{
  "aggregates": {
    "cartesian": {
      "admissions": 4,
      "attempts": 12,
      "combined_qualified_5s_pause": 0,
      "controller_retained_at_5s": 0,
      "false_initial_admissions": 0,
      "final_both_qualified": 0,
      "grip_retention_and_stationarity": 0,
      "native_5s_pause_success": 4,
      "valid": 12
    },
    "issued_joint": {
      "admissions": 4,
      "attempts": 12,
      "combined_qualified_5s_pause": 4,
      "controller_retained_at_5s": 4,
      "false_initial_admissions": 0,
      "final_both_qualified": 4,
      "grip_retention_and_stationarity": 0,
      "native_5s_pause_success": 4,
      "valid": 12
    },
    "measured_joint": {
      "admissions": 4,
      "attempts": 12,
      "combined_qualified_5s_pause": 2,
      "controller_retained_at_5s": 2,
      "false_initial_admissions": 0,
      "final_both_qualified": 0,
      "grip_retention_and_stationarity": 2,
      "native_5s_pause_success": 2,
      "valid": 12
    }
  },
  "attempted": 36,
  "physical_robot_ready": false,
  "planned_attempts": 36,
  "previous_learned_heldout_result": "5/12 unchanged. No learning or full-placement evaluation in this study.",
  "rows": [
    {
      "error": null,
      "evaluation": {
        "corrections": {
          "bound_refusal_counts": {},
          "flag_counts": {
            "correction_rate_limited": 0
          },
          "hold_record_count": 414,
          "input_refusals": [],
          "maximum_abs_active_correction_rad": null,
          "maximum_abs_desired_correction_rad": null,
          "rate_limited_axis_occurrences": 0,
          "scope": "Includes recorded final diagnostic checks; only command_issued rows represent issued controls."
        },
        "decomposition": {
          "elapsed_s": 5.0,
          "local_offset_change_m": 0.0004898493843602626,
          "object_world_z_delta_m": -0.0013153366697120639,
          "relative_world_z_delta_m": -0.0004817731740297815,
          "scope": "Kinematic components, not causal attribution or calibrated physical slip.",
          "tcp_world_z_delta_m": -0.0008335634956822824
        },
        "final": {
          "both_qualified": false,
          "controller_qualified": false,
          "evidence_admissible": false,
          "native_qualified": false
        },
        "first_admission": {
          "native_prefix_qualified": true,
          "native_qualifying_window_s": 0.107,
          "probe_index": 0,
          "time_s": 11.739999999998933
        },
        "native": {
          "arrays_sha256": "94275f7f33207342a93bb2b2ce466e849be05917f1aff626dc047aa3d258d941",
          "complete": true,
          "maximum_per_finger_force_n": 0.43998874360634177,
          "rows": 20000,
          "unexpected_contact_native_ticks": 0,
          "valid": true,
          "warnings": []
        },
        "physical_robot_ready": false,
        "primary": {
          "all_native_hold_forces_within_ceiling": true,
          "combined_qualified_pause": true,
          "complete_5s": true,
          "controller_retained_at_5s": true,
          "first_native_predicate_failure_s": null,
          "followup_available_s": 8.260000000002528,
          "native_pause_success": true,
          "reason": "success",
          "required_s": 5.0,
          "success": true,
          "target_time_s": 16.739999999998933
        },
        "probes": [
          {
            "claims": [
              {
                "native_prefix_qualified": true,
                "t_seconds": 11.739999999998933
              }
            ],
            "disposition": "invalidated_hold",
            "final_native_qualified_from_origin": false,
            "probe_index": 0,
            "start_time_s": 11.139999999999265
          }
        ],
        "receipt": {
          "admission": {
            "observation_origin": "privileged_native_simulation_plus_caller_planning_assumptions",
            "physical_robot_ready": false,
            "planning": {
              "computed": {
                "conservative_required_load_n": 0.6686988749999999,
                "gravity_m_s2": 9.80665,
                "pose_specific_payload_limit_force_n": 0.980665,
                "two_finger_friction_capacity_n": 15.0
              },
              "observation_origin": "caller_declared_not_verified",
              "physical_robot_ready": false,
              "reasons": [
                "Run and record a cautious test lift under the same calibrated pose and load conditions before simulated transport planning."
              ],
              "schema": "dvidia.task-feasibility-result/v1",
              "scope": "Planning assessment only. Parallel two-finger vertical-lift approximation; ignores moment, center of mass, deformation, transient impacts and unmodeled contact effects. Unknown values remain unknown; mass is never inferred from images. Probe/test-lift/controller integration is not implemented. No hardware actuation is performed; this is not hardware qualification.",
              "status": "test_lift_required"
            },
            "probe": {
              "admissible": false,
              "historical_qualified": true,
              "latest_qualified": false,
              "physical_robot_ready": false,
              "reasons": [
                "latest_native_window_not_qualified",
                "latest_controller_not_qualified"
              ],
              "receipt_sha256": "7cdd429ec2472f484483513a9f8b5c709708bb2f5256b4ec45cdfddd1285500d",
              "schema": "dvidia.probe-evidence-verification/v1",
              "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.",
              "verified": true
            },
            "schema": "dvidia.task-feasibility-with-probe/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification. Unknown planning values remain unknown. The unchanged approximate vertical-lift planning gate describes declared loads; it supplies no transport path, geospatial-goal contract or actuator permission. This wrapper never issues controls.",
            "status": "test_lift_required"
          },
          "context": {
            "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
            "calibration_id": "synthetic_probe_v01",
            "calibration_scope": "simulation_assumptions_not_hardware",
            "command_sha256": "407bd603a126287a8efe345ce43105f3d5f8595d4f1249f20b3c14d270191f93",
            "feasibility_sha256": "a34ec9edcd0a1ea2f88527a6a65ee69b7eecdd1d1c3b01e8d43a8b1947238749",
            "grasp_id": "m45-f75-p0-measured_joint-probe-0",
            "initial_object_position_m": [
              0.3030001370663246,
              -0.02600003118840795,
              0.07989224451748381
            ],
            "model_sha256": "21741d7ad037d578a345b6b95aa7aaa8a91948dd83b2f5e3991b0c548586cb7a",
            "native_status": {
              "simulation_time_s": 20.00000000000146,
              "unexpected_contact_native_ticks": 0,
              "valid": true,
              "warnings": []
            },
            "object_id": "task_block",
            "per_finger_force_ceiling_n": 10.0,
            "pose_binding_sha256": "64d5bbf24d5a70ca5ae6ab2993a36c09e75bc8108d44326f268be45ca68ff4d1",
            "probe_index": 0,
            "probe_origin_object_position_m": [
              0.3028593923752323,
              -0.02597086304997704,
              0.07992427613721784
            ],
            "probe_origin_tcp_local_offset_m": [
              0.002336515211198027,
              0.00029626422735269214,
              0.001928834333442633
            ],
            "probe_start_s": 11.139999999999265,
            "robot_profile": "piper",
            "run_id": "m45-f75-p0-measured_joint",
            "schema": "dvidia.probe-context/v1",
            "source_sha256": "cc82eb867d3a927a487317b2e9e470fcb8f53e9da000a1764b7c5a1878883e69"
          },
          "physical_robot_ready": false,
          "planning_input": {
            "allowed_pose_tolerance_m": 0.003,
            "calibration_id": "synthetic_probe_v01",
            "friction_interval": [
              0.75,
              0.75
            ],
            "geometry_known": true,
            "gripper_max_opening_interval_m": [
              0.07,
              0.07
            ],
            "gripper_min_closure_m": 0.0,
            "mass_interval_kg": [
              0.045,
              0.045
            ],
            "object_width_interval_m": [
              0.04,
              0.04
            ],
            "observations_fresh": true,
            "per_finger_normal_force_budget_n": 10.0,
            "planned_upward_accel_m_s2": 0.1,
            "pose_specific_payload_limit_kg": 0.1,
            "pose_uncertainty_m": 0.0,
            "reachability": "reachable",
            "safety_factor": 1.5,
            "schema": "dvidia.task-feasibility-input/v1",
            "slip_detected": false,
            "test_lift_passed": false
          },
          "receipt": {
            "audit": {
              "controller_claim_mismatches": [],
              "controller_claims_checked": 2,
              "controller_conservative_abstention_count": 0,
              "controller_coverage": "Only the supplied claims are checked; omitted decisions are not inferred.",
              "controller_false_qualification_count": 0,
              "controller_positive_claims": 1,
              "force_ceiling_known": true,
              "maximum_observed_per_finger_force_n": 0.43998874360634177,
              "reasons": [],
              "rows": 20000,
              "unexpected_contact_native_ticks": 0,
              "valid": true
            },
            "context": {
              "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
              "calibration_id": "synthetic_probe_v01",
              "calibration_scope": "simulation_assumptions_not_hardware",
              "command_sha256": "407bd603a126287a8efe345ce43105f3d5f8595d4f1249f20b3c14d270191f93",
              "feasibility_sha256": "a34ec9edcd0a1ea2f88527a6a65ee69b7eecdd1d1c3b01e8d43a8b1947238749",
              "grasp_id": "m45-f75-p0-measured_joint-probe-0",
              "initial_object_position_m": [
                0.3030001370663246,
                -0.02600003118840795,
                0.07989224451748381
              ],
              "model_sha256": "21741d7ad037d578a345b6b95aa7aaa8a91948dd83b2f5e3991b0c548586cb7a",
              "native_status": {
                "simulation_time_s": 20.00000000000146,
                "unexpected_contact_native_ticks": 0,
                "valid": true,
                "warnings": []
              },
              "object_id": "task_block",
              "per_finger_force_ceiling_n": 10.0,
              "pose_binding_sha256": "64d5bbf24d5a70ca5ae6ab2993a36c09e75bc8108d44326f268be45ca68ff4d1",
              "probe_index": 0,
              "probe_origin_object_position_m": [
                0.3028593923752323,
                -0.02597086304997704,
                0.07992427613721784
              ],
              "probe_origin_tcp_local_offset_m": [
                0.002336515211198027,
                0.00029626422735269214,
                0.001928834333442633
              ],
              "probe_start_s": 11.139999999999265,
              "robot_profile": "piper",
              "run_id": "m45-f75-p0-measured_joint",
              "schema": "dvidia.probe-context/v1",
              "source_sha256": "cc82eb867d3a927a487317b2e9e470fcb8f53e9da000a1764b7c5a1878883e69"
            },
            "context_sha256": "6f01734fa91b876bf2b877a72af152e422b35157faf1a82dc9857f20cc11ed4e",
            "controller_qualifications": [
              {
                "probe_index": 0,
                "qualified": true,
                "t_seconds": 11.739999999998933
              },
              {
                "probe_index": 0,
                "qualified": false,
                "t_seconds": 20.00000000000146
              }
            ],
            "criteria": {
              "distance_comparison_epsilon": 1e-12,
              "initial_sample_tolerance_m": 0.001,
              "maximum_tcp_local_drift_m": 0.003,
              "minimum_continuous_dwell_s": 0.1,
              "minimum_per_finger_force_n_exclusive": 0.01,
              "minimum_rise_m": 0.006,
              "native_dt_s": 0.001,
              "origin_tolerance_m": 1e-09,
              "time_tolerance_s": 1e-08
            },
            "history": {
              "ever_qualified": true,
              "first_qualified_s": 11.732999999998937,
              "maximum_continuous_qualifying_s": 6.208
            },
            "latest": {
              "condition_valid": false,
              "continuous_qualifying_s": 0.0,
              "controller_claim": {
                "probe_index": 0,
                "qualified": false,
                "t_seconds": 20.00000000000146
              },
              "native_tick": 20000,
              "qualified": false,
              "rise_m": 0.004993624055093612,
              "tcp_local_drift_m": 0.000870068096825529,
              "time_s": 20.00000000000146
            },
            "metadata_sha256": "ad8229630cc9f8718829bb8317b1a82480dcf18b9f71bd23666acfe71a003ef7",
            "native_arrays_sha256": "94275f7f33207342a93bb2b2ce466e849be05917f1aff626dc047aa3d258d941",
            "physical_robot_ready": false,
            "receipt_sha256": "7cdd429ec2472f484483513a9f8b5c709708bb2f5256b4ec45cdfddd1285500d",
            "schema": "dvidia.probe-evidence/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification."
          },
          "status": "inspected",
          "verification": {
            "admissible": false,
            "historical_qualified": true,
            "latest_qualified": false,
            "physical_robot_ready": false,
            "reasons": [
              "latest_native_window_not_qualified",
              "latest_controller_not_qualified"
            ],
            "receipt_sha256": "7cdd429ec2472f484483513a9f8b5c709708bb2f5256b4ec45cdfddd1285500d",
            "schema": "dvidia.probe-evidence-verification/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.",
            "verified": true
          }
        },
        "stationarity": {
          "complete_5s": true,
          "grip_retention_and_stationarity": true,
          "maximum_tcp_orientation_excursion_rad": 0.003126715156938924,
          "maximum_tcp_position_excursion_m": 0.0009652051511515078,
          "orientation_ceiling_rad": 0.05,
          "position_ceiling_m": 0.004,
          "required_s": 5.0,
          "scope": "Common recorded native TCP pose endpoint, not calibrated hardware stationarity.",
          "tcp_pose_within_bounds": true,
          "terminal_tcp_orientation_delta_rad": 0.003126715156938924,
          "terminal_tcp_position_delta_m": [
            -0.0004848610166923173,
            4.126350648491969e-05,
            -0.0008335634956822824
          ]
        },
        "status": "inspected"
      },
      "files": {
        "episode.json.gz": {
          "bytes": 793476,
          "sha256": "5837f256723187734631411e884dcb754973a9f74dba95db461be6d8a6f6b7ef"
        },
        "evaluation.json": {
          "bytes": 12797,
          "sha256": "5857cec1ce1b6187a0ccb408f843d71422377b1abfd6368578b145766c036a6a"
        },
        "native.json": {
          "bytes": 13763,
          "sha256": "19cc1d5998901cbc12da2916add3096763081e9decbfc7193981bfabc4b871e0"
        },
        "native.npz": {
          "bytes": 4037481,
          "sha256": "d860c68fd1607ff87ec9ac125b354c2fbe48d3a8bfeaf7bb88e2427e90d6278d"
        },
        "started.json": {
          "bytes": 151,
          "sha256": "e8b3682eed9e6e41a658c945dc8e6c6ebabfafb75d3fd9ddb452d0fc9ef37887"
        }
      },
      "friction": 0.75,
      "id": "m45-f75-p0-measured_joint",
      "mass_kg": 0.045,
      "metrics": {
        "carry_complete": false,
        "carry_contact_loss_events": 0,
        "carry_contact_loss_tolerance_seconds": 0.04,
        "dwell_seconds": 0.0,
        "first_success_time_seconds": null,
        "grasp_seen": true,
        "lift_dwell_seconds": 0.0,
        "lift_seen": false,
        "max_carry_contact_loss_seconds": 0.0,
        "max_object_lift_m": 0.007491665705418427,
        "max_pad_normal_force_n": 0.43998874360634177,
        "physical_robot_ready": false,
        "reason": "timeout",
        "retention_lost": false,
        "simulation_time": 20.00000000000146,
        "steps": 1000,
        "success": false,
        "target_distance_m": 0.1150802328123038,
        "unexpected_contact_native_ticks": 0,
        "valid": true,
        "warnings": []
      },
      "policy": {
        "abort_reason": "probe_height_not_retained",
        "acquisition_contract": {
          "comparison_scope": "Closed-loop variants may acquire different trajectories through early hold/retry. This is not an isolated classifier ablation.",
          "control_dt_s": 0.02,
          "evidence_admission": "Current bilateral force >0.01 N, no table support, object rise >=6 mm and TCP-local offset drift <=3 mm continuously across sampled boundaries for elapsed >=100 ms.",
          "hold": "Latch measured six arm joints and the last issued jaw target at admission/terminal invalidity. No full lift/transfer, no squeeze escalation, no post-admission retry.",
          "invalidation": "At each subsequent 20 ms observation and final observation, invalidate immediately on lost contact/force, support, insufficient rise, >3 mm local drift or unexpected contact. Never requalify after terminal invalidity.",
          "observation_origin": "privileged_native_simulator_state",
          "parameters": {
            "close_timeout_s": 1.4,
            "consecutive_alarm_samples": 2,
            "max_retries": 1,
            "monitor_min_probe_motion_m": 0.003,
            "probe_height_m": 0.01,
            "probe_min_object_rise_m": 0.006,
            "probe_speed_m_s": 0.02,
            "probe_timeout_s": 1.4,
            "qualification_dwell_s": 0.1,
            "relative_drift_limit_m": 0.003,
            "retry_clearance_m": 0.012,
            "retry_open_timeout_s": 1.2,
            "retry_recenter_timeout_s": 1.5
          },
          "physical_robot_ready": false,
          "prefix": "Original GuardedPiperTaskPolicy approach/close and at most one supported open/recenter/retry; already uses authored native state, not a fully blind baseline.",
          "sampling_limit": "Independent 1 ms evidence may contradict sampled admission; that remains a finding. No sensor or material inference is implemented.",
          "schema": "dvidia.piper-probe-stop/v1",
          "stop_scope": "Holding native position targets is not physical arrest or calibrated force limiting; inertia and existing target rate limits can continue motion.",
          "timer_admission": "Same 10 mm/20 mm/s probe target law, admitted at elapsed >=600 ms from that probe start; no evidence predicate or slip alarm before admission. Unexpected contacts and bounded timeouts still stop.",
          "timer_admission_s": 0.6,
          "variants": [
            "evidence",
            "timer"
          ]
        },
        "acquisition_variant": "evidence",
        "active_probe_index": 0,
        "admission_time_s": 11.739999999998933,
        "admitted": false,
        "contract": {
          "acquisition": "Unchanged ProbeStopPolicy evidence acquisition, including its bounded supported retry. All variants share the same prefix through the first admission observation.",
          "cartesian": "Latch measured TCP position/orientation and preceding issued targets. Fixed joint bias equals issued target minus pose_action at the admission pose. First command repeats the exact issued target; later pose_action updates receive that fixed bias.",
          "control_dt_s": 0.02,
          "final_observation": "Repeat force, original eligibility and Cartesian pose-error checks. Do not solve or issue a hypothetical next control at the terminal observation.",
          "invalid_measurements": "Malformed, nonfinite or noncausal observations terminally refuse and raise without issuing a command. No measured-position stop is claimed from invalid measurements.",
          "issued_joint": "Latch the preceding issued six joint targets and the same last issued jaw target at admission.",
          "limits": {
            "initial_joint_bias_ceiling_rad": 0.08,
            "joint_correction_ceiling_rad": 0.03,
            "joint_correction_rate_rad_s": 0.1,
            "native_joint_target_margin_rad": 0.02,
            "per_finger_force_ceiling_n": 10.0,
            "tcp_orientation_error_ceiling_rad": 0.05,
            "tcp_position_error_ceiling_m": 0.004
          },
          "measured_joint": "Original hold: latch measured six joint coordinates and the last issued jaw target at admission.",
          "observation_origin": "privileged_native_simulator_state",
          "physical_robot_ready": false,
          "qualifications": "Engineering limits and the 10 N ceiling are authored synthetic assumptions, not damage limits or calibrated physical telemetry. Position targets are not physical stops or force limiters. No load/friction inference, model training or complete placement is implemented.",
          "rate_scope": "The extra correction slews at at most 0.002 rad per 20 ms per joint. Original native 1 ms target slew, servos, gains and force caps remain unchanged.",
          "refusal": "Original eligibility loss, unexpected contact or observed pad force >10 N terminally requests measured joint hold and the frozen jaw target. Cartesian error, initial-bias, total-correction or native-margin exhaustion also refuses terminally; it never chases an already failed grip.",
          "sampling": "Control checks occur at 20 ms boundaries. Independent saved 1 ms native evidence must judge a continuous 5 s hold; missed between-boundary failures remain findings.",
          "schema": "dvidia.piper-retention/v2",
          "variants": [
            "measured_joint",
            "issued_joint",
            "cartesian"
          ]
        },
        "events": [
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "continue",
              "drift_streak": 0,
              "object_height_delta_m": 0.0,
              "phase": "probe",
              "progress_streak": 0,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0,
              "retry_index": 0,
              "t_seconds": 11.139999999999265,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_probe",
            "probe_index": 0,
            "reason": "slow_load_bearing_check",
            "retention_variant": "measured_joint",
            "retry_index": 0,
            "status": "probing",
            "t_seconds": 11.139999999999265,
            "type": "probe_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "bounded_measured_joint_hold",
              "drift_streak": 0,
              "object_height_delta_m": 0.007423056020000693,
              "phase": "probe",
              "progress_streak": 0,
              "qualification_dwell_seconds": 0.09999999999994458,
              "qualified": true,
              "relative_offset_error_m": 7.087848255248297e-05,
              "retry_index": 0,
              "t_seconds": 11.739999999998933,
              "table_supported": false,
              "tcp_probe_height_delta_m": 0.007525622970947235
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "probe_stop",
            "probe_index": 0,
            "reason": "sampled_probe_evidence",
            "retention_hold_reference": {
              "fixed_bias_rad": null,
              "frozen_jaw_target_m": 0.0,
              "issued_joint_targets_rad": [
                -0.09038596825475165,
                1.7226059482221079,
                -1.1563235587244924,
                -9.718192404689624e-05,
                1.0806769568527692,
                -0.09390547391320955
              ],
              "measured_joint_position_rad": [
                -0.0903968398850207,
                1.7274299350288396,
                -1.1516050772541737,
                -0.00011104927282593327,
                1.053696981573196,
                -0.0938728729886416
              ],
              "position_m": [
                0.3092227880792904,
                -0.02662923821057582,
                0.08940452151639576
              ],
              "quaternion_wxyz": [
                0.014195069893356194,
                -0.0017608720345622115,
                0.9998967698379423,
                -0.001359774999728076
              ],
              "raw_pose_joint_targets_rad": null,
              "t_seconds": 11.739999999998933
            },
            "retention_variant": "measured_joint",
            "retry_index": 0,
            "status": "qualified_hold",
            "t_seconds": 11.739999999998933,
            "type": "evidence_qualified",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm_and_freeze_issued_jaw",
              "drift_streak": 0,
              "object_height_delta_m": 0.005998214526752754,
              "phase": "probe_hold",
              "progress_streak": 0,
              "qualification_dwell_seconds": 6.219999999999857,
              "qualified": false,
              "relative_offset_error_m": 0.0006616246996175076,
              "retry_index": 0,
              "t_seconds": 17.859999999998845,
              "table_supported": false,
              "tcp_probe_height_delta_m": 0.00669152546344097
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "probe_stop",
            "probe_index": 0,
            "reason": "probe_height_not_retained",
            "retention_variant": "measured_joint",
            "retry_index": 0,
            "status": "invalidated_hold",
            "t_seconds": 17.859999999998845,
            "type": "hold_invalidated",
            "variant": "evidence"
          }
        ],
        "ever_admitted": true,
        "final_observed": true,
        "frozen_jaw_target_m": 0.0,
        "initial_context": {
          "object_position_m": [
            0.3030001370663246,
            -0.02600003118840795,
            0.07989224451748381
          ],
          "observation_origin": "privileged_native_simulator_state",
          "t_seconds": 0.0,
          "tcp_position_m": [
            0.4890696662845219,
            0.0014141975654808877,
            0.3665849431043091
          ],
          "tcp_quaternion_wxyz": [
            0.6580840948238629,
            2.7730466224793136e-07,
            0.7529444362872891,
            -1.9485471114950535e-06
          ]
        },
        "last_observed_s": 20.00000000000146,
        "observation_origin": "privileged_native_simulator_state",
        "physical_robot_ready": false,
        "probes": [
          {
            "admission_time_s": 11.739999999998933,
            "disposition": "invalidated_hold",
            "end_time_s": 17.859999999998845,
            "local_offset_origin_m": [
              0.002336515211198027,
              0.00029626422735269214,
              0.001928834333442633
            ],
            "object_origin_m": [
              0.3028593923752323,
              -0.02597086304997704,
              0.07992427613721784
            ],
            "observation_origin": "privileged_native_simulator_state",
            "probe_index": 0,
            "reason": "probe_height_not_retained",
            "start_time_s": 11.139999999999265,
            "tcp_origin_m": [
              0.3051756855424179,
              -0.026256721258408052,
              0.08187889854544853
            ],
            "tcp_quaternion_wxyz": [
              0.005473733224518595,
              -0.0017784920994344897,
              0.9999832869283901,
              -0.0005487024076093146
            ]
          }
        ],
        "retention": {
          "hold_reference": {
            "fixed_bias_rad": null,
            "frozen_jaw_target_m": 0.0,
            "issued_joint_targets_rad": [
              -0.09038596825475165,
              1.7226059482221079,
              -1.1563235587244924,
              -9.718192404689624e-05,
              1.0806769568527692,
              -0.09390547391320955
            ],
            "measured_joint_position_rad": [
              -0.0903968398850207,
              1.7274299350288396,
              -1.1516050772541737,
              -0.00011104927282593327,
              1.053696981573196,
              -0.0938728729886416
            ],
            "position_m": [
              0.3092227880792904,
              -0.02662923821057582,
              0.08940452151639576
            ],
            "quaternion_wxyz": [
              0.014195069893356194,
              -0.0017608720345622115,
              0.9998967698379423,
              -0.001359774999728076
            ],
            "raw_pose_joint_targets_rad": null,
            "t_seconds": 11.739999999998933
          },
          "input_refusals": [],
          "native_joint_control_limits_rad": [
            [
              -2.618,
              2.618
            ],
            [
              0.0,
              3.14
            ],
            [
              -2.697,
              0.0
            ],
            [
              -1.832,
              1.832
            ],
            [
              -1.22,
              1.22
            ],
            [
              -3.14,
              3.14
            ]
          ],
          "variant": "measured_joint"
        },
        "retry_count": 0,
        "schema": "dvidia.piper-retention/v2",
        "status": "invalidated_hold",
        "stop_targets_rad": [
          -0.09039683984248893,
          1.7291273494415262,
          -1.1503116564421305,
          -0.00012562869682044,
          1.0538338510094034,
          -0.09387298183266893
        ],
        "variant": "measured_joint"
      },
      "scene_id": "m45-f75-p0",
      "timing": {
        "policy_cpu": {
          "maximum_s": 0.00038599999999999746,
          "mean_s": 5.493100000000362e-05,
          "over_20ms": 0,
          "p50_s": 5.100000000002325e-05,
          "p95_s": 0.00014604999999998642,
          "p99_s": 0.0002300700000001709,
          "samples": 1000
        },
        "policy_wall": {
          "maximum_s": 0.003721540793776512,
          "mean_s": 6.289303582161665e-05,
          "over_20ms": 0,
          "p50_s": 5.0854403525590897e-05,
          "p95_s": 0.0001578964758664369,
          "p99_s": 0.0002868189197033643,
          "samples": 1000
        },
        "step_cpu": {
          "maximum_s": 0.009977000000000125,
          "mean_s": 0.0018244520000000079,
          "over_20ms": 0,
          "p50_s": 0.001947000000000143,
          "p95_s": 0.002774999999999972,
          "p99_s": 0.003846730000000015,
          "samples": 1000
        },
        "step_wall": {
          "maximum_s": 0.1637159581296146,
          "mean_s": 0.0021136938487179577,
          "over_20ms": 2,
          "p50_s": 0.0019537087064236403,
          "p95_s": 0.0030981544870883225,
          "p99_s": 0.006426464254036542,
          "samples": 1000
        }
      },
      "valid": true,
      "variant": "measured_joint"
    },
    {
      "error": null,
      "evaluation": {
        "corrections": {
          "bound_refusal_counts": {},
          "flag_counts": {
            "correction_rate_limited": 0
          },
          "hold_record_count": 414,
          "input_refusals": [],
          "maximum_abs_active_correction_rad": null,
          "maximum_abs_desired_correction_rad": null,
          "rate_limited_axis_occurrences": 0,
          "scope": "Includes recorded final diagnostic checks; only command_issued rows represent issued controls."
        },
        "decomposition": {
          "elapsed_s": 5.0,
          "local_offset_change_m": 0.0004905685004022369,
          "object_world_z_delta_m": 0.0012329675023812353,
          "relative_world_z_delta_m": -0.0004427782904803945,
          "scope": "Kinematic components, not causal attribution or calibrated physical slip.",
          "tcp_world_z_delta_m": 0.0016757457928616298
        },
        "final": {
          "both_qualified": true,
          "controller_qualified": true,
          "evidence_admissible": true,
          "native_qualified": true
        },
        "first_admission": {
          "native_prefix_qualified": true,
          "native_qualifying_window_s": 0.107,
          "probe_index": 0,
          "time_s": 11.739999999998933
        },
        "native": {
          "arrays_sha256": "749fc5bd94912b3a83849b177bfc1115cf2b1da924ab9a264d017686ce4b16c5",
          "complete": true,
          "maximum_per_finger_force_n": 0.43998874360634177,
          "rows": 20000,
          "unexpected_contact_native_ticks": 0,
          "valid": true,
          "warnings": []
        },
        "physical_robot_ready": false,
        "primary": {
          "all_native_hold_forces_within_ceiling": true,
          "combined_qualified_pause": true,
          "complete_5s": true,
          "controller_retained_at_5s": true,
          "first_native_predicate_failure_s": null,
          "followup_available_s": 8.260000000002528,
          "native_pause_success": true,
          "reason": "success",
          "required_s": 5.0,
          "success": true,
          "target_time_s": 16.739999999998933
        },
        "probes": [
          {
            "claims": [
              {
                "native_prefix_qualified": true,
                "t_seconds": 11.739999999998933
              }
            ],
            "disposition": "qualified_hold",
            "final_native_qualified_from_origin": true,
            "probe_index": 0,
            "start_time_s": 11.139999999999265
          }
        ],
        "receipt": {
          "admission": {
            "observation_origin": "privileged_native_simulation_plus_caller_planning_assumptions",
            "physical_robot_ready": false,
            "planning": {
              "computed": {
                "conservative_required_load_n": 0.6686988749999999,
                "gravity_m_s2": 9.80665,
                "pose_specific_payload_limit_force_n": 0.980665,
                "two_finger_friction_capacity_n": 15.0
              },
              "observation_origin": "caller_declared_not_verified",
              "physical_robot_ready": false,
              "reasons": [
                "Declared checks pass for simulated transport planning; this is not hardware qualification."
              ],
              "schema": "dvidia.task-feasibility-result/v1",
              "scope": "Planning assessment only. Parallel two-finger vertical-lift approximation; ignores moment, center of mass, deformation, transient impacts and unmodeled contact effects. Unknown values remain unknown; mass is never inferred from images. Probe/test-lift/controller integration is not implemented. No hardware actuation is performed; this is not hardware qualification.",
              "status": "ready_for_simulated_transport"
            },
            "probe": {
              "admissible": true,
              "historical_qualified": true,
              "latest_qualified": true,
              "physical_robot_ready": false,
              "reasons": [],
              "receipt_sha256": "ec28a14115c92613c45cf25555a5af5d5e0f43f818c192c8094860cda41b7700",
              "schema": "dvidia.probe-evidence-verification/v1",
              "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.",
              "verified": true
            },
            "schema": "dvidia.task-feasibility-with-probe/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification. Unknown planning values remain unknown. The unchanged approximate vertical-lift planning gate describes declared loads; it supplies no transport path, geospatial-goal contract or actuator permission. This wrapper never issues controls.",
            "status": "ready_for_simulated_transport"
          },
          "context": {
            "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
            "calibration_id": "synthetic_probe_v01",
            "calibration_scope": "simulation_assumptions_not_hardware",
            "command_sha256": "8e3805d362bb7f569863645aedbccedbf4050484b582448cd3d1fe49d93a87a8",
            "feasibility_sha256": "a34ec9edcd0a1ea2f88527a6a65ee69b7eecdd1d1c3b01e8d43a8b1947238749",
            "grasp_id": "m45-f75-p0-issued_joint-probe-0",
            "initial_object_position_m": [
              0.3030001370663246,
              -0.02600003118840795,
              0.07989224451748381
            ],
            "model_sha256": "21741d7ad037d578a345b6b95aa7aaa8a91948dd83b2f5e3991b0c548586cb7a",
            "native_status": {
              "simulation_time_s": 20.00000000000146,
              "unexpected_contact_native_ticks": 0,
              "valid": true,
              "warnings": []
            },
            "object_id": "task_block",
            "per_finger_force_ceiling_n": 10.0,
            "pose_binding_sha256": "4692f1347dee75840c29427809e57018fd6a556135116ad249a1e9c060397bed",
            "probe_index": 0,
            "probe_origin_object_position_m": [
              0.3028593923752323,
              -0.02597086304997704,
              0.07992427613721784
            ],
            "probe_origin_tcp_local_offset_m": [
              0.002336515211198027,
              0.00029626422735269214,
              0.001928834333442633
            ],
            "probe_start_s": 11.139999999999265,
            "robot_profile": "piper",
            "run_id": "m45-f75-p0-issued_joint",
            "schema": "dvidia.probe-context/v1",
            "source_sha256": "cc82eb867d3a927a487317b2e9e470fcb8f53e9da000a1764b7c5a1878883e69"
          },
          "physical_robot_ready": false,
          "planning_input": {
            "allowed_pose_tolerance_m": 0.003,
            "calibration_id": "synthetic_probe_v01",
            "friction_interval": [
              0.75,
              0.75
            ],
            "geometry_known": true,
            "gripper_max_opening_interval_m": [
              0.07,
              0.07
            ],
            "gripper_min_closure_m": 0.0,
            "mass_interval_kg": [
              0.045,
              0.045
            ],
            "object_width_interval_m": [
              0.04,
              0.04
            ],
            "observations_fresh": true,
            "per_finger_normal_force_budget_n": 10.0,
            "planned_upward_accel_m_s2": 0.1,
            "pose_specific_payload_limit_kg": 0.1,
            "pose_uncertainty_m": 0.0,
            "reachability": "reachable",
            "safety_factor": 1.5,
            "schema": "dvidia.task-feasibility-input/v1",
            "slip_detected": false,
            "test_lift_passed": false
          },
          "receipt": {
            "audit": {
              "controller_claim_mismatches": [],
              "controller_claims_checked": 2,
              "controller_conservative_abstention_count": 0,
              "controller_coverage": "Only the supplied claims are checked; omitted decisions are not inferred.",
              "controller_false_qualification_count": 0,
              "controller_positive_claims": 2,
              "force_ceiling_known": true,
              "maximum_observed_per_finger_force_n": 0.43998874360634177,
              "reasons": [],
              "rows": 20000,
              "unexpected_contact_native_ticks": 0,
              "valid": true
            },
            "context": {
              "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
              "calibration_id": "synthetic_probe_v01",
              "calibration_scope": "simulation_assumptions_not_hardware",
              "command_sha256": "8e3805d362bb7f569863645aedbccedbf4050484b582448cd3d1fe49d93a87a8",
              "feasibility_sha256": "a34ec9edcd0a1ea2f88527a6a65ee69b7eecdd1d1c3b01e8d43a8b1947238749",
              "grasp_id": "m45-f75-p0-issued_joint-probe-0",
              "initial_object_position_m": [
                0.3030001370663246,
                -0.02600003118840795,
                0.07989224451748381
              ],
              "model_sha256": "21741d7ad037d578a345b6b95aa7aaa8a91948dd83b2f5e3991b0c548586cb7a",
              "native_status": {
                "simulation_time_s": 20.00000000000146,
                "unexpected_contact_native_ticks": 0,
                "valid": true,
                "warnings": []
              },
              "object_id": "task_block",
              "per_finger_force_ceiling_n": 10.0,
              "pose_binding_sha256": "4692f1347dee75840c29427809e57018fd6a556135116ad249a1e9c060397bed",
              "probe_index": 0,
              "probe_origin_object_position_m": [
                0.3028593923752323,
                -0.02597086304997704,
                0.07992427613721784
              ],
              "probe_origin_tcp_local_offset_m": [
                0.002336515211198027,
                0.00029626422735269214,
                0.001928834333442633
              ],
              "probe_start_s": 11.139999999999265,
              "robot_profile": "piper",
              "run_id": "m45-f75-p0-issued_joint",
              "schema": "dvidia.probe-context/v1",
              "source_sha256": "cc82eb867d3a927a487317b2e9e470fcb8f53e9da000a1764b7c5a1878883e69"
            },
            "context_sha256": "82288d933147d73531b365f63d5288880337520921257f507b0dd34787e0023f",
            "controller_qualifications": [
              {
                "probe_index": 0,
                "qualified": true,
                "t_seconds": 11.739999999998933
              },
              {
                "probe_index": 0,
                "qualified": true,
                "t_seconds": 20.00000000000146
              }
            ],
            "criteria": {
              "distance_comparison_epsilon": 1e-12,
              "initial_sample_tolerance_m": 0.001,
              "maximum_tcp_local_drift_m": 0.003,
              "minimum_continuous_dwell_s": 0.1,
              "minimum_per_finger_force_n_exclusive": 0.01,
              "minimum_rise_m": 0.006,
              "native_dt_s": 0.001,
              "origin_tolerance_m": 1e-09,
              "time_tolerance_s": 1e-08
            },
            "history": {
              "ever_qualified": true,
              "first_qualified_s": 11.732999999998937,
              "maximum_continuous_qualifying_s": 8.367
            },
            "latest": {
              "condition_valid": true,
              "continuous_qualifying_s": 8.367,
              "controller_claim": {
                "probe_index": 0,
                "qualified": true,
                "t_seconds": 20.00000000000146
              },
              "native_tick": 20000,
              "qualified": true,
              "rise_m": 0.008340088841064228,
              "tcp_local_drift_m": 0.000871361083389665,
              "time_s": 20.00000000000146
            },
            "metadata_sha256": "ad8229630cc9f8718829bb8317b1a82480dcf18b9f71bd23666acfe71a003ef7",
            "native_arrays_sha256": "749fc5bd94912b3a83849b177bfc1115cf2b1da924ab9a264d017686ce4b16c5",
            "physical_robot_ready": false,
            "receipt_sha256": "ec28a14115c92613c45cf25555a5af5d5e0f43f818c192c8094860cda41b7700",
            "schema": "dvidia.probe-evidence/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification."
