"
      ],
      "replay": {
        "model": "trials/hinged-box-falling-low-recovery.model.json",
        "motion": "trials/hinged-box-falling-low-recovery.motion.json"
      },
      "export_seconds": 0.804564957972616
    },
    {
      "id": "hinged-box-transient-damped-baseline",
      "task": "hinged-box",
      "policy": "baseline",
      "case": {
        "id": "transient-damped",
        "lid_angle_deg": 110.0,
        "lid_velocity_rad_s": -0.35,
        "lid_mass_kg": 0.2,
        "hinge_damping": 0.06,
        "split": "heldout"
      },
      "valid": true,
      "success": true,
      "metrics": {
        "outcome": "completed",
        "task_success": true,
        "inspection_waypoint_reached": true,
        "return_completed": true,
        "safe_abort": false,
        "help_requested": false,
        "resumed_count": 0,
        "recovery_count": 0,
        "intervention_count": 0,
        "missed_interventions": 1,
        "false_interventions": null,
        "predicate_mismatch_interventions": 0,
        "false_intervention_definition": "Not identifiable from the treated rollout alone. Compare this case against baseline: a withdrawal when baseline completes without contact is a counterfactual nuisance interruption, not proven necessary avoidance.",
        "missed_intervention_definition": "At least one observed descending-lid predicate with no withdrawal command; this is guard coverage, not calibrated danger classification.",
        "lid_robot_collision": false,
        "other_environment_robot_collision": false,
        "peak_contact_force_n": 0.0,
        "peak_lid_robot_normal_force_n": 0.0,
        "peak_other_environment_robot_force_n": 0.0,
        "lid_robot_peak_force_time_integral_ns": 0.0,
        "contact_duration_s": 0.0,
        "hazard_duration_s": 0.014,
        "first_hazard_s": 0.0,
        "first_intervention_s": null,
        "first_command_s": null,
        "first_contact_s": null,
        "detection_time_s": 0.0,
        "command_time_s": null,
        "reaction_measurement_scope": "Privileged native predicate sampled at 2 ms; authored command at 20 ms. No sensor, transport or actuator-response latency included.",
        "first_response_latency_s": null,
        "completion_time_s": 1.6,
        "withdrawal_duration_s": null,
        "simulated_seconds": 5.999999999999561,
        "wall_seconds": 0.11456795805133879,
        "physics_realtime_factor": 52.37066368339143,
        "decision_latency_p50_ms": 0.022249994799494743,
        "decision_latency_p95_ms": 0.033999793231487274,
        "decision_latency_max_ms": 0.380875077098608,
        "native_steps": 3000,
        "state_action_frame_timing": "Frame state and issued_ctrl are observed at t before the next native step; requested_joint_target is the authored 20 ms decision subsequently rate-limited into issued_ctrl.",
        "state_action_units": {
          "qpos_rad_m": {
            "0:6": "arm rad",
            "6:8": "finger m",
            "8:11": "shoe position m",
            "11:15": "shoe quaternion wxyz dimensionless",
            "15": "hinge rad"
          },
          "qvel_rad_m_s": {
            "0:6": "arm rad/s",
            "6:8": "finger m/s",
            "8:11": "shoe linear m/s",
            "11:14": "shoe angular rad/s",
            "14": "hinge rad/s"
          },
          "issued_ctrl": {
            "0:6": "arm rad",
            "6": "jaw m"
          },
          "requested_joint_target": {
            "0:6": "arm rad",
            "6": "jaw m"
          }
        },
        "terminal_phase": "done",
        "failure_reason": null,
        "solver_warnings": 0
      },
      "events": [
        {
          "t": 0.0,
          "type": "hazard_started",
          "message": "hazard started",
          "lid_angle_rad": 1.9198621771937625,
          "lid_velocity_rad_s": -0.35
        },
        {
          "t": 0.016,
          "type": "hazard_cleared",
          "message": "hazard cleared",
          "lid_angle_rad": 1.9172280498496113,
          "lid_velocity_rad_s": -0.029336570903247795
        },
        {
          "t": 0.82,
          "type": "inspection_waypoint_reached",
          "message": "Inspection waypoint held for 200 ms; no shoe grasp attempted."
        },
        {
          "t": 1.6,
          "type": "return_complete",
          "message": "Arm returned from the box."