          },
          "status": "inspected",
          "verification": {
            "admissible": true,
            "historical_qualified": true,
            "latest_qualified": true,
            "physical_robot_ready": false,
            "reasons": [],
            "receipt_sha256": "ec28a14115c92613c45cf25555a5af5d5e0f43f818c192c8094860cda41b7700",
            "schema": "dvidia.probe-evidence-verification/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.",
            "verified": true
          }
        },
        "stationarity": {
          "complete_5s": true,
          "grip_retention_and_stationarity": false,
          "maximum_tcp_orientation_excursion_rad": 0.020255108180435282,
          "maximum_tcp_position_excursion_m": 0.004802049069440935,
          "orientation_ceiling_rad": 0.05,
          "position_ceiling_m": 0.004,
          "required_s": 5.0,
          "scope": "Common recorded native TCP pose endpoint, not calibrated hardware stationarity.",
          "tcp_pose_within_bounds": false,
          "terminal_tcp_orientation_delta_rad": 0.020255108180435282,
          "terminal_tcp_position_delta_m": [
            -0.004481534249646368,
            0.00040914798334057076,
            0.0016757457928616298
          ]
        },
        "status": "inspected"
      },
      "files": {
        "episode.json.gz": {
          "bytes": 790961,
          "sha256": "45ef27f1d9f07c88bcd4f643d0b13886d32df38a210c6910a6527b1d34ffb730"
        },
        "evaluation.json": {
          "bytes": 12567,
          "sha256": "89f7ce7e93e7526564329fdf712a3d0857122fd1c8766c3c51dd68585026b82d"
        },
        "native.json": {
          "bytes": 13763,
          "sha256": "19cc1d5998901cbc12da2916add3096763081e9decbfc7193981bfabc4b871e0"
        },
        "native.npz": {
          "bytes": 4060232,
          "sha256": "83bec1a52ef204a524ce268d9ea8d418456c94e2d4429cdc7afe7b677bec2178"
        },
        "started.json": {
          "bytes": 149,
          "sha256": "9202ad07bf5a11f5122373ab86a9a798ea2c3ce3b8ac6ece2c8f5c86f0534dea"
        }
      },
      "friction": 0.75,
      "id": "m45-f75-p0-issued_joint",
      "mass_kg": 0.045,
      "metrics": {
        "carry_complete": false,
        "carry_contact_loss_events": 0,
        "carry_contact_loss_tolerance_seconds": 0.04,
        "dwell_seconds": 0.0,
        "first_success_time_seconds": null,
        "grasp_seen": true,
        "lift_dwell_seconds": 0.0,
        "lift_seen": false,
        "max_carry_contact_loss_seconds": 0.0,
        "max_object_lift_m": 0.008900560113989084,
        "max_pad_normal_force_n": 0.43998874360634177,
        "physical_robot_ready": false,
        "reason": "timeout",
        "retention_lost": false,
        "simulation_time": 20.00000000000146,
        "steps": 1000,
        "success": false,
        "target_distance_m": 0.1163846086290632,
        "unexpected_contact_native_ticks": 0,
        "valid": true,
        "warnings": []
      },
      "policy": {
        "abort_reason": null,
        "acquisition_contract": {
          "comparison_scope": "Closed-loop variants may acquire different trajectories through early hold/retry. This is not an isolated classifier ablation.",
          "control_dt_s": 0.02,
          "evidence_admission": "Current bilateral force >0.01 N, no table support, object rise >=6 mm and TCP-local offset drift <=3 mm continuously across sampled boundaries for elapsed >=100 ms.",
          "hold": "Latch measured six arm joints and the last issued jaw target at admission/terminal invalidity. No full lift/transfer, no squeeze escalation, no post-admission retry.",
          "invalidation": "At each subsequent 20 ms observation and final observation, invalidate immediately on lost contact/force, support, insufficient rise, >3 mm local drift or unexpected contact. Never requalify after terminal invalidity.",
          "observation_origin": "privileged_native_simulator_state",
          "parameters": {
            "close_timeout_s": 1.4,
            "consecutive_alarm_samples": 2,
            "max_retries": 1,
            "monitor_min_probe_motion_m": 0.003,
            "probe_height_m": 0.01,
            "probe_min_object_rise_m": 0.006,
            "probe_speed_m_s": 0.02,
            "probe_timeout_s": 1.4,
            "qualification_dwell_s": 0.1,
            "relative_drift_limit_m": 0.003,
            "retry_clearance_m": 0.012,
            "retry_open_timeout_s": 1.2,
            "retry_recenter_timeout_s": 1.5
          },
          "physical_robot_ready": false,
          "prefix": "Original GuardedPiperTaskPolicy approach/close and at most one supported open/recenter/retry; already uses authored native state, not a fully blind baseline.",
          "sampling_limit": "Independent 1 ms evidence may contradict sampled admission; that remains a finding. No sensor or material inference is implemented.",
          "schema": "dvidia.piper-probe-stop/v1",
          "stop_scope": "Holding native position targets is not physical arrest or calibrated force limiting; inertia and existing target rate limits can continue motion.",
          "timer_admission": "Same 10 mm/20 mm/s probe target law, admitted at elapsed >=600 ms from that probe start; no evidence predicate or slip alarm before admission. Unexpected contacts and bounded timeouts still stop.",
          "timer_admission_s": 0.6,
          "variants": [
            "evidence",
            "timer"
          ]
        },
        "acquisition_variant": "evidence",
        "active_probe_index": 0,
        "admission_time_s": 11.739999999998933,
        "admitted": true,
        "contract": {
          "acquisition": "Unchanged ProbeStopPolicy evidence acquisition, including its bounded supported retry. All variants share the same prefix through the first admission observation.",
          "cartesian": "Latch measured TCP position/orientation and preceding issued targets. Fixed joint bias equals issued target minus pose_action at the admission pose. First command repeats the exact issued target; later pose_action updates receive that fixed bias.",
          "control_dt_s": 0.02,
          "final_observation": "Repeat force, original eligibility and Cartesian pose-error checks. Do not solve or issue a hypothetical next control at the terminal observation.",
          "invalid_measurements": "Malformed, nonfinite or noncausal observations terminally refuse and raise without issuing a command. No measured-position stop is claimed from invalid measurements.",
          "issued_joint": "Latch the preceding issued six joint targets and the same last issued jaw target at admission.",
          "limits": {
            "initial_joint_bias_ceiling_rad": 0.08,
            "joint_correction_ceiling_rad": 0.03,
            "joint_correction_rate_rad_s": 0.1,
            "native_joint_target_margin_rad": 0.02,
            "per_finger_force_ceiling_n": 10.0,
            "tcp_orientation_error_ceiling_rad": 0.05,
            "tcp_position_error_ceiling_m": 0.004
          },
          "measured_joint": "Original hold: latch measured six joint coordinates and the last issued jaw target at admission.",
          "observation_origin": "privileged_native_simulator_state",
          "physical_robot_ready": false,
          "qualifications": "Engineering limits and the 10 N ceiling are authored synthetic assumptions, not damage limits or calibrated physical telemetry. Position targets are not physical stops or force limiters. No load/friction inference, model training or complete placement is implemented.",
          "rate_scope": "The extra correction slews at at most 0.002 rad per 20 ms per joint. Original native 1 ms target slew, servos, gains and force caps remain unchanged.",
          "refusal": "Original eligibility loss, unexpected contact or observed pad force >10 N terminally requests measured joint hold and the frozen jaw target. Cartesian error, initial-bias, total-correction or native-margin exhaustion also refuses terminally; it never chases an already failed grip.",
          "sampling": "Control checks occur at 20 ms boundaries. Independent saved 1 ms native evidence must judge a continuous 5 s hold; missed between-boundary failures remain findings.",
          "schema": "dvidia.piper-retention/v2",
          "variants": [
            "measured_joint",
            "issued_joint",
            "cartesian"
          ]
        },
        "events": [
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "continue",
              "drift_streak": 0,
              "object_height_delta_m": 0.0,
              "phase": "probe",
              "progress_streak": 0,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0,
              "retry_index": 0,
              "t_seconds": 11.139999999999265,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_probe",
            "probe_index": 0,
            "reason": "slow_load_bearing_check",
            "retention_variant": "issued_joint",
            "retry_index": 0,
            "status": "probing",
            "t_seconds": 11.139999999999265,
            "type": "probe_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "bounded_issued_joint_hold",
              "drift_streak": 0,
              "object_height_delta_m": 0.007423056020000693,
              "phase": "probe",
              "progress_streak": 0,
              "qualification_dwell_seconds": 0.09999999999994458,
              "qualified": true,
              "relative_offset_error_m": 7.087848255248297e-05,
              "retry_index": 0,
              "t_seconds": 11.739999999998933,
              "table_supported": false,
              "tcp_probe_height_delta_m": 0.007525622970947235
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "probe_stop",
            "probe_index": 0,
            "reason": "sampled_probe_evidence",
            "retention_hold_reference": {
              "fixed_bias_rad": null,
              "frozen_jaw_target_m": 0.0,
              "issued_joint_targets_rad": [
                -0.09038596825475165,
                1.7226059482221079,
                -1.1563235587244924,
                -9.718192404689624e-05,
                1.0806769568527692,
                -0.09390547391320955
              ],
              "measured_joint_position_rad": [
                -0.0903968398850207,
                1.7274299350288396,
                -1.1516050772541737,
                -0.00011104927282593327,
                1.053696981573196,
                -0.0938728729886416
              ],
              "position_m": [
                0.3092227880792904,
                -0.02662923821057582,
                0.08940452151639576
              ],
              "quaternion_wxyz": [
                0.014195069893356194,
                -0.0017608720345622115,
                0.9998967698379423,
                -0.001359774999728076
              ],
              "raw_pose_joint_targets_rad": null,
              "t_seconds": 11.739999999998933
            },
            "retention_variant": "issued_joint",
            "retry_index": 0,
            "status": "qualified_hold",
            "t_seconds": 11.739999999998933,
            "type": "evidence_qualified",
            "variant": "evidence"
          }
        ],
        "ever_admitted": true,
        "final_observed": true,
        "frozen_jaw_target_m": 0.0,
        "initial_context": {
          "object_position_m": [
            0.3030001370663246,
            -0.02600003118840795,
            0.07989224451748381
          ],
          "observation_origin": "privileged_native_simulator_state",
          "t_seconds": 0.0,
          "tcp_position_m": [
            0.4890696662845219,
            0.0014141975654808877,
            0.3665849431043091
          ],
          "tcp_quaternion_wxyz": [
            0.6580840948238629,
            2.7730466224793136e-07,
            0.7529444362872891,
            -1.9485471114950535e-06
          ]
        },
        "last_observed_s": 20.00000000000146,
        "observation_origin": "privileged_native_simulator_state",
        "physical_robot_ready": false,
        "probes": [
          {
            "admission_time_s": 11.739999999998933,
            "disposition": "qualified_hold",
            "end_time_s": null,
            "local_offset_origin_m": [
              0.002336515211198027,
              0.00029626422735269214,
              0.001928834333442633
            ],
            "object_origin_m": [
              0.3028593923752323,
              -0.02597086304997704,
              0.07992427613721784
            ],
            "observation_origin": "privileged_native_simulator_state",
            "probe_index": 0,
            "reason": null,
            "start_time_s": 11.139999999999265,
            "tcp_origin_m": [
              0.3051756855424179,
              -0.026256721258408052,
              0.08187889854544853
            ],
            "tcp_quaternion_wxyz": [
              0.005473733224518595,
              -0.0017784920994344897,
              0.9999832869283901,
              -0.0005487024076093146
            ]
          }
        ],
        "retention": {
          "hold_reference": {
            "fixed_bias_rad": null,
            "frozen_jaw_target_m": 0.0,
            "issued_joint_targets_rad": [
              -0.09038596825475165,
              1.7226059482221079,
              -1.1563235587244924,
              -9.718192404689624e-05,
              1.0806769568527692,
              -0.09390547391320955
            ],
            "measured_joint_position_rad": [
              -0.0903968398850207,
              1.7274299350288396,
              -1.1516050772541737,
              -0.00011104927282593327,
              1.053696981573196,
              -0.0938728729886416
            ],
            "position_m": [
              0.3092227880792904,
              -0.02662923821057582,
              0.08940452151639576
            ],
            "quaternion_wxyz": [
              0.014195069893356194,
              -0.0017608720345622115,
              0.9998967698379423,
              -0.001359774999728076
            ],
            "raw_pose_joint_targets_rad": null,
            "t_seconds": 11.739999999998933
          },
          "input_refusals": [],
          "native_joint_control_limits_rad": [
            [
              -2.618,
              2.618
            ],
            [
              0.0,
              3.14
            ],
            [
              -2.697,
              0.0
            ],
            [
              -1.832,
              1.832
            ],
            [
              -1.22,
              1.22
            ],
            [
              -3.14,
              3.14
            ]
          ],
          "variant": "issued_joint"
        },
        "retry_count": 0,
        "schema": "dvidia.piper-retention/v2",
        "status": "qualified_hold",
        "stop_targets_rad": [
          -0.09038596825475165,
          1.7226059482221079,
          -1.1563235587244924,
          -9.718192404689624e-05,
          1.0806769568527692,
          -0.09390547391320955
        ],
        "variant": "issued_joint"
      },
      "scene_id": "m45-f75-p0",
      "timing": {
        "policy_cpu": {
          "maximum_s": 0.0002319999999995659,
          "mean_s": 4.082000000001518e-05,
          "over_20ms": 0,
          "p50_s": 4.7000000000352316e-05,
          "p95_s": 6.500000000020378e-05,
          "p99_s": 9.704999999934567e-05,
          "samples": 1000
        },
        "policy_wall": {
          "maximum_s": 0.0002470831386744976,
          "mean_s": 4.1137230582535266e-05,
          "over_20ms": 0,
          "p50_s": 4.733400419354439e-05,
          "p95_s": 6.596182938665151e-05,
          "p99_s": 0.0001034450903534889,
          "samples": 1000
        },
        "step_cpu": {
          "maximum_s": 0.01223700000000072,
          "mean_s": 0.0016842069999999795,
          "over_20ms": 0,
          "p50_s": 0.0014284999999998327,
          "p95_s": 0.002358900000000074,
          "p99_s": 0.0031627699999996653,
          "samples": 1000
        },
        "step_wall": {
          "maximum_s": 0.013444541022181511,
          "mean_s": 0.0017083295923657716,
          "over_20ms": 0,
          "p50_s": 0.001461521489545703,
          "p95_s": 0.002415341278538108,
          "p99_s": 0.003285197261720894,
          "samples": 1000
        }
      },
      "valid": true,
      "variant": "issued_joint"
    },
    {
      "error": null,
      "evaluation": {
        "corrections": {
          "bound_refusal_counts": {
            "tcp_position_error_exhausted": 1
          },
          "flag_counts": {
            "correction_rate_limited": 0
          },
          "hold_record_count": 414,
          "input_refusals": [],
          "maximum_abs_active_correction_rad": 0.00024039487319726938,
          "maximum_abs_desired_correction_rad": 0.00024039487319726938,
          "rate_limited_axis_occurrences": 0,
          "scope": "Includes recorded final diagnostic checks; only command_issued rows represent issued controls."
        },
        "decomposition": {
          "elapsed_s": 5.0,
          "local_offset_change_m": 0.0004905510949818899,
          "object_world_z_delta_m": 0.00031976496686822453,
          "relative_world_z_delta_m": -0.00044513616525196364,
          "scope": "Kinematic components, not causal attribution or calibrated physical slip.",
          "tcp_world_z_delta_m": 0.0007649011321201882
        },
        "final": {
          "both_qualified": false,
          "controller_qualified": false,
          "evidence_admissible": false,
          "native_qualified": true
        },
        "first_admission": {
          "native_prefix_qualified": true,
          "native_qualifying_window_s": 0.107,
          "probe_index": 0,
          "time_s": 11.739999999998933
        },
        "native": {
          "arrays_sha256": "c868a3bb485e415466441008778131f101ab22a760e4d6bfa64b913ab4c56c9c",
          "complete": true,
          "maximum_per_finger_force_n": 0.43998874360634177,
          "rows": 20000,
          "unexpected_contact_native_ticks": 0,
          "valid": true,
          "warnings": []
        },
        "physical_robot_ready": false,
        "primary": {
          "all_native_hold_forces_within_ceiling": true,
          "combined_qualified_pause": false,
          "complete_5s": true,
          "controller_retained_at_5s": false,
          "first_native_predicate_failure_s": null,
          "followup_available_s": 8.260000000002528,
          "native_pause_success": true,
          "reason": "success",
          "required_s": 5.0,
          "success": true,
          "target_time_s": 16.739999999998933
        },
        "probes": [
          {
            "claims": [
              {
                "native_prefix_qualified": true,
                "t_seconds": 11.739999999998933
              }
            ],
            "disposition": "invalidated_hold",
            "final_native_qualified_from_origin": true,
            "probe_index": 0,
            "start_time_s": 11.139999999999265
          }
        ],
        "receipt": {
          "admission": {
            "observation_origin": "privileged_native_simulation_plus_caller_planning_assumptions",
            "physical_robot_ready": false,
            "planning": {
              "computed": {
                "conservative_required_load_n": 0.6686988749999999,
                "gravity_m_s2": 9.80665,
                "pose_specific_payload_limit_force_n": 0.980665,
                "two_finger_friction_capacity_n": 15.0
              },
              "observation_origin": "caller_declared_not_verified",
              "physical_robot_ready": false,
              "reasons": [
                "Run and record a cautious test lift under the same calibrated pose and load conditions before simulated transport planning."
              ],
              "schema": "dvidia.task-feasibility-result/v1",
              "scope": "Planning assessment only. Parallel two-finger vertical-lift approximation; ignores moment, center of mass, deformation, transient impacts and unmodeled contact effects. Unknown values remain unknown; mass is never inferred from images. Probe/test-lift/controller integration is not implemented. No hardware actuation is performed; this is not hardware qualification.",
              "status": "test_lift_required"
            },
            "probe": {
              "admissible": false,
              "historical_qualified": true,
              "latest_qualified": true,
              "physical_robot_ready": false,
              "reasons": [
                "latest_controller_not_qualified"
              ],
              "receipt_sha256": "bca7986cc3c8b4d0f8f30e7dc6b8c86f180e0b9407d10920f396766bce5266de",
              "schema": "dvidia.probe-evidence-verification/v1",
              "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.",
              "verified": true
            },
            "schema": "dvidia.task-feasibility-with-probe/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification. Unknown planning values remain unknown. The unchanged approximate vertical-lift planning gate describes declared loads; it supplies no transport path, geospatial-goal contract or actuator permission. This wrapper never issues controls.",
            "status": "test_lift_required"
          },
          "context": {
            "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
            "calibration_id": "synthetic_probe_v01",
            "calibration_scope": "simulation_assumptions_not_hardware",
            "command_sha256": "56b6171e95087ac55bfc1eb7a7efa448c585bace360a7a2cb53ef6750c8ec7e7",
            "feasibility_sha256": "a34ec9edcd0a1ea2f88527a6a65ee69b7eecdd1d1c3b01e8d43a8b1947238749",
            "grasp_id": "m45-f75-p0-cartesian-probe-0",
            "initial_object_position_m": [
              0.3030001370663246,
              -0.02600003118840795,
              0.07989224451748381
            ],
            "model_sha256": "21741d7ad037d578a345b6b95aa7aaa8a91948dd83b2f5e3991b0c548586cb7a",
            "native_status": {
              "simulation_time_s": 20.00000000000146,
              "unexpected_contact_native_ticks": 0,
              "valid": true,
              "warnings": []
            },
            "object_id": "task_block",
            "per_finger_force_ceiling_n": 10.0,
            "pose_binding_sha256": "c38d5c6a6d06d24a46ab8ddd7590c6121dd8d8dddcebce3a05a7172f3722fecf",
            "probe_index": 0,
            "probe_origin_object_position_m": [
              0.3028593923752323,
              -0.02597086304997704,
              0.07992427613721784
            ],
            "probe_origin_tcp_local_offset_m": [
              0.002336515211198027,
              0.00029626422735269214,
              0.001928834333442633
            ],
            "probe_start_s": 11.139999999999265,
            "robot_profile": "piper",
            "run_id": "m45-f75-p0-cartesian",
            "schema": "dvidia.probe-context/v1",
            "source_sha256": "cc82eb867d3a927a487317b2e9e470fcb8f53e9da000a1764b7c5a1878883e69"
          },
          "physical_robot_ready": false,
          "planning_input": {
            "allowed_pose_tolerance_m": 0.003,
            "calibration_id": "synthetic_probe_v01",
            "friction_interval": [
              0.75,
              0.75
            ],
            "geometry_known": true,
            "gripper_max_opening_interval_m": [
              0.07,
              0.07
            ],
            "gripper_min_closure_m": 0.0,
            "mass_interval_kg": [
              0.045,
              0.045
            ],
            "object_width_interval_m": [
              0.04,
              0.04
            ],
            "observations_fresh": true,
            "per_finger_normal_force_budget_n": 10.0,
            "planned_upward_accel_m_s2": 0.1,
            "pose_specific_payload_limit_kg": 0.1,
            "pose_uncertainty_m": 0.0,
            "reachability": "reachable",
            "safety_factor": 1.5,
            "schema": "dvidia.task-feasibility-input/v1",
            "slip_detected": false,
            "test_lift_passed": false
          },
          "receipt": {
            "audit": {
              "controller_claim_mismatches": [
                {
                  "classification": "conservative_abstention",
                  "controller_qualified": false,
                  "native_prefix_qualified": true,
                  "t_seconds": 20.00000000000146
                }
              ],
              "controller_claims_checked": 2,
              "controller_conservative_abstention_count": 1,
              "controller_coverage": "Only the supplied claims are checked; omitted decisions are not inferred.",
              "controller_false_qualification_count": 0,
              "controller_positive_claims": 1,
              "force_ceiling_known": true,
              "maximum_observed_per_finger_force_n": 0.43998874360634177,
              "reasons": [],
              "rows": 20000,
              "unexpected_contact_native_ticks": 0,
              "valid": true
            },
            "context": {
              "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
              "calibration_id": "synthetic_probe_v01",
              "calibration_scope": "simulation_assumptions_not_hardware",
              "command_sha256": "56b6171e95087ac55bfc1eb7a7efa448c585bace360a7a2cb53ef6750c8ec7e7",
              "feasibility_sha256": "a34ec9edcd0a1ea2f88527a6a65ee69b7eecdd1d1c3b01e8d43a8b1947238749",
              "grasp_id": "m45-f75-p0-cartesian-probe-0",
              "initial_object_position_m": [
                0.3030001370663246,
                -0.02600003118840795,
                0.07989224451748381
              ],
              "model_sha256": "21741d7ad037d578a345b6b95aa7aaa8a91948dd83b2f5e3991b0c548586cb7a",
              "native_status": {
                "simulation_time_s": 20.00000000000146,
                "unexpected_contact_native_ticks": 0,
                "valid": true,
                "warnings": []
              },
              "object_id": "task_block",
              "per_finger_force_ceiling_n": 10.0,
              "pose_binding_sha256": "c38d5c6a6d06d24a46ab8ddd7590c6121dd8d8dddcebce3a05a7172f3722fecf",
              "probe_index": 0,
              "probe_origin_object_position_m": [
                0.3028593923752323,
                -0.02597086304997704,
                0.07992427613721784
              ],
              "probe_origin_tcp_local_offset_m": [
                0.002336515211198027,
                0.00029626422735269214,
                0.001928834333442633
              ],
              "probe_start_s": 11.139999999999265,
              "robot_profile": "piper",
              "run_id": "m45-f75-p0-cartesian",
              "schema": "dvidia.probe-context/v1",
              "source_sha256": "cc82eb867d3a927a487317b2e9e470fcb8f53e9da000a1764b7c5a1878883e69"
            },
            "context_sha256": "019fdb0d02aa75dccc55a0807b9855d1cb329b2196e41bf9eb26538b292fcdff",
            "controller_qualifications": [
              {
                "probe_index": 0,
                "qualified": true,
                "t_seconds": 11.739999999998933
              },
              {
                "probe_index": 0,
                "qualified": false,
                "t_seconds": 20.00000000000146
              }
            ],
            "criteria": {
              "distance_comparison_epsilon": 1e-12,
              "initial_sample_tolerance_m": 0.001,
              "maximum_tcp_local_drift_m": 0.003,
              "minimum_continuous_dwell_s": 0.1,
              "minimum_per_finger_force_n_exclusive": 0.01,
              "minimum_rise_m": 0.006,
              "native_dt_s": 0.001,
              "origin_tolerance_m": 1e-09,
              "time_tolerance_s": 1e-08
            },
            "history": {
              "ever_qualified": true,
              "first_qualified_s": 11.732999999998937,
              "maximum_continuous_qualifying_s": 8.367
            },
            "latest": {
              "condition_valid": true,
              "continuous_qualifying_s": 8.367,
              "controller_claim": {
                "probe_index": 0,
                "qualified": false,
                "t_seconds": 20.00000000000146
              },
              "native_tick": 20000,
              "qualified": true,
              "rise_m": 0.007420270635173434,
              "tcp_local_drift_m": 0.0008712944620152666,
              "time_s": 20.00000000000146
            },
            "metadata_sha256": "ad8229630cc9f8718829bb8317b1a82480dcf18b9f71bd23666acfe71a003ef7",
            "native_arrays_sha256": "c868a3bb485e415466441008778131f101ab22a760e4d6bfa64b913ab4c56c9c",
            "physical_robot_ready": false,
            "receipt_sha256": "bca7986cc3c8b4d0f8f30e7dc6b8c86f180e0b9407d10920f396766bce5266de",
            "schema": "dvidia.probe-evidence/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification."
          },
          "status": "inspected",
          "verification": {
            "admissible": false,
            "historical_qualified": true,
            "latest_qualified": true,
            "physical_robot_ready": false,
            "reasons": [
              "latest_controller_not_qualified"
            ],
            "receipt_sha256": "bca7986cc3c8b4d0f8f30e7dc6b8c86f180e0b9407d10920f396766bce5266de",
            "schema": "dvidia.probe-evidence-verification/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.",
            "verified": true
          }
        },
        "stationarity": {
          "complete_5s": true,
          "grip_retention_and_stationarity": false,
          "maximum_tcp_orientation_excursion_rad": 0.01923089464582827,
          "maximum_tcp_position_excursion_m": 0.004195621717174607,
          "orientation_ceiling_rad": 0.05,
          "position_ceiling_m": 0.004,
          "required_s": 5.0,
          "scope": "Common recorded native TCP pose endpoint, not calibrated hardware stationarity.",
          "tcp_pose_within_bounds": false,
          "terminal_tcp_orientation_delta_rad": 0.01923089464582827,
          "terminal_tcp_position_delta_m": [
            -0.004108448888284988,
            0.0003725796345189873,
            0.0007649011321201882
          ]
        },
        "status": "inspected"
      },
      "files": {
        "episode.json.gz": {
          "bytes": 817458,
          "sha256": "6f83bfca7a3b0a04ba7c9775afdc11f76a720131e960d44edd2d122f1707af50"
        },
        "evaluation.json": {
          "bytes": 12981,
          "sha256": "04602943bbb3cb1355eb2d681e721ccee7261aee4ef721b490c0304f50915ce5"
        },
        "native.json": {
          "bytes": 13763,
          "sha256": "19cc1d5998901cbc12da2916add3096763081e9decbfc7193981bfabc4b871e0"
        },
        "native.npz": {
          "bytes": 4041080,
          "sha256": "ce074002b053a223ade98a8c20ca9e00cca10a15c6941f9ed7a0f996e10b8c9e"
        },
        "started.json": {
          "bytes": 146,
          "sha256": "3b677ead37ce7b4d497f590690fe28703192d5f0d7c7996bcce009db11f2244c"
        }
      },
      "friction": 0.75,
      "id": "m45-f75-p0-cartesian",
      "mass_kg": 0.045,
      "metrics": {
        "carry_complete": false,
        "carry_contact_loss_events": 0,
        "carry_contact_loss_tolerance_seconds": 0.04,
        "dwell_seconds": 0.0,
        "first_success_time_seconds": null,
        "grasp_seen": true,
        "lift_dwell_seconds": 0.0,
        "lift_seen": false,
        "max_carry_contact_loss_seconds": 0.0,
        "max_object_lift_m": 0.00890651029848731,
        "max_pad_normal_force_n": 0.43998874360634177,
        "physical_robot_ready": false,
        "reason": "timeout",
        "retention_lost": false,
        "simulation_time": 20.00000000000146,
        "steps": 1000,
        "success": false,
        "target_distance_m": 0.11619813024966535,
        "unexpected_contact_native_ticks": 0,
        "valid": true,
        "warnings": []
      },
      "policy": {
        "abort_reason": "tcp_position_error_exhausted",
        "acquisition_contract": {
          "comparison_scope": "Closed-loop variants may acquire different trajectories through early hold/retry. This is not an isolated classifier ablation.",
          "control_dt_s": 0.02,
          "evidence_admission": "Current bilateral force >0.01 N, no table support, object rise >=6 mm and TCP-local offset drift <=3 mm continuously across sampled boundaries for elapsed >=100 ms.",
          "hold": "Latch measured six arm joints and the last issued jaw target at admission/terminal invalidity. No full lift/transfer, no squeeze escalation, no post-admission retry.",
          "invalidation": "At each subsequent 20 ms observation and final observation, invalidate immediately on lost contact/force, support, insufficient rise, >3 mm local drift or unexpected contact. Never requalify after terminal invalidity.",
          "observation_origin": "privileged_native_simulator_state",
          "parameters": {
            "close_timeout_s": 1.4,
            "consecutive_alarm_samples": 2,
            "max_retries": 1,
            "monitor_min_probe_motion_m": 0.003,
            "probe_height_m": 0.01,
            "probe_min_object_rise_m": 0.006,
            "probe_speed_m_s": 0.02,
            "probe_timeout_s": 1.4,
            "qualification_dwell_s": 0.1,
            "relative_drift_limit_m": 0.003,
            "retry_clearance_m": 0.012,
            "retry_open_timeout_s": 1.2,
            "retry_recenter_timeout_s": 1.5
          },
          "physical_robot_ready": false,
          "prefix": "Original GuardedPiperTaskPolicy approach/close and at most one supported open/recenter/retry; already uses authored native state, not a fully blind baseline.",
          "sampling_limit": "Independent 1 ms evidence may contradict sampled admission; that remains a finding. No sensor or material inference is implemented.",
          "schema": "dvidia.piper-probe-stop/v1",
          "stop_scope": "Holding native position targets is not physical arrest or calibrated force limiting; inertia and existing target rate limits can continue motion.",
          "timer_admission": "Same 10 mm/20 mm/s probe target law, admitted at elapsed >=600 ms from that probe start; no evidence predicate or slip alarm before admission. Unexpected contacts and bounded timeouts still stop.",
          "timer_admission_s": 0.6,
          "variants": [
            "evidence",
            "timer"
          ]
        },
        "acquisition_variant": "evidence",
        "active_probe_index": 0,
        "admission_time_s": 11.739999999998933,
        "admitted": false,
        "contract": {
          "acquisition": "Unchanged ProbeStopPolicy evidence acquisition, including its bounded supported retry. All variants share the same prefix through the first admission observation.",
          "cartesian": "Latch measured TCP position/orientation and preceding issued targets. Fixed joint bias equals issued target minus pose_action at the admission pose. First command repeats the exact issued target; later pose_action updates receive that fixed bias.",
          "control_dt_s": 0.02,
          "final_observation": "Repeat force, original eligibility and Cartesian pose-error checks. Do not solve or issue a hypothetical next control at the terminal observation.",
          "invalid_measurements": "Malformed, nonfinite or noncausal observations terminally refuse and raise without issuing a command. No measured-position stop is claimed from invalid measurements.",
          "issued_joint": "Latch the preceding issued six joint targets and the same last issued jaw target at admission.",
          "limits": {
            "initial_joint_bias_ceiling_rad": 0.08,
            "joint_correction_ceiling_rad": 0.03,
            "joint_correction_rate_rad_s": 0.1,
            "native_joint_target_margin_rad": 0.02,
            "per_finger_force_ceiling_n": 10.0,
            "tcp_orientation_error_ceiling_rad": 0.05,
            "tcp_position_error_ceiling_m": 0.004
          },
          "measured_joint": "Original hold: latch measured six joint coordinates and the last issued jaw target at admission.",
          "observation_origin": "privileged_native_simulator_state",
          "physical_robot_ready": false,
          "qualifications": "Engineering limits and the 10 N ceiling are authored synthetic assumptions, not damage limits or calibrated physical telemetry. Position targets are not physical stops or force limiters. No load/friction inference, model training or complete placement is implemented.",
          "rate_scope": "The extra correction slews at at most 0.002 rad per 20 ms per joint. Original native 1 ms target slew, servos, gains and force caps remain unchanged.",
          "refusal": "Original eligibility loss, unexpected contact or observed pad force >10 N terminally requests measured joint hold and the frozen jaw target. Cartesian error, initial-bias, total-correction or native-margin exhaustion also refuses terminally; it never chases an already failed grip.",
          "sampling": "Control checks occur at 20 ms boundaries. Independent saved 1 ms native evidence must judge a continuous 5 s hold; missed between-boundary failures remain findings.",
          "schema": "dvidia.piper-retention/v2",
          "variants": [
            "measured_joint",
            "issued_joint",
            "cartesian"
          ]
        },
        "events": [
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "continue",
              "drift_streak": 0,
              "object_height_delta_m": 0.0,
              "phase": "probe",
              "progress_streak": 0,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0,
              "retry_index": 0,
              "t_seconds": 11.139999999999265,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_probe",
            "probe_index": 0,
            "reason": "slow_load_bearing_check",
            "retention_variant": "cartesian",
            "retry_index": 0,
            "status": "probing",
            "t_seconds": 11.139999999999265,
            "type": "probe_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "bounded_cartesian_hold",
              "drift_streak": 0,
              "object_height_delta_m": 0.007423056020000693,
              "phase": "probe",
              "progress_streak": 0,
              "qualification_dwell_seconds": 0.09999999999994458,
              "qualified": true,
              "relative_offset_error_m": 7.087848255248297e-05,
              "retry_index": 0,
              "t_seconds": 11.739999999998933,
              "table_supported": false,
              "tcp_probe_height_delta_m": 0.007525622970947235
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "probe_stop",
            "probe_index": 0,
            "reason": "sampled_probe_evidence",
            "retention_hold_reference": {
              "fixed_bias_rad": [
                1.08716302690548e-05,
                -0.004823986806731684,
                -0.004718481470318725,
                1.3867348779038685e-05,
                0.026979975279573187,
                -3.26009245679576e-05
              ],
              "frozen_jaw_target_m": 0.0,
              "issued_joint_targets_rad": [
                -0.09038596825475165,
                1.7226059482221079,
                -1.1563235587244924,
                -9.718192404689624e-05,
                1.0806769568527692,
                -0.09390547391320955
              ],
              "measured_joint_position_rad": [
                -0.0903968398850207,
                1.7274299350288396,
                -1.1516050772541737,
                -0.00011104927282593327,
                1.053696981573196,
                -0.0938728729886416
              ],
              "position_m": [
                0.3092227880792904,
                -0.02662923821057582,
                0.08940452151639576
              ],
              "quaternion_wxyz": [
                0.014195069893356194,
                -0.0017608720345622115,
                0.9998967698379423,
                -0.001359774999728076
              ],
              "raw_pose_joint_targets_rad": [
                -0.0903968398850207,
                1.7274299350288396,
                -1.1516050772541737,
                -0.00011104927282593493,
                1.053696981573196,
                -0.0938728729886416
              ],
              "t_seconds": 11.739999999998933
            },
            "retention_variant": "cartesian",
            "retry_index": 0,
            "status": "qualified_hold",
            "t_seconds": 11.739999999998933,
            "type": "evidence_qualified",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm_and_freeze_issued_jaw",
              "drift_streak": 0,
              "object_height_delta_m": 0.00887445536748735,
              "phase": "probe_hold",
              "progress_streak": 0,
              "qualification_dwell_seconds": 1.7199999999990467,
              "qualified": false,
              "relative_offset_error_m": 0.00022428946057371973,
              "retry_index": 0,
              "t_seconds": 13.359999999998035,
              "table_supported": false,
              "tcp_probe_height_delta_m": 0.009099308520223864
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "probe_stop",
            "probe_index": 0,
            "reason": "tcp_position_error_exhausted",
            "retention_variant": "cartesian",
            "retry_index": 0,
            "status": "invalidated_hold",
            "t_seconds": 13.359999999998035,
            "type": "hold_invalidated",
            "variant": "evidence"
          }
        ],
        "ever_admitted": true,
        "final_observed": true,
        "frozen_jaw_target_m": 0.0,
        "initial_context": {
          "object_position_m": [
            0.3030001370663246,
            -0.02600003118840795,
            0.07989224451748381
          ],
          "observation_origin": "privileged_native_simulator_state",
          "t_seconds": 0.0,
          "tcp_position_m": [
            0.4890696662845219,
            0.0014141975654808877,
            0.3665849431043091
          ],
          "tcp_quaternion_wxyz": [
            0.6580840948238629,
            2.7730466224793136e-07,
            0.7529444362872891,
            -1.9485471114950535e-06
          ]
        },
        "last_observed_s": 20.00000000000146,
        "observation_origin": "privileged_native_simulator_state",
        "physical_robot_ready": false,
        "probes": [
          {
            "admission_time_s": 11.739999999998933,
            "disposition": "invalidated_hold",
            "end_time_s": 13.359999999998035,
            "local_offset_origin_m": [
              0.002336515211198027,
              0.00029626422735269214,
              0.001928834333442633
            ],
            "object_origin_m": [
              0.3028593923752323,
              -0.02597086304997704,
              0.07992427613721784
            ],
            "observation_origin": "privileged_native_simulator_state",
            "probe_index": 0,
            "reason": "tcp_position_error_exhausted",
            "start_time_s": 11.139999999999265,
            "tcp_origin_m": [
              0.3051756855424179,
              -0.026256721258408052,
              0.08187889854544853
            ],
            "tcp_quaternion_wxyz": [
              0.005473733224518595,
              -0.0017784920994344897,
              0.9999832869283901,
              -0.0005487024076093146
            ]
          }
        ],
        "retention": {
          "hold_reference": {
            "fixed_bias_rad": [
              1.08716302690548e-05,
              -0.004823986806731684,
              -0.004718481470318725,
              1.3867348779038685e-05,
              0.026979975279573187,
              -3.26009245679576e-05
            ],
            "frozen_jaw_target_m": 0.0,
            "issued_joint_targets_rad": [
              -0.09038596825475165,
              1.7226059482221079,
              -1.1563235587244924,
              -9.718192404689624e-05,
              1.0806769568527692,
              -0.09390547391320955
            ],
            "measured_joint_position_rad": [
              -0.0903968398850207,
              1.7274299350288396,
              -1.1516050772541737,
              -0.00011104927282593327,
              1.053696981573196,
              -0.0938728729886416
            ],
            "position_m": [
              0.3092227880792904,
              -0.02662923821057582,
              0.08940452151639576
            ],
            "quaternion_wxyz": [
              0.014195069893356194,
              -0.0017608720345622115,
              0.9998967698379423,
              -0.001359774999728076
            ],
            "raw_pose_joint_targets_rad": [
              -0.0903968398850207,
              1.7274299350288396,
              -1.1516050772541737,
              -0.00011104927282593493,
              1.053696981573196,
              -0.0938728729886416
            ],
            "t_seconds": 11.739999999998933
          },
          "input_refusals": [],
          "native_joint_control_limits_rad": [
            [
              -2.618,
              2.618
            ],
            [
              0.0,
              3.14
            ],
            [
              -2.697,
              0.0
            ],
            [
              -1.832,
              1.832
            ],
            [
              -1.22,
              1.22
            ],
            [
              -3.14,
              3.14
            ]
          ],
          "variant": "cartesian"
        },
        "retry_count": 0,
        "schema": "dvidia.piper-retention/v2",
        "status": "invalidated_hold",
        "stop_targets_rad": [
          -0.09038608624411021,
          1.7243722617435433,
          -1.1546802754434289,
          -0.00011203129142447815,
          1.0761377344685898,
          -0.0939016502438587
        ],
        "variant": "cartesian"
      },
      "scene_id": "m45-f75-p0",
      "timing": {
        "policy_cpu": {
          "maximum_s": 0.0002899999999996794,
          "mean_s": 4.160699999999995e-05,
          "over_20ms": 0,
          "p50_s": 4.8000000000492093e-05,
          "p95_s": 6.299999999992423e-05,
          "p99_s": 7.902000000037821e-05,
          "samples": 1000
        },
        "policy_wall": {
          "maximum_s": 0.000290874857455492,
          "mean_s": 4.164987988770008e-05,
          "over_20ms": 0,
          "p50_s": 4.7999899834394455e-05,
          "p95_s": 6.340008694678543e-05,
          "p99_s": 7.963482290506362e-05,
          "samples": 1000
        },
        "step_cpu": {
          "maximum_s": 0.0035489999999995803,
          "mean_s": 0.0016318179999999973,
          "over_20ms": 0,
          "p50_s": 0.001367500000000188,
          "p95_s": 0.0022482499999998402,
          "p99_s": 0.002711079999999688,
          "samples": 1000
        },
        "step_wall": {
          "maximum_s": 0.003840832971036434,
          "mean_s": 0.001638077288866043,
          "over_20ms": 0,
          "p50_s": 0.0013911249116063118,
          "p95_s": 0.0022681621136143803,
          "p99_s": 0.002731650350615382,
          "samples": 1000
        }
      },
      "valid": true,
      "variant": "cartesian"
    },
    {
      "error": null,
      "evaluation": {
        "corrections": {
          "bound_refusal_counts": {},
          "flag_counts": {
            "correction_rate_limited": 0
          },
          "hold_record_count": 399,
          "input_refusals": [],
          "maximum_abs_active_correction_rad": null,
          "maximum_abs_desired_correction_rad": null,
          "rate_limited_axis_occurrences": 0,
          "scope": "Includes recorded final diagnostic checks; only command_issued rows represent issued controls."
        },
        "decomposition": {
          "elapsed_s": 5.0,
          "local_offset_change_m": 0.0004909377529181768,
          "object_world_z_delta_m": 0.001247500580012717,
          "relative_world_z_delta_m": -0.0004437349077577035,
          "scope": "Kinematic components, not causal attribution or calibrated physical slip.",
          "tcp_world_z_delta_m": 0.0016912354877704205
        },
        "final": {
          "both_qualified": true,
          "controller_qualified": true,
          "evidence_admissible": true,
          "native_qualified": true
        },
        "first_admission": {
          "native_prefix_qualified": true,
          "native_qualifying_window_s": 0.10400000000000001,
          "probe_index": 0,
          "time_s": 12.039999999998766
        },
        "native": {
          "arrays_sha256": "d0fef89919558a32866c1ca796ae0a60cddb06960d8c77a584d0655437f6ed53",
          "complete": true,
          "maximum_per_finger_force_n": 0.4363043154816858,
          "rows": 20000,
          "unexpected_contact_native_ticks": 0,
          "valid": true,
          "warnings": []
        },
        "physical_robot_ready": false,
        "primary": {
          "all_native_hold_forces_within_ceiling": true,
          "combined_qualified_pause": true,
          "complete_5s": true,
          "controller_retained_at_5s": true,
          "first_native_predicate_failure_s": null,
          "followup_available_s": 7.960000000002694,
          "native_pause_success": true,
          "reason": "success",
          "required_s": 5.0,
          "success": true,
          "target_time_s": 17.039999999998766
        },
        "probes": [
          {
            "claims": [
              {
                "native_prefix_qualified": true,
                "t_seconds": 12.039999999998766
              }
            ],
            "disposition": "qualified_hold",
            "final_native_qualified_from_origin": true,
            "probe_index": 0,
            "start_time_s": 11.439999999999099
          }
        ],
        "receipt": {
          "admission": {
            "observation_origin": "privileged_native_simulation_plus_caller_planning_assumptions",
            "physical_robot_ready": false,
            "planning": {
              "computed": {
                "conservative_required_load_n": 0.6686988749999999,
                "gravity_m_s2": 9.80665,
                "pose_specific_payload_limit_force_n": 0.980665,
                "two_finger_friction_capacity_n": 15.0
              },
              "observation_origin": "caller_declared_not_verified",
              "physical_robot_ready": false,
              "reasons": [
                "Declared checks pass for simulated transport planning; this is not hardware qualification."
              ],
              "schema": "dvidia.task-feasibility-result/v1",
              "scope": "Planning assessment only. Parallel two-finger vertical-lift approximation; ignores moment, center of mass, deformation, transient impacts and unmodeled contact effects. Unknown values remain unknown; mass is never inferred from images. Probe/test-lift/controller integration is not implemented. No hardware actuation is performed; this is not hardware qualification.",
              "status": "ready_for_simulated_transport"
            },
            "probe": {
              "admissible": true,
              "historical_qualified": true,
              "latest_qualified": true,
              "physical_robot_ready": false,
              "reasons": [],
              "receipt_sha256": "6a0174ae2e9a70ff38ec6267b3e38f9229bd629675fdeb6b71337914d55a1187",
              "schema": "dvidia.probe-evidence-verification/v1",
              "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.",
              "verified": true
            },
            "schema": "dvidia.task-feasibility-with-probe/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification. Unknown planning values remain unknown. The unchanged approximate vertical-lift planning gate describes declared loads; it supplies no transport path, geospatial-goal contract or actuator permission. This wrapper never issues controls.",
            "status": "ready_for_simulated_transport"
          },
          "context": {
            "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
            "calibration_id": "synthetic_probe_v01",
            "calibration_scope": "simulation_assumptions_not_hardware",
            "command_sha256": "fcd4e7c2c3a365daa11e7d57f950da2b53513e9ea7b12180e6fb33bd15be9ea1",
            "feasibility_sha256": "a34ec9edcd0a1ea2f88527a6a65ee69b7eecdd1d1c3b01e8d43a8b1947238749",
            "grasp_id": "m45-f75-p1-issued_joint-probe-0",
            "initial_object_position_m": [
              0.30699992366647033,
              -0.037000151615188895,
              0.0798922445174838
            ],
            "model_sha256": "765b06bc9c3c66cba758a877b61845f01acbcfd1af443c377082040c6ba55050",
            "native_status": {
              "simulation_time_s": 20.00000000000146,
              "unexpected_contact_native_ticks": 0,
              "valid": true,
              "warnings": []
            },
            "object_id": "task_block",
            "per_finger_force_ceiling_n": 10.0,
            "pose_binding_sha256": "b1e26bf0bc71c4411f724b386823e88222367dcad29780c66dd55c8309234ead",
            "probe_index": 0,
            "probe_origin_object_position_m": [
              0.3068567088738679,
              -0.036985435216608666,
              0.07992418427520324
            ],
            "probe_origin_tcp_local_offset_m": [
              0.0023231592483883706,
              0.000304073821116654,
              0.0019195549821176708
            ],
            "probe_start_s": 11.439999999999099,
            "robot_profile": "piper",
            "run_id": "m45-f75-p1-issued_joint",
            "schema": "dvidia.probe-context/v1",
            "source_sha256": "cc82eb867d3a927a487317b2e9e470fcb8f53e9da000a1764b7c5a1878883e69"
          },
          "physical_robot_ready": false,
          "planning_input": {
            "allowed_pose_tolerance_m": 0.003,
            "calibration_id": "synthetic_probe_v01",
            "friction_interval": [
              0.75,
              0.75
            ],
            "geometry_known": true,
            "gripper_max_opening_interval_m": [
              0.07,
              0.07
            ],
            "gripper_min_closure_m": 0.0,
            "mass_interval_kg": [
              0.045,
              0.045
            ],
            "object_width_interval_m": [
              0.04,
              0.04
            ],
            "observations_fresh": true,
            "per_finger_normal_force_budget_n": 10.0,
            "planned_upward_accel_m_s2": 0.1,
            "pose_specific_payload_limit_kg": 0.1,
            "pose_uncertainty_m": 0.0,
            "reachability": "reachable",
            "safety_factor": 1.5,
            "schema": "dvidia.task-feasibility-input/v1",
            "slip_detected": false,
            "test_lift_passed": false
          },
          "receipt": {
            "audit": {
              "controller_claim_mismatches": [],
              "controller_claims_checked": 2,
              "controller_conservative_abstention_count": 0,
              "controller_coverage": "Only the supplied claims are checked; omitted decisions are not inferred.",
              "controller_false_qualification_count": 0,
              "controller_positive_claims": 2,
              "force_ceiling_known": true,
              "maximum_observed_per_finger_force_n": 0.4363043154816858,
              "reasons": [],
              "rows": 20000,
              "unexpected_contact_native_ticks": 0,
              "valid": true
            },
            "context": {
              "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
              "calibration_id": "synthetic_probe_v01",
              "calibration_scope": "simulation_assumptions_not_hardware",
              "command_sha256": "fcd4e7c2c3a365daa11e7d57f950da2b53513e9ea7b12180e6fb33bd15be9ea1",
              "feasibility_sha256": "a34ec9edcd0a1ea2f88527a6a65ee69b7eecdd1d1c3b01e8d43a8b1947238749",
              "grasp_id": "m45-f75-p1-issued_joint-probe-0",
              "initial_object_position_m": [
                0.30699992366647033,
                -0.037000151615188895,
                0.0798922445174838
              ],
              "model_sha256": "765b06bc9c3c66cba758a877b61845f01acbcfd1af443c377082040c6ba55050",
              "native_status": {
                "simulation_time_s": 20.00000000000146,
                "unexpected_contact_native_ticks": 0,
                "valid": true,
                "warnings": []
              },
              "object_id": "task_block",
              "per_finger_force_ceiling_n": 10.0,
              "pose_binding_sha256": "b1e26bf0bc71c4411f724b386823e88222367dcad29780c66dd55c8309234ead",
              "probe_index": 0,
              "probe_origin_object_position_m": [
                0.3068567088738679,
                -0.036985435216608666,
                0.07992418427520324
              ],
              "probe_origin_tcp_local_offset_m": [
                0.0023231592483883706,
                0.000304073821116654,
                0.0019195549821176708
              ],
              "probe_start_s": 11.439999999999099,
              "robot_profile": "piper",
              "run_id": "m45-f75-p1-issued_joint",
              "schema": "dvidia.probe-context/v1",
              "source_sha256": "cc82eb867d3a927a487317b2e9e470fcb8f53e9da000a1764b7c5a1878883e69"
            },
            "context_sha256": "d7829fcb66ce89c5a507a673dad1c429fc70ed80311d89d174c9574ed9ea954b",
            "controller_qualifications": [
              {
                "probe_index": 0,
                "qualified": true,
                "t_seconds": 12.039999999998766
              },
              {
                "probe_index": 0,
                "qualified": true,
                "t_seconds": 20.00000000000146
              }
            ],
            "criteria": {
              "distance_comparison_epsilon": 1e-12,
              "initial_sample_tolerance_m": 0.001,
              "maximum_tcp_local_drift_m": 0.003,
              "minimum_continuous_dwell_s": 0.1,
              "minimum_per_finger_force_n_exclusive": 0.01,
              "minimum_rise_m": 0.006,
              "native_dt_s": 0.001,
              "origin_tolerance_m": 1e-09,
              "time_tolerance_s": 1e-08
            },
            "history": {
              "ever_qualified": true,
              "first_qualified_s": 12.035999999998769,
              "maximum_continuous_qualifying_s": 8.064
            },
            "latest": {
              "condition_valid": true,
              "continuous_qualifying_s": 8.064,
              "controller_claim": {
                "probe_index": 0,
                "qualified": true,
                "t_seconds": 20.00000000000146
              },
              "native_tick": 20000,
              "qualified": true,
              "rise_m": 0.008341819304160655,
              "tcp_local_drift_m": 0.0008499885745755698,
              "time_s": 20.00000000000146
            },
            "metadata_sha256": "ad8229630cc9f8718829bb8317b1a82480dcf18b9f71bd23666acfe71a003ef7",
            "native_arrays_sha256": "d0fef89919558a32866c1ca796ae0a60cddb06960d8c77a584d0655437f6ed53",
            "physical_robot_ready": false,
            "receipt_sha256": "6a0174ae2e9a70ff38ec6267b3e38f9229bd629675fdeb6b71337914d55a1187",
            "schema": "dvidia.probe-evidence/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification."
          },
          "status": "inspected",
          "verification": {
            "admissible": true,
            "historical_qualified": true,
            "latest_qualified": true,
            "physical_robot_ready": false,
            "reasons": [],
            "receipt_sha256": "6a0174ae2e9a70ff38ec6267b3e38f9229bd629675fdeb6b71337914d55a1187",
            "schema": "dvidia.probe-evidence-verification/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.",
            "verified": true
          }
        },
        "stationarity": {
          "complete_5s": true,
          "grip_retention_and_stationarity": false,
          "maximum_tcp_orientation_excursion_rad": 0.020059855131602956,
          "maximum_tcp_position_excursion_m": 0.004769903391674532,
          "orientation_ceiling_rad": 0.05,
          "position_ceiling_m": 0.004,
          "required_s": 5.0,
          "scope": "Common recorded native TCP pose endpoint, not calibrated hardware stationarity.",
          "tcp_pose_within_bounds": false,
          "terminal_tcp_orientation_delta_rad": 0.020059855131602956,
          "terminal_tcp_position_delta_m": [
            -0.004425152155401568,
            0.0005565332805493386,
            0.0016912354877704205
          ]
        },
        "status": "inspected"
      },
      "files": {
        "episode.json.gz": {
          "bytes": 789950,
          "sha256": "7f1562431668d85cd014691cf804cc9db43c3d2199b87358d29e77df18dd8bbb"
        },
        "evaluation.json": {
          "bytes": 12582,
          "sha256": "047b2ab962b6a35f5ede9db8a4335b1b2b9320eae962e648d7f7d621b7e00c47"
        },
        "native.json": {
          "bytes": 13763,
          "sha256": "19cc1d5998901cbc12da2916add3096763081e9decbfc7193981bfabc4b871e0"
        },
        "native.npz": {
          "bytes": 4065287,
          "sha256": "a30bfef964b9c233d90b7ddcc74ac74ee99042ec7e3322c97a80ad9bd4aa28df"
        },
        "started.json": {
          "bytes": 149,
          "sha256": "05131bf88c115d0d2491a91090f549e7516929d291fbf82bade25d6b01acc014"
        }
      },
      "friction": 0.75,
      "id": "m45-f75-p1-issued_joint",
      "mass_kg": 0.045,
      "metrics": {
        "carry_complete": false,
        "carry_contact_loss_events": 0,
        "carry_contact_loss_tolerance_seconds": 0.04,
        "dwell_seconds": 0.0,
        "first_success_time_seconds": null,
        "grasp_seen": true,
        "lift_dwell_seconds": 0.0,
        "lift_seen": false,
        "max_carry_contact_loss_seconds": 0.0,
        "max_object_lift_m": 0.008872660822450681,
        "max_pad_normal_force_n": 0.4363043154816858,
        "physical_robot_ready": false,
        "reason": "timeout",
        "retention_lost": false,
        "simulation_time": 20.00000000000146,
        "steps": 1000,
        "success": false,
        "target_distance_m": 0.12503595742886875,
        "unexpected_contact_native_ticks": 0,
        "valid": true,
        "warnings": []
      },
      "policy": {
        "abort_reason": null,
        "acquisition_contract": {
          "comparison_scope": "Closed-loop variants may acquire different trajectories through early hold/retry. This is not an isolated classifier ablation.",
          "control_dt_s": 0.02,
          "evidence_admission": "Current bilateral force >0.01 N, no table support, object rise >=6 mm and TCP-local offset drift <=3 mm continuously across sampled boundaries for elapsed >=100 ms.",
          "hold": "Latch measured six arm joints and the last issued jaw target at admission/terminal invalidity. No full lift/transfer, no squeeze escalation, no post-admission retry.",
          "invalidation": "At each subsequent 20 ms observation and final observation, invalidate immediately on lost contact/force, support, insufficient rise, >3 mm local drift or unexpected contact. Never requalify after terminal invalidity.",
          "observation_origin": "privileged_native_simulator_state",
          "parameters": {
            "close_timeout_s": 1.4,
            "consecutive_alarm_samples": 2,
            "max_retries": 1,
            "monitor_min_probe_motion_m": 0.003,
            "probe_height_m": 0.01,
            "probe_min_object_rise_m": 0.006,
            "probe_speed_m_s": 0.02,
            "probe_timeout_s": 1.4,
            "qualification_dwell_s": 0.1,
            "relative_drift_limit_m": 0.003,
            "retry_clearance_m": 0.012,
            "retry_open_timeout_s": 1.2,
            "retry_recenter_timeout_s": 1.5
          },
          "physical_robot_ready": false,
          "prefix": "Original GuardedPiperTaskPolicy approach/close and at most one supported open/recenter/retry; already uses authored native state, not a fully blind baseline.",
          "sampling_limit": "Independent 1 ms evidence may contradict sampled admission; that remains a finding. No sensor or material inference is implemented.",
          "schema": "dvidia.piper-probe-stop/v1",
          "stop_scope": "Holding native position targets is not physical arrest or calibrated force limiting; inertia and existing target rate limits can continue motion.",
          "timer_admission": "Same 10 mm/20 mm/s probe target law, admitted at elapsed >=600 ms from that probe start; no evidence predicate or slip alarm before admission. Unexpected contacts and bounded timeouts still stop.",
          "timer_admission_s": 0.6,
          "variants": [
            "evidence",
            "timer"
          ]
        },
        "acquisition_variant": "evidence",
        "active_probe_index": 0,
        "admission_time_s": 12.039999999998766,
        "admitted": true,
        "contract": {
          "acquisition": "Unchanged ProbeStopPolicy evidence acquisition, including its bounded supported retry. All variants share the same prefix through the first admission observation.",
          "cartesian": "Latch measured TCP position/orientation and preceding issued targets. Fixed joint bias equals issued target minus pose_action at the admission pose. First command repeats the exact issued target; later pose_action updates receive that fixed bias.",
          "control_dt_s": 0.02,
          "final_observation": "Repeat force, original eligibility and Cartesian pose-error checks. Do not solve or issue a hypothetical next control at the terminal observation.",
          "invalid_measurements": "Malformed, nonfinite or noncausal observations terminally refuse and raise without issuing a command. No measured-position stop is claimed from invalid measurements.",
          "issued_joint": "Latch the preceding issued six joint targets and the same last issued jaw target at admission.",
          "limits": {
            "initial_joint_bias_ceiling_rad": 0.08,
            "joint_correction_ceiling_rad": 0.03,
            "joint_correction_rate_rad_s": 0.1,
            "native_joint_target_margin_rad": 0.02,
            "per_finger_force_ceiling_n": 10.0,
            "tcp_orientation_error_ceiling_rad": 0.05,
            "tcp_position_error_ceiling_m": 0.004
          },
          "measured_joint": "Original hold: latch measured six joint coordinates and the last issued jaw target at admission.",
          "observation_origin": "privileged_native_simulator_state",
          "physical_robot_ready": false,
          "qualifications": "Engineering limits and the 10 N ceiling are authored synthetic assumptions, not damage limits or calibrated physical telemetry. Position targets are not physical stops or force limiters. No load/friction inference, model training or complete placement is implemented.",
          "rate_scope": "The extra correction slews at at most 0.002 rad per 20 ms per joint. Original native 1 ms target slew, servos, gains and force caps remain unchanged.",
          "refusal": "Original eligibility loss, unexpected contact or observed pad force >10 N terminally requests measured joint hold and the frozen jaw target. Cartesian error, initial-bias, total-correction or native-margin exhaustion also refuses terminally; it never chases an already failed grip.",
          "sampling": "Control checks occur at 20 ms boundaries. Independent saved 1 ms native evidence must judge a continuous 5 s hold; missed between-boundary failures remain findings.",
          "schema": "dvidia.piper-retention/v2",
          "variants": [
            "measured_joint",
            "issued_joint",
            "cartesian"
          ]
        },
        "events": [
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "continue",
              "drift_streak": 0,
              "object_height_delta_m": 0.0,
              "phase": "probe",
              "progress_streak": 0,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0,
              "retry_index": 0,
              "t_seconds": 11.439999999999099,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_probe",
            "probe_index": 0,
            "reason": "slow_load_bearing_check",
            "retention_variant": "issued_joint",
            "retry_index": 0,
            "status": "probing",
            "t_seconds": 11.439999999999099,
            "type": "probe_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "bounded_issued_joint_hold",
              "drift_streak": 0,
              "object_height_delta_m": 0.007380995361481665,
              "phase": "probe",
              "progress_streak": 0,
              "qualification_dwell_seconds": 0.09999999999994458,
              "qualified": true,
              "relative_offset_error_m": 7.528146715398036e-05,
              "retry_index": 0,
              "t_seconds": 12.039999999998766,
              "table_supported": false,
              "tcp_probe_height_delta_m": 0.007490906396787622
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "probe_stop",
            "probe_index": 0,
            "reason": "sampled_probe_evidence",
            "retention_hold_reference": {
              "fixed_bias_rad": null,
              "frozen_jaw_target_m": 0.0,
              "issued_joint_targets_rad": [
                -0.12452960270737247,
                1.739319209565074,
                -1.178272910657972,
                -6.298705309587874e-06,
                1.0859429924255175,
                -0.12945260518107826
              ],
              "measured_joint_position_rad": [
                -0.12453941767632085,
                1.7441564237877072,
                -1.1735480102180216,
                -1.767954637556873e-05,
                1.0591702058129244,
                -0.12941185128907873
              ],
              "position_m": [
                0.313151835983599,
                -0.03778034702293749,
                0.08936023621094995
              ],
              "quaternion_wxyz": [
                0.014016923158113743,
                -0.0024364672709027454,
                0.9998971755613834,
                -0.0017966070203289167
              ],
              "raw_pose_joint_targets_rad": null,
              "t_seconds": 12.039999999998766
            },
            "retention_variant": "issued_joint",
            "retry_index": 0,
            "status": "qualified_hold",
            "t_seconds": 12.039999999998766,
            "type": "evidence_qualified",
            "variant": "evidence"
          }
        ],
        "ever_admitted": true,
        "final_observed": true,
        "frozen_jaw_target_m": 0.0,
        "initial_context": {
          "object_position_m": [
            0.30699992366647033,
            -0.037000151615188895,
            0.0798922445174838
          ],
          "observation_origin": "privileged_native_simulator_state",
          "t_seconds": 0.0,
          "tcp_position_m": [
            0.4890696662845219,
            0.0014141975654808877,
            0.3665849431043091
          ],
          "tcp_quaternion_wxyz": [
            0.6580840948238629,
            2.7730466224793136e-07,
            0.7529444362872891,
            -1.9485471114950535e-06
          ]
        },
        "last_observed_s": 20.00000000000146,
        "observation_origin": "privileged_native_simulator_state",
        "physical_robot_ready": false,
        "probes": [
          {
            "admission_time_s": 12.039999999998766,
            "disposition": "qualified_hold",
            "end_time_s": null,
            "local_offset_origin_m": [
              0.0023231592483883706,
              0.000304073821116654,
              0.0019195549821176708
            ],
            "object_origin_m": [
              0.3068567088738679,
              -0.036985435216608666,
              0.07992418427520324
            ],
            "observation_origin": "privileged_native_simulator_state",
            "probe_index": 0,
            "reason": null,
            "start_time_s": 11.439999999999099,
            "tcp_origin_m": [
              0.3091602993819961,
              -0.0372754364486113,
              0.08186932981416233
            ],
            "tcp_quaternion_wxyz": [
              0.0054413696236402815,
              -0.00245907883136888,
              0.9999819289484455,
              -0.0006972836338924029
            ]
          }
        ],
        "retention": {
          "hold_reference": {
            "fixed_bias_rad": null,
            "frozen_jaw_target_m": 0.0,
            "issued_joint_targets_rad": [
              -0.12452960270737247,
              1.739319209565074,
              -1.178272910657972,
              -6.298705309587874e-06,
              1.0859429924255175,
              -0.12945260518107826
            ],
            "measured_joint_position_rad": [
              -0.12453941767632085,
              1.7441564237877072,
              -1.1735480102180216,
              -1.767954637556873e-05,
              1.0591702058129244,
              -0.12941185128907873
            ],
            "position_m": [
              0.313151835983599,
              -0.03778034702293749,
              0.08936023621094995
            ],
            "quaternion_wxyz": [
              0.014016923158113743,
              -0.0024364672709027454,
              0.9998971755613834,
              -0.0017966070203289167
            ],
            "raw_pose_joint_targets_rad": null,
            "t_seconds": 12.039999999998766
          },
          "input_refusals": [],
          "native_joint_control_limits_rad": [
            [
              -2.618,
              2.618
            ],
            [
              0.0,
              3.14
            ],
            [
              -2.697,
              0.0
            ],
            [
              -1.832,
              1.832
            ],
            [
              -1.22,
              1.22
            ],
            [
              -3.14,
              3.14
            ]
          ],
          "variant": "issued_joint"
        },
        "retry_count": 0,
        "schema": "dvidia.piper-retention/v2",
        "status": "qualified_hold",
        "stop_targets_rad": [
          -0.12452960270737247,
          1.739319209565074,
          -1.178272910657972,
          -6.298705309587874e-06,
          1.0859429924255175,
          -0.12945260518107826
        ],
        "variant": "issued_joint"
      },
      "scene_id": "m45-f75-p1",
      "timing": {
        "policy_cpu": {
          "maximum_s": 0.00022300000000008424,
          "mean_s": 4.11410000000032e-05,
          "over_20ms": 0,
          "p50_s": 4.7999999999603915e-05,
          "p95_s": 6.599999999865603e-05,
          "p99_s": 9.404999999892634e-05,
          "samples": 1000
        },
        "policy_wall": {
          "maximum_s": 0.00022295815870165825,
          "mean_s": 4.1311867069453e-05,
          "over_20ms": 0,
          "p50_s": 4.781247116625309e-05,
          "p95_s": 6.614148151129483e-05,
          "p99_s": 9.992352221161126e-05,
          "samples": 1000
        },
        "step_cpu": {
          "maximum_s": 0.0032569999999996213,
          "mean_s": 0.0016554089999999987,
          "over_20ms": 0,
          "p50_s": 0.0014105000000004253,
          "p95_s": 0.002347000000000321,
          "p99_s": 0.0028185999999995556,
          "samples": 1000
        },
        "step_wall": {
          "maximum_s": 0.0044723330065608025,
          "mean_s": 0.0016789510515518487,
          "over_20ms": 0,
          "p50_s": 0.0014488124288618565,
          "p95_s": 0.002434725244529545,
          "p99_s": 0.003050171760842204,
          "samples": 1000
        }
      },
      "valid": true,
      "variant": "issued_joint"
    },
    {
      "error": null,
      "evaluation": {
        "corrections": {
          "bound_refusal_counts": {
            "tcp_position_error_exhausted": 1
          },
          "flag_counts": {
            "correction_rate_limited": 0
          },
          "hold_record_count": 399,
          "input_refusals": [],
          "maximum_abs_active_correction_rad": 0.0002410641615750997,
          "maximum_abs_desired_correction_rad": 0.0002410641615750997,
          "rate_limited_axis_occurrences": 0,
          "scope": "Includes recorded final diagnostic checks; only command_issued rows represent issued controls."
        },
        "decomposition": {
          "elapsed_s": 5.0,
          "local_offset_change_m": 0.0004909298336418414,
          "object_world_z_delta_m": 0.00032362867199288436,
          "relative_world_z_delta_m": -0.0004455631329176729,
          "scope": "Kinematic components, not causal attribution or calibrated physical slip.",
          "tcp_world_z_delta_m": 0.0007691918049105573
        },
        "final": {
          "both_qualified": false,
          "controller_qualified": false,
          "evidence_admissible": false,
          "native_qualified": true
        },
        "first_admission": {
          "native_prefix_qualified": true,
          "native_qualifying_window_s": 0.10400000000000001,
          "probe_index": 0,
          "time_s": 12.039999999998766
        },
        "native": {
          "arrays_sha256": "51d111b87db77790636678efbb7adc75eef0212f5cb208bd5958a63bb68cb498",
          "complete": true,
          "maximum_per_finger_force_n": 0.4363043154816858,
          "rows": 20000,
          "unexpected_contact_native_ticks": 0,
          "valid": true,
          "warnings": []
        },
        "physical_robot_ready": false,
        "primary": {
          "all_native_hold_forces_within_ceiling": true,
          "combined_qualified_pause": false,
          "complete_5s": true,
          "controller_retained_at_5s": false,
          "first_native_predicate_failure_s": null,
          "followup_available_s": 7.960000000002694,
          "native_pause_success": true,
          "reason": "success",
          "required_s": 5.0,
          "success": true,
          "target_time_s": 17.039999999998766
        },
        "probes": [
          {
            "claims": [
              {
                "native_prefix_qualified": true,
                "t_seconds": 12.039999999998766
              }
            ],
            "disposition": "invalidated_hold",
            "final_native_qualified_from_origin": true,
            "probe_index": 0,
            "start_time_s": 11.439999999999099
          }
        ],
        "receipt": {
          "admission": {
            "observation_origin": "privileged_native_simulation_plus_caller_planning_assumptions",
            "physical_robot_ready": false,
            "planning": {
              "computed": {
                "conservative_required_load_n": 0.6686988749999999,
                "gravity_m_s2": 9.80665,
                "pose_specific_payload_limit_force_n": 0.980665,
                "two_finger_friction_capacity_n": 15.0
              },
              "observation_origin": "caller_declared_not_verified",
              "physical_robot_ready": false,
              "reasons": [
                "Run and record a cautious test lift under the same calibrated pose and load conditions before simulated transport planning."
              ],
              "schema": "dvidia.task-feasibility-result/v1",
              "scope": "Planning assessment only. Parallel two-finger vertical-lift approximation; ignores moment, center of mass, deformation, transient impacts and unmodeled contact effects. Unknown values remain unknown; mass is never inferred from images. Probe/test-lift/controller integration is not implemented. No hardware actuation is performed; this is not hardware qualification.",
              "status": "test_lift_required"
            },
            "probe": {
              "admissible": false,
              "historical_qualified": true,
              "latest_qualified": true,
              "physical_robot_ready": false,
              "reasons": [
                "latest_controller_not_qualified"
              ],
              "receipt_sha256": "06a66409900a3904b57b4e2753574a2b97b5b4a08624e1fb5c611362e4b491c4",
              "schema": "dvidia.probe-evidence-verification/v1",
              "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.",
              "verified": true
            },
            "schema": "dvidia.task-feasibility-with-probe/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification. Unknown planning values remain unknown. The unchanged approximate vertical-lift planning gate describes declared loads; it supplies no transport path, geospatial-goal contract or actuator permission. This wrapper never issues controls.",
            "status": "test_lift_required"
          },
          "context": {
            "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
            "calibration_id": "synthetic_probe_v01",
            "calibration_scope": "simulation_assumptions_not_hardware",
            "command_sha256": "385e55cb1d9360b075716807eab09378905ba72f9ff455a23a740ad21b8f3ab1",
            "feasibility_sha256": "a34ec9edcd0a1ea2f88527a6a65ee69b7eecdd1d1c3b01e8d43a8b1947238749",
            "grasp_id": "m45-f75-p1-cartesian-probe-0",
            "initial_object_position_m": [
              0.30699992366647033,
              -0.037000151615188895,
              0.0798922445174838
            ],
            "model_sha256": "765b06bc9c3c66cba758a877b61845f01acbcfd1af443c377082040c6ba55050",
            "native_status": {
              "simulation_time_s": 20.00000000000146,
              "unexpected_contact_native_ticks": 0,
              "valid": true,
              "warnings": []
            },
            "object_id": "task_block",
            "per_finger_force_ceiling_n": 10.0,
            "pose_binding_sha256": "618caa40316605253938017f6a9281de1cbfd1d29cddb32c3db2835c9c88073c",
            "probe_index": 0,
            "probe_origin_object_position_m": [
              0.3068567088738679,
              -0.036985435216608666,
              0.07992418427520324
            ],
            "probe_origin_tcp_local_offset_m": [
              0.0023231592483883706,
              0.000304073821116654,
              0.0019195549821176708
            ],
            "probe_start_s": 11.439999999999099,
            "robot_profile": "piper",
            "run_id": "m45-f75-p1-cartesian",
            "schema": "dvidia.probe-context/v1",
            "source_sha256": "cc82eb867d3a927a487317b2e9e470fcb8f53e9da000a1764b7c5a1878883e69"
          },
          "physical_robot_ready": false,
          "planning_input": {
            "allowed_pose_tolerance_m": 0.003,
            "calibration_id": "synthetic_probe_v01",
            "friction_interval": [
              0.75,
              0.75
            ],
            "geometry_known": true,
            "gripper_max_opening_interval_m": [
              0.07,
              0.07
            ],
            "gripper_min_closure_m": 0.0,
            "mass_interval_kg": [
              0.045,
              0.045
            ],
            "object_width_interval_m": [
              0.04,
              0.04
            ],
            "observations_fresh": true,
            "per_finger_normal_force_budget_n": 10.0,
            "planned_upward_accel_m_s2": 0.1,
            "pose_specific_payload_limit_kg": 0.1,
            "pose_uncertainty_m": 0.0,
            "reachability": "reachable",
            "safety_factor": 1.5,
            "schema": "dvidia.task-feasibility-input/v1",
            "slip_detected": false,
            "test_lift_passed": false
          },
          "receipt": {
            "audit": {
              "controller_claim_mismatches": [
                {
                  "classification": "conservative_abstention",
                  "controller_qualified": false,
                  "native_prefix_qualified": true,
                  "t_seconds": 20.00000000000146
                }
              ],
              "controller_claims_checked": 2,
              "controller_conservative_abstention_count": 1,
              "controller_coverage": "Only the supplied claims are checked; omitted decisions are not inferred.",
              "controller_false_qualification_count": 0,
              "controller_positive_claims": 1,
              "force_ceiling_known": true,
              "maximum_observed_per_finger_force_n": 0.4363043154816858,
              "reasons": [],
              "rows": 20000,
              "unexpected_contact_native_ticks": 0,
              "valid": true
            },
            "context": {
              "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
              "calibration_id": "synthetic_probe_v01",
              "calibration_scope": "simulation_assumptions_not_hardware",
              "command_sha256": "385e55cb1d9360b075716807eab09378905ba72f9ff455a23a740ad21b8f3ab1",
              "feasibility_sha256": "a34ec9edcd0a1ea2f88527a6a65ee69b7eecdd1d1c3b01e8d43a8b1947238749",
              "grasp_id": "m45-f75-p1-cartesian-probe-0",
              "initial_object_position_m": [
                0.30699992366647033,
                -0.037000151615188895,
                0.0798922445174838
              ],
              "model_sha256": "765b06bc9c3c66cba758a877b61845f01acbcfd1af443c377082040c6ba55050",
              "native_status": {
                "simulation_time_s": 20.00000000000146,
                "unexpected_contact_native_ticks": 0,
                "valid": true,
                "warnings": []
              },
              "object_id": "task_block",
              "per_finger_force_ceiling_n": 10.0,
              "pose_binding_sha256": "618caa40316605253938017f6a9281de1cbfd1d29cddb32c3db2835c9c88073c",
              "probe_index": 0,
              "probe_origin_object_position_m": [
                0.3068567088738679,
                -0.036985435216608666,
                0.07992418427520324
              ],
              "probe_origin_tcp_local_offset_m": [
                0.0023231592483883706,
                0.000304073821116654,
                0.0019195549821176708
              ],
              "probe_start_s": 11.439999999999099,
              "robot_profile": "piper",
              "run_id": "m45-f75-p1-cartesian",
              "schema": "dvidia.probe-context/v1",
              "source_sha256": "cc82eb867d3a927a487317b2e9e470fcb8f53e9da000a1764b7c5a1878883e69"
            },
            "context_sha256": "1cbe0858632ae16560b2e55341e7ab06b226dda07027becc62ce5744c218684e",
            "controller_qualifications": [
              {
                "probe_index": 0,
                "qualified": true,
                "t_seconds": 12.039999999998766
              },
              {
                "probe_index": 0,
                "qualified": false,
                "t_seconds": 20.00000000000146
              }
            ],
            "criteria": {
              "distance_comparison_epsilon": 1e-12,
              "initial_sample_tolerance_m": 0.001,
              "maximum_tcp_local_drift_m": 0.003,
              "minimum_continuous_dwell_s": 0.1,
              "minimum_per_finger_force_n_exclusive": 0.01,
              "minimum_rise_m": 0.006,
              "native_dt_s": 0.001,
              "origin_tolerance_m": 1e-09,
              "time_tolerance_s": 1e-08
            },
            "history": {
              "ever_qualified": true,
              "first_qualified_s": 12.035999999998769,
              "maximum_continuous_qualifying_s": 8.064
            },
            "latest": {
              "condition_valid": true,
              "continuous_qualifying_s": 8.064,
              "controller_claim": {
                "probe_index": 0,
                "qualified": false,
                "t_seconds": 20.00000000000146
              },
              "native_tick": 20000,
              "qualified": true,
              "rise_m": 0.007411085859952801,
              "tcp_local_drift_m": 0.0008499458752934658,
              "time_s": 20.00000000000146
            },
            "metadata_sha256": "ad8229630cc9f8718829bb8317b1a82480dcf18b9f71bd23666acfe71a003ef7",
            "native_arrays_sha256": "51d111b87db77790636678efbb7adc75eef0212f5cb208bd5958a63bb68cb498",
            "physical_robot_ready": false,
            "receipt_sha256": "06a66409900a3904b57b4e2753574a2b97b5b4a08624e1fb5c611362e4b491c4",
            "schema": "dvidia.probe-evidence/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification."