        }
      ],
      "errors": [],
      "wall_seconds": 0.20038624992594123,
      "native_trace_columns": [
        "t",
        "lid_angle_rad",
        "lid_velocity_rad_s",
        "lid_robot_normal_force_n",
        "risk",
        "other_environment_robot_force_n"
      ],
      "replay": {
        "model": "trials/hinged-box-transient-damped-baseline.model.json",
        "motion": "trials/hinged-box-transient-damped-baseline.motion.json"
      },
      "export_seconds": 0.7702044169418514
    },
    {
      "id": "hinged-box-transient-damped-recovery",
      "task": "hinged-box",
      "policy": "recovery",
      "case": {
        "id": "transient-damped",
        "lid_angle_deg": 110.0,
        "lid_velocity_rad_s": -0.35,
        "lid_mass_kg": 0.2,
        "hinge_damping": 0.06,
        "split": "heldout"
      },
      "valid": true,
      "success": true,
      "metrics": {
        "outcome": "recovered",
        "task_success": true,
        "inspection_waypoint_reached": true,
        "return_completed": true,
        "safe_abort": false,
        "help_requested": false,
        "resumed_count": 1,
        "recovery_count": 1,
        "intervention_count": 1,
        "missed_interventions": 0,
        "false_interventions": null,
        "predicate_mismatch_interventions": 0,
        "false_intervention_definition": "Not identifiable from the treated rollout alone. Compare this case against baseline: a withdrawal when baseline completes without contact is a counterfactual nuisance interruption, not proven necessary avoidance.",
        "missed_intervention_definition": "At least one observed descending-lid predicate with no withdrawal command; this is guard coverage, not calibrated danger classification.",
        "lid_robot_collision": false,
        "other_environment_robot_collision": false,
        "peak_contact_force_n": 0.0,
        "peak_lid_robot_normal_force_n": 0.0,
        "peak_other_environment_robot_force_n": 0.0,
        "lid_robot_peak_force_time_integral_ns": 0.0,
        "contact_duration_s": 0.0,
        "hazard_duration_s": 0.014,
        "first_hazard_s": 0.0,
        "first_intervention_s": 0.0,
        "first_command_s": 0.0,
        "first_contact_s": null,
        "detection_time_s": 0.0,
        "command_time_s": 0.0,
        "reaction_measurement_scope": "Privileged native predicate sampled at 2 ms; authored command at 20 ms. No sensor, transport or actuator-response latency included.",
        "first_response_latency_s": 0.0,
        "completion_time_s": 2.3,
        "withdrawal_duration_s": 0.24,
        "simulated_seconds": 5.999999999999561,
        "wall_seconds": 0.11370991682633758,
        "physics_realtime_factor": 52.76584635237229,
        "decision_latency_p50_ms": 0.022458145394921303,
        "decision_latency_p95_ms": 0.03174995072185993,
        "decision_latency_max_ms": 0.06879214197397232,
        "native_steps": 3000,
        "state_action_frame_timing": "Frame state and issued_ctrl are observed at t before the next native step; requested_joint_target is the authored 20 ms decision subsequently rate-limited into issued_ctrl.",
        "state_action_units": {
          "qpos_rad_m": {
            "0:6": "arm rad",
            "6:8": "finger m",
            "8:11": "shoe position m",
            "11:15": "shoe quaternion wxyz dimensionless",
            "15": "hinge rad"
          },
          "qvel_rad_m_s": {
            "0:6": "arm rad/s",
            "6:8": "finger m/s",
            "8:11": "shoe linear m/s",
            "11:14": "shoe angular rad/s",
            "14": "hinge rad/s"
          },
          "issued_ctrl": {
            "0:6": "arm rad",
            "6": "jaw m"
          },
          "requested_joint_target": {
            "0:6": "arm rad",
            "6": "jaw m"
          }
        },
        "terminal_phase": "done",
        "failure_reason": null,
        "solver_warnings": 0
      },
      "events": [
        {
          "t": 0.0,
          "type": "hazard_started",
          "message": "hazard started",
          "lid_angle_rad": 1.9198621771937625,
          "lid_velocity_rad_s": -0.35
        },
        {
          "t": 0.0,
          "type": "withdrawal_started",
          "message": "Lid descending. Withdraw from the access path.",
          "reason": "descending_lid_in_access_volume"
        },
        {
          "t": 0.016,
          "type": "hazard_cleared",
          "message": "hazard cleared",
          "lid_angle_rad": 1.9172280498496113,
          "lid_velocity_rad_s": -0.029336570903247795
        },
        {
          "t": 0.24,
          "type": "withdrawal_complete",
          "message": "Arm has reached the withdrawal waypoint."