          },
          "status": "inspected",
          "verification": {
            "admissible": false,
            "historical_qualified": true,
            "latest_qualified": true,
            "physical_robot_ready": false,
            "reasons": [
              "latest_controller_not_qualified"
            ],
            "receipt_sha256": "06a66409900a3904b57b4e2753574a2b97b5b4a08624e1fb5c611362e4b491c4",
            "schema": "dvidia.probe-evidence-verification/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.",
            "verified": true
          }
        },
        "stationarity": {
          "complete_5s": true,
          "grip_retention_and_stationarity": false,
          "maximum_tcp_orientation_excursion_rad": 0.01926446049840883,
          "maximum_tcp_position_excursion_m": 0.004196722117408254,
          "orientation_ceiling_rad": 0.05,
          "position_ceiling_m": 0.004,
          "required_s": 5.0,
          "scope": "Common recorded native TCP pose endpoint, not calibrated hardware stationarity.",
          "tcp_pose_within_bounds": false,
          "terminal_tcp_orientation_delta_rad": 0.01926446049840883,
          "terminal_tcp_position_delta_m": [
            -0.004093692466199339,
            0.0005123499684637767,
            0.0007691918049105573
          ]
        },
        "status": "inspected"
      },
      "files": {
        "episode.json.gz": {
          "bytes": 819327,
          "sha256": "153956c5b53ec16a81ad87e3daeb9a3b472fe19100d35f6029a6611ac84b415c"
        },
        "evaluation.json": {
          "bytes": 12994,
          "sha256": "e4eafdc83c6e77f0a9775db29f3f3b33789f73e898a6a6758c65bb325bdee025"
        },
        "native.json": {
          "bytes": 13763,
          "sha256": "19cc1d5998901cbc12da2916add3096763081e9decbfc7193981bfabc4b871e0"
        },
        "native.npz": {
          "bytes": 4048818,
          "sha256": "6545dd0a2af94d60079c535ab0b965f3ae336955d362774ba585ac2849b7a859"
        },
        "started.json": {
          "bytes": 146,
          "sha256": "a0fb063c60672a5ce8448123fd40a9f19aed04eb9b198e9ffde1aee695f9c8c7"
        }
      },
      "friction": 0.75,
      "id": "m45-f75-p1-cartesian",
      "mass_kg": 0.045,
      "metrics": {
        "carry_complete": false,
        "carry_contact_loss_events": 0,
        "carry_contact_loss_tolerance_seconds": 0.04,
        "dwell_seconds": 0.0,
        "first_success_time_seconds": null,
        "grasp_seen": true,
        "lift_dwell_seconds": 0.0,
        "lift_seen": false,
        "max_carry_contact_loss_seconds": 0.0,
        "max_object_lift_m": 0.008882267986359632,
        "max_pad_normal_force_n": 0.4363043154816858,
        "physical_robot_ready": false,
        "reason": "timeout",
        "retention_lost": false,
        "simulation_time": 20.00000000000146,
        "steps": 1000,
        "success": false,
        "target_distance_m": 0.12490008254605692,
        "unexpected_contact_native_ticks": 0,
        "valid": true,
        "warnings": []
      },
      "policy": {
        "abort_reason": "tcp_position_error_exhausted",
        "acquisition_contract": {
          "comparison_scope": "Closed-loop variants may acquire different trajectories through early hold/retry. This is not an isolated classifier ablation.",
          "control_dt_s": 0.02,
          "evidence_admission": "Current bilateral force >0.01 N, no table support, object rise >=6 mm and TCP-local offset drift <=3 mm continuously across sampled boundaries for elapsed >=100 ms.",
          "hold": "Latch measured six arm joints and the last issued jaw target at admission/terminal invalidity. No full lift/transfer, no squeeze escalation, no post-admission retry.",
          "invalidation": "At each subsequent 20 ms observation and final observation, invalidate immediately on lost contact/force, support, insufficient rise, >3 mm local drift or unexpected contact. Never requalify after terminal invalidity.",
          "observation_origin": "privileged_native_simulator_state",
          "parameters": {
            "close_timeout_s": 1.4,
            "consecutive_alarm_samples": 2,
            "max_retries": 1,
            "monitor_min_probe_motion_m": 0.003,
            "probe_height_m": 0.01,
            "probe_min_object_rise_m": 0.006,
            "probe_speed_m_s": 0.02,
            "probe_timeout_s": 1.4,
            "qualification_dwell_s": 0.1,
            "relative_drift_limit_m": 0.003,
            "retry_clearance_m": 0.012,
            "retry_open_timeout_s": 1.2,
            "retry_recenter_timeout_s": 1.5
          },
          "physical_robot_ready": false,
          "prefix": "Original GuardedPiperTaskPolicy approach/close and at most one supported open/recenter/retry; already uses authored native state, not a fully blind baseline.",
          "sampling_limit": "Independent 1 ms evidence may contradict sampled admission; that remains a finding. No sensor or material inference is implemented.",
          "schema": "dvidia.piper-probe-stop/v1",
          "stop_scope": "Holding native position targets is not physical arrest or calibrated force limiting; inertia and existing target rate limits can continue motion.",
          "timer_admission": "Same 10 mm/20 mm/s probe target law, admitted at elapsed >=600 ms from that probe start; no evidence predicate or slip alarm before admission. Unexpected contacts and bounded timeouts still stop.",
          "timer_admission_s": 0.6,
          "variants": [
            "evidence",
            "timer"
          ]
        },
        "acquisition_variant": "evidence",
        "active_probe_index": 0,
        "admission_time_s": 12.039999999998766,
        "admitted": false,
        "contract": {
          "acquisition": "Unchanged ProbeStopPolicy evidence acquisition, including its bounded supported retry. All variants share the same prefix through the first admission observation.",
          "cartesian": "Latch measured TCP position/orientation and preceding issued targets. Fixed joint bias equals issued target minus pose_action at the admission pose. First command repeats the exact issued target; later pose_action updates receive that fixed bias.",
          "control_dt_s": 0.02,
          "final_observation": "Repeat force, original eligibility and Cartesian pose-error checks. Do not solve or issue a hypothetical next control at the terminal observation.",
          "invalid_measurements": "Malformed, nonfinite or noncausal observations terminally refuse and raise without issuing a command. No measured-position stop is claimed from invalid measurements.",
          "issued_joint": "Latch the preceding issued six joint targets and the same last issued jaw target at admission.",
          "limits": {
            "initial_joint_bias_ceiling_rad": 0.08,
            "joint_correction_ceiling_rad": 0.03,
            "joint_correction_rate_rad_s": 0.1,
            "native_joint_target_margin_rad": 0.02,
            "per_finger_force_ceiling_n": 10.0,
            "tcp_orientation_error_ceiling_rad": 0.05,
            "tcp_position_error_ceiling_m": 0.004
          },
          "measured_joint": "Original hold: latch measured six joint coordinates and the last issued jaw target at admission.",
          "observation_origin": "privileged_native_simulator_state",
          "physical_robot_ready": false,
          "qualifications": "Engineering limits and the 10 N ceiling are authored synthetic assumptions, not damage limits or calibrated physical telemetry. Position targets are not physical stops or force limiters. No load/friction inference, model training or complete placement is implemented.",
          "rate_scope": "The extra correction slews at at most 0.002 rad per 20 ms per joint. Original native 1 ms target slew, servos, gains and force caps remain unchanged.",
          "refusal": "Original eligibility loss, unexpected contact or observed pad force >10 N terminally requests measured joint hold and the frozen jaw target. Cartesian error, initial-bias, total-correction or native-margin exhaustion also refuses terminally; it never chases an already failed grip.",
          "sampling": "Control checks occur at 20 ms boundaries. Independent saved 1 ms native evidence must judge a continuous 5 s hold; missed between-boundary failures remain findings.",
          "schema": "dvidia.piper-retention/v2",
          "variants": [
            "measured_joint",
            "issued_joint",
            "cartesian"
          ]
        },
        "events": [
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "continue",
              "drift_streak": 0,
              "object_height_delta_m": 0.0,
              "phase": "probe",
              "progress_streak": 0,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0,
              "retry_index": 0,
              "t_seconds": 11.439999999999099,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_probe",
            "probe_index": 0,
            "reason": "slow_load_bearing_check",
            "retention_variant": "cartesian",
            "retry_index": 0,
            "status": "probing",
            "t_seconds": 11.439999999999099,
            "type": "probe_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "bounded_cartesian_hold",
              "drift_streak": 0,
              "object_height_delta_m": 0.007380995361481665,
              "phase": "probe",
              "progress_streak": 0,
              "qualification_dwell_seconds": 0.09999999999994458,
              "qualified": true,
              "relative_offset_error_m": 7.528146715398036e-05,
              "retry_index": 0,
              "t_seconds": 12.039999999998766,
              "table_supported": false,
              "tcp_probe_height_delta_m": 0.007490906396787622
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "probe_stop",
            "probe_index": 0,
            "reason": "sampled_probe_evidence",
            "retention_hold_reference": {
              "fixed_bias_rad": [
                9.814968948376745e-06,
                -0.004837214222633168,
                -0.00472490043995033,
                1.1380841065981803e-05,
                0.02677278661259308,
                -4.0753891999534275e-05
              ],
              "frozen_jaw_target_m": 0.0,
              "issued_joint_targets_rad": [
                -0.12452960270737247,
                1.739319209565074,
                -1.178272910657972,
                -6.298705309587874e-06,
                1.0859429924255175,
                -0.12945260518107826
              ],
              "measured_joint_position_rad": [
                -0.12453941767632085,
                1.7441564237877072,
                -1.1735480102180216,
                -1.767954637556873e-05,
                1.0591702058129244,
                -0.12941185128907873
              ],
              "position_m": [
                0.313151835983599,
                -0.03778034702293749,
                0.08936023621094995
              ],
              "quaternion_wxyz": [
                0.014016923158113743,
                -0.0024364672709027454,
                0.9998971755613834,
                -0.0017966070203289167
              ],
              "raw_pose_joint_targets_rad": [
                -0.12453941767632085,
                1.7441564237877072,
                -1.1735480102180216,
                -1.7679546375569677e-05,
                1.0591702058129244,
                -0.12941185128907873
              ],
              "t_seconds": 12.039999999998766
            },
            "retention_variant": "cartesian",
            "retry_index": 0,
            "status": "qualified_hold",
            "t_seconds": 12.039999999998766,
            "type": "evidence_qualified",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm_and_freeze_issued_jaw",
              "drift_streak": 0,
              "object_height_delta_m": 0.008850316031388819,
              "phase": "probe_hold",
              "progress_streak": 0,
              "qualification_dwell_seconds": 1.7599999999990246,
              "qualified": false,
              "relative_offset_error_m": 0.00023551648696230637,
              "retry_index": 0,
              "t_seconds": 13.699999999997846,
              "table_supported": false,
              "tcp_probe_height_delta_m": 0.009086916723405142
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "probe_stop",
            "probe_index": 0,
            "reason": "tcp_position_error_exhausted",
            "retention_variant": "cartesian",
            "retry_index": 0,
            "status": "invalidated_hold",
            "t_seconds": 13.699999999997846,
            "type": "hold_invalidated",
            "variant": "evidence"
          }
        ],
        "ever_admitted": true,
        "final_observed": true,
        "frozen_jaw_target_m": 0.0,
        "initial_context": {
          "object_position_m": [
            0.30699992366647033,
            -0.037000151615188895,
            0.0798922445174838
          ],
          "observation_origin": "privileged_native_simulator_state",
          "t_seconds": 0.0,
          "tcp_position_m": [
            0.4890696662845219,
            0.0014141975654808877,
            0.3665849431043091
          ],
          "tcp_quaternion_wxyz": [
            0.6580840948238629,
            2.7730466224793136e-07,
            0.7529444362872891,
            -1.9485471114950535e-06
          ]
        },
        "last_observed_s": 20.00000000000146,
        "observation_origin": "privileged_native_simulator_state",
        "physical_robot_ready": false,
        "probes": [
          {
            "admission_time_s": 12.039999999998766,
            "disposition": "invalidated_hold",
            "end_time_s": 13.699999999997846,
            "local_offset_origin_m": [
              0.0023231592483883706,
              0.000304073821116654,
              0.0019195549821176708
            ],
            "object_origin_m": [
              0.3068567088738679,
              -0.036985435216608666,
              0.07992418427520324
            ],
            "observation_origin": "privileged_native_simulator_state",
            "probe_index": 0,
            "reason": "tcp_position_error_exhausted",
            "start_time_s": 11.439999999999099,
            "tcp_origin_m": [
              0.3091602993819961,
              -0.0372754364486113,
              0.08186932981416233
            ],
            "tcp_quaternion_wxyz": [
              0.0054413696236402815,
              -0.00245907883136888,
              0.9999819289484455,
              -0.0006972836338924029
            ]
          }
        ],
        "retention": {
          "hold_reference": {
            "fixed_bias_rad": [
              9.814968948376745e-06,
              -0.004837214222633168,
              -0.00472490043995033,
              1.1380841065981803e-05,
              0.02677278661259308,
              -4.0753891999534275e-05
            ],
            "frozen_jaw_target_m": 0.0,
            "issued_joint_targets_rad": [
              -0.12452960270737247,
              1.739319209565074,
              -1.178272910657972,
              -6.298705309587874e-06,
              1.0859429924255175,
              -0.12945260518107826
            ],
            "measured_joint_position_rad": [
              -0.12453941767632085,
              1.7441564237877072,
              -1.1735480102180216,
              -1.767954637556873e-05,
              1.0591702058129244,
              -0.12941185128907873
            ],
            "position_m": [
              0.313151835983599,
              -0.03778034702293749,
              0.08936023621094995
            ],
            "quaternion_wxyz": [
              0.014016923158113743,
              -0.0024364672709027454,
              0.9998971755613834,
              -0.0017966070203289167
            ],
            "raw_pose_joint_targets_rad": [
              -0.12453941767632085,
              1.7441564237877072,
              -1.1735480102180216,
              -1.7679546375569677e-05,
              1.0591702058129244,
              -0.12941185128907873
            ],
            "t_seconds": 12.039999999998766
          },
          "input_refusals": [],
          "native_joint_control_limits_rad": [
            [
              -2.618,
              2.618
            ],
            [
              0.0,
              3.14
            ],
            [
              -2.697,
              0.0
            ],
            [
              -1.832,
              1.832
            ],
            [
              -1.22,
              1.22
            ],
            [
              -3.14,
              3.14
            ]
          ],
          "variant": "cartesian"
        },
        "retry_count": 0,
        "schema": "dvidia.piper-retention/v2",
        "status": "invalidated_hold",
        "stop_targets_rad": [
          -0.12452971829434649,
          1.741106378677336,
          -1.1766517505812868,
          -2.049833252667124e-05,
          1.0816384322711052,
          -0.12944795453940522
        ],
        "variant": "cartesian"
      },
      "scene_id": "m45-f75-p1",
      "timing": {
        "policy_cpu": {
          "maximum_s": 0.0005439999999996559,
          "mean_s": 4.739599999999555e-05,
          "over_20ms": 0,
          "p50_s": 4.8999999998855515e-05,
          "p95_s": 7.599999999996498e-05,
          "p99_s": 0.00012602999999984375,
          "samples": 1000
        },
        "policy_wall": {
          "maximum_s": 0.0005728332325816154,
          "mean_s": 4.8938754945993427e-05,
          "over_20ms": 0,
          "p50_s": 4.86462377011776e-05,
          "p95_s": 7.791677489876747e-05,
          "p99_s": 0.00016106893308460678,
          "samples": 1000
        },
        "step_cpu": {
          "maximum_s": 0.009341000000000932,
          "mean_s": 0.0017868110000000196,
          "over_20ms": 0,
          "p50_s": 0.0014025000000001953,
          "p95_s": 0.003194100000000242,
          "p99_s": 0.004996370000000957,
          "samples": 1000
        },
        "step_wall": {
          "maximum_s": 0.055203374940901995,
          "mean_s": 0.0019365984606556593,
          "over_20ms": 2,
          "p50_s": 0.0014206459745764732,
          "p95_s": 0.0036439270712435236,
          "p99_s": 0.007221176661550997,
          "samples": 1000
        }
      },
      "valid": true,
      "variant": "cartesian"
    },
    {
      "error": null,
      "evaluation": {
        "corrections": {
          "bound_refusal_counts": {},
          "flag_counts": {
            "correction_rate_limited": 0
          },
          "hold_record_count": 399,
          "input_refusals": [],
          "maximum_abs_active_correction_rad": null,
          "maximum_abs_desired_correction_rad": null,
          "rate_limited_axis_occurrences": 0,
          "scope": "Includes recorded final diagnostic checks; only command_issued rows represent issued controls."
        },
        "decomposition": {
          "elapsed_s": 5.0,
          "local_offset_change_m": 0.0004907325563339893,
          "object_world_z_delta_m": -0.0013346840396102344,
          "relative_world_z_delta_m": -0.0004825725803334069,
          "scope": "Kinematic components, not causal attribution or calibrated physical slip.",
          "tcp_world_z_delta_m": -0.0008521114592768275
        },
        "final": {
          "both_qualified": false,
          "controller_qualified": false,
          "evidence_admissible": false,
          "native_qualified": false
        },
        "first_admission": {
          "native_prefix_qualified": true,
          "native_qualifying_window_s": 0.10400000000000001,
          "probe_index": 0,
          "time_s": 12.039999999998766
        },
        "native": {
          "arrays_sha256": "23d9b8e050339014c0b3ee125fcf74acb943427f40b14c508d127db928c8fb71",
          "complete": true,
          "maximum_per_finger_force_n": 0.4363043154816858,
          "rows": 20000,
          "unexpected_contact_native_ticks": 0,
          "valid": true,
          "warnings": []
        },
        "physical_robot_ready": false,
        "primary": {
          "all_native_hold_forces_within_ceiling": true,
          "combined_qualified_pause": true,
          "complete_5s": true,
          "controller_retained_at_5s": true,
          "first_native_predicate_failure_s": null,
          "followup_available_s": 7.960000000002694,
          "native_pause_success": true,
          "reason": "success",
          "required_s": 5.0,
          "success": true,
          "target_time_s": 17.039999999998766
        },
        "probes": [
          {
            "claims": [
              {
                "native_prefix_qualified": true,
                "t_seconds": 12.039999999998766
              }
            ],
            "disposition": "invalidated_hold",
            "final_native_qualified_from_origin": false,
            "probe_index": 0,
            "start_time_s": 11.439999999999099
          }
        ],
        "receipt": {
          "admission": {
            "observation_origin": "privileged_native_simulation_plus_caller_planning_assumptions",
            "physical_robot_ready": false,
            "planning": {
              "computed": {
                "conservative_required_load_n": 0.6686988749999999,
                "gravity_m_s2": 9.80665,
                "pose_specific_payload_limit_force_n": 0.980665,
                "two_finger_friction_capacity_n": 15.0
              },
              "observation_origin": "caller_declared_not_verified",
              "physical_robot_ready": false,
              "reasons": [
                "Run and record a cautious test lift under the same calibrated pose and load conditions before simulated transport planning."
              ],
              "schema": "dvidia.task-feasibility-result/v1",
              "scope": "Planning assessment only. Parallel two-finger vertical-lift approximation; ignores moment, center of mass, deformation, transient impacts and unmodeled contact effects. Unknown values remain unknown; mass is never inferred from images. Probe/test-lift/controller integration is not implemented. No hardware actuation is performed; this is not hardware qualification.",
              "status": "test_lift_required"
            },
            "probe": {
              "admissible": false,
              "historical_qualified": true,
              "latest_qualified": false,
              "physical_robot_ready": false,
              "reasons": [
                "latest_native_window_not_qualified",
                "latest_controller_not_qualified"
              ],
              "receipt_sha256": "2298775837a2d0b6bee8a6c9c726f8f691002cbab555589e9f877cd56a13e8c9",
              "schema": "dvidia.probe-evidence-verification/v1",
              "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.",
              "verified": true
            },
            "schema": "dvidia.task-feasibility-with-probe/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification. Unknown planning values remain unknown. The unchanged approximate vertical-lift planning gate describes declared loads; it supplies no transport path, geospatial-goal contract or actuator permission. This wrapper never issues controls.",
            "status": "test_lift_required"
          },
          "context": {
            "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
            "calibration_id": "synthetic_probe_v01",
            "calibration_scope": "simulation_assumptions_not_hardware",
            "command_sha256": "6966b60787b1b9d43cdba708cdcf73ad710ad2a693c9973fb65535d5e2458019",
            "feasibility_sha256": "a34ec9edcd0a1ea2f88527a6a65ee69b7eecdd1d1c3b01e8d43a8b1947238749",
            "grasp_id": "m45-f75-p1-measured_joint-probe-0",
            "initial_object_position_m": [
              0.30699992366647033,
              -0.037000151615188895,
              0.0798922445174838
            ],
            "model_sha256": "765b06bc9c3c66cba758a877b61845f01acbcfd1af443c377082040c6ba55050",
            "native_status": {
              "simulation_time_s": 20.00000000000146,
              "unexpected_contact_native_ticks": 0,
              "valid": true,
              "warnings": []
            },
            "object_id": "task_block",
            "per_finger_force_ceiling_n": 10.0,
            "pose_binding_sha256": "776d0a5a3143a500f3a3fea7979d4cbb5dfd0c72caae20e070dc06015198d1ca",
            "probe_index": 0,
            "probe_origin_object_position_m": [
              0.3068567088738679,
              -0.036985435216608666,
              0.07992418427520324
            ],
            "probe_origin_tcp_local_offset_m": [
              0.0023231592483883706,
              0.000304073821116654,
              0.0019195549821176708
            ],
            "probe_start_s": 11.439999999999099,
            "robot_profile": "piper",
            "run_id": "m45-f75-p1-measured_joint",
            "schema": "dvidia.probe-context/v1",
            "source_sha256": "cc82eb867d3a927a487317b2e9e470fcb8f53e9da000a1764b7c5a1878883e69"
          },
          "physical_robot_ready": false,
          "planning_input": {
            "allowed_pose_tolerance_m": 0.003,
            "calibration_id": "synthetic_probe_v01",
            "friction_interval": [
              0.75,
              0.75
            ],
            "geometry_known": true,
            "gripper_max_opening_interval_m": [
              0.07,
              0.07
            ],
            "gripper_min_closure_m": 0.0,
            "mass_interval_kg": [
              0.045,
              0.045
            ],
            "object_width_interval_m": [
              0.04,
              0.04
            ],
            "observations_fresh": true,
            "per_finger_normal_force_budget_n": 10.0,
            "planned_upward_accel_m_s2": 0.1,
            "pose_specific_payload_limit_kg": 0.1,
            "pose_uncertainty_m": 0.0,
            "reachability": "reachable",
            "safety_factor": 1.5,
            "schema": "dvidia.task-feasibility-input/v1",
            "slip_detected": false,
            "test_lift_passed": false
          },
          "receipt": {
            "audit": {
              "controller_claim_mismatches": [],
              "controller_claims_checked": 2,
              "controller_conservative_abstention_count": 0,
              "controller_coverage": "Only the supplied claims are checked; omitted decisions are not inferred.",
              "controller_false_qualification_count": 0,
              "controller_positive_claims": 1,
              "force_ceiling_known": true,
              "maximum_observed_per_finger_force_n": 0.4363043154816858,
              "reasons": [],
              "rows": 20000,
              "unexpected_contact_native_ticks": 0,
              "valid": true
            },
            "context": {
              "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
              "calibration_id": "synthetic_probe_v01",
              "calibration_scope": "simulation_assumptions_not_hardware",
              "command_sha256": "6966b60787b1b9d43cdba708cdcf73ad710ad2a693c9973fb65535d5e2458019",
              "feasibility_sha256": "a34ec9edcd0a1ea2f88527a6a65ee69b7eecdd1d1c3b01e8d43a8b1947238749",
              "grasp_id": "m45-f75-p1-measured_joint-probe-0",
              "initial_object_position_m": [
                0.30699992366647033,
                -0.037000151615188895,
                0.0798922445174838
              ],
              "model_sha256": "765b06bc9c3c66cba758a877b61845f01acbcfd1af443c377082040c6ba55050",
              "native_status": {
                "simulation_time_s": 20.00000000000146,
                "unexpected_contact_native_ticks": 0,
                "valid": true,
                "warnings": []
              },
              "object_id": "task_block",
              "per_finger_force_ceiling_n": 10.0,
              "pose_binding_sha256": "776d0a5a3143a500f3a3fea7979d4cbb5dfd0c72caae20e070dc06015198d1ca",
              "probe_index": 0,
              "probe_origin_object_position_m": [
                0.3068567088738679,
                -0.036985435216608666,
                0.07992418427520324
              ],
              "probe_origin_tcp_local_offset_m": [
                0.0023231592483883706,
                0.000304073821116654,
                0.0019195549821176708
              ],
              "probe_start_s": 11.439999999999099,
              "robot_profile": "piper",
              "run_id": "m45-f75-p1-measured_joint",
              "schema": "dvidia.probe-context/v1",
              "source_sha256": "cc82eb867d3a927a487317b2e9e470fcb8f53e9da000a1764b7c5a1878883e69"
            },
            "context_sha256": "a7a263bea53745f6c4269a015b8c65d518d6ffbe1e899b5d09055c1df90bba2e",
            "controller_qualifications": [
              {
                "probe_index": 0,
                "qualified": true,
                "t_seconds": 12.039999999998766
              },
              {
                "probe_index": 0,
                "qualified": false,
                "t_seconds": 20.00000000000146
              }
            ],
            "criteria": {
              "distance_comparison_epsilon": 1e-12,
              "initial_sample_tolerance_m": 0.001,
              "maximum_tcp_local_drift_m": 0.003,
              "minimum_continuous_dwell_s": 0.1,
              "minimum_per_finger_force_n_exclusive": 0.01,
              "minimum_rise_m": 0.006,
              "native_dt_s": 0.001,
              "origin_tolerance_m": 1e-09,
              "time_tolerance_s": 1e-08
            },
            "history": {
              "ever_qualified": true,
              "first_qualified_s": 12.035999999998769,
              "maximum_continuous_qualifying_s": 5.5760000000000005
            },
            "latest": {
              "condition_valid": false,
              "continuous_qualifying_s": 0.0,
              "controller_claim": {
                "probe_index": 0,
                "qualified": false,
                "t_seconds": 20.00000000000146
              },
              "native_tick": 20000,
              "qualified": false,
              "rise_m": 0.004933197574115894,
              "tcp_local_drift_m": 0.0008493428330503542,
              "time_s": 20.00000000000146
            },
            "metadata_sha256": "ad8229630cc9f8718829bb8317b1a82480dcf18b9f71bd23666acfe71a003ef7",
            "native_arrays_sha256": "23d9b8e050339014c0b3ee125fcf74acb943427f40b14c508d127db928c8fb71",
            "physical_robot_ready": false,
            "receipt_sha256": "2298775837a2d0b6bee8a6c9c726f8f691002cbab555589e9f877cd56a13e8c9",
            "schema": "dvidia.probe-evidence/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification."
          },
          "status": "inspected",
          "verification": {
            "admissible": false,
            "historical_qualified": true,
            "latest_qualified": false,
            "physical_robot_ready": false,
            "reasons": [
              "latest_native_window_not_qualified",
              "latest_controller_not_qualified"
            ],
            "receipt_sha256": "2298775837a2d0b6bee8a6c9c726f8f691002cbab555589e9f877cd56a13e8c9",
            "schema": "dvidia.probe-evidence-verification/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.",
            "verified": true
          }
        },
        "stationarity": {
          "complete_5s": true,
          "grip_retention_and_stationarity": true,
          "maximum_tcp_orientation_excursion_rad": 0.0031548330820024683,
          "maximum_tcp_position_excursion_m": 0.0009811541897872644,
          "orientation_ceiling_rad": 0.05,
          "position_ceiling_m": 0.004,
          "required_s": 5.0,
          "scope": "Common recorded native TCP pose endpoint, not calibrated hardware stationarity.",
          "tcp_pose_within_bounds": true,
          "terminal_tcp_orientation_delta_rad": 0.0031548330820024683,
          "terminal_tcp_position_delta_m": [
            -0.00048293020417899957,
            5.786210329609964e-05,
            -0.0008521114592768275
          ]
        },
        "status": "inspected"
      },
      "files": {
        "episode.json.gz": {
          "bytes": 792903,
          "sha256": "3e947d34781f5ccfc61ab041438cc8e2846fb722240f73e6a30fc59ba07ec732"
        },
        "evaluation.json": {
          "bytes": 12830,
          "sha256": "4abbd13ea4fc7410179b7834be0c15b0ad8f48597c23023b4e28fd9601b55588"
        },
        "native.json": {
          "bytes": 13763,
          "sha256": "19cc1d5998901cbc12da2916add3096763081e9decbfc7193981bfabc4b871e0"
        },
        "native.npz": {
          "bytes": 4050227,
          "sha256": "a822362511c13011009ec0f57170e4d3988f6158abcb7e0db3ee613b7b9bf996"
        },
        "started.json": {
          "bytes": 151,
          "sha256": "4b2815445fcf686bd4819838dcb4586f3a9aa8913c4f70e997354fb20c870b19"
        }
      },
      "friction": 0.75,
      "id": "m45-f75-p1-measured_joint",
      "mass_kg": 0.045,
      "metrics": {
        "carry_complete": false,
        "carry_contact_loss_events": 0,
        "carry_contact_loss_tolerance_seconds": 0.04,
        "dwell_seconds": 0.0,
        "first_success_time_seconds": null,
        "grasp_seen": true,
        "lift_dwell_seconds": 0.0,
        "lift_seen": false,
        "max_carry_contact_loss_seconds": 0.0,
        "max_object_lift_m": 0.007450408098918074,
        "max_pad_normal_force_n": 0.4363043154816858,
        "physical_robot_ready": false,
        "reason": "timeout",
        "retention_lost": false,
        "simulation_time": 20.00000000000146,
        "steps": 1000,
        "success": false,
        "target_distance_m": 0.1240959742224151,
        "unexpected_contact_native_ticks": 0,
        "valid": true,
        "warnings": []
      },
      "policy": {
        "abort_reason": "probe_height_not_retained",
        "acquisition_contract": {
          "comparison_scope": "Closed-loop variants may acquire different trajectories through early hold/retry. This is not an isolated classifier ablation.",
          "control_dt_s": 0.02,
          "evidence_admission": "Current bilateral force >0.01 N, no table support, object rise >=6 mm and TCP-local offset drift <=3 mm continuously across sampled boundaries for elapsed >=100 ms.",
          "hold": "Latch measured six arm joints and the last issued jaw target at admission/terminal invalidity. No full lift/transfer, no squeeze escalation, no post-admission retry.",
          "invalidation": "At each subsequent 20 ms observation and final observation, invalidate immediately on lost contact/force, support, insufficient rise, >3 mm local drift or unexpected contact. Never requalify after terminal invalidity.",
          "observation_origin": "privileged_native_simulator_state",
          "parameters": {
            "close_timeout_s": 1.4,
            "consecutive_alarm_samples": 2,
            "max_retries": 1,
            "monitor_min_probe_motion_m": 0.003,
            "probe_height_m": 0.01,
            "probe_min_object_rise_m": 0.006,
            "probe_speed_m_s": 0.02,
            "probe_timeout_s": 1.4,
            "qualification_dwell_s": 0.1,
            "relative_drift_limit_m": 0.003,
            "retry_clearance_m": 0.012,
            "retry_open_timeout_s": 1.2,
            "retry_recenter_timeout_s": 1.5
          },
          "physical_robot_ready": false,
          "prefix": "Original GuardedPiperTaskPolicy approach/close and at most one supported open/recenter/retry; already uses authored native state, not a fully blind baseline.",
          "sampling_limit": "Independent 1 ms evidence may contradict sampled admission; that remains a finding. No sensor or material inference is implemented.",
          "schema": "dvidia.piper-probe-stop/v1",
          "stop_scope": "Holding native position targets is not physical arrest or calibrated force limiting; inertia and existing target rate limits can continue motion.",
          "timer_admission": "Same 10 mm/20 mm/s probe target law, admitted at elapsed >=600 ms from that probe start; no evidence predicate or slip alarm before admission. Unexpected contacts and bounded timeouts still stop.",
          "timer_admission_s": 0.6,
          "variants": [
            "evidence",
            "timer"
          ]
        },
        "acquisition_variant": "evidence",
        "active_probe_index": 0,
        "admission_time_s": 12.039999999998766,
        "admitted": false,
        "contract": {
          "acquisition": "Unchanged ProbeStopPolicy evidence acquisition, including its bounded supported retry. All variants share the same prefix through the first admission observation.",
          "cartesian": "Latch measured TCP position/orientation and preceding issued targets. Fixed joint bias equals issued target minus pose_action at the admission pose. First command repeats the exact issued target; later pose_action updates receive that fixed bias.",
          "control_dt_s": 0.02,
          "final_observation": "Repeat force, original eligibility and Cartesian pose-error checks. Do not solve or issue a hypothetical next control at the terminal observation.",
          "invalid_measurements": "Malformed, nonfinite or noncausal observations terminally refuse and raise without issuing a command. No measured-position stop is claimed from invalid measurements.",
          "issued_joint": "Latch the preceding issued six joint targets and the same last issued jaw target at admission.",
          "limits": {
            "initial_joint_bias_ceiling_rad": 0.08,
            "joint_correction_ceiling_rad": 0.03,
            "joint_correction_rate_rad_s": 0.1,
            "native_joint_target_margin_rad": 0.02,
            "per_finger_force_ceiling_n": 10.0,
            "tcp_orientation_error_ceiling_rad": 0.05,
            "tcp_position_error_ceiling_m": 0.004
          },
          "measured_joint": "Original hold: latch measured six joint coordinates and the last issued jaw target at admission.",
          "observation_origin": "privileged_native_simulator_state",
          "physical_robot_ready": false,
          "qualifications": "Engineering limits and the 10 N ceiling are authored synthetic assumptions, not damage limits or calibrated physical telemetry. Position targets are not physical stops or force limiters. No load/friction inference, model training or complete placement is implemented.",
          "rate_scope": "The extra correction slews at at most 0.002 rad per 20 ms per joint. Original native 1 ms target slew, servos, gains and force caps remain unchanged.",
          "refusal": "Original eligibility loss, unexpected contact or observed pad force >10 N terminally requests measured joint hold and the frozen jaw target. Cartesian error, initial-bias, total-correction or native-margin exhaustion also refuses terminally; it never chases an already failed grip.",
          "sampling": "Control checks occur at 20 ms boundaries. Independent saved 1 ms native evidence must judge a continuous 5 s hold; missed between-boundary failures remain findings.",
          "schema": "dvidia.piper-retention/v2",
          "variants": [
            "measured_joint",
            "issued_joint",
            "cartesian"
          ]
        },
        "events": [
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "continue",
              "drift_streak": 0,
              "object_height_delta_m": 0.0,
              "phase": "probe",
              "progress_streak": 0,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0,
              "retry_index": 0,
              "t_seconds": 11.439999999999099,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_probe",
            "probe_index": 0,
            "reason": "slow_load_bearing_check",
            "retention_variant": "measured_joint",
            "retry_index": 0,
            "status": "probing",
            "t_seconds": 11.439999999999099,
            "type": "probe_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "bounded_measured_joint_hold",
              "drift_streak": 0,
              "object_height_delta_m": 0.007380995361481665,
              "phase": "probe",
              "progress_streak": 0,
              "qualification_dwell_seconds": 0.09999999999994458,
              "qualified": true,
              "relative_offset_error_m": 7.528146715398036e-05,
              "retry_index": 0,
              "t_seconds": 12.039999999998766,
              "table_supported": false,
              "tcp_probe_height_delta_m": 0.007490906396787622
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "probe_stop",
            "probe_index": 0,
            "reason": "sampled_probe_evidence",
            "retention_hold_reference": {
              "fixed_bias_rad": null,
              "frozen_jaw_target_m": 0.0,
              "issued_joint_targets_rad": [
                -0.12452960270737247,
                1.739319209565074,
                -1.178272910657972,
                -6.298705309587874e-06,
                1.0859429924255175,
                -0.12945260518107826
              ],
              "measured_joint_position_rad": [
                -0.12453941767632085,
                1.7441564237877072,
                -1.1735480102180216,
                -1.767954637556873e-05,
                1.0591702058129244,
                -0.12941185128907873
              ],
              "position_m": [
                0.313151835983599,
                -0.03778034702293749,
                0.08936023621094995
              ],
              "quaternion_wxyz": [
                0.014016923158113743,
                -0.0024364672709027454,
                0.9998971755613834,
                -0.0017966070203289167
              ],
              "raw_pose_joint_targets_rad": null,
              "t_seconds": 12.039999999998766
            },
            "retention_variant": "measured_joint",
            "retry_index": 0,
            "status": "qualified_hold",
            "t_seconds": 12.039999999998766,
            "type": "evidence_qualified",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm_and_freeze_issued_jaw",
              "drift_streak": 0,
              "object_height_delta_m": 0.005999293628084643,
              "phase": "probe_hold",
              "progress_streak": 0,
              "qualification_dwell_seconds": 5.5799999999996075,
              "qualified": false,
              "relative_offset_error_m": 0.0006077346360060204,
              "retry_index": 0,
              "t_seconds": 17.51999999999843,
              "table_supported": false,
              "tcp_probe_height_delta_m": 0.00663847587149223
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "probe_stop",
            "probe_index": 0,
            "reason": "probe_height_not_retained",
            "retention_variant": "measured_joint",
            "retry_index": 0,
            "status": "invalidated_hold",
            "t_seconds": 17.51999999999843,
            "type": "hold_invalidated",
            "variant": "evidence"
          }
        ],
        "ever_admitted": true,
        "final_observed": true,
        "frozen_jaw_target_m": 0.0,
        "initial_context": {
          "object_position_m": [
            0.30699992366647033,
            -0.037000151615188895,
            0.0798922445174838
          ],
          "observation_origin": "privileged_native_simulator_state",
          "t_seconds": 0.0,
          "tcp_position_m": [
            0.4890696662845219,
            0.0014141975654808877,
            0.3665849431043091
          ],
          "tcp_quaternion_wxyz": [
            0.6580840948238629,
            2.7730466224793136e-07,
            0.7529444362872891,
            -1.9485471114950535e-06
          ]
        },
        "last_observed_s": 20.00000000000146,
        "observation_origin": "privileged_native_simulator_state",
        "physical_robot_ready": false,
        "probes": [
          {
            "admission_time_s": 12.039999999998766,
            "disposition": "invalidated_hold",
            "end_time_s": 17.51999999999843,
            "local_offset_origin_m": [
              0.0023231592483883706,
              0.000304073821116654,
              0.0019195549821176708
            ],
            "object_origin_m": [
              0.3068567088738679,
              -0.036985435216608666,
              0.07992418427520324
            ],
            "observation_origin": "privileged_native_simulator_state",
            "probe_index": 0,
            "reason": "probe_height_not_retained",
            "start_time_s": 11.439999999999099,
            "tcp_origin_m": [
              0.3091602993819961,
              -0.0372754364486113,
              0.08186932981416233
            ],
            "tcp_quaternion_wxyz": [
              0.0054413696236402815,
              -0.00245907883136888,
              0.9999819289484455,
              -0.0006972836338924029
            ]
          }
        ],
        "retention": {
          "hold_reference": {
            "fixed_bias_rad": null,
            "frozen_jaw_target_m": 0.0,
            "issued_joint_targets_rad": [
              -0.12452960270737247,
              1.739319209565074,
              -1.178272910657972,
              -6.298705309587874e-06,
              1.0859429924255175,
              -0.12945260518107826
            ],
            "measured_joint_position_rad": [
              -0.12453941767632085,
              1.7441564237877072,
              -1.1735480102180216,
              -1.767954637556873e-05,
              1.0591702058129244,
              -0.12941185128907873
            ],
            "position_m": [
              0.313151835983599,
              -0.03778034702293749,
              0.08936023621094995
            ],
            "quaternion_wxyz": [
              0.014016923158113743,
              -0.0024364672709027454,
              0.9998971755613834,
              -0.0017966070203289167
            ],
            "raw_pose_joint_targets_rad": null,
            "t_seconds": 12.039999999998766
          },
          "input_refusals": [],
          "native_joint_control_limits_rad": [
            [
              -2.618,
              2.618
            ],
            [
              0.0,
              3.14
            ],
            [
              -2.697,
              0.0
            ],
            [
              -1.832,
              1.832
            ],
            [
              -1.22,
              1.22
            ],
            [
              -3.14,
              3.14
            ]
          ],
          "variant": "measured_joint"
        },
        "retry_count": 0,
        "schema": "dvidia.piper-retention/v2",
        "status": "invalidated_hold",
        "stop_targets_rad": [
          -0.12453941757286456,
          1.7458817532049768,
          -1.1722529637730348,
          -3.167316092266651e-05,
          1.0593052377609415,
          -0.12941187890948883
        ],
        "variant": "measured_joint"
      },
      "scene_id": "m45-f75-p1",
      "timing": {
        "policy_cpu": {
          "maximum_s": 0.0007049999999999557,
          "mean_s": 4.3177000000000024e-05,
          "over_20ms": 0,
          "p50_s": 4.7999999999603915e-05,
          "p95_s": 7.499999999893703e-05,
          "p99_s": 0.00011099999999865773,
          "samples": 1000
        },
        "policy_wall": {
          "maximum_s": 0.0015880423597991467,
          "mean_s": 4.428626038134098e-05,
          "over_20ms": 0,
          "p50_s": 4.7999899834394455e-05,
          "p95_s": 7.50248786062002e-05,
          "p99_s": 0.00011201777029782525,
          "samples": 1000
        },
        "step_cpu": {
          "maximum_s": 0.010819999999998942,
          "mean_s": 0.0017154370000000423,
          "over_20ms": 0,
          "p50_s": 0.0014700000000003044,
          "p95_s": 0.002562199999999404,
          "p99_s": 0.0030390999999993437,
          "samples": 1000
        },
        "step_wall": {
          "maximum_s": 0.010858375113457441,
          "mean_s": 0.0017247098917141557,
          "over_20ms": 0,
          "p50_s": 0.0014872504398226738,
          "p95_s": 0.002590767014771699,
          "p99_s": 0.003090628501959145,
          "samples": 1000
        }
      },
      "valid": true,
      "variant": "measured_joint"
    },
    {
      "error": null,
      "evaluation": {
        "corrections": {
          "bound_refusal_counts": {},
          "flag_counts": {
            "correction_rate_limited": 0
          },
          "hold_record_count": 279,
          "input_refusals": [],
          "maximum_abs_active_correction_rad": null,
          "maximum_abs_desired_correction_rad": null,
          "rate_limited_axis_occurrences": 0,
          "scope": "Includes recorded final diagnostic checks; only command_issued rows represent issued controls."
        },
        "decomposition": null,
        "final": {
          "both_qualified": false,
          "controller_qualified": false,
          "evidence_admissible": false,
          "native_qualified": false
        },
        "first_admission": null,
        "native": {
          "arrays_sha256": "59a54b5a24c53e8c67b18957da5d864686a33ff05a61cdd3ed132e3febd69ccf",
          "complete": true,
          "maximum_per_finger_force_n": 0.47402557616891394,
          "rows": 20000,
          "unexpected_contact_native_ticks": 0,
          "valid": true,
          "warnings": []
        },
        "physical_robot_ready": false,
        "primary": {
          "combined_qualified_pause": false,
          "complete_5s": false,
          "controller_retained_at_5s": false,
          "native_pause_success": false,
          "reason": "no_admission",
          "required_s": 5.0,
          "success": false
        },
        "probes": [
          {
            "claims": [],
            "disposition": "interrupted",
            "final_native_qualified_from_origin": false,
            "probe_index": 0,
            "start_time_s": 11.139999999999265
          },
          {
            "claims": [],
            "disposition": "invalidated_hold",
            "final_native_qualified_from_origin": false,
            "probe_index": 1,
            "start_time_s": 14.059999999997647
          }
        ],
        "receipt": {
          "admission": {
            "observation_origin": "privileged_native_simulation_plus_caller_planning_assumptions",
            "physical_robot_ready": false,
            "planning": {
              "computed": {
                "conservative_required_load_n": 0.6686988749999999,
                "gravity_m_s2": 9.80665,
                "pose_specific_payload_limit_force_n": 0.980665,
                "two_finger_friction_capacity_n": 10.0
              },
              "observation_origin": "caller_declared_not_verified",
              "physical_robot_ready": false,
              "reasons": [
                "Run and record a cautious test lift under the same calibrated pose and load conditions before simulated transport planning."
              ],
              "schema": "dvidia.task-feasibility-result/v1",
              "scope": "Planning assessment only. Parallel two-finger vertical-lift approximation; ignores moment, center of mass, deformation, transient impacts and unmodeled contact effects. Unknown values remain unknown; mass is never inferred from images. Probe/test-lift/controller integration is not implemented. No hardware actuation is performed; this is not hardware qualification.",
              "status": "test_lift_required"
            },
            "probe": {
              "admissible": false,
              "historical_qualified": false,
              "latest_qualified": false,
              "physical_robot_ready": false,
              "reasons": [
                "latest_native_window_not_qualified",
                "no_controller_qualification_for_this_probe",
                "latest_controller_not_qualified"
              ],
              "receipt_sha256": "ea15a5ec67748547be8c011651da9f7f19b8e25b1f531c08b9504ec3ba63c140",
              "schema": "dvidia.probe-evidence-verification/v1",
              "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.",
              "verified": true
            },
            "schema": "dvidia.task-feasibility-with-probe/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification. Unknown planning values remain unknown. The unchanged approximate vertical-lift planning gate describes declared loads; it supplies no transport path, geospatial-goal contract or actuator permission. This wrapper never issues controls.",
            "status": "test_lift_required"
          },
          "context": {
            "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
            "calibration_id": "synthetic_probe_v01",
            "calibration_scope": "simulation_assumptions_not_hardware",
            "command_sha256": "95de2d8e800008d441cde99b549a4a1db291efdfaa6882dd0973398f3d906d6f",
            "feasibility_sha256": "2f11dd4b87d5867e73e60ce88c578fe21d8603e62268b8c8e2781b417cec1ec3",
            "grasp_id": "m45-f50-p0-cartesian-probe-1",
            "initial_object_position_m": [
              0.3030001370663246,
              -0.02600003118840795,
              0.07989224451748381
            ],
            "model_sha256": "eadf81940e998eed3d3cca2ba90749ef59e6bd04d368289af1d21356f7e7cea9",
            "native_status": {
              "simulation_time_s": 20.00000000000146,
              "unexpected_contact_native_ticks": 0,
              "valid": true,
              "warnings": []
            },
            "object_id": "task_block",
            "per_finger_force_ceiling_n": 10.0,
            "pose_binding_sha256": "04dc7bf4a3e0872c538c3f4b55d52e484e950caac3510687f5144a1d1a1e2820",
            "probe_index": 1,
            "probe_origin_object_position_m": [
              0.3052450415648978,
              -0.026011785407697052,
              0.07985358473895547
            ],
            "probe_origin_tcp_local_offset_m": [
              -0.0020874121237626003,
              0.0002561357937012188,
              0.0024088586298916825
            ],
            "probe_start_s": 14.059999999997647,
            "robot_profile": "piper",
            "run_id": "m45-f50-p0-cartesian",
            "schema": "dvidia.probe-context/v1",
            "source_sha256": "cc82eb867d3a927a487317b2e9e470fcb8f53e9da000a1764b7c5a1878883e69"
          },
          "physical_robot_ready": false,
          "planning_input": {
            "allowed_pose_tolerance_m": 0.003,
            "calibration_id": "synthetic_probe_v01",
            "friction_interval": [
              0.5,
              0.5
            ],
            "geometry_known": true,
            "gripper_max_opening_interval_m": [
              0.07,
              0.07
            ],
            "gripper_min_closure_m": 0.0,
            "mass_interval_kg": [
              0.045,
              0.045
            ],
            "object_width_interval_m": [
              0.04,
              0.04
            ],
            "observations_fresh": true,
            "per_finger_normal_force_budget_n": 10.0,
            "planned_upward_accel_m_s2": 0.1,
            "pose_specific_payload_limit_kg": 0.1,
            "pose_uncertainty_m": 0.0,
            "reachability": "reachable",
            "safety_factor": 1.5,
            "schema": "dvidia.task-feasibility-input/v1",
            "slip_detected": false,
            "test_lift_passed": false
          },
          "receipt": {
            "audit": {
              "controller_claim_mismatches": [],
              "controller_claims_checked": 1,
              "controller_conservative_abstention_count": 0,
              "controller_coverage": "Only the supplied claims are checked; omitted decisions are not inferred.",
              "controller_false_qualification_count": 0,
              "controller_positive_claims": 0,
              "force_ceiling_known": true,
              "maximum_observed_per_finger_force_n": 0.47402557616891394,
              "reasons": [],
              "rows": 20000,
              "unexpected_contact_native_ticks": 0,
              "valid": true
            },
            "context": {
              "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
              "calibration_id": "synthetic_probe_v01",
              "calibration_scope": "simulation_assumptions_not_hardware",
              "command_sha256": "95de2d8e800008d441cde99b549a4a1db291efdfaa6882dd0973398f3d906d6f",
              "feasibility_sha256": "2f11dd4b87d5867e73e60ce88c578fe21d8603e62268b8c8e2781b417cec1ec3",
              "grasp_id": "m45-f50-p0-cartesian-probe-1",
              "initial_object_position_m": [
                0.3030001370663246,
                -0.02600003118840795,
                0.07989224451748381
              ],
              "model_sha256": "eadf81940e998eed3d3cca2ba90749ef59e6bd04d368289af1d21356f7e7cea9",
              "native_status": {
                "simulation_time_s": 20.00000000000146,
                "unexpected_contact_native_ticks": 0,
                "valid": true,
                "warnings": []
              },
              "object_id": "task_block",
              "per_finger_force_ceiling_n": 10.0,
              "pose_binding_sha256": "04dc7bf4a3e0872c538c3f4b55d52e484e950caac3510687f5144a1d1a1e2820",
              "probe_index": 1,
              "probe_origin_object_position_m": [
                0.3052450415648978,
                -0.026011785407697052,
                0.07985358473895547
              ],
              "probe_origin_tcp_local_offset_m": [
                -0.0020874121237626003,
                0.0002561357937012188,
                0.0024088586298916825
              ],
              "probe_start_s": 14.059999999997647,
              "robot_profile": "piper",
              "run_id": "m45-f50-p0-cartesian",
              "schema": "dvidia.probe-context/v1",
              "source_sha256": "cc82eb867d3a927a487317b2e9e470fcb8f53e9da000a1764b7c5a1878883e69"
            },
            "context_sha256": "0e99ca57f5ae19ed82b2bbfc934398e274d14a3c38daa65999f3960b5b81b21f",
            "controller_qualifications": [
              {
                "probe_index": 1,
                "qualified": false,
                "t_seconds": 20.00000000000146
              }
            ],
            "criteria": {
              "distance_comparison_epsilon": 1e-12,
              "initial_sample_tolerance_m": 0.001,
              "maximum_tcp_local_drift_m": 0.003,
              "minimum_continuous_dwell_s": 0.1,
              "minimum_per_finger_force_n_exclusive": 0.01,
              "minimum_rise_m": 0.006,
              "native_dt_s": 0.001,
              "origin_tolerance_m": 1e-09,
              "time_tolerance_s": 1e-08
            },
            "history": {
              "ever_qualified": false,
              "first_qualified_s": null,
              "maximum_continuous_qualifying_s": 0.0
            },
            "latest": {
              "condition_valid": false,
              "continuous_qualifying_s": 0.0,
              "controller_claim": {
                "probe_index": 1,
                "qualified": false,
                "t_seconds": 20.00000000000146
              },
              "native_tick": 20000,
              "qualified": false,
              "rise_m": 3.258454158969193e-05,
              "tcp_local_drift_m": 0.003748408464411763,
              "time_s": 20.00000000000146
            },
            "metadata_sha256": "ad8229630cc9f8718829bb8317b1a82480dcf18b9f71bd23666acfe71a003ef7",
            "native_arrays_sha256": "59a54b5a24c53e8c67b18957da5d864686a33ff05a61cdd3ed132e3febd69ccf",
            "physical_robot_ready": false,
            "receipt_sha256": "ea15a5ec67748547be8c011651da9f7f19b8e25b1f531c08b9504ec3ba63c140",
            "schema": "dvidia.probe-evidence/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification."
          },
          "status": "inspected",
          "verification": {
            "admissible": false,
            "historical_qualified": false,
            "latest_qualified": false,
            "physical_robot_ready": false,
            "reasons": [
              "latest_native_window_not_qualified",
              "no_controller_qualification_for_this_probe",
              "latest_controller_not_qualified"
            ],
            "receipt_sha256": "ea15a5ec67748547be8c011651da9f7f19b8e25b1f531c08b9504ec3ba63c140",
            "schema": "dvidia.probe-evidence-verification/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.",
            "verified": true
          }
        },
        "stationarity": {
          "complete_5s": false,
          "grip_retention_and_stationarity": false,
          "tcp_pose_within_bounds": false
        },
        "status": "inspected"
      },
      "files": {
        "episode.json.gz": {
          "bytes": 776344,
          "sha256": "fd91474d369aff3623cbed5ae2d90a6c970eb90854c1e2c0a086716e7731a188"
        },
        "evaluation.json": {
          "bytes": 11684,
          "sha256": "de4b71cc81dd2417fd2f3718f6724b28730e324acc722ee329ea9e8809c781ce"
        },
        "native.json": {
          "bytes": 13763,
          "sha256": "19cc1d5998901cbc12da2916add3096763081e9decbfc7193981bfabc4b871e0"
        },
        "native.npz": {
          "bytes": 4112831,
          "sha256": "8c37fdb8747b01cc82374f1f14e37deef079aa454a21c203959e892a50a62220"
        },
        "started.json": {
          "bytes": 146,
          "sha256": "d27be88d3f7862c79b4a9da05d52619d2f6bbd8420b278db9f0972be2a851e95"
        }
      },
      "friction": 0.5,
      "id": "m45-f50-p0-cartesian",
      "mass_kg": 0.045,
      "metrics": {
        "carry_complete": false,
        "carry_contact_loss_events": 0,
        "carry_contact_loss_tolerance_seconds": 0.04,
        "dwell_seconds": 0.0,
        "first_success_time_seconds": null,
        "grasp_seen": true,
        "lift_dwell_seconds": 0.0,
        "lift_seen": false,
        "max_carry_contact_loss_seconds": 0.0,
        "max_object_lift_m": 0.00016550843890812683,
        "max_pad_normal_force_n": 0.47402557616891394,
        "physical_robot_ready": false,
        "reason": "timeout",
        "retention_lost": false,
        "simulation_time": 20.00000000000146,
        "steps": 1000,
        "success": false,
        "target_distance_m": 0.11440373194387206,
        "unexpected_contact_native_ticks": 0,
        "valid": true,
        "warnings": []
      },
      "policy": {
        "abort_reason": "retry_budget_exhausted:object_not_following",
        "acquisition_contract": {
          "comparison_scope": "Closed-loop variants may acquire different trajectories through early hold/retry. This is not an isolated classifier ablation.",
          "control_dt_s": 0.02,
          "evidence_admission": "Current bilateral force >0.01 N, no table support, object rise >=6 mm and TCP-local offset drift <=3 mm continuously across sampled boundaries for elapsed >=100 ms.",
          "hold": "Latch measured six arm joints and the last issued jaw target at admission/terminal invalidity. No full lift/transfer, no squeeze escalation, no post-admission retry.",
          "invalidation": "At each subsequent 20 ms observation and final observation, invalidate immediately on lost contact/force, support, insufficient rise, >3 mm local drift or unexpected contact. Never requalify after terminal invalidity.",
          "observation_origin": "privileged_native_simulator_state",
          "parameters": {
            "close_timeout_s": 1.4,
            "consecutive_alarm_samples": 2,
            "max_retries": 1,
            "monitor_min_probe_motion_m": 0.003,
            "probe_height_m": 0.01,
            "probe_min_object_rise_m": 0.006,
            "probe_speed_m_s": 0.02,
            "probe_timeout_s": 1.4,
            "qualification_dwell_s": 0.1,
            "relative_drift_limit_m": 0.003,
            "retry_clearance_m": 0.012,
            "retry_open_timeout_s": 1.2,
            "retry_recenter_timeout_s": 1.5
          },
          "physical_robot_ready": false,
          "prefix": "Original GuardedPiperTaskPolicy approach/close and at most one supported open/recenter/retry; already uses authored native state, not a fully blind baseline.",
          "sampling_limit": "Independent 1 ms evidence may contradict sampled admission; that remains a finding. No sensor or material inference is implemented.",
          "schema": "dvidia.piper-probe-stop/v1",
          "stop_scope": "Holding native position targets is not physical arrest or calibrated force limiting; inertia and existing target rate limits can continue motion.",
          "timer_admission": "Same 10 mm/20 mm/s probe target law, admitted at elapsed >=600 ms from that probe start; no evidence predicate or slip alarm before admission. Unexpected contacts and bounded timeouts still stop.",
          "timer_admission_s": 0.6,
          "variants": [
            "evidence",
            "timer"
          ]
        },
        "acquisition_variant": "evidence",
        "active_probe_index": 1,
        "admission_time_s": null,
        "admitted": false,
        "contract": {
          "acquisition": "Unchanged ProbeStopPolicy evidence acquisition, including its bounded supported retry. All variants share the same prefix through the first admission observation.",
          "cartesian": "Latch measured TCP position/orientation and preceding issued targets. Fixed joint bias equals issued target minus pose_action at the admission pose. First command repeats the exact issued target; later pose_action updates receive that fixed bias.",
          "control_dt_s": 0.02,
          "final_observation": "Repeat force, original eligibility and Cartesian pose-error checks. Do not solve or issue a hypothetical next control at the terminal observation.",
          "invalid_measurements": "Malformed, nonfinite or noncausal observations terminally refuse and raise without issuing a command. No measured-position stop is claimed from invalid measurements.",
          "issued_joint": "Latch the preceding issued six joint targets and the same last issued jaw target at admission.",
          "limits": {
            "initial_joint_bias_ceiling_rad": 0.08,
            "joint_correction_ceiling_rad": 0.03,
            "joint_correction_rate_rad_s": 0.1,
            "native_joint_target_margin_rad": 0.02,
            "per_finger_force_ceiling_n": 10.0,
            "tcp_orientation_error_ceiling_rad": 0.05,
            "tcp_position_error_ceiling_m": 0.004
          },
          "measured_joint": "Original hold: latch measured six joint coordinates and the last issued jaw target at admission.",
          "observation_origin": "privileged_native_simulator_state",
          "physical_robot_ready": false,
          "qualifications": "Engineering limits and the 10 N ceiling are authored synthetic assumptions, not damage limits or calibrated physical telemetry. Position targets are not physical stops or force limiters. No load/friction inference, model training or complete placement is implemented.",
          "rate_scope": "The extra correction slews at at most 0.002 rad per 20 ms per joint. Original native 1 ms target slew, servos, gains and force caps remain unchanged.",
          "refusal": "Original eligibility loss, unexpected contact or observed pad force >10 N terminally requests measured joint hold and the frozen jaw target. Cartesian error, initial-bias, total-correction or native-margin exhaustion also refuses terminally; it never chases an already failed grip.",
          "sampling": "Control checks occur at 20 ms boundaries. Independent saved 1 ms native evidence must judge a continuous 5 s hold; missed between-boundary failures remain findings.",
          "schema": "dvidia.piper-retention/v2",
          "variants": [
            "measured_joint",
            "issued_joint",
            "cartesian"
          ]
        },
        "events": [
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "continue",
              "drift_streak": 0,
              "object_height_delta_m": 0.0,
              "phase": "probe",
              "progress_streak": 0,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0,
              "retry_index": 0,
              "t_seconds": 11.139999999999265,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_probe",
            "probe_index": 0,
            "reason": "slow_load_bearing_check",
            "retention_variant": "cartesian",
            "retry_index": 0,
            "status": "probing",
            "t_seconds": 11.139999999999265,
            "type": "probe_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm",
              "drift_streak": 2,
              "object_height_delta_m": 0.00010069632283890573,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0036429553098791837,
              "retry_index": 0,
              "t_seconds": 11.519999999999055,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0037585866417153974
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_stop",
            "probe_index": 0,
            "reason": "object_not_following",
            "retention_variant": "cartesian",
            "retry_index": 0,
            "status": "probing",
            "t_seconds": 11.519999999999055,
            "type": "alarm",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm",
              "drift_streak": 2,
              "object_height_delta_m": 0.00010069632283890573,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0036429553098791837,
              "retry_index": 0,
              "t_seconds": 11.519999999999055,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0037585866417153974
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_stop",
            "probe_index": 0,
            "reason": "supported_object_only",
            "retention_variant": "cartesian",
            "retry_index": 1,
            "status": "acquiring_retry",
            "t_seconds": 11.519999999999055,
            "type": "retry_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": false,
              "contact_loss_streak": 0,
              "decision": "recenter_with_open_jaw",
              "drift_streak": 2,
              "object_height_delta_m": -3.097977306973365e-05,
              "phase": "retry_recenter",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.009749866543020898,
              "retry_index": 1,
              "t_seconds": 13.179999999998135,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.009704120628840768
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_retry_recenter",
            "probe_index": 0,
            "reason": "open_recenter_complete",
            "retention_variant": "cartesian",
            "retry_index": 1,
            "status": "acquiring",
            "t_seconds": 13.179999999998135,
            "type": "retry_completed",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "continue",
              "drift_streak": 0,
              "object_height_delta_m": 0.0,
              "phase": "probe",
              "progress_streak": 0,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0,
              "retry_index": 1,
              "t_seconds": 14.059999999997647,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_probe",
            "probe_index": 1,
            "reason": "slow_load_bearing_check",
            "retention_variant": "cartesian",
            "retry_index": 1,
            "status": "probing",
            "t_seconds": 14.059999999997647,
            "type": "probe_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm",
              "drift_streak": 2,
              "object_height_delta_m": 0.000168162314601511,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.003553608929280511,
              "retry_index": 1,
              "t_seconds": 14.439999999997436,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0036946679548112843
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_stop",
            "probe_index": 1,
            "reason": "object_not_following",
            "retention_variant": "cartesian",
            "retry_index": 1,
            "status": "probing",
            "t_seconds": 14.439999999997436,
            "type": "alarm",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm_and_freeze_issued_jaw",
              "drift_streak": 2,
              "object_height_delta_m": 0.000168162314601511,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.003553608929280511,
              "retry_index": 1,
              "t_seconds": 14.439999999997436,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0036946679548112843
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "probe_stop",
            "probe_index": 1,
            "reason": "retry_budget_exhausted:object_not_following",
            "retention_variant": "cartesian",
            "retry_index": 1,
            "status": "invalidated_hold",
            "t_seconds": 14.439999999997436,
            "type": "abort",
            "variant": "evidence"
          }
        ],
        "ever_admitted": false,
        "final_observed": true,
        "frozen_jaw_target_m": 0.0,
        "initial_context": {
          "object_position_m": [
            0.3030001370663246,
            -0.02600003118840795,
            0.07989224451748381
          ],
          "observation_origin": "privileged_native_simulator_state",
          "t_seconds": 0.0,
          "tcp_position_m": [
            0.4890696662845219,
            0.0014141975654808877,
            0.3665849431043091
          ],
          "tcp_quaternion_wxyz": [
            0.6580840948238629,
            2.7730466224793136e-07,
            0.7529444362872891,
            -1.9485471114950535e-06
          ]
        },
        "last_observed_s": 20.00000000000146,
        "observation_origin": "privileged_native_simulator_state",
        "physical_robot_ready": false,
        "probes": [
          {
            "disposition": "interrupted",
            "end_time_s": 11.519999999999055,
            "local_offset_origin_m": [
              0.0022984851593602696,
              0.0002992296628965114,
              0.0019188262846337079
            ],
            "object_origin_m": [
              0.3027947174844272,
              -0.02595336929767682,
              0.07992322435285343
            ],
            "observation_origin": "privileged_native_simulator_state",
            "probe_index": 0,
            "reason": "object_not_following",
            "start_time_s": 11.139999999999265,
            "tcp_origin_m": [
              0.30507395888615196,
              -0.026242463127568515,
              0.08186640476643836
            ],
            "tcp_quaternion_wxyz": [
              0.005253331276975543,
              -0.0017761341269536216,
              0.9999844890424894,
              -0.0005191651843229058
            ]
          },
          {
            "disposition": "invalidated_hold",
            "end_time_s": 14.439999999997436,
            "local_offset_origin_m": [
              -0.0020874121237626003,
              0.0002561357937012188,
              0.0024088586298916825
            ],
            "object_origin_m": [
              0.3052450415648978,
              -0.026011785407697052,
              0.07985358473895547
            ],
            "observation_origin": "privileged_native_simulator_state",
            "probe_index": 1,
            "reason": "retry_budget_exhausted:object_not_following",
            "start_time_s": 14.059999999997647,
            "tcp_origin_m": [
              0.30317946555791886,
              -0.02626929055179307,
              0.08228104878157418
            ],
            "tcp_quaternion_wxyz": [
              -0.00449640336793191,
              -0.00017490421514303227,
              0.9999898669942058,
              0.0001329442705121103
            ]
          }
        ],
        "retention": {
          "hold_reference": null,
          "input_refusals": [],
          "native_joint_control_limits_rad": [
            [
              -2.618,
              2.618
            ],
            [
              0.0,
              3.14
            ],
            [
              -2.697,
              0.0
            ],
            [
              -1.832,
              1.832
            ],
            [
              -1.22,
              1.22
            ],
            [
              -3.14,
              3.14
            ]
          ],
          "variant": "cartesian"
        },
        "retry_count": 1,
        "schema": "dvidia.piper-retention/v2",
        "status": "invalidated_hold",
        "stop_targets_rad": [
          -0.09073368700896134,
          1.739461294778562,
          -1.15304537465607,
          -0.000698429773245142,
          1.0712838004436325,
          -0.0907541519328124
        ],
        "variant": "cartesian"
      },
      "scene_id": "m45-f50-p0",
      "timing": {
        "policy_cpu": {
          "maximum_s": 0.00039800000000056457,
          "mean_s": 4.734900000000408e-05,
          "over_20ms": 0,
          "p50_s": 4.9999999998107114e-05,
          "p95_s": 8.19999999990273e-05,
          "p99_s": 0.00013101999999964417,
          "samples": 1000
        },
        "policy_wall": {
          "maximum_s": 0.00039729103446006775,
          "mean_s": 4.785237507894635e-05,
          "over_20ms": 0,
          "p50_s": 4.935450851917267e-05,
          "p95_s": 8.183596655726433e-05,
          "p99_s": 0.00013958738651126618,
          "samples": 1000
        },
        "step_cpu": {
          "maximum_s": 0.012111000000000871,
          "mean_s": 0.0016528129999999858,
          "over_20ms": 0,
          "p50_s": 0.0013914999999986577,
          "p95_s": 0.0030229999999990655,
          "p99_s": 0.00388614000000139,
          "samples": 1000
        },
        "step_wall": {
          "maximum_s": 0.012161583174020052,
          "mean_s": 0.0016636545811779797,
          "over_20ms": 0,
          "p50_s": 0.0013949794229120016,
          "p95_s": 0.0030522705521434544,
          "p99_s": 0.00388713264837861,
          "samples": 1000
        }
      },
      "valid": true,
      "variant": "cartesian"
    },
    {
      "error": null,
      "evaluation": {
        "corrections": {
          "bound_refusal_counts": {},
          "flag_counts": {
            "correction_rate_limited": 0
          },
          "hold_record_count": 279,
          "input_refusals": [],
          "maximum_abs_active_correction_rad": null,
          "maximum_abs_desired_correction_rad": null,
          "rate_limited_axis_occurrences": 0,
          "scope": "Includes recorded final diagnostic checks; only command_issued rows represent issued controls."
        },
        "decomposition": null,
        "final": {
          "both_qualified": false,
          "controller_qualified": false,
          "evidence_admissible": false,
          "native_qualified": false
        },
        "first_admission": null,
        "native": {
          "arrays_sha256": "59a54b5a24c53e8c67b18957da5d864686a33ff05a61cdd3ed132e3febd69ccf",
          "complete": true,
          "maximum_per_finger_force_n": 0.47402557616891394,
          "rows": 20000,
          "unexpected_contact_native_ticks": 0,
          "valid": true,
          "warnings": []
        },
        "physical_robot_ready": false,
        "primary": {
          "combined_qualified_pause": false,
          "complete_5s": false,
          "controller_retained_at_5s": false,
          "native_pause_success": false,
          "reason": "no_admission",
          "required_s": 5.0,
          "success": false
        },
        "probes": [
          {
            "claims": [],
            "disposition": "interrupted",
            "final_native_qualified_from_origin": false,
            "probe_index": 0,
            "start_time_s": 11.139999999999265
          },
          {
            "claims": [],
            "disposition": "invalidated_hold",
            "final_native_qualified_from_origin": false,
            "probe_index": 1,
            "start_time_s": 14.059999999997647
          }
        ],
        "receipt": {
          "admission": {
            "observation_origin": "privileged_native_simulation_plus_caller_planning_assumptions",
            "physical_robot_ready": false,
            "planning": {
              "computed": {
                "conservative_required_load_n": 0.6686988749999999,
                "gravity_m_s2": 9.80665,
                "pose_specific_payload_limit_force_n": 0.980665,
                "two_finger_friction_capacity_n": 10.0
              },
              "observation_origin": "caller_declared_not_verified",
              "physical_robot_ready": false,
              "reasons": [
                "Run and record a cautious test lift under the same calibrated pose and load conditions before simulated transport planning."
              ],
              "schema": "dvidia.task-feasibility-result/v1",
              "scope": "Planning assessment only. Parallel two-finger vertical-lift approximation; ignores moment, center of mass, deformation, transient impacts and unmodeled contact effects. Unknown values remain unknown; mass is never inferred from images. Probe/test-lift/controller integration is not implemented. No hardware actuation is performed; this is not hardware qualification.",
              "status": "test_lift_required"
            },
            "probe": {
              "admissible": false,
              "historical_qualified": false,
              "latest_qualified": false,
              "physical_robot_ready": false,
              "reasons": [
                "latest_native_window_not_qualified",
                "no_controller_qualification_for_this_probe",
                "latest_controller_not_qualified"
              ],
              "receipt_sha256": "40c0996d34317a18b2f8cb3d299235d00f2c31d49bbcb2dd688d9582f9129853",
              "schema": "dvidia.probe-evidence-verification/v1",
              "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.",
              "verified": true
            },
            "schema": "dvidia.task-feasibility-with-probe/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification. Unknown planning values remain unknown. The unchanged approximate vertical-lift planning gate describes declared loads; it supplies no transport path, geospatial-goal contract or actuator permission. This wrapper never issues controls.",
            "status": "test_lift_required"
          },
          "context": {
            "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
            "calibration_id": "synthetic_probe_v01",
            "calibration_scope": "simulation_assumptions_not_hardware",
            "command_sha256": "95de2d8e800008d441cde99b549a4a1db291efdfaa6882dd0973398f3d906d6f",
            "feasibility_sha256": "2f11dd4b87d5867e73e60ce88c578fe21d8603e62268b8c8e2781b417cec1ec3",
            "grasp_id": "m45-f50-p0-measured_joint-probe-1",
            "initial_object_position_m": [
              0.3030001370663246,
              -0.02600003118840795,
              0.07989224451748381
            ],
            "model_sha256": "eadf81940e998eed3d3cca2ba90749ef59e6bd04d368289af1d21356f7e7cea9",
            "native_status": {
              "simulation_time_s": 20.00000000000146,
              "unexpected_contact_native_ticks": 0,
              "valid": true,
              "warnings": []
            },
            "object_id": "task_block",
            "per_finger_force_ceiling_n": 10.0,
            "pose_binding_sha256": "04dc7bf4a3e0872c538c3f4b55d52e484e950caac3510687f5144a1d1a1e2820",
            "probe_index": 1,
            "probe_origin_object_position_m": [
              0.3052450415648978,
              -0.026011785407697052,
              0.07985358473895547
            ],
            "probe_origin_tcp_local_offset_m": [
              -0.0020874121237626003,
              0.0002561357937012188,
              0.0024088586298916825
            ],
            "probe_start_s": 14.059999999997647,
            "robot_profile": "piper",
            "run_id": "m45-f50-p0-measured_joint",
            "schema": "dvidia.probe-context/v1",
            "source_sha256": "cc82eb867d3a927a487317b2e9e470fcb8f53e9da000a1764b7c5a1878883e69"
          },
          "physical_robot_ready": false,
          "planning_input": {
            "allowed_pose_tolerance_m": 0.003,
            "calibration_id": "synthetic_probe_v01",
            "friction_interval": [
              0.5,
              0.5
            ],
            "geometry_known": true,
            "gripper_max_opening_interval_m": [
              0.07,
              0.07
            ],
            "gripper_min_closure_m": 0.0,
            "mass_interval_kg": [
              0.045,
              0.045
            ],
            "object_width_interval_m": [
              0.04,
              0.04
            ],
            "observations_fresh": true,
            "per_finger_normal_force_budget_n": 10.0,
            "planned_upward_accel_m_s2": 0.1,
            "pose_specific_payload_limit_kg": 0.1,
            "pose_uncertainty_m": 0.0,
            "reachability": "reachable",
            "safety_factor": 1.5,
            "schema": "dvidia.task-feasibility-input/v1",
            "slip_detected": false,
            "test_lift_passed": false
          },
          "receipt": {
            "audit": {
              "controller_claim_mismatches": [],
              "controller_claims_checked": 1,
              "controller_conservative_abstention_count": 0,
              "controller_coverage": "Only the supplied claims are checked; omitted decisions are not inferred.",
              "controller_false_qualification_count": 0,
              "controller_positive_claims": 0,
              "force_ceiling_known": true,
              "maximum_observed_per_finger_force_n": 0.47402557616891394,
              "reasons": [],
              "rows": 20000,
              "unexpected_contact_native_ticks": 0,
              "valid": true
            },
            "context": {
              "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
              "calibration_id": "synthetic_probe_v01",
              "calibration_scope": "simulation_assumptions_not_hardware",
              "command_sha256": "95de2d8e800008d441cde99b549a4a1db291efdfaa6882dd0973398f3d906d6f",
              "feasibility_sha256": "2f11dd4b87d5867e73e60ce88c578fe21d8603e62268b8c8e2781b417cec1ec3",
              "grasp_id": "m45-f50-p0-measured_joint-probe-1",
              "initial_object_position_m": [
                0.3030001370663246,
                -0.02600003118840795,
                0.07989224451748381
              ],
              "model_sha256": "eadf81940e998eed3d3cca2ba90749ef59e6bd04d368289af1d21356f7e7cea9",
              "native_status": {
                "simulation_time_s": 20.00000000000146,
                "unexpected_contact_native_ticks": 0,
                "valid": true,
                "warnings": []
              },
              "object_id": "task_block",
              "per_finger_force_ceiling_n": 10.0,
              "pose_binding_sha256": "04dc7bf4a3e0872c538c3f4b55d52e484e950caac3510687f5144a1d1a1e2820",
              "probe_index": 1,
              "probe_origin_object_position_m": [
                0.3052450415648978,
                -0.026011785407697052,
                0.07985358473895547
              ],
              "probe_origin_tcp_local_offset_m": [
                -0.0020874121237626003,
                0.0002561357937012188,
                0.0024088586298916825
              ],
              "probe_start_s": 14.059999999997647,
              "robot_profile": "piper",
              "run_id": "m45-f50-p0-measured_joint",
              "schema": "dvidia.probe-context/v1",
              "source_sha256": "cc82eb867d3a927a487317b2e9e470fcb8f53e9da000a1764b7c5a1878883e69"
            },
            "context_sha256": "a2eddd95c08573b0504629c1fb66885fa7e807936ae5deb3f4d89d53c85a99bb",
            "controller_qualifications": [
              {
                "probe_index": 1,
                "qualified": false,
                "t_seconds": 20.00000000000146
              }
            ],
            "criteria": {
              "distance_comparison_epsilon": 1e-12,
              "initial_sample_tolerance_m": 0.001,
              "maximum_tcp_local_drift_m": 0.003,
              "minimum_continuous_dwell_s": 0.1,
              "minimum_per_finger_force_n_exclusive": 0.01,
              "minimum_rise_m": 0.006,
              "native_dt_s": 0.001,
              "origin_tolerance_m": 1e-09,
              "time_tolerance_s": 1e-08
            },
            "history": {
              "ever_qualified": false,
              "first_qualified_s": null,
              "maximum_continuous_qualifying_s": 0.0
            },
            "latest": {
              "condition_valid": false,
              "continuous_qualifying_s": 0.0,
              "controller_claim": {
                "probe_index": 1,
                "qualified": false,
                "t_seconds": 20.00000000000146
              },
              "native_tick": 20000,
              "qualified": false,
              "rise_m": 3.258454158969193e-05,
              "tcp_local_drift_m": 0.003748408464411763,
              "time_s": 20.00000000000146
            },
            "metadata_sha256": "ad8229630cc9f8718829bb8317b1a82480dcf18b9f71bd23666acfe71a003ef7",
            "native_arrays_sha256": "59a54b5a24c53e8c67b18957da5d864686a33ff05a61cdd3ed132e3febd69ccf",
            "physical_robot_ready": false,
            "receipt_sha256": "40c0996d34317a18b2f8cb3d299235d00f2c31d49bbcb2dd688d9582f9129853",
            "schema": "dvidia.probe-evidence/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification."