        },
        {
          "t": 0.5,
          "type": "access_resumed",
          "message": "Lid aperture stable. Resume the inspection waypoint."
        },
        {
          "t": 1.52,
          "type": "inspection_waypoint_reached",
          "message": "Inspection waypoint held for 200 ms; no shoe grasp attempted."
        },
        {
          "t": 2.3,
          "type": "return_complete",
          "message": "Arm returned from the box."
        }
      ],
      "errors": [],
      "wall_seconds": 0.2058854578062892,
      "native_trace_columns": [
        "t",
        "lid_angle_rad",
        "lid_velocity_rad_s",
        "lid_robot_normal_force_n",
        "risk",
        "other_environment_robot_force_n"
      ],
      "replay": {
        "model": "trials/hinged-box-transient-damped-recovery.model.json",
        "motion": "trials/hinged-box-transient-damped-recovery.motion.json"
      },
      "export_seconds": 0.7687181672081351
    },
    {
      "id": "tool-reach-reach-heldout-light-baseline",
      "task": "tool-reach",
      "policy": "baseline",
      "case": {
        "id": "reach-heldout-light",
        "shoe_x": 0.705,
        "shoe_y": -0.09,
        "mass": 0.22,
        "friction": 0.45,
        "tool_length": 0.34,
        "lateral_error": 0.025,
        "split": "heldout"
      },
      "valid": true,
      "success": false,
      "metrics": {
        "retrieval_success": false,
        "grasp_attempted": true,
        "retained_lift_success": false,
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      "task": "hinged-box",
      "case_id": "falling-medium",
      "valid_pair": true,
      "baseline_success": false,
      "recovery_success": false,
      "lid_contact_avoided": true,
      "nuisance_interruption": false,
      "nuisance_scope": "Baseline completed without disallowed contact; conservative withdrawal is not proven necessary.",
      "completion_delay_s": null
    },
    {
      "task": "hinged-box",
      "case_id": "falling-low",
      "valid_pair": true,
      "baseline_success": false,
      "recovery_success": false,
      "lid_contact_avoided": true,
      "nuisance_interruption": false,
      "nuisance_scope": "Baseline completed without disallowed contact; conservative withdrawal is not proven necessary.",
      "completion_delay_s": null
    },
    {
      "task": "hinged-box",
      "case_id": "transient-damped",
      "valid_pair": true,
      "baseline_success": true,
      "recovery_success": true,
      "lid_contact_avoided": false,
      "nuisance_interruption": true,
      "nuisance_scope": "Baseline completed without disallowed contact; conservative withdrawal is not proven necessary.",
      "completion_delay_s": 0.6999999999999997
    },
    {
      "task": "tool-reach",
      "case_id": "reach-heldout-light",
      "valid_pair": true,
      "baseline_success": false,
      "recovery_success": false,
      "baseline_retrieved": false,
      "with_tool_retrieved": true,
      "with_tool_retained_lift": false,
      "comparison_scope": "No-tool capability control versus mounted rake plus recovery; not an isolated policy effect."
    },
    {
      "task": "tool-reach",
      "case_id": "reach-heldout-offset",
      "valid_pair": true,
      "baseline_success": false,
      "recovery_success": false,
      "baseline_retrieved": false,
      "with_tool_retrieved": true,
      "with_tool_retained_lift": false,
      "comparison_scope": "No-tool capability control versus mounted rake plus recovery; not an isolated policy effect."
    },
    {
      "task": "tool-reach",
      "case_id": "reach-heldout-heavy",
      "valid_pair": true,
      "baseline_success": false,
      "recovery_success": false,
      "baseline_retrieved": false,
      "with_tool_retrieved": true,
      "with_tool_retained_lift": false,
      "comparison_scope": "No-tool capability control versus mounted rake plus recovery; not an isolated policy effect."
    },
    {
      "task": "tool-reach",
      "case_id": "reach-heldout-short",
      "valid_pair": true,
      "baseline_success": false,
      "recovery_success": false,
      "baseline_retrieved": false,
      "with_tool_retrieved": false,
      "with_tool_retained_lift": false,
      "comparison_scope": "No-tool capability control versus mounted rake plus recovery; not an isolated policy effect."
    }
  ]
}