          },
          "status": "inspected",
          "verification": {
            "admissible": false,
            "historical_qualified": false,
            "latest_qualified": false,
            "physical_robot_ready": false,
            "reasons": [
              "latest_native_window_not_qualified",
              "no_controller_qualification_for_this_probe",
              "latest_controller_not_qualified"
            ],
            "receipt_sha256": "40c0996d34317a18b2f8cb3d299235d00f2c31d49bbcb2dd688d9582f9129853",
            "schema": "dvidia.probe-evidence-verification/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.",
            "verified": true
          }
        },
        "stationarity": {
          "complete_5s": false,
          "grip_retention_and_stationarity": false,
          "tcp_pose_within_bounds": false
        },
        "status": "inspected"
      },
      "files": {
        "episode.json.gz": {
          "bytes": 775204,
          "sha256": "3d55d4f24e84b75f26fe10e2181c79c458ad50d4b2867c9d39355e23b031fe03"
        },
        "evaluation.json": {
          "bytes": 11704,
          "sha256": "a1316656aec213fa14cb29e79f15d965a39eba00a006c17bb50f3d1b733ad2fc"
        },
        "native.json": {
          "bytes": 13763,
          "sha256": "19cc1d5998901cbc12da2916add3096763081e9decbfc7193981bfabc4b871e0"
        },
        "native.npz": {
          "bytes": 4112831,
          "sha256": "8c37fdb8747b01cc82374f1f14e37deef079aa454a21c203959e892a50a62220"
        },
        "started.json": {
          "bytes": 151,
          "sha256": "cce81a997512d0e70744100269420a57fa77b60689c49c3c5facb5afc34ab3b6"
        }
      },
      "friction": 0.5,
      "id": "m45-f50-p0-measured_joint",
      "mass_kg": 0.045,
      "metrics": {
        "carry_complete": false,
        "carry_contact_loss_events": 0,
        "carry_contact_loss_tolerance_seconds": 0.04,
        "dwell_seconds": 0.0,
        "first_success_time_seconds": null,
        "grasp_seen": true,
        "lift_dwell_seconds": 0.0,
        "lift_seen": false,
        "max_carry_contact_loss_seconds": 0.0,
        "max_object_lift_m": 0.00016550843890812683,
        "max_pad_normal_force_n": 0.47402557616891394,
        "physical_robot_ready": false,
        "reason": "timeout",
        "retention_lost": false,
        "simulation_time": 20.00000000000146,
        "steps": 1000,
        "success": false,
        "target_distance_m": 0.11440373194387206,
        "unexpected_contact_native_ticks": 0,
        "valid": true,
        "warnings": []
      },
      "policy": {
        "abort_reason": "retry_budget_exhausted:object_not_following",
        "acquisition_contract": {
          "comparison_scope": "Closed-loop variants may acquire different trajectories through early hold/retry. This is not an isolated classifier ablation.",
          "control_dt_s": 0.02,
          "evidence_admission": "Current bilateral force >0.01 N, no table support, object rise >=6 mm and TCP-local offset drift <=3 mm continuously across sampled boundaries for elapsed >=100 ms.",
          "hold": "Latch measured six arm joints and the last issued jaw target at admission/terminal invalidity. No full lift/transfer, no squeeze escalation, no post-admission retry.",
          "invalidation": "At each subsequent 20 ms observation and final observation, invalidate immediately on lost contact/force, support, insufficient rise, >3 mm local drift or unexpected contact. Never requalify after terminal invalidity.",
          "observation_origin": "privileged_native_simulator_state",
          "parameters": {
            "close_timeout_s": 1.4,
            "consecutive_alarm_samples": 2,
            "max_retries": 1,
            "monitor_min_probe_motion_m": 0.003,
            "probe_height_m": 0.01,
            "probe_min_object_rise_m": 0.006,
            "probe_speed_m_s": 0.02,
            "probe_timeout_s": 1.4,
            "qualification_dwell_s": 0.1,
            "relative_drift_limit_m": 0.003,
            "retry_clearance_m": 0.012,
            "retry_open_timeout_s": 1.2,
            "retry_recenter_timeout_s": 1.5
          },
          "physical_robot_ready": false,
          "prefix": "Original GuardedPiperTaskPolicy approach/close and at most one supported open/recenter/retry; already uses authored native state, not a fully blind baseline.",
          "sampling_limit": "Independent 1 ms evidence may contradict sampled admission; that remains a finding. No sensor or material inference is implemented.",
          "schema": "dvidia.piper-probe-stop/v1",
          "stop_scope": "Holding native position targets is not physical arrest or calibrated force limiting; inertia and existing target rate limits can continue motion.",
          "timer_admission": "Same 10 mm/20 mm/s probe target law, admitted at elapsed >=600 ms from that probe start; no evidence predicate or slip alarm before admission. Unexpected contacts and bounded timeouts still stop.",
          "timer_admission_s": 0.6,
          "variants": [
            "evidence",
            "timer"
          ]
        },
        "acquisition_variant": "evidence",
        "active_probe_index": 1,
        "admission_time_s": null,
        "admitted": false,
        "contract": {
          "acquisition": "Unchanged ProbeStopPolicy evidence acquisition, including its bounded supported retry. All variants share the same prefix through the first admission observation.",
          "cartesian": "Latch measured TCP position/orientation and preceding issued targets. Fixed joint bias equals issued target minus pose_action at the admission pose. First command repeats the exact issued target; later pose_action updates receive that fixed bias.",
          "control_dt_s": 0.02,
          "final_observation": "Repeat force, original eligibility and Cartesian pose-error checks. Do not solve or issue a hypothetical next control at the terminal observation.",
          "invalid_measurements": "Malformed, nonfinite or noncausal observations terminally refuse and raise without issuing a command. No measured-position stop is claimed from invalid measurements.",
          "issued_joint": "Latch the preceding issued six joint targets and the same last issued jaw target at admission.",
          "limits": {
            "initial_joint_bias_ceiling_rad": 0.08,
            "joint_correction_ceiling_rad": 0.03,
            "joint_correction_rate_rad_s": 0.1,
            "native_joint_target_margin_rad": 0.02,
            "per_finger_force_ceiling_n": 10.0,
            "tcp_orientation_error_ceiling_rad": 0.05,
            "tcp_position_error_ceiling_m": 0.004
          },
          "measured_joint": "Original hold: latch measured six joint coordinates and the last issued jaw target at admission.",
          "observation_origin": "privileged_native_simulator_state",
          "physical_robot_ready": false,
          "qualifications": "Engineering limits and the 10 N ceiling are authored synthetic assumptions, not damage limits or calibrated physical telemetry. Position targets are not physical stops or force limiters. No load/friction inference, model training or complete placement is implemented.",
          "rate_scope": "The extra correction slews at at most 0.002 rad per 20 ms per joint. Original native 1 ms target slew, servos, gains and force caps remain unchanged.",
          "refusal": "Original eligibility loss, unexpected contact or observed pad force >10 N terminally requests measured joint hold and the frozen jaw target. Cartesian error, initial-bias, total-correction or native-margin exhaustion also refuses terminally; it never chases an already failed grip.",
          "sampling": "Control checks occur at 20 ms boundaries. Independent saved 1 ms native evidence must judge a continuous 5 s hold; missed between-boundary failures remain findings.",
          "schema": "dvidia.piper-retention/v2",
          "variants": [
            "measured_joint",
            "issued_joint",
            "cartesian"
          ]
        },
        "events": [
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "continue",
              "drift_streak": 0,
              "object_height_delta_m": 0.0,
              "phase": "probe",
              "progress_streak": 0,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0,
              "retry_index": 0,
              "t_seconds": 11.139999999999265,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_probe",
            "probe_index": 0,
            "reason": "slow_load_bearing_check",
            "retention_variant": "measured_joint",
            "retry_index": 0,
            "status": "probing",
            "t_seconds": 11.139999999999265,
            "type": "probe_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm",
              "drift_streak": 2,
              "object_height_delta_m": 0.00010069632283890573,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0036429553098791837,
              "retry_index": 0,
              "t_seconds": 11.519999999999055,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0037585866417153974
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_stop",
            "probe_index": 0,
            "reason": "object_not_following",
            "retention_variant": "measured_joint",
            "retry_index": 0,
            "status": "probing",
            "t_seconds": 11.519999999999055,
            "type": "alarm",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm",
              "drift_streak": 2,
              "object_height_delta_m": 0.00010069632283890573,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0036429553098791837,
              "retry_index": 0,
              "t_seconds": 11.519999999999055,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0037585866417153974
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_stop",
            "probe_index": 0,
            "reason": "supported_object_only",
            "retention_variant": "measured_joint",
            "retry_index": 1,
            "status": "acquiring_retry",
            "t_seconds": 11.519999999999055,
            "type": "retry_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": false,
              "contact_loss_streak": 0,
              "decision": "recenter_with_open_jaw",
              "drift_streak": 2,
              "object_height_delta_m": -3.097977306973365e-05,
              "phase": "retry_recenter",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.009749866543020898,
              "retry_index": 1,
              "t_seconds": 13.179999999998135,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.009704120628840768
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_retry_recenter",
            "probe_index": 0,
            "reason": "open_recenter_complete",
            "retention_variant": "measured_joint",
            "retry_index": 1,
            "status": "acquiring",
            "t_seconds": 13.179999999998135,
            "type": "retry_completed",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "continue",
              "drift_streak": 0,
              "object_height_delta_m": 0.0,
              "phase": "probe",
              "progress_streak": 0,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0,
              "retry_index": 1,
              "t_seconds": 14.059999999997647,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_probe",
            "probe_index": 1,
            "reason": "slow_load_bearing_check",
            "retention_variant": "measured_joint",
            "retry_index": 1,
            "status": "probing",
            "t_seconds": 14.059999999997647,
            "type": "probe_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm",
              "drift_streak": 2,
              "object_height_delta_m": 0.000168162314601511,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.003553608929280511,
              "retry_index": 1,
              "t_seconds": 14.439999999997436,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0036946679548112843
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_stop",
            "probe_index": 1,
            "reason": "object_not_following",
            "retention_variant": "measured_joint",
            "retry_index": 1,
            "status": "probing",
            "t_seconds": 14.439999999997436,
            "type": "alarm",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm_and_freeze_issued_jaw",
              "drift_streak": 2,
              "object_height_delta_m": 0.000168162314601511,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.003553608929280511,
              "retry_index": 1,
              "t_seconds": 14.439999999997436,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0036946679548112843
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "probe_stop",
            "probe_index": 1,
            "reason": "retry_budget_exhausted:object_not_following",
            "retention_variant": "measured_joint",
            "retry_index": 1,
            "status": "invalidated_hold",
            "t_seconds": 14.439999999997436,
            "type": "abort",
            "variant": "evidence"
          }
        ],
        "ever_admitted": false,
        "final_observed": true,
        "frozen_jaw_target_m": 0.0,
        "initial_context": {
          "object_position_m": [
            0.3030001370663246,
            -0.02600003118840795,
            0.07989224451748381
          ],
          "observation_origin": "privileged_native_simulator_state",
          "t_seconds": 0.0,
          "tcp_position_m": [
            0.4890696662845219,
            0.0014141975654808877,
            0.3665849431043091
          ],
          "tcp_quaternion_wxyz": [
            0.6580840948238629,
            2.7730466224793136e-07,
            0.7529444362872891,
            -1.9485471114950535e-06
          ]
        },
        "last_observed_s": 20.00000000000146,
        "observation_origin": "privileged_native_simulator_state",
        "physical_robot_ready": false,
        "probes": [
          {
            "disposition": "interrupted",
            "end_time_s": 11.519999999999055,
            "local_offset_origin_m": [
              0.0022984851593602696,
              0.0002992296628965114,
              0.0019188262846337079
            ],
            "object_origin_m": [
              0.3027947174844272,
              -0.02595336929767682,
              0.07992322435285343
            ],
            "observation_origin": "privileged_native_simulator_state",
            "probe_index": 0,
            "reason": "object_not_following",
            "start_time_s": 11.139999999999265,
            "tcp_origin_m": [
              0.30507395888615196,
              -0.026242463127568515,
              0.08186640476643836
            ],
            "tcp_quaternion_wxyz": [
              0.005253331276975543,
              -0.0017761341269536216,
              0.9999844890424894,
              -0.0005191651843229058
            ]
          },
          {
            "disposition": "invalidated_hold",
            "end_time_s": 14.439999999997436,
            "local_offset_origin_m": [
              -0.0020874121237626003,
              0.0002561357937012188,
              0.0024088586298916825
            ],
            "object_origin_m": [
              0.3052450415648978,
              -0.026011785407697052,
              0.07985358473895547
            ],
            "observation_origin": "privileged_native_simulator_state",
            "probe_index": 1,
            "reason": "retry_budget_exhausted:object_not_following",
            "start_time_s": 14.059999999997647,
            "tcp_origin_m": [
              0.30317946555791886,
              -0.02626929055179307,
              0.08228104878157418
            ],
            "tcp_quaternion_wxyz": [
              -0.00449640336793191,
              -0.00017490421514303227,
              0.9999898669942058,
              0.0001329442705121103
            ]
          }
        ],
        "retention": {
          "hold_reference": null,
          "input_refusals": [],
          "native_joint_control_limits_rad": [
            [
              -2.618,
              2.618
            ],
            [
              0.0,
              3.14
            ],
            [
              -2.697,
              0.0
            ],
            [
              -1.832,
              1.832
            ],
            [
              -1.22,
              1.22
            ],
            [
              -3.14,
              3.14
            ]
          ],
          "variant": "measured_joint"
        },
        "retry_count": 1,
        "schema": "dvidia.piper-retention/v2",
        "status": "invalidated_hold",
        "stop_targets_rad": [
          -0.09073368700896134,
          1.739461294778562,
          -1.15304537465607,
          -0.000698429773245142,
          1.0712838004436325,
          -0.0907541519328124
        ],
        "variant": "measured_joint"
      },
      "scene_id": "m45-f50-p0",
      "timing": {
        "policy_cpu": {
          "maximum_s": 0.00018399999999729744,
          "mean_s": 4.457500000003023e-05,
          "over_20ms": 0,
          "p50_s": 4.900000000063187e-05,
          "p95_s": 7.700000000099294e-05,
          "p99_s": 0.00010502000000133902,
          "samples": 1000
        },
        "policy_wall": {
          "maximum_s": 0.00026895757764577866,
          "mean_s": 4.485343396663666e-05,
          "over_20ms": 0,
          "p50_s": 4.862528294324875e-05,
          "p95_s": 7.742955349385738e-05,
          "p99_s": 0.00011623193975538013,
          "samples": 1000
        },
        "step_cpu": {
          "maximum_s": 0.004705999999998767,
          "mean_s": 0.001596658999999999,
          "over_20ms": 0,
          "p50_s": 0.0013345000000004603,
          "p95_s": 0.0028791500000000525,
          "p99_s": 0.003872020000001193,
          "samples": 1000
        },
        "step_wall": {
          "maximum_s": 0.0048240418545901775,
          "mean_s": 0.0016059491648338735,
          "over_20ms": 0,
          "p50_s": 0.0013392919208854437,
          "p95_s": 0.0028792788041755554,
          "p99_s": 0.003879047748632729,
          "samples": 1000
        }
      },
      "valid": true,
      "variant": "measured_joint"
    },
    {
      "error": null,
      "evaluation": {
        "corrections": {
          "bound_refusal_counts": {},
          "flag_counts": {
            "correction_rate_limited": 0
          },
          "hold_record_count": 279,
          "input_refusals": [],
          "maximum_abs_active_correction_rad": null,
          "maximum_abs_desired_correction_rad": null,
          "rate_limited_axis_occurrences": 0,
          "scope": "Includes recorded final diagnostic checks; only command_issued rows represent issued controls."
        },
        "decomposition": null,
        "final": {
          "both_qualified": false,
          "controller_qualified": false,
          "evidence_admissible": false,
          "native_qualified": false
        },
        "first_admission": null,
        "native": {
          "arrays_sha256": "59a54b5a24c53e8c67b18957da5d864686a33ff05a61cdd3ed132e3febd69ccf",
          "complete": true,
          "maximum_per_finger_force_n": 0.47402557616891394,
          "rows": 20000,
          "unexpected_contact_native_ticks": 0,
          "valid": true,
          "warnings": []
        },
        "physical_robot_ready": false,
        "primary": {
          "combined_qualified_pause": false,
          "complete_5s": false,
          "controller_retained_at_5s": false,
          "native_pause_success": false,
          "reason": "no_admission",
          "required_s": 5.0,
          "success": false
        },
        "probes": [
          {
            "claims": [],
            "disposition": "interrupted",
            "final_native_qualified_from_origin": false,
            "probe_index": 0,
            "start_time_s": 11.139999999999265
          },
          {
            "claims": [],
            "disposition": "invalidated_hold",
            "final_native_qualified_from_origin": false,
            "probe_index": 1,
            "start_time_s": 14.059999999997647
          }
        ],
        "receipt": {
          "admission": {
            "observation_origin": "privileged_native_simulation_plus_caller_planning_assumptions",
            "physical_robot_ready": false,
            "planning": {
              "computed": {
                "conservative_required_load_n": 0.6686988749999999,
                "gravity_m_s2": 9.80665,
                "pose_specific_payload_limit_force_n": 0.980665,
                "two_finger_friction_capacity_n": 10.0
              },
              "observation_origin": "caller_declared_not_verified",
              "physical_robot_ready": false,
              "reasons": [
                "Run and record a cautious test lift under the same calibrated pose and load conditions before simulated transport planning."
              ],
              "schema": "dvidia.task-feasibility-result/v1",
              "scope": "Planning assessment only. Parallel two-finger vertical-lift approximation; ignores moment, center of mass, deformation, transient impacts and unmodeled contact effects. Unknown values remain unknown; mass is never inferred from images. Probe/test-lift/controller integration is not implemented. No hardware actuation is performed; this is not hardware qualification.",
              "status": "test_lift_required"
            },
            "probe": {
              "admissible": false,
              "historical_qualified": false,
              "latest_qualified": false,
              "physical_robot_ready": false,
              "reasons": [
                "latest_native_window_not_qualified",
                "no_controller_qualification_for_this_probe",
                "latest_controller_not_qualified"
              ],
              "receipt_sha256": "4c4125437bef2398d3ab3c355e4f88c387ec02d306c673aceda2740def4aef81",
              "schema": "dvidia.probe-evidence-verification/v1",
              "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.",
              "verified": true
            },
            "schema": "dvidia.task-feasibility-with-probe/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification. Unknown planning values remain unknown. The unchanged approximate vertical-lift planning gate describes declared loads; it supplies no transport path, geospatial-goal contract or actuator permission. This wrapper never issues controls.",
            "status": "test_lift_required"
          },
          "context": {
            "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
            "calibration_id": "synthetic_probe_v01",
            "calibration_scope": "simulation_assumptions_not_hardware",
            "command_sha256": "95de2d8e800008d441cde99b549a4a1db291efdfaa6882dd0973398f3d906d6f",
            "feasibility_sha256": "2f11dd4b87d5867e73e60ce88c578fe21d8603e62268b8c8e2781b417cec1ec3",
            "grasp_id": "m45-f50-p0-issued_joint-probe-1",
            "initial_object_position_m": [
              0.3030001370663246,
              -0.02600003118840795,
              0.07989224451748381
            ],
            "model_sha256": "eadf81940e998eed3d3cca2ba90749ef59e6bd04d368289af1d21356f7e7cea9",
            "native_status": {
              "simulation_time_s": 20.00000000000146,
              "unexpected_contact_native_ticks": 0,
              "valid": true,
              "warnings": []
            },
            "object_id": "task_block",
            "per_finger_force_ceiling_n": 10.0,
            "pose_binding_sha256": "04dc7bf4a3e0872c538c3f4b55d52e484e950caac3510687f5144a1d1a1e2820",
            "probe_index": 1,
            "probe_origin_object_position_m": [
              0.3052450415648978,
              -0.026011785407697052,
              0.07985358473895547
            ],
            "probe_origin_tcp_local_offset_m": [
              -0.0020874121237626003,
              0.0002561357937012188,
              0.0024088586298916825
            ],
            "probe_start_s": 14.059999999997647,
            "robot_profile": "piper",
            "run_id": "m45-f50-p0-issued_joint",
            "schema": "dvidia.probe-context/v1",
            "source_sha256": "cc82eb867d3a927a487317b2e9e470fcb8f53e9da000a1764b7c5a1878883e69"
          },
          "physical_robot_ready": false,
          "planning_input": {
            "allowed_pose_tolerance_m": 0.003,
            "calibration_id": "synthetic_probe_v01",
            "friction_interval": [
              0.5,
              0.5
            ],
            "geometry_known": true,
            "gripper_max_opening_interval_m": [
              0.07,
              0.07
            ],
            "gripper_min_closure_m": 0.0,
            "mass_interval_kg": [
              0.045,
              0.045
            ],
            "object_width_interval_m": [
              0.04,
              0.04
            ],
            "observations_fresh": true,
            "per_finger_normal_force_budget_n": 10.0,
            "planned_upward_accel_m_s2": 0.1,
            "pose_specific_payload_limit_kg": 0.1,
            "pose_uncertainty_m": 0.0,
            "reachability": "reachable",
            "safety_factor": 1.5,
            "schema": "dvidia.task-feasibility-input/v1",
            "slip_detected": false,
            "test_lift_passed": false
          },
          "receipt": {
            "audit": {
              "controller_claim_mismatches": [],
              "controller_claims_checked": 1,
              "controller_conservative_abstention_count": 0,
              "controller_coverage": "Only the supplied claims are checked; omitted decisions are not inferred.",
              "controller_false_qualification_count": 0,
              "controller_positive_claims": 0,
              "force_ceiling_known": true,
              "maximum_observed_per_finger_force_n": 0.47402557616891394,
              "reasons": [],
              "rows": 20000,
              "unexpected_contact_native_ticks": 0,
              "valid": true
            },
            "context": {
              "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
              "calibration_id": "synthetic_probe_v01",
              "calibration_scope": "simulation_assumptions_not_hardware",
              "command_sha256": "95de2d8e800008d441cde99b549a4a1db291efdfaa6882dd0973398f3d906d6f",
              "feasibility_sha256": "2f11dd4b87d5867e73e60ce88c578fe21d8603e62268b8c8e2781b417cec1ec3",
              "grasp_id": "m45-f50-p0-issued_joint-probe-1",
              "initial_object_position_m": [
                0.3030001370663246,
                -0.02600003118840795,
                0.07989224451748381
              ],
              "model_sha256": "eadf81940e998eed3d3cca2ba90749ef59e6bd04d368289af1d21356f7e7cea9",
              "native_status": {
                "simulation_time_s": 20.00000000000146,
                "unexpected_contact_native_ticks": 0,
                "valid": true,
                "warnings": []
              },
              "object_id": "task_block",
              "per_finger_force_ceiling_n": 10.0,
              "pose_binding_sha256": "04dc7bf4a3e0872c538c3f4b55d52e484e950caac3510687f5144a1d1a1e2820",
              "probe_index": 1,
              "probe_origin_object_position_m": [
                0.3052450415648978,
                -0.026011785407697052,
                0.07985358473895547
              ],
              "probe_origin_tcp_local_offset_m": [
                -0.0020874121237626003,
                0.0002561357937012188,
                0.0024088586298916825
              ],
              "probe_start_s": 14.059999999997647,
              "robot_profile": "piper",
              "run_id": "m45-f50-p0-issued_joint",
              "schema": "dvidia.probe-context/v1",
              "source_sha256": "cc82eb867d3a927a487317b2e9e470fcb8f53e9da000a1764b7c5a1878883e69"
            },
            "context_sha256": "cdc21c981fa8e22c240f479253d81a5bf7e695e251a5e31d2c58ec2e4b7b643a",
            "controller_qualifications": [
              {
                "probe_index": 1,
                "qualified": false,
                "t_seconds": 20.00000000000146
              }
            ],
            "criteria": {
              "distance_comparison_epsilon": 1e-12,
              "initial_sample_tolerance_m": 0.001,
              "maximum_tcp_local_drift_m": 0.003,
              "minimum_continuous_dwell_s": 0.1,
              "minimum_per_finger_force_n_exclusive": 0.01,
              "minimum_rise_m": 0.006,
              "native_dt_s": 0.001,
              "origin_tolerance_m": 1e-09,
              "time_tolerance_s": 1e-08
            },
            "history": {
              "ever_qualified": false,
              "first_qualified_s": null,
              "maximum_continuous_qualifying_s": 0.0
            },
            "latest": {
              "condition_valid": false,
              "continuous_qualifying_s": 0.0,
              "controller_claim": {
                "probe_index": 1,
                "qualified": false,
                "t_seconds": 20.00000000000146
              },
              "native_tick": 20000,
              "qualified": false,
              "rise_m": 3.258454158969193e-05,
              "tcp_local_drift_m": 0.003748408464411763,
              "time_s": 20.00000000000146
            },
            "metadata_sha256": "ad8229630cc9f8718829bb8317b1a82480dcf18b9f71bd23666acfe71a003ef7",
            "native_arrays_sha256": "59a54b5a24c53e8c67b18957da5d864686a33ff05a61cdd3ed132e3febd69ccf",
            "physical_robot_ready": false,
            "receipt_sha256": "4c4125437bef2398d3ab3c355e4f88c387ec02d306c673aceda2740def4aef81",
            "schema": "dvidia.probe-evidence/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification."
          },
          "status": "inspected",
          "verification": {
            "admissible": false,
            "historical_qualified": false,
            "latest_qualified": false,
            "physical_robot_ready": false,
            "reasons": [
              "latest_native_window_not_qualified",
              "no_controller_qualification_for_this_probe",
              "latest_controller_not_qualified"
            ],
            "receipt_sha256": "4c4125437bef2398d3ab3c355e4f88c387ec02d306c673aceda2740def4aef81",
            "schema": "dvidia.probe-evidence-verification/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.",
            "verified": true
          }
        },
        "stationarity": {
          "complete_5s": false,
          "grip_retention_and_stationarity": false,
          "tcp_pose_within_bounds": false
        },
        "status": "inspected"
      },
      "files": {
        "episode.json.gz": {
          "bytes": 777521,
          "sha256": "a89053fd35fab71b795b43b2e4dd415e4dc133b1d616203645bbccd9681ad992"
        },
        "evaluation.json": {
          "bytes": 11696,
          "sha256": "c11dd2bec21343609b8463ce1d1046da20b6024b5d532f742542884890be7dc8"
        },
        "native.json": {
          "bytes": 13763,
          "sha256": "19cc1d5998901cbc12da2916add3096763081e9decbfc7193981bfabc4b871e0"
        },
        "native.npz": {
          "bytes": 4112831,
          "sha256": "8c37fdb8747b01cc82374f1f14e37deef079aa454a21c203959e892a50a62220"
        },
        "started.json": {
          "bytes": 149,
          "sha256": "69cc57059520e3a39c6ece4aebf27af5d03244de6323ab689d99b60fdbeacdf7"
        }
      },
      "friction": 0.5,
      "id": "m45-f50-p0-issued_joint",
      "mass_kg": 0.045,
      "metrics": {
        "carry_complete": false,
        "carry_contact_loss_events": 0,
        "carry_contact_loss_tolerance_seconds": 0.04,
        "dwell_seconds": 0.0,
        "first_success_time_seconds": null,
        "grasp_seen": true,
        "lift_dwell_seconds": 0.0,
        "lift_seen": false,
        "max_carry_contact_loss_seconds": 0.0,
        "max_object_lift_m": 0.00016550843890812683,
        "max_pad_normal_force_n": 0.47402557616891394,
        "physical_robot_ready": false,
        "reason": "timeout",
        "retention_lost": false,
        "simulation_time": 20.00000000000146,
        "steps": 1000,
        "success": false,
        "target_distance_m": 0.11440373194387206,
        "unexpected_contact_native_ticks": 0,
        "valid": true,
        "warnings": []
      },
      "policy": {
        "abort_reason": "retry_budget_exhausted:object_not_following",
        "acquisition_contract": {
          "comparison_scope": "Closed-loop variants may acquire different trajectories through early hold/retry. This is not an isolated classifier ablation.",
          "control_dt_s": 0.02,
          "evidence_admission": "Current bilateral force >0.01 N, no table support, object rise >=6 mm and TCP-local offset drift <=3 mm continuously across sampled boundaries for elapsed >=100 ms.",
          "hold": "Latch measured six arm joints and the last issued jaw target at admission/terminal invalidity. No full lift/transfer, no squeeze escalation, no post-admission retry.",
          "invalidation": "At each subsequent 20 ms observation and final observation, invalidate immediately on lost contact/force, support, insufficient rise, >3 mm local drift or unexpected contact. Never requalify after terminal invalidity.",
          "observation_origin": "privileged_native_simulator_state",
          "parameters": {
            "close_timeout_s": 1.4,
            "consecutive_alarm_samples": 2,
            "max_retries": 1,
            "monitor_min_probe_motion_m": 0.003,
            "probe_height_m": 0.01,
            "probe_min_object_rise_m": 0.006,
            "probe_speed_m_s": 0.02,
            "probe_timeout_s": 1.4,
            "qualification_dwell_s": 0.1,
            "relative_drift_limit_m": 0.003,
            "retry_clearance_m": 0.012,
            "retry_open_timeout_s": 1.2,
            "retry_recenter_timeout_s": 1.5
          },
          "physical_robot_ready": false,
          "prefix": "Original GuardedPiperTaskPolicy approach/close and at most one supported open/recenter/retry; already uses authored native state, not a fully blind baseline.",
          "sampling_limit": "Independent 1 ms evidence may contradict sampled admission; that remains a finding. No sensor or material inference is implemented.",
          "schema": "dvidia.piper-probe-stop/v1",
          "stop_scope": "Holding native position targets is not physical arrest or calibrated force limiting; inertia and existing target rate limits can continue motion.",
          "timer_admission": "Same 10 mm/20 mm/s probe target law, admitted at elapsed >=600 ms from that probe start; no evidence predicate or slip alarm before admission. Unexpected contacts and bounded timeouts still stop.",
          "timer_admission_s": 0.6,
          "variants": [
            "evidence",
            "timer"
          ]
        },
        "acquisition_variant": "evidence",
        "active_probe_index": 1,
        "admission_time_s": null,
        "admitted": false,
        "contract": {
          "acquisition": "Unchanged ProbeStopPolicy evidence acquisition, including its bounded supported retry. All variants share the same prefix through the first admission observation.",
          "cartesian": "Latch measured TCP position/orientation and preceding issued targets. Fixed joint bias equals issued target minus pose_action at the admission pose. First command repeats the exact issued target; later pose_action updates receive that fixed bias.",
          "control_dt_s": 0.02,
          "final_observation": "Repeat force, original eligibility and Cartesian pose-error checks. Do not solve or issue a hypothetical next control at the terminal observation.",
          "invalid_measurements": "Malformed, nonfinite or noncausal observations terminally refuse and raise without issuing a command. No measured-position stop is claimed from invalid measurements.",
          "issued_joint": "Latch the preceding issued six joint targets and the same last issued jaw target at admission.",
          "limits": {
            "initial_joint_bias_ceiling_rad": 0.08,
            "joint_correction_ceiling_rad": 0.03,
            "joint_correction_rate_rad_s": 0.1,
            "native_joint_target_margin_rad": 0.02,
            "per_finger_force_ceiling_n": 10.0,
            "tcp_orientation_error_ceiling_rad": 0.05,
            "tcp_position_error_ceiling_m": 0.004
          },
          "measured_joint": "Original hold: latch measured six joint coordinates and the last issued jaw target at admission.",
          "observation_origin": "privileged_native_simulator_state",
          "physical_robot_ready": false,
          "qualifications": "Engineering limits and the 10 N ceiling are authored synthetic assumptions, not damage limits or calibrated physical telemetry. Position targets are not physical stops or force limiters. No load/friction inference, model training or complete placement is implemented.",
          "rate_scope": "The extra correction slews at at most 0.002 rad per 20 ms per joint. Original native 1 ms target slew, servos, gains and force caps remain unchanged.",
          "refusal": "Original eligibility loss, unexpected contact or observed pad force >10 N terminally requests measured joint hold and the frozen jaw target. Cartesian error, initial-bias, total-correction or native-margin exhaustion also refuses terminally; it never chases an already failed grip.",
          "sampling": "Control checks occur at 20 ms boundaries. Independent saved 1 ms native evidence must judge a continuous 5 s hold; missed between-boundary failures remain findings.",
          "schema": "dvidia.piper-retention/v2",
          "variants": [
            "measured_joint",
            "issued_joint",
            "cartesian"
          ]
        },
        "events": [
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "continue",
              "drift_streak": 0,
              "object_height_delta_m": 0.0,
              "phase": "probe",
              "progress_streak": 0,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0,
              "retry_index": 0,
              "t_seconds": 11.139999999999265,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_probe",
            "probe_index": 0,
            "reason": "slow_load_bearing_check",
            "retention_variant": "issued_joint",
            "retry_index": 0,
            "status": "probing",
            "t_seconds": 11.139999999999265,
            "type": "probe_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm",
              "drift_streak": 2,
              "object_height_delta_m": 0.00010069632283890573,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0036429553098791837,
              "retry_index": 0,
              "t_seconds": 11.519999999999055,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0037585866417153974
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_stop",
            "probe_index": 0,
            "reason": "object_not_following",
            "retention_variant": "issued_joint",
            "retry_index": 0,
            "status": "probing",
            "t_seconds": 11.519999999999055,
            "type": "alarm",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm",
              "drift_streak": 2,
              "object_height_delta_m": 0.00010069632283890573,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0036429553098791837,
              "retry_index": 0,
              "t_seconds": 11.519999999999055,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0037585866417153974
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_stop",
            "probe_index": 0,
            "reason": "supported_object_only",
            "retention_variant": "issued_joint",
            "retry_index": 1,
            "status": "acquiring_retry",
            "t_seconds": 11.519999999999055,
            "type": "retry_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": false,
              "contact_loss_streak": 0,
              "decision": "recenter_with_open_jaw",
              "drift_streak": 2,
              "object_height_delta_m": -3.097977306973365e-05,
              "phase": "retry_recenter",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.009749866543020898,
              "retry_index": 1,
              "t_seconds": 13.179999999998135,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.009704120628840768
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_retry_recenter",
            "probe_index": 0,
            "reason": "open_recenter_complete",
            "retention_variant": "issued_joint",
            "retry_index": 1,
            "status": "acquiring",
            "t_seconds": 13.179999999998135,
            "type": "retry_completed",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "continue",
              "drift_streak": 0,
              "object_height_delta_m": 0.0,
              "phase": "probe",
              "progress_streak": 0,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0,
              "retry_index": 1,
              "t_seconds": 14.059999999997647,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_probe",
            "probe_index": 1,
            "reason": "slow_load_bearing_check",
            "retention_variant": "issued_joint",
            "retry_index": 1,
            "status": "probing",
            "t_seconds": 14.059999999997647,
            "type": "probe_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm",
              "drift_streak": 2,
              "object_height_delta_m": 0.000168162314601511,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.003553608929280511,
              "retry_index": 1,
              "t_seconds": 14.439999999997436,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0036946679548112843
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_stop",
            "probe_index": 1,
            "reason": "object_not_following",
            "retention_variant": "issued_joint",
            "retry_index": 1,
            "status": "probing",
            "t_seconds": 14.439999999997436,
            "type": "alarm",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm_and_freeze_issued_jaw",
              "drift_streak": 2,
              "object_height_delta_m": 0.000168162314601511,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.003553608929280511,
              "retry_index": 1,
              "t_seconds": 14.439999999997436,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0036946679548112843
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "probe_stop",
            "probe_index": 1,
            "reason": "retry_budget_exhausted:object_not_following",
            "retention_variant": "issued_joint",
            "retry_index": 1,
            "status": "invalidated_hold",
            "t_seconds": 14.439999999997436,
            "type": "abort",
            "variant": "evidence"
          }
        ],
        "ever_admitted": false,
        "final_observed": true,
        "frozen_jaw_target_m": 0.0,
        "initial_context": {
          "object_position_m": [
            0.3030001370663246,
            -0.02600003118840795,
            0.07989224451748381
          ],
          "observation_origin": "privileged_native_simulator_state",
          "t_seconds": 0.0,
          "tcp_position_m": [
            0.4890696662845219,
            0.0014141975654808877,
            0.3665849431043091
          ],
          "tcp_quaternion_wxyz": [
            0.6580840948238629,
            2.7730466224793136e-07,
            0.7529444362872891,
            -1.9485471114950535e-06
          ]
        },
        "last_observed_s": 20.00000000000146,
        "observation_origin": "privileged_native_simulator_state",
        "physical_robot_ready": false,
        "probes": [
          {
            "disposition": "interrupted",
            "end_time_s": 11.519999999999055,
            "local_offset_origin_m": [
              0.0022984851593602696,
              0.0002992296628965114,
              0.0019188262846337079
            ],
            "object_origin_m": [
              0.3027947174844272,
              -0.02595336929767682,
              0.07992322435285343
            ],
            "observation_origin": "privileged_native_simulator_state",
            "probe_index": 0,
            "reason": "object_not_following",
            "start_time_s": 11.139999999999265,
            "tcp_origin_m": [
              0.30507395888615196,
              -0.026242463127568515,
              0.08186640476643836
            ],
            "tcp_quaternion_wxyz": [
              0.005253331276975543,
              -0.0017761341269536216,
              0.9999844890424894,
              -0.0005191651843229058
            ]
          },
          {
            "disposition": "invalidated_hold",
            "end_time_s": 14.439999999997436,
            "local_offset_origin_m": [
              -0.0020874121237626003,
              0.0002561357937012188,
              0.0024088586298916825
            ],
            "object_origin_m": [
              0.3052450415648978,
              -0.026011785407697052,
              0.07985358473895547
            ],
            "observation_origin": "privileged_native_simulator_state",
            "probe_index": 1,
            "reason": "retry_budget_exhausted:object_not_following",
            "start_time_s": 14.059999999997647,
            "tcp_origin_m": [
              0.30317946555791886,
              -0.02626929055179307,
              0.08228104878157418
            ],
            "tcp_quaternion_wxyz": [
              -0.00449640336793191,
              -0.00017490421514303227,
              0.9999898669942058,
              0.0001329442705121103
            ]
          }
        ],
        "retention": {
          "hold_reference": null,
          "input_refusals": [],
          "native_joint_control_limits_rad": [
            [
              -2.618,
              2.618
            ],
            [
              0.0,
              3.14
            ],
            [
              -2.697,
              0.0
            ],
            [
              -1.832,
              1.832
            ],
            [
              -1.22,
              1.22
            ],
            [
              -3.14,
              3.14
            ]
          ],
          "variant": "issued_joint"
        },
        "retry_count": 1,
        "schema": "dvidia.piper-retention/v2",
        "status": "invalidated_hold",
        "stop_targets_rad": [
          -0.09073368700896134,
          1.739461294778562,
          -1.15304537465607,
          -0.000698429773245142,
          1.0712838004436325,
          -0.0907541519328124
        ],
        "variant": "issued_joint"
      },
      "scene_id": "m45-f50-p0",
      "timing": {
        "policy_cpu": {
          "maximum_s": 0.0003069999999993911,
          "mean_s": 6.214299999986395e-05,
          "over_20ms": 0,
          "p50_s": 5.649999999945976e-05,
          "p95_s": 0.00015399999999843317,
          "p99_s": 0.00023402999999898807,
          "samples": 1000
        },
        "policy_wall": {
          "maximum_s": 0.0007674163207411766,
          "mean_s": 6.700394023209811e-05,
          "over_20ms": 0,
          "p50_s": 5.63538633286953e-05,
          "p95_s": 0.0001708859577775001,
          "p99_s": 0.0003589519998058676,
          "samples": 1000
        },
        "step_cpu": {
          "maximum_s": 0.004636999999998892,
          "mean_s": 0.0018612570000000233,
          "over_20ms": 0,
          "p50_s": 0.0017825000000009084,
          "p95_s": 0.0031980000000011444,
          "p99_s": 0.0040712399999997114,
          "samples": 1000
        },
        "step_wall": {
          "maximum_s": 0.00852208398282528,
          "mean_s": 0.0019609994878992437,
          "over_20ms": 0,
          "p50_s": 0.001854937756434083,
          "p95_s": 0.003626856091432273,
          "p99_s": 0.004710630071349441,
          "samples": 1000
        }
      },
      "valid": true,
      "variant": "issued_joint"
    },
    {
      "error": null,
      "evaluation": {
        "corrections": {
          "bound_refusal_counts": {},
          "flag_counts": {
            "correction_rate_limited": 0
          },
          "hold_record_count": 410,
          "input_refusals": [],
          "maximum_abs_active_correction_rad": null,
          "maximum_abs_desired_correction_rad": null,
          "rate_limited_axis_occurrences": 0,
          "scope": "Includes recorded final diagnostic checks; only command_issued rows represent issued controls."
        },
        "decomposition": null,
        "final": {
          "both_qualified": false,
          "controller_qualified": false,
          "evidence_admissible": false,
          "native_qualified": false
        },
        "first_admission": null,
        "native": {
          "arrays_sha256": "c73dbad5515e12a2caef152c36174218493b0773db72f6606179946058921167",
          "complete": true,
          "maximum_per_finger_force_n": 0.46127603942296014,
          "rows": 20000,
          "unexpected_contact_native_ticks": 0,
          "valid": true,
          "warnings": []
        },
        "physical_robot_ready": false,
        "primary": {
          "combined_qualified_pause": false,
          "complete_5s": false,
          "controller_retained_at_5s": false,
          "native_pause_success": false,
          "reason": "no_admission",
          "required_s": 5.0,
          "success": false
        },
        "probes": [
          {
            "claims": [],
            "disposition": "invalidated_hold",
            "final_native_qualified_from_origin": false,
            "probe_index": 0,
            "start_time_s": 11.439999999999099
          }
        ],
        "receipt": {
          "admission": {
            "observation_origin": "privileged_native_simulation_plus_caller_planning_assumptions",
            "physical_robot_ready": false,
            "planning": {
              "computed": {
                "conservative_required_load_n": 0.6686988749999999,
                "gravity_m_s2": 9.80665,
                "pose_specific_payload_limit_force_n": 0.980665,
                "two_finger_friction_capacity_n": 10.0
              },
              "observation_origin": "caller_declared_not_verified",
              "physical_robot_ready": false,
              "reasons": [
                "Run and record a cautious test lift under the same calibrated pose and load conditions before simulated transport planning."
              ],
              "schema": "dvidia.task-feasibility-result/v1",
              "scope": "Planning assessment only. Parallel two-finger vertical-lift approximation; ignores moment, center of mass, deformation, transient impacts and unmodeled contact effects. Unknown values remain unknown; mass is never inferred from images. Probe/test-lift/controller integration is not implemented. No hardware actuation is performed; this is not hardware qualification.",
              "status": "test_lift_required"
            },
            "probe": {
              "admissible": false,
              "historical_qualified": false,
              "latest_qualified": false,
              "physical_robot_ready": false,
              "reasons": [
                "latest_native_window_not_qualified",
                "no_controller_qualification_for_this_probe",
                "latest_controller_not_qualified"
              ],
              "receipt_sha256": "0a02d028759e96df2e2cb3e64398da56f547499d5d870bb2b25ef75a6f2025ab",
              "schema": "dvidia.probe-evidence-verification/v1",
              "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.",
              "verified": true
            },
            "schema": "dvidia.task-feasibility-with-probe/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification. Unknown planning values remain unknown. The unchanged approximate vertical-lift planning gate describes declared loads; it supplies no transport path, geospatial-goal contract or actuator permission. This wrapper never issues controls.",
            "status": "test_lift_required"
          },
          "context": {
            "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
            "calibration_id": "synthetic_probe_v01",
            "calibration_scope": "simulation_assumptions_not_hardware",
            "command_sha256": "98637086f9641d8939d5a746bf8d29e8d208e38e4bf6aceba4d593335c3140cc",
            "feasibility_sha256": "2f11dd4b87d5867e73e60ce88c578fe21d8603e62268b8c8e2781b417cec1ec3",
            "grasp_id": "m45-f50-p1-cartesian-probe-0",
            "initial_object_position_m": [
              0.30699992366647033,
              -0.03700015161518891,
              0.0798922445174838
            ],
            "model_sha256": "b3a134361434b38e89fe15e62852bf0c1fc8ac8c70920d4a65393d58df8fc04f",
            "native_status": {
              "simulation_time_s": 20.00000000000146,
              "unexpected_contact_native_ticks": 0,
              "valid": true,
              "warnings": []
            },
            "object_id": "task_block",
            "per_finger_force_ceiling_n": 10.0,
            "pose_binding_sha256": "02415129d00cc5c2a025223c1aec1c8241abab140cd311a1a8ca72121ff21700",
            "probe_index": 0,
            "probe_origin_object_position_m": [
              0.30679273558079145,
              -0.0369807051827694,
              0.07992189272548658
            ],
            "probe_origin_tcp_local_offset_m": [
              0.0022852222567410607,
              0.00030496326754751577,
              0.0019118405282670457
            ],
            "probe_start_s": 11.439999999999099,
            "robot_profile": "piper",
            "run_id": "m45-f50-p1-cartesian",
            "schema": "dvidia.probe-context/v1",
            "source_sha256": "cc82eb867d3a927a487317b2e9e470fcb8f53e9da000a1764b7c5a1878883e69"
          },
          "physical_robot_ready": false,
          "planning_input": {
            "allowed_pose_tolerance_m": 0.003,
            "calibration_id": "synthetic_probe_v01",
            "friction_interval": [
              0.5,
              0.5
            ],
            "geometry_known": true,
            "gripper_max_opening_interval_m": [
              0.07,
              0.07
            ],
            "gripper_min_closure_m": 0.0,
            "mass_interval_kg": [
              0.045,
              0.045
            ],
            "object_width_interval_m": [
              0.04,
              0.04
            ],
            "observations_fresh": true,
            "per_finger_normal_force_budget_n": 10.0,
            "planned_upward_accel_m_s2": 0.1,
            "pose_specific_payload_limit_kg": 0.1,
            "pose_uncertainty_m": 0.0,
            "reachability": "reachable",
            "safety_factor": 1.5,
            "schema": "dvidia.task-feasibility-input/v1",
            "slip_detected": false,
            "test_lift_passed": false
          },
          "receipt": {
            "audit": {
              "controller_claim_mismatches": [],
              "controller_claims_checked": 1,
              "controller_conservative_abstention_count": 0,
              "controller_coverage": "Only the supplied claims are checked; omitted decisions are not inferred.",
              "controller_false_qualification_count": 0,
              "controller_positive_claims": 0,
              "force_ceiling_known": true,
              "maximum_observed_per_finger_force_n": 0.46127603942296014,
              "reasons": [],
              "rows": 20000,
              "unexpected_contact_native_ticks": 0,
              "valid": true
            },
            "context": {
              "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
              "calibration_id": "synthetic_probe_v01",
              "calibration_scope": "simulation_assumptions_not_hardware",
              "command_sha256": "98637086f9641d8939d5a746bf8d29e8d208e38e4bf6aceba4d593335c3140cc",
              "feasibility_sha256": "2f11dd4b87d5867e73e60ce88c578fe21d8603e62268b8c8e2781b417cec1ec3",
              "grasp_id": "m45-f50-p1-cartesian-probe-0",
              "initial_object_position_m": [
                0.30699992366647033,
                -0.03700015161518891,
                0.0798922445174838
              ],
              "model_sha256": "b3a134361434b38e89fe15e62852bf0c1fc8ac8c70920d4a65393d58df8fc04f",
              "native_status": {
                "simulation_time_s": 20.00000000000146,
                "unexpected_contact_native_ticks": 0,
                "valid": true,
                "warnings": []
              },
              "object_id": "task_block",
              "per_finger_force_ceiling_n": 10.0,
              "pose_binding_sha256": "02415129d00cc5c2a025223c1aec1c8241abab140cd311a1a8ca72121ff21700",
              "probe_index": 0,
              "probe_origin_object_position_m": [
                0.30679273558079145,
                -0.0369807051827694,
                0.07992189272548658
              ],
              "probe_origin_tcp_local_offset_m": [
                0.0022852222567410607,
                0.00030496326754751577,
                0.0019118405282670457
              ],
              "probe_start_s": 11.439999999999099,
              "robot_profile": "piper",
              "run_id": "m45-f50-p1-cartesian",
              "schema": "dvidia.probe-context/v1",
              "source_sha256": "cc82eb867d3a927a487317b2e9e470fcb8f53e9da000a1764b7c5a1878883e69"
            },
            "context_sha256": "d2458891306fa380794f4b0e5fead6265dde9df30e906d6e0cc2eb0d4a95ec0b",
            "controller_qualifications": [
              {
                "probe_index": 0,
                "qualified": false,
                "t_seconds": 20.00000000000146
              }
            ],
            "criteria": {
              "distance_comparison_epsilon": 1e-12,
              "initial_sample_tolerance_m": 0.001,
              "maximum_tcp_local_drift_m": 0.003,
              "minimum_continuous_dwell_s": 0.1,
              "minimum_per_finger_force_n_exclusive": 0.01,
              "minimum_rise_m": 0.006,
              "native_dt_s": 0.001,
              "origin_tolerance_m": 1e-09,
              "time_tolerance_s": 1e-08
            },
            "history": {
              "ever_qualified": false,
              "first_qualified_s": null,
              "maximum_continuous_qualifying_s": 0.0
            },
            "latest": {
              "condition_valid": false,
              "continuous_qualifying_s": 0.0,
              "controller_claim": {
                "probe_index": 0,
                "qualified": false,
                "t_seconds": 20.00000000000146
              },
              "native_tick": 20000,
              "qualified": false,
              "rise_m": -3.277895609944681e-05,
              "tcp_local_drift_m": 0.0037724507936759185,
              "time_s": 20.00000000000146
            },
            "metadata_sha256": "ad8229630cc9f8718829bb8317b1a82480dcf18b9f71bd23666acfe71a003ef7",
            "native_arrays_sha256": "c73dbad5515e12a2caef152c36174218493b0773db72f6606179946058921167",
            "physical_robot_ready": false,
            "receipt_sha256": "0a02d028759e96df2e2cb3e64398da56f547499d5d870bb2b25ef75a6f2025ab",
            "schema": "dvidia.probe-evidence/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification."
          },
          "status": "inspected",
          "verification": {
            "admissible": false,
            "historical_qualified": false,
            "latest_qualified": false,
            "physical_robot_ready": false,
            "reasons": [
              "latest_native_window_not_qualified",
              "no_controller_qualification_for_this_probe",
              "latest_controller_not_qualified"
            ],
            "receipt_sha256": "0a02d028759e96df2e2cb3e64398da56f547499d5d870bb2b25ef75a6f2025ab",
            "schema": "dvidia.probe-evidence-verification/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.",
            "verified": true
          }
        },
        "stationarity": {
          "complete_5s": false,
          "grip_retention_and_stationarity": false,
          "tcp_pose_within_bounds": false
        },
        "status": "inspected"
      },
      "files": {
        "episode.json.gz": {
          "bytes": 763716,
          "sha256": "d6ccb4c5a3dbc2fba8a8fbf6b9b106b7f1d88f5a75c2b59e76b4f303accc3f5f"
        },
        "evaluation.json": {
          "bytes": 11499,
          "sha256": "6554d4cc9f41cc0754edbf3130d1d85b57a98aa14447cbb0bdc0a2537eabf024"
        },
        "native.json": {
          "bytes": 13763,
          "sha256": "19cc1d5998901cbc12da2916add3096763081e9decbfc7193981bfabc4b871e0"
        },
        "native.npz": {
          "bytes": 4065647,
          "sha256": "9de87bb6fc228bd8bf37f0f736d3b9f46c0dc5fe31bfb77689a60203b5e2ef4d"
        },
        "started.json": {
          "bytes": 146,
          "sha256": "4afd02569f037babc2f9f64999f3203756d72b7489857921b040faeb494495f4"
        }
      },
      "friction": 0.5,
      "id": "m45-f50-p1-cartesian",
      "mass_kg": 0.045,
      "metrics": {
        "carry_complete": false,
        "carry_contact_loss_events": 0,
        "carry_contact_loss_tolerance_seconds": 0.04,
        "dwell_seconds": 0.0,
        "first_success_time_seconds": null,
        "grasp_seen": true,
        "lift_dwell_seconds": 0.0,
        "lift_seen": false,
        "max_carry_contact_loss_seconds": 0.0,
        "max_object_lift_m": 0.0002458345535307216,
        "max_pad_normal_force_n": 0.46127603942296014,
        "physical_robot_ready": false,
        "reason": "timeout",
        "retention_lost": false,
        "simulation_time": 20.00000000000146,
        "steps": 1000,
        "success": false,
        "target_distance_m": 0.12421530066047222,
        "unexpected_contact_native_ticks": 0,
        "valid": true,
        "warnings": []
      },
      "policy": {
        "abort_reason": "relative_slip",
        "acquisition_contract": {
          "comparison_scope": "Closed-loop variants may acquire different trajectories through early hold/retry. This is not an isolated classifier ablation.",
          "control_dt_s": 0.02,
          "evidence_admission": "Current bilateral force >0.01 N, no table support, object rise >=6 mm and TCP-local offset drift <=3 mm continuously across sampled boundaries for elapsed >=100 ms.",
          "hold": "Latch measured six arm joints and the last issued jaw target at admission/terminal invalidity. No full lift/transfer, no squeeze escalation, no post-admission retry.",
          "invalidation": "At each subsequent 20 ms observation and final observation, invalidate immediately on lost contact/force, support, insufficient rise, >3 mm local drift or unexpected contact. Never requalify after terminal invalidity.",
          "observation_origin": "privileged_native_simulator_state",
          "parameters": {
            "close_timeout_s": 1.4,
            "consecutive_alarm_samples": 2,
            "max_retries": 1,
            "monitor_min_probe_motion_m": 0.003,
            "probe_height_m": 0.01,
            "probe_min_object_rise_m": 0.006,
            "probe_speed_m_s": 0.02,
            "probe_timeout_s": 1.4,
            "qualification_dwell_s": 0.1,
            "relative_drift_limit_m": 0.003,
            "retry_clearance_m": 0.012,
            "retry_open_timeout_s": 1.2,
            "retry_recenter_timeout_s": 1.5
          },
          "physical_robot_ready": false,
          "prefix": "Original GuardedPiperTaskPolicy approach/close and at most one supported open/recenter/retry; already uses authored native state, not a fully blind baseline.",
          "sampling_limit": "Independent 1 ms evidence may contradict sampled admission; that remains a finding. No sensor or material inference is implemented.",
          "schema": "dvidia.piper-probe-stop/v1",
          "stop_scope": "Holding native position targets is not physical arrest or calibrated force limiting; inertia and existing target rate limits can continue motion.",
          "timer_admission": "Same 10 mm/20 mm/s probe target law, admitted at elapsed >=600 ms from that probe start; no evidence predicate or slip alarm before admission. Unexpected contacts and bounded timeouts still stop.",
          "timer_admission_s": 0.6,
          "variants": [
            "evidence",
            "timer"
          ]
        },
        "acquisition_variant": "evidence",
        "active_probe_index": 0,
        "admission_time_s": null,
        "admitted": false,
        "contract": {
          "acquisition": "Unchanged ProbeStopPolicy evidence acquisition, including its bounded supported retry. All variants share the same prefix through the first admission observation.",
          "cartesian": "Latch measured TCP position/orientation and preceding issued targets. Fixed joint bias equals issued target minus pose_action at the admission pose. First command repeats the exact issued target; later pose_action updates receive that fixed bias.",
          "control_dt_s": 0.02,
          "final_observation": "Repeat force, original eligibility and Cartesian pose-error checks. Do not solve or issue a hypothetical next control at the terminal observation.",
          "invalid_measurements": "Malformed, nonfinite or noncausal observations terminally refuse and raise without issuing a command. No measured-position stop is claimed from invalid measurements.",
          "issued_joint": "Latch the preceding issued six joint targets and the same last issued jaw target at admission.",
          "limits": {
            "initial_joint_bias_ceiling_rad": 0.08,
            "joint_correction_ceiling_rad": 0.03,
            "joint_correction_rate_rad_s": 0.1,
            "native_joint_target_margin_rad": 0.02,
            "per_finger_force_ceiling_n": 10.0,
            "tcp_orientation_error_ceiling_rad": 0.05,
            "tcp_position_error_ceiling_m": 0.004
          },
          "measured_joint": "Original hold: latch measured six joint coordinates and the last issued jaw target at admission.",
          "observation_origin": "privileged_native_simulator_state",
          "physical_robot_ready": false,
          "qualifications": "Engineering limits and the 10 N ceiling are authored synthetic assumptions, not damage limits or calibrated physical telemetry. Position targets are not physical stops or force limiters. No load/friction inference, model training or complete placement is implemented.",
          "rate_scope": "The extra correction slews at at most 0.002 rad per 20 ms per joint. Original native 1 ms target slew, servos, gains and force caps remain unchanged.",
          "refusal": "Original eligibility loss, unexpected contact or observed pad force >10 N terminally requests measured joint hold and the frozen jaw target. Cartesian error, initial-bias, total-correction or native-margin exhaustion also refuses terminally; it never chases an already failed grip.",
          "sampling": "Control checks occur at 20 ms boundaries. Independent saved 1 ms native evidence must judge a continuous 5 s hold; missed between-boundary failures remain findings.",
          "schema": "dvidia.piper-retention/v2",
          "variants": [
            "measured_joint",
            "issued_joint",
            "cartesian"
          ]
        },
        "events": [
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "continue",
              "drift_streak": 0,
              "object_height_delta_m": 0.0,
              "phase": "probe",
              "progress_streak": 0,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0,
              "retry_index": 0,
              "t_seconds": 11.439999999999099,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_probe",
            "probe_index": 0,
            "reason": "slow_load_bearing_check",
            "retention_variant": "cartesian",
            "retry_index": 0,
            "status": "probing",
            "t_seconds": 11.439999999999099,
            "type": "probe_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": false,
              "contact_loss_streak": 1,
              "decision": "hold_measured_arm",
              "drift_streak": 2,
              "object_height_delta_m": 0.0002154275287818419,
              "phase": "probe",
              "progress_streak": 0,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0034871038148546725,
              "retry_index": 0,
              "t_seconds": 11.819999999998888,
              "table_supported": false,
              "tcp_probe_height_delta_m": 0.0037174940740652973
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_stop",
            "probe_index": 0,
            "reason": "relative_slip",
            "retention_variant": "cartesian",
            "retry_index": 0,
            "status": "probing",
            "t_seconds": 11.819999999998888,
            "type": "alarm",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": false,
              "contact_loss_streak": 1,
              "decision": "hold_measured_arm_and_freeze_issued_jaw",
              "drift_streak": 2,
              "object_height_delta_m": 0.0002154275287818419,
              "phase": "probe",
              "progress_streak": 0,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0034871038148546725,
              "retry_index": 0,
              "t_seconds": 11.819999999998888,
              "table_supported": false,
              "tcp_probe_height_delta_m": 0.0037174940740652973
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "probe_stop",
            "probe_index": 0,
            "reason": "relative_slip",
            "retention_variant": "cartesian",
            "retry_index": 0,
            "status": "invalidated_hold",
            "t_seconds": 11.819999999998888,
            "type": "abort",
            "variant": "evidence"
          }
        ],
        "ever_admitted": false,
        "final_observed": true,
        "frozen_jaw_target_m": 0.0,
        "initial_context": {
          "object_position_m": [
            0.30699992366647033,
            -0.03700015161518891,
            0.0798922445174838
          ],
          "observation_origin": "privileged_native_simulator_state",
          "t_seconds": 0.0,
          "tcp_position_m": [
            0.4890696662845219,
            0.0014141975654808877,
            0.3665849431043091
          ],
          "tcp_quaternion_wxyz": [
            0.6580840948238629,
            2.7730466224793136e-07,
            0.7529444362872891,
            -1.9485471114950535e-06
          ]
        },
        "last_observed_s": 20.00000000000146,
        "observation_origin": "privileged_native_simulator_state",
        "physical_robot_ready": false,
        "probes": [
          {
            "disposition": "invalidated_hold",
            "end_time_s": 11.819999999998888,
            "local_offset_origin_m": [
              0.0022852222567410607,
              0.00030496326754751577,
              0.0019118405282670457
            ],
            "object_origin_m": [
              0.30679273558079145,
              -0.0369807051827694,
              0.07992189272548658
            ],
            "observation_origin": "privileged_native_simulator_state",
            "probe_index": 0,
            "reason": "relative_slip",
            "start_time_s": 11.439999999999099,
            "tcp_origin_m": [
              0.30905932068496983,
              -0.03727185924855359,
              0.08185791928477662
            ],
            "tcp_quaternion_wxyz": [
              0.005224572918659036,
              -0.002460295303250972,
              0.9999830951741535,
              -0.0006783441294632372
            ]
          }
        ],
        "retention": {
          "hold_reference": null,
          "input_refusals": [],
          "native_joint_control_limits_rad": [
            [
              -2.618,
              2.618
            ],
            [
              0.0,
              3.14
            ],
            [
              -2.697,
              0.0
            ],
            [
              -1.832,
              1.832
            ],
            [
              -1.22,
              1.22
            ],
            [
              -3.14,
              3.14
            ]
          ],
          "variant": "cartesian"
        },
        "retry_count": 0,
        "schema": "dvidia.piper-retention/v2",
        "status": "invalidated_hold",
        "stop_targets_rad": [
          -0.12455275160473664,
          1.7493909119012583,
          -1.1643853032718212,
          -4.7167143017651186e-05,
          1.0533454880243769,
          -0.1294324612443107
        ],
        "variant": "cartesian"
      },
      "scene_id": "m45-f50-p1",
      "timing": {
        "policy_cpu": {
          "maximum_s": 0.00039200000000150226,
          "mean_s": 5.088699999998525e-05,
          "over_20ms": 0,
          "p50_s": 5.000000000165983e-05,
          "p95_s": 9.899999999873899e-05,
          "p99_s": 0.0001639999999980546,
          "samples": 1000
        },
        "policy_wall": {
          "maximum_s": 0.0003924579359591007,
          "mean_s": 5.1984790246933696e-05,
          "over_20ms": 0,
          "p50_s": 5.047908052802086e-05,
          "p95_s": 0.00010593570768833158,
          "p99_s": 0.00018440694548189638,
          "samples": 1000
        },
        "step_cpu": {
          "maximum_s": 0.010137000000000285,
          "mean_s": 0.001814302999999981,
          "over_20ms": 0,
          "p50_s": 0.0018149999999987898,
          "p95_s": 0.0029147000000005357,
          "p99_s": 0.004129399999998924,
          "samples": 1000
        },
        "step_wall": {
          "maximum_s": 0.010175082832574844,
          "mean_s": 0.001872636171989143,
          "over_20ms": 0,
          "p50_s": 0.0018592702690511942,
          "p95_s": 0.0032617123099043955,
          "p99_s": 0.004561713826842606,
          "samples": 1000
        }
      },
      "valid": true,
      "variant": "cartesian"
    },
    {
      "error": null,
      "evaluation": {
        "corrections": {
          "bound_refusal_counts": {},
          "flag_counts": {
            "correction_rate_limited": 0
          },
          "hold_record_count": 410,
          "input_refusals": [],
          "maximum_abs_active_correction_rad": null,
          "maximum_abs_desired_correction_rad": null,
          "rate_limited_axis_occurrences": 0,
          "scope": "Includes recorded final diagnostic checks; only command_issued rows represent issued controls."
        },
        "decomposition": null,
        "final": {
          "both_qualified": false,
          "controller_qualified": false,
          "evidence_admissible": false,
          "native_qualified": false
        },
        "first_admission": null,
        "native": {
          "arrays_sha256": "c73dbad5515e12a2caef152c36174218493b0773db72f6606179946058921167",
          "complete": true,
          "maximum_per_finger_force_n": 0.46127603942296014,
          "rows": 20000,
          "unexpected_contact_native_ticks": 0,
          "valid": true,
          "warnings": []
        },
        "physical_robot_ready": false,
        "primary": {
          "combined_qualified_pause": false,
          "complete_5s": false,
          "controller_retained_at_5s": false,
          "native_pause_success": false,
          "reason": "no_admission",
          "required_s": 5.0,
          "success": false
        },
        "probes": [
          {
            "claims": [],
            "disposition": "invalidated_hold",
            "final_native_qualified_from_origin": false,
            "probe_index": 0,
            "start_time_s": 11.439999999999099
          }
        ],
        "receipt": {
          "admission": {
            "observation_origin": "privileged_native_simulation_plus_caller_planning_assumptions",
            "physical_robot_ready": false,
            "planning": {
              "computed": {
                "conservative_required_load_n": 0.6686988749999999,
                "gravity_m_s2": 9.80665,
                "pose_specific_payload_limit_force_n": 0.980665,
                "two_finger_friction_capacity_n": 10.0
              },
              "observation_origin": "caller_declared_not_verified",
              "physical_robot_ready": false,
              "reasons": [
                "Run and record a cautious test lift under the same calibrated pose and load conditions before simulated transport planning."
              ],
              "schema": "dvidia.task-feasibility-result/v1",
              "scope": "Planning assessment only. Parallel two-finger vertical-lift approximation; ignores moment, center of mass, deformation, transient impacts and unmodeled contact effects. Unknown values remain unknown; mass is never inferred from images. Probe/test-lift/controller integration is not implemented. No hardware actuation is performed; this is not hardware qualification.",
              "status": "test_lift_required"
            },
            "probe": {
              "admissible": false,
              "historical_qualified": false,
              "latest_qualified": false,
              "physical_robot_ready": false,
              "reasons": [
                "latest_native_window_not_qualified",
                "no_controller_qualification_for_this_probe",
                "latest_controller_not_qualified"
              ],
              "receipt_sha256": "f684de10cc765ecdb6430de2ac65cf8a90a0f94be630bca29ca24b0f21ee80b4",
              "schema": "dvidia.probe-evidence-verification/v1",
              "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.",
              "verified": true
            },
            "schema": "dvidia.task-feasibility-with-probe/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification. Unknown planning values remain unknown. The unchanged approximate vertical-lift planning gate describes declared loads; it supplies no transport path, geospatial-goal contract or actuator permission. This wrapper never issues controls.",
            "status": "test_lift_required"
          },
          "context": {
            "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
            "calibration_id": "synthetic_probe_v01",
            "calibration_scope": "simulation_assumptions_not_hardware",
            "command_sha256": "98637086f9641d8939d5a746bf8d29e8d208e38e4bf6aceba4d593335c3140cc",
            "feasibility_sha256": "2f11dd4b87d5867e73e60ce88c578fe21d8603e62268b8c8e2781b417cec1ec3",
            "grasp_id": "m45-f50-p1-issued_joint-probe-0",
            "initial_object_position_m": [
              0.30699992366647033,
              -0.03700015161518891,
              0.0798922445174838
            ],
            "model_sha256": "b3a134361434b38e89fe15e62852bf0c1fc8ac8c70920d4a65393d58df8fc04f",
            "native_status": {
              "simulation_time_s": 20.00000000000146,
              "unexpected_contact_native_ticks": 0,
              "valid": true,
              "warnings": []
            },
            "object_id": "task_block",
            "per_finger_force_ceiling_n": 10.0,
            "pose_binding_sha256": "02415129d00cc5c2a025223c1aec1c8241abab140cd311a1a8ca72121ff21700",
            "probe_index": 0,
            "probe_origin_object_position_m": [
              0.30679273558079145,
              -0.0369807051827694,
              0.07992189272548658
            ],
            "probe_origin_tcp_local_offset_m": [
              0.0022852222567410607,
              0.00030496326754751577,
              0.0019118405282670457
            ],
            "probe_start_s": 11.439999999999099,
            "robot_profile": "piper",
            "run_id": "m45-f50-p1-issued_joint",
            "schema": "dvidia.probe-context/v1",
            "source_sha256": "cc82eb867d3a927a487317b2e9e470fcb8f53e9da000a1764b7c5a1878883e69"
          },
          "physical_robot_ready": false,
          "planning_input": {
            "allowed_pose_tolerance_m": 0.003,
            "calibration_id": "synthetic_probe_v01",
            "friction_interval": [
              0.5,
              0.5
            ],
            "geometry_known": true,
            "gripper_max_opening_interval_m": [
              0.07,
              0.07
            ],
            "gripper_min_closure_m": 0.0,
            "mass_interval_kg": [
              0.045,
              0.045
            ],
            "object_width_interval_m": [
              0.04,
              0.04
            ],
            "observations_fresh": true,
            "per_finger_normal_force_budget_n": 10.0,
            "planned_upward_accel_m_s2": 0.1,
            "pose_specific_payload_limit_kg": 0.1,
            "pose_uncertainty_m": 0.0,
            "reachability": "reachable",
            "safety_factor": 1.5,
            "schema": "dvidia.task-feasibility-input/v1",
            "slip_detected": false,
            "test_lift_passed": false
          },
          "receipt": {
            "audit": {
              "controller_claim_mismatches": [],
              "controller_claims_checked": 1,
              "controller_conservative_abstention_count": 0,
              "controller_coverage": "Only the supplied claims are checked; omitted decisions are not inferred.",
              "controller_false_qualification_count": 0,
              "controller_positive_claims": 0,
              "force_ceiling_known": true,
              "maximum_observed_per_finger_force_n": 0.46127603942296014,
              "reasons": [],
              "rows": 20000,
              "unexpected_contact_native_ticks": 0,
              "valid": true
            },
            "context": {
              "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
              "calibration_id": "synthetic_probe_v01",
              "calibration_scope": "simulation_assumptions_not_hardware",
              "command_sha256": "98637086f9641d8939d5a746bf8d29e8d208e38e4bf6aceba4d593335c3140cc",
              "feasibility_sha256": "2f11dd4b87d5867e73e60ce88c578fe21d8603e62268b8c8e2781b417cec1ec3",
              "grasp_id": "m45-f50-p1-issued_joint-probe-0",
              "initial_object_position_m": [
                0.30699992366647033,
                -0.03700015161518891,
                0.0798922445174838
              ],
              "model_sha256": "b3a134361434b38e89fe15e62852bf0c1fc8ac8c70920d4a65393d58df8fc04f",
              "native_status": {
                "simulation_time_s": 20.00000000000146,
                "unexpected_contact_native_ticks": 0,
                "valid": true,
                "warnings": []
              },
              "object_id": "task_block",
              "per_finger_force_ceiling_n": 10.0,
              "pose_binding_sha256": "02415129d00cc5c2a025223c1aec1c8241abab140cd311a1a8ca72121ff21700",
              "probe_index": 0,
              "probe_origin_object_position_m": [
                0.30679273558079145,
                -0.0369807051827694,
                0.07992189272548658
              ],
              "probe_origin_tcp_local_offset_m": [
                0.0022852222567410607,
                0.00030496326754751577,
                0.0019118405282670457
              ],
              "probe_start_s": 11.439999999999099,
              "robot_profile": "piper",
              "run_id": "m45-f50-p1-issued_joint",
              "schema": "dvidia.probe-context/v1",
              "source_sha256": "cc82eb867d3a927a487317b2e9e470fcb8f53e9da000a1764b7c5a1878883e69"
            },
            "context_sha256": "0a9192909ca1ae2b16e16f6a55edcaeb70ceb66bae2b80615cf08bb3c3cc9b22",
            "controller_qualifications": [
              {
                "probe_index": 0,
                "qualified": false,
                "t_seconds": 20.00000000000146
              }
            ],
            "criteria": {
              "distance_comparison_epsilon": 1e-12,
              "initial_sample_tolerance_m": 0.001,
              "maximum_tcp_local_drift_m": 0.003,
              "minimum_continuous_dwell_s": 0.1,
              "minimum_per_finger_force_n_exclusive": 0.01,
              "minimum_rise_m": 0.006,
              "native_dt_s": 0.001,
              "origin_tolerance_m": 1e-09,
              "time_tolerance_s": 1e-08
            },
            "history": {
              "ever_qualified": false,
              "first_qualified_s": null,
              "maximum_continuous_qualifying_s": 0.0
            },
            "latest": {
              "condition_valid": false,
              "continuous_qualifying_s": 0.0,
              "controller_claim": {
                "probe_index": 0,
                "qualified": false,
                "t_seconds": 20.00000000000146
              },
              "native_tick": 20000,
              "qualified": false,
              "rise_m": -3.277895609944681e-05,
              "tcp_local_drift_m": 0.0037724507936759185,
              "time_s": 20.00000000000146
            },
            "metadata_sha256": "ad8229630cc9f8718829bb8317b1a82480dcf18b9f71bd23666acfe71a003ef7",
            "native_arrays_sha256": "c73dbad5515e12a2caef152c36174218493b0773db72f6606179946058921167",
            "physical_robot_ready": false,
            "receipt_sha256": "f684de10cc765ecdb6430de2ac65cf8a90a0f94be630bca29ca24b0f21ee80b4",
            "schema": "dvidia.probe-evidence/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification."
          },
          "status": "inspected",
          "verification": {
            "admissible": false,
            "historical_qualified": false,
            "latest_qualified": false,
            "physical_robot_ready": false,
            "reasons": [
              "latest_native_window_not_qualified",
              "no_controller_qualification_for_this_probe",
              "latest_controller_not_qualified"
            ],
            "receipt_sha256": "f684de10cc765ecdb6430de2ac65cf8a90a0f94be630bca29ca24b0f21ee80b4",
            "schema": "dvidia.probe-evidence-verification/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.",
            "verified": true
          }
        },
        "stationarity": {
          "complete_5s": false,
          "grip_retention_and_stationarity": false,
          "tcp_pose_within_bounds": false
        },
        "status": "inspected"
      },
      "files": {
        "episode.json.gz": {
          "bytes": 761684,
          "sha256": "259a2adb71d1a9ead27b4b5b101e663ea5d105f1604dde0f16a233a2e3b87958"
        },
        "evaluation.json": {
          "bytes": 11511,
          "sha256": "f3f318fb5d25c2f39887b79b9e730f3d23cb72a5f79826167ec2a1e638236870"
        },
        "native.json": {
          "bytes": 13763,
          "sha256": "19cc1d5998901cbc12da2916add3096763081e9decbfc7193981bfabc4b871e0"
        },
        "native.npz": {
          "bytes": 4065647,
          "sha256": "9de87bb6fc228bd8bf37f0f736d3b9f46c0dc5fe31bfb77689a60203b5e2ef4d"
        },
        "started.json": {
          "bytes": 149,
          "sha256": "2c7e6bef621149ccc8a637a5ff1d273fcc1bb7f13859a43c56ded70937aabc8d"
        }
      },
      "friction": 0.5,
      "id": "m45-f50-p1-issued_joint",
      "mass_kg": 0.045,
      "metrics": {
        "carry_complete": false,
        "carry_contact_loss_events": 0,
        "carry_contact_loss_tolerance_seconds": 0.04,
        "dwell_seconds": 0.0,
        "first_success_time_seconds": null,
        "grasp_seen": true,
        "lift_dwell_seconds": 0.0,
        "lift_seen": false,
        "max_carry_contact_loss_seconds": 0.0,
        "max_object_lift_m": 0.0002458345535307216,
        "max_pad_normal_force_n": 0.46127603942296014,
        "physical_robot_ready": false,
        "reason": "timeout",
        "retention_lost": false,
        "simulation_time": 20.00000000000146,
        "steps": 1000,
        "success": false,
        "target_distance_m": 0.12421530066047222,
        "unexpected_contact_native_ticks": 0,
        "valid": true,
        "warnings": []
      },
      "policy": {
        "abort_reason": "relative_slip",
        "acquisition_contract": {
          "comparison_scope": "Closed-loop variants may acquire different trajectories through early hold/retry. This is not an isolated classifier ablation.",
          "control_dt_s": 0.02,
          "evidence_admission": "Current bilateral force >0.01 N, no table support, object rise >=6 mm and TCP-local offset drift <=3 mm continuously across sampled boundaries for elapsed >=100 ms.",
          "hold": "Latch measured six arm joints and the last issued jaw target at admission/terminal invalidity. No full lift/transfer, no squeeze escalation, no post-admission retry.",
          "invalidation": "At each subsequent 20 ms observation and final observation, invalidate immediately on lost contact/force, support, insufficient rise, >3 mm local drift or unexpected contact. Never requalify after terminal invalidity.",
          "observation_origin": "privileged_native_simulator_state",
          "parameters": {
            "close_timeout_s": 1.4,
            "consecutive_alarm_samples": 2,
            "max_retries": 1,
            "monitor_min_probe_motion_m": 0.003,
            "probe_height_m": 0.01,
            "probe_min_object_rise_m": 0.006,
            "probe_speed_m_s": 0.02,
            "probe_timeout_s": 1.4,
            "qualification_dwell_s": 0.1,
            "relative_drift_limit_m": 0.003,
            "retry_clearance_m": 0.012,
            "retry_open_timeout_s": 1.2,
            "retry_recenter_timeout_s": 1.5
          },
          "physical_robot_ready": false,
          "prefix": "Original GuardedPiperTaskPolicy approach/close and at most one supported open/recenter/retry; already uses authored native state, not a fully blind baseline.",
          "sampling_limit": "Independent 1 ms evidence may contradict sampled admission; that remains a finding. No sensor or material inference is implemented.",
          "schema": "dvidia.piper-probe-stop/v1",
          "stop_scope": "Holding native position targets is not physical arrest or calibrated force limiting; inertia and existing target rate limits can continue motion.",
          "timer_admission": "Same 10 mm/20 mm/s probe target law, admitted at elapsed >=600 ms from that probe start; no evidence predicate or slip alarm before admission. Unexpected contacts and bounded timeouts still stop.",
          "timer_admission_s": 0.6,
          "variants": [
            "evidence",
            "timer"
          ]
        },
        "acquisition_variant": "evidence",
        "active_probe_index": 0,
        "admission_time_s": null,
        "admitted": false,
        "contract": {
          "acquisition": "Unchanged ProbeStopPolicy evidence acquisition, including its bounded supported retry. All variants share the same prefix through the first admission observation.",
          "cartesian": "Latch measured TCP position/orientation and preceding issued targets. Fixed joint bias equals issued target minus pose_action at the admission pose. First command repeats the exact issued target; later pose_action updates receive that fixed bias.",
          "control_dt_s": 0.02,
          "final_observation": "Repeat force, original eligibility and Cartesian pose-error checks. Do not solve or issue a hypothetical next control at the terminal observation.",
          "invalid_measurements": "Malformed, nonfinite or noncausal observations terminally refuse and raise without issuing a command. No measured-position stop is claimed from invalid measurements.",
          "issued_joint": "Latch the preceding issued six joint targets and the same last issued jaw target at admission.",
          "limits": {
            "initial_joint_bias_ceiling_rad": 0.08,
            "joint_correction_ceiling_rad": 0.03,
            "joint_correction_rate_rad_s": 0.1,
            "native_joint_target_margin_rad": 0.02,
            "per_finger_force_ceiling_n": 10.0,
            "tcp_orientation_error_ceiling_rad": 0.05,
            "tcp_position_error_ceiling_m": 0.004
          },
          "measured_joint": "Original hold: latch measured six joint coordinates and the last issued jaw target at admission.",
          "observation_origin": "privileged_native_simulator_state",
          "physical_robot_ready": false,
          "qualifications": "Engineering limits and the 10 N ceiling are authored synthetic assumptions, not damage limits or calibrated physical telemetry. Position targets are not physical stops or force limiters. No load/friction inference, model training or complete placement is implemented.",
          "rate_scope": "The extra correction slews at at most 0.002 rad per 20 ms per joint. Original native 1 ms target slew, servos, gains and force caps remain unchanged.",
          "refusal": "Original eligibility loss, unexpected contact or observed pad force >10 N terminally requests measured joint hold and the frozen jaw target. Cartesian error, initial-bias, total-correction or native-margin exhaustion also refuses terminally; it never chases an already failed grip.",
          "sampling": "Control checks occur at 20 ms boundaries. Independent saved 1 ms native evidence must judge a continuous 5 s hold; missed between-boundary failures remain findings.",
          "schema": "dvidia.piper-retention/v2",
          "variants": [
            "measured_joint",
            "issued_joint",
            "cartesian"
          ]
        },
        "events": [
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "continue",
              "drift_streak": 0,
              "object_height_delta_m": 0.0,
              "phase": "probe",
              "progress_streak": 0,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0,
              "retry_index": 0,
              "t_seconds": 11.439999999999099,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_probe",
            "probe_index": 0,
            "reason": "slow_load_bearing_check",
            "retention_variant": "issued_joint",
            "retry_index": 0,
            "status": "probing",
            "t_seconds": 11.439999999999099,
            "type": "probe_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": false,
              "contact_loss_streak": 1,
              "decision": "hold_measured_arm",
              "drift_streak": 2,
              "object_height_delta_m": 0.0002154275287818419,
              "phase": "probe",
              "progress_streak": 0,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0034871038148546725,
              "retry_index": 0,
              "t_seconds": 11.819999999998888,
              "table_supported": false,
              "tcp_probe_height_delta_m": 0.0037174940740652973
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_stop",
            "probe_index": 0,
            "reason": "relative_slip",
            "retention_variant": "issued_joint",
            "retry_index": 0,
            "status": "probing",
            "t_seconds": 11.819999999998888,
            "type": "alarm",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": false,
              "contact_loss_streak": 1,
              "decision": "hold_measured_arm_and_freeze_issued_jaw",
              "drift_streak": 2,
              "object_height_delta_m": 0.0002154275287818419,
              "phase": "probe",
              "progress_streak": 0,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0034871038148546725,
              "retry_index": 0,
              "t_seconds": 11.819999999998888,
              "table_supported": false,
              "tcp_probe_height_delta_m": 0.0037174940740652973
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "probe_stop",
            "probe_index": 0,
            "reason": "relative_slip",
            "retention_variant": "issued_joint",
            "retry_index": 0,
            "status": "invalidated_hold",
            "t_seconds": 11.819999999998888,
            "type": "abort",
            "variant": "evidence"
          }
        ],
        "ever_admitted": false,
        "final_observed": true,
        "frozen_jaw_target_m": 0.0,
        "initial_context": {
          "object_position_m": [
            0.30699992366647033,
            -0.03700015161518891,
            0.0798922445174838
          ],
          "observation_origin": "privileged_native_simulator_state",
          "t_seconds": 0.0,
          "tcp_position_m": [
            0.4890696662845219,
            0.0014141975654808877,
            0.3665849431043091
          ],
          "tcp_quaternion_wxyz": [
            0.6580840948238629,
            2.7730466224793136e-07,
            0.7529444362872891,
            -1.9485471114950535e-06
          ]
        },
        "last_observed_s": 20.00000000000146,
        "observation_origin": "privileged_native_simulator_state",
        "physical_robot_ready": false,
        "probes": [
          {
            "disposition": "invalidated_hold",
            "end_time_s": 11.819999999998888,
            "local_offset_origin_m": [
              0.0022852222567410607,
              0.00030496326754751577,
              0.0019118405282670457
            ],
            "object_origin_m": [
              0.30679273558079145,
              -0.0369807051827694,
              0.07992189272548658
            ],
            "observation_origin": "privileged_native_simulator_state",
            "probe_index": 0,
            "reason": "relative_slip",
            "start_time_s": 11.439999999999099,
            "tcp_origin_m": [
              0.30905932068496983,
              -0.03727185924855359,
              0.08185791928477662
            ],
            "tcp_quaternion_wxyz": [
              0.005224572918659036,
              -0.002460295303250972,
              0.9999830951741535,
              -0.0006783441294632372
            ]
          }
        ],
        "retention": {
          "hold_reference": null,
          "input_refusals": [],
          "native_joint_control_limits_rad": [
            [
              -2.618,
              2.618
            ],
            [
              0.0,
              3.14
            ],
            [
              -2.697,
              0.0
            ],
            [
              -1.832,
              1.832
            ],
            [
              -1.22,
              1.22
            ],
            [
              -3.14,
              3.14
            ]
          ],
          "variant": "issued_joint"
        },
        "retry_count": 0,
        "schema": "dvidia.piper-retention/v2",
        "status": "invalidated_hold",
        "stop_targets_rad": [
          -0.12455275160473664,
          1.7493909119012583,
          -1.1643853032718212,
          -4.7167143017651186e-05,
          1.0533454880243769,
          -0.1294324612443107
        ],
        "variant": "issued_joint"
      },
      "scene_id": "m45-f50-p1",
      "timing": {
        "policy_cpu": {
          "maximum_s": 0.0003010000000003288,
          "mean_s": 4.166800000002269e-05,
          "over_20ms": 0,
          "p50_s": 4.900000000063187e-05,
          "p95_s": 6.700000000137152e-05,
          "p99_s": 9.703000000023107e-05,
          "samples": 1000
        },
        "policy_wall": {
          "maximum_s": 0.0005111251957714558,
          "mean_s": 4.217835329473018e-05,
          "over_20ms": 0,
          "p50_s": 4.949979484081268e-05,
          "p95_s": 6.721005775034428e-05,
          "p99_s": 9.939050301909442e-05,
          "samples": 1000
        },
        "step_cpu": {
          "maximum_s": 0.011558000000000845,
          "mean_s": 0.0016286620000000305,
          "over_20ms": 0,
          "p50_s": 0.001478499999999272,
          "p95_s": 0.0023770999999991106,
          "p99_s": 0.0034242999999990072,
          "samples": 1000
        },
        "step_wall": {
          "maximum_s": 0.01160779083147645,
          "mean_s": 0.0016484731771051883,
          "over_20ms": 0,
          "p50_s": 0.001509916502982378,
          "p95_s": 0.002434639143757522,
          "p99_s": 0.0034664930356666443,
          "samples": 1000
        }
      },
      "valid": true,
      "variant": "issued_joint"
    },
    {
      "error": null,
      "evaluation": {
        "corrections": {
          "bound_refusal_counts": {},
          "flag_counts": {
            "correction_rate_limited": 0
          },
          "hold_record_count": 410,
          "input_refusals": [],
          "maximum_abs_active_correction_rad": null,
          "maximum_abs_desired_correction_rad": null,
          "rate_limited_axis_occurrences": 0,
          "scope": "Includes recorded final diagnostic checks; only command_issued rows represent issued controls."
        },
        "decomposition": null,
        "final": {
          "both_qualified": false,
          "controller_qualified": false,
          "evidence_admissible": false,
          "native_qualified": false
        },
        "first_admission": null,
        "native": {
          "arrays_sha256": "c73dbad5515e12a2caef152c36174218493b0773db72f6606179946058921167",
          "complete": true,
          "maximum_per_finger_force_n": 0.46127603942296014,
          "rows": 20000,
          "unexpected_contact_native_ticks": 0,
          "valid": true,
          "warnings": []
        },
        "physical_robot_ready": false,
        "primary": {
          "combined_qualified_pause": false,
          "complete_5s": false,
          "controller_retained_at_5s": false,
          "native_pause_success": false,
          "reason": "no_admission",
          "required_s": 5.0,
          "success": false
        },
        "probes": [
          {
            "claims": [],
            "disposition": "invalidated_hold",
            "final_native_qualified_from_origin": false,
            "probe_index": 0,
            "start_time_s": 11.439999999999099
          }
        ],
        "receipt": {
          "admission": {
            "observation_origin": "privileged_native_simulation_plus_caller_planning_assumptions",
            "physical_robot_ready": false,
            "planning": {
              "computed": {
                "conservative_required_load_n": 0.6686988749999999,
                "gravity_m_s2": 9.80665,
                "pose_specific_payload_limit_force_n": 0.980665,
                "two_finger_friction_capacity_n": 10.0
              },
              "observation_origin": "caller_declared_not_verified",
              "physical_robot_ready": false,
              "reasons": [
                "Run and record a cautious test lift under the same calibrated pose and load conditions before simulated transport planning."
              ],
              "schema": "dvidia.task-feasibility-result/v1",
              "scope": "Planning assessment only. Parallel two-finger vertical-lift approximation; ignores moment, center of mass, deformation, transient impacts and unmodeled contact effects. Unknown values remain unknown; mass is never inferred from images. Probe/test-lift/controller integration is not implemented. No hardware actuation is performed; this is not hardware qualification.",
              "status": "test_lift_required"
            },
            "probe": {
              "admissible": false,
              "historical_qualified": false,
              "latest_qualified": false,
              "physical_robot_ready": false,
              "reasons": [
                "latest_native_window_not_qualified",
                "no_controller_qualification_for_this_probe",
                "latest_controller_not_qualified"
              ],
              "receipt_sha256": "dbca0a20d956196eca96ee6ecb17d74d088ea6ed3ec8e0b4c9281617a5e559be",
              "schema": "dvidia.probe-evidence-verification/v1",
              "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.",
              "verified": true
            },
            "schema": "dvidia.task-feasibility-with-probe/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification. Unknown planning values remain unknown. The unchanged approximate vertical-lift planning gate describes declared loads; it supplies no transport path, geospatial-goal contract or actuator permission. This wrapper never issues controls.",
            "status": "test_lift_required"
          },
          "context": {
            "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
            "calibration_id": "synthetic_probe_v01",
            "calibration_scope": "simulation_assumptions_not_hardware",
            "command_sha256": "98637086f9641d8939d5a746bf8d29e8d208e38e4bf6aceba4d593335c3140cc",
            "feasibility_sha256": "2f11dd4b87d5867e73e60ce88c578fe21d8603e62268b8c8e2781b417cec1ec3",
            "grasp_id": "m45-f50-p1-measured_joint-probe-0",
            "initial_object_position_m": [
              0.30699992366647033,
              -0.03700015161518891,
              0.0798922445174838
            ],
            "model_sha256": "b3a134361434b38e89fe15e62852bf0c1fc8ac8c70920d4a65393d58df8fc04f",
            "native_status": {
              "simulation_time_s": 20.00000000000146,
              "unexpected_contact_native_ticks": 0,
              "valid": true,
              "warnings": []
            },
            "object_id": "task_block",
            "per_finger_force_ceiling_n": 10.0,
            "pose_binding_sha256": "02415129d00cc5c2a025223c1aec1c8241abab140cd311a1a8ca72121ff21700",
            "probe_index": 0,
            "probe_origin_object_position_m": [
              0.30679273558079145,
              -0.0369807051827694,
              0.07992189272548658
            ],
            "probe_origin_tcp_local_offset_m": [
              0.0022852222567410607,
              0.00030496326754751577,
              0.0019118405282670457
            ],
            "probe_start_s": 11.439999999999099,
            "robot_profile": "piper",
            "run_id": "m45-f50-p1-measured_joint",
            "schema": "dvidia.probe-context/v1",
            "source_sha256": "cc82eb867d3a927a487317b2e9e470fcb8f53e9da000a1764b7c5a1878883e69"
          },
          "physical_robot_ready": false,
          "planning_input": {
            "allowed_pose_tolerance_m": 0.003,
            "calibration_id": "synthetic_probe_v01",
            "friction_interval": [
              0.5,
              0.5
            ],
            "geometry_known": true,
            "gripper_max_opening_interval_m": [
              0.07,
              0.07
            ],
            "gripper_min_closure_m": 0.0,
            "mass_interval_kg": [
              0.045,
              0.045
            ],
            "object_width_interval_m": [
              0.04,
              0.04
            ],
            "observations_fresh": true,
            "per_finger_normal_force_budget_n": 10.0,
            "planned_upward_accel_m_s2": 0.1,
            "pose_specific_payload_limit_kg": 0.1,
            "pose_uncertainty_m": 0.0,
            "reachability": "reachable",
            "safety_factor": 1.5,
            "schema": "dvidia.task-feasibility-input/v1",
            "slip_detected": false,
            "test_lift_passed": false
          },
          "receipt": {
            "audit": {
              "controller_claim_mismatches": [],
              "controller_claims_checked": 1,
              "controller_conservative_abstention_count": 0,
              "controller_coverage": "Only the supplied claims are checked; omitted decisions are not inferred.",
              "controller_false_qualification_count": 0,
              "controller_positive_claims": 0,
              "force_ceiling_known": true,
              "maximum_observed_per_finger_force_n": 0.46127603942296014,
              "reasons": [],
              "rows": 20000,
              "unexpected_contact_native_ticks": 0,
              "valid": true
            },
            "context": {
              "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
              "calibration_id": "synthetic_probe_v01",
              "calibration_scope": "simulation_assumptions_not_hardware",
              "command_sha256": "98637086f9641d8939d5a746bf8d29e8d208e38e4bf6aceba4d593335c3140cc",
              "feasibility_sha256": "2f11dd4b87d5867e73e60ce88c578fe21d8603e62268b8c8e2781b417cec1ec3",
              "grasp_id": "m45-f50-p1-measured_joint-probe-0",
              "initial_object_position_m": [
                0.30699992366647033,
                -0.03700015161518891,
                0.0798922445174838
              ],
              "model_sha256": "b3a134361434b38e89fe15e62852bf0c1fc8ac8c70920d4a65393d58df8fc04f",
              "native_status": {
                "simulation_time_s": 20.00000000000146,
                "unexpected_contact_native_ticks": 0,
                "valid": true,
                "warnings": []
              },
              "object_id": "task_block",
              "per_finger_force_ceiling_n": 10.0,
              "pose_binding_sha256": "02415129d00cc5c2a025223c1aec1c8241abab140cd311a1a8ca72121ff21700",
              "probe_index": 0,
              "probe_origin_object_position_m": [
                0.30679273558079145,
                -0.0369807051827694,
                0.07992189272548658
              ],
              "probe_origin_tcp_local_offset_m": [
                0.0022852222567410607,
                0.00030496326754751577,
                0.0019118405282670457
              ],
              "probe_start_s": 11.439999999999099,
              "robot_profile": "piper",
              "run_id": "m45-f50-p1-measured_joint",
              "schema": "dvidia.probe-context/v1",
              "source_sha256": "cc82eb867d3a927a487317b2e9e470fcb8f53e9da000a1764b7c5a1878883e69"
            },
            "context_sha256": "39bb1fc42a0e925e11b59d2fbb0b5215c1b8a29ff231a824abf07e90457f5148",
            "controller_qualifications": [
              {
                "probe_index": 0,
                "qualified": false,
                "t_seconds": 20.00000000000146
              }
            ],
            "criteria": {
              "distance_comparison_epsilon": 1e-12,
              "initial_sample_tolerance_m": 0.001,
              "maximum_tcp_local_drift_m": 0.003,
              "minimum_continuous_dwell_s": 0.1,
              "minimum_per_finger_force_n_exclusive": 0.01,
              "minimum_rise_m": 0.006,
              "native_dt_s": 0.001,
              "origin_tolerance_m": 1e-09,
              "time_tolerance_s": 1e-08
            },
            "history": {
              "ever_qualified": false,
              "first_qualified_s": null,
              "maximum_continuous_qualifying_s": 0.0
            },
            "latest": {
              "condition_valid": false,
              "continuous_qualifying_s": 0.0,
              "controller_claim": {
                "probe_index": 0,
                "qualified": false,
                "t_seconds": 20.00000000000146
              },
              "native_tick": 20000,
              "qualified": false,
              "rise_m": -3.277895609944681e-05,
              "tcp_local_drift_m": 0.0037724507936759185,
              "time_s": 20.00000000000146
            },
            "metadata_sha256": "ad8229630cc9f8718829bb8317b1a82480dcf18b9f71bd23666acfe71a003ef7",
            "native_arrays_sha256": "c73dbad5515e12a2caef152c36174218493b0773db72f6606179946058921167",
            "physical_robot_ready": false,
            "receipt_sha256": "dbca0a20d956196eca96ee6ecb17d74d088ea6ed3ec8e0b4c9281617a5e559be",
            "schema": "dvidia.probe-evidence/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification."
          },
          "status": "inspected",
          "verification": {
            "admissible": false,
            "historical_qualified": false,
            "latest_qualified": false,
            "physical_robot_ready": false,
            "reasons": [
              "latest_native_window_not_qualified",
              "no_controller_qualification_for_this_probe",
              "latest_controller_not_qualified"
            ],
            "receipt_sha256": "dbca0a20d956196eca96ee6ecb17d74d088ea6ed3ec8e0b4c9281617a5e559be",
            "schema": "dvidia.probe-evidence-verification/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.",
            "verified": true
          }
        },
        "stationarity": {
          "complete_5s": false,
          "grip_retention_and_stationarity": false,
          "tcp_pose_within_bounds": false
        },
        "status": "inspected"
      },
      "files": {
        "episode.json.gz": {
          "bytes": 761151,
          "sha256": "d139ee9396c6489711bf6c16cab629843d0fbfb07c0637142ac685acf7d89b9d"
        },
        "evaluation.json": {
          "bytes": 11519,
          "sha256": "a871e7d9b474d977377e9333137e1f9905c89929dbb377baa96d9c176693c2af"
        },
        "native.json": {
          "bytes": 13763,
          "sha256": "19cc1d5998901cbc12da2916add3096763081e9decbfc7193981bfabc4b871e0"
        },
        "native.npz": {
          "bytes": 4065647,
          "sha256": "9de87bb6fc228bd8bf37f0f736d3b9f46c0dc5fe31bfb77689a60203b5e2ef4d"
        },
        "started.json": {
          "bytes": 151,
          "sha256": "b3296a5ac1f472b29488b43db9733e7c34061b27805e7b611e7355537712aeee"
        }
      },
      "friction": 0.5,
      "id": "m45-f50-p1-measured_joint",
      "mass_kg": 0.045,
      "metrics": {
        "carry_complete": false,
        "carry_contact_loss_events": 0,
        "carry_contact_loss_tolerance_seconds": 0.04,
        "dwell_seconds": 0.0,
        "first_success_time_seconds": null,
        "grasp_seen": true,
        "lift_dwell_seconds": 0.0,
        "lift_seen": false,
        "max_carry_contact_loss_seconds": 0.0,
        "max_object_lift_m": 0.0002458345535307216,
        "max_pad_normal_force_n": 0.46127603942296014,
        "physical_robot_ready": false,
        "reason": "timeout",
        "retention_lost": false,
        "simulation_time": 20.00000000000146,
        "steps": 1000,
        "success": false,
        "target_distance_m": 0.12421530066047222,
        "unexpected_contact_native_ticks": 0,
        "valid": true,
        "warnings": []
      },
      "policy": {
        "abort_reason": "relative_slip",
        "acquisition_contract": {
          "comparison_scope": "Closed-loop variants may acquire different trajectories through early hold/retry. This is not an isolated classifier ablation.",
          "control_dt_s": 0.02,
          "evidence_admission": "Current bilateral force >0.01 N, no table support, object rise >=6 mm and TCP-local offset drift <=3 mm continuously across sampled boundaries for elapsed >=100 ms.",
          "hold": "Latch measured six arm joints and the last issued jaw target at admission/terminal invalidity. No full lift/transfer, no squeeze escalation, no post-admission retry.",
          "invalidation": "At each subsequent 20 ms observation and final observation, invalidate immediately on lost contact/force, support, insufficient rise, >3 mm local drift or unexpected contact. Never requalify after terminal invalidity.",
          "observation_origin": "privileged_native_simulator_state",
          "parameters": {
            "close_timeout_s": 1.4,
            "consecutive_alarm_samples": 2,
            "max_retries": 1,
            "monitor_min_probe_motion_m": 0.003,
            "probe_height_m": 0.01,
            "probe_min_object_rise_m": 0.006,
            "probe_speed_m_s": 0.02,
            "probe_timeout_s": 1.4,
            "qualification_dwell_s": 0.1,
            "relative_drift_limit_m": 0.003,
            "retry_clearance_m": 0.012,
            "retry_open_timeout_s": 1.2,
            "retry_recenter_timeout_s": 1.5
          },
          "physical_robot_ready": false,
          "prefix": "Original GuardedPiperTaskPolicy approach/close and at most one supported open/recenter/retry; already uses authored native state, not a fully blind baseline.",
          "sampling_limit": "Independent 1 ms evidence may contradict sampled admission; that remains a finding. No sensor or material inference is implemented.",
          "schema": "dvidia.piper-probe-stop/v1",
          "stop_scope": "Holding native position targets is not physical arrest or calibrated force limiting; inertia and existing target rate limits can continue motion.",
          "timer_admission": "Same 10 mm/20 mm/s probe target law, admitted at elapsed >=600 ms from that probe start; no evidence predicate or slip alarm before admission. Unexpected contacts and bounded timeouts still stop.",
          "timer_admission_s": 0.6,
          "variants": [
            "evidence",
            "timer"
          ]
        },
        "acquisition_variant": "evidence",
        "active_probe_index": 0,
        "admission_time_s": null,
        "admitted": false,
        "contract": {
          "acquisition": "Unchanged ProbeStopPolicy evidence acquisition, including its bounded supported retry. All variants share the same prefix through the first admission observation.",
          "cartesian": "Latch measured TCP position/orientation and preceding issued targets. Fixed joint bias equals issued target minus pose_action at the admission pose. First command repeats the exact issued target; later pose_action updates receive that fixed bias.",
          "control_dt_s": 0.02,
          "final_observation": "Repeat force, original eligibility and Cartesian pose-error checks. Do not solve or issue a hypothetical next control at the terminal observation.",
          "invalid_measurements": "Malformed, nonfinite or noncausal observations terminally refuse and raise without issuing a command. No measured-position stop is claimed from invalid measurements.",
          "issued_joint": "Latch the preceding issued six joint targets and the same last issued jaw target at admission.",
          "limits": {
            "initial_joint_bias_ceiling_rad": 0.08,
            "joint_correction_ceiling_rad": 0.03,
            "joint_correction_rate_rad_s": 0.1,
            "native_joint_target_margin_rad": 0.02,
            "per_finger_force_ceiling_n": 10.0,
            "tcp_orientation_error_ceiling_rad": 0.05,
            "tcp_position_error_ceiling_m": 0.004
          },
          "measured_joint": "Original hold: latch measured six joint coordinates and the last issued jaw target at admission.",
          "observation_origin": "privileged_native_simulator_state",
          "physical_robot_ready": false,
          "qualifications": "Engineering limits and the 10 N ceiling are authored synthetic assumptions, not damage limits or calibrated physical telemetry. Position targets are not physical stops or force limiters. No load/friction inference, model training or complete placement is implemented.",
          "rate_scope": "The extra correction slews at at most 0.002 rad per 20 ms per joint. Original native 1 ms target slew, servos, gains and force caps remain unchanged.",
          "refusal": "Original eligibility loss, unexpected contact or observed pad force >10 N terminally requests measured joint hold and the frozen jaw target. Cartesian error, initial-bias, total-correction or native-margin exhaustion also refuses terminally; it never chases an already failed grip.",
          "sampling": "Control checks occur at 20 ms boundaries. Independent saved 1 ms native evidence must judge a continuous 5 s hold; missed between-boundary failures remain findings.",
          "schema": "dvidia.piper-retention/v2",
          "variants": [
            "measured_joint",
            "issued_joint",
            "cartesian"
          ]
        },
        "events": [
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "continue",
              "drift_streak": 0,
              "object_height_delta_m": 0.0,
              "phase": "probe",
              "progress_streak": 0,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0,
              "retry_index": 0,
              "t_seconds": 11.439999999999099,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_probe",
            "probe_index": 0,
            "reason": "slow_load_bearing_check",
            "retention_variant": "measured_joint",
            "retry_index": 0,
            "status": "probing",
            "t_seconds": 11.439999999999099,
            "type": "probe_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": false,
              "contact_loss_streak": 1,
              "decision": "hold_measured_arm",
              "drift_streak": 2,
              "object_height_delta_m": 0.0002154275287818419,
              "phase": "probe",
              "progress_streak": 0,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0034871038148546725,
              "retry_index": 0,
              "t_seconds": 11.819999999998888,
              "table_supported": false,
              "tcp_probe_height_delta_m": 0.0037174940740652973
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_stop",
            "probe_index": 0,
            "reason": "relative_slip",
            "retention_variant": "measured_joint",
            "retry_index": 0,
            "status": "probing",
            "t_seconds": 11.819999999998888,
            "type": "alarm",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": false,
              "contact_loss_streak": 1,
              "decision": "hold_measured_arm_and_freeze_issued_jaw",
              "drift_streak": 2,
              "object_height_delta_m": 0.0002154275287818419,
              "phase": "probe",
              "progress_streak": 0,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0034871038148546725,
              "retry_index": 0,
              "t_seconds": 11.819999999998888,
              "table_supported": false,
              "tcp_probe_height_delta_m": 0.0037174940740652973
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "probe_stop",
            "probe_index": 0,
            "reason": "relative_slip",
            "retention_variant": "measured_joint",
            "retry_index": 0,
            "status": "invalidated_hold",
            "t_seconds": 11.819999999998888,
            "type": "abort",
            "variant": "evidence"
          }
        ],
        "ever_admitted": false,
        "final_observed": true,
        "frozen_jaw_target_m": 0.0,
        "initial_context": {
          "object_position_m": [
            0.30699992366647033,
            -0.03700015161518891,
            0.0798922445174838
          ],
          "observation_origin": "privileged_native_simulator_state",
          "t_seconds": 0.0,
          "tcp_position_m": [
            0.4890696662845219,
            0.0014141975654808877,
            0.3665849431043091
          ],
          "tcp_quaternion_wxyz": [
            0.6580840948238629,
            2.7730466224793136e-07,
            0.7529444362872891,
            -1.9485471114950535e-06
          ]
        },
        "last_observed_s": 20.00000000000146,
        "observation_origin": "privileged_native_simulator_state",
        "physical_robot_ready": false,
        "probes": [
          {
            "disposition": "invalidated_hold",
            "end_time_s": 11.819999999998888,
            "local_offset_origin_m": [
              0.0022852222567410607,
              0.00030496326754751577,
              0.0019118405282670457
            ],
            "object_origin_m": [
              0.30679273558079145,
              -0.0369807051827694,
              0.07992189272548658
            ],
            "observation_origin": "privileged_native_simulator_state",
            "probe_index": 0,
            "reason": "relative_slip",
            "start_time_s": 11.439999999999099,
            "tcp_origin_m": [
              0.30905932068496983,
              -0.03727185924855359,
              0.08185791928477662
            ],
            "tcp_quaternion_wxyz": [
              0.005224572918659036,
              -0.002460295303250972,
              0.9999830951741535,
              -0.0006783441294632372
            ]
          }
        ],
        "retention": {
          "hold_reference": null,
          "input_refusals": [],
          "native_joint_control_limits_rad": [
            [
              -2.618,
              2.618
            ],
            [
              0.0,
              3.14
            ],
            [
              -2.697,
              0.0
            ],
            [
              -1.832,
              1.832
            ],
            [
              -1.22,
              1.22
            ],
            [
              -3.14,
              3.14
            ]
          ],
          "variant": "measured_joint"
        },
        "retry_count": 0,
        "schema": "dvidia.piper-retention/v2",
        "status": "invalidated_hold",
        "stop_targets_rad": [
          -0.12455275160473664,
          1.7493909119012583,
          -1.1643853032718212,
          -4.7167143017651186e-05,
          1.0533454880243769,
          -0.1294324612443107
        ],
        "variant": "measured_joint"
      },
      "scene_id": "m45-f50-p1",
      "timing": {
        "policy_cpu": {
          "maximum_s": 0.00019500000000149953,
          "mean_s": 4.131900000006894e-05,
          "over_20ms": 0,
          "p50_s": 4.900000000063187e-05,
          "p95_s": 7.199999999940587e-05,
          "p99_s": 0.00011505999999744882,
          "samples": 1000
        },
        "policy_wall": {
          "maximum_s": 0.00027420883998274803,
          "mean_s": 4.1683873627334836e-05,
          "over_20ms": 0,
          "p50_s": 4.870840348303318e-05,
          "p95_s": 7.17131420969963e-05,
          "p99_s": 0.00012072328943759202,
          "samples": 1000
        },
        "step_cpu": {
          "maximum_s": 0.012972000000001316,
          "mean_s": 0.0016101489999999928,
          "over_20ms": 0,
          "p50_s": 0.0015079999999993987,
          "p95_s": 0.0023330000000001405,
          "p99_s": 0.0034469199999967504,
          "samples": 1000
        },
        "step_wall": {
          "maximum_s": 0.013030000030994415,
          "mean_s": 0.001639975749887526,
          "over_20ms": 0,
          "p50_s": 0.001546395942568779,
          "p95_s": 0.0024979608133435245,
          "p99_s": 0.003565645604394376,
          "samples": 1000
        }
      },
      "valid": true,
      "variant": "measured_joint"
    },
    {
      "error": null,
      "evaluation": {
        "corrections": {
          "bound_refusal_counts": {},
          "flag_counts": {
            "correction_rate_limited": 0
          },
          "hold_record_count": 281,
          "input_refusals": [],
          "maximum_abs_active_correction_rad": null,
          "maximum_abs_desired_correction_rad": null,
          "rate_limited_axis_occurrences": 0,
          "scope": "Includes recorded final diagnostic checks; only command_issued rows represent issued controls."
        },
        "decomposition": null,
        "final": {
          "both_qualified": false,
          "controller_qualified": false,
          "evidence_admissible": false,
          "native_qualified": false
        },
        "first_admission": null,
        "native": {
          "arrays_sha256": "df4b0249df885defa682139f3cebb7bc8ce80cf6434f58be073987a069495014",
          "complete": true,
          "maximum_per_finger_force_n": 0.425350328926546,
          "rows": 20000,
          "unexpected_contact_native_ticks": 0,
          "valid": true,
          "warnings": []
        },
        "physical_robot_ready": false,
        "primary": {
          "combined_qualified_pause": false,
          "complete_5s": false,
          "controller_retained_at_5s": false,
          "native_pause_success": false,
          "reason": "no_admission",
          "required_s": 5.0,
          "success": false
        },
        "probes": [
          {
            "claims": [],
            "disposition": "interrupted",
            "final_native_qualified_from_origin": false,
            "probe_index": 0,
            "start_time_s": 11.139999999999265
          },
          {
            "claims": [],
            "disposition": "invalidated_hold",
            "final_native_qualified_from_origin": false,
            "probe_index": 1,
            "start_time_s": 14.039999999997658
          }
        ],
        "receipt": {
          "admission": {
            "observation_origin": "privileged_native_simulation_plus_caller_planning_assumptions",
            "physical_robot_ready": false,
            "planning": {
              "computed": {
                "conservative_required_load_n": 0.6686988749999999,
                "gravity_m_s2": 9.80665,
                "pose_specific_payload_limit_force_n": 0.980665,
                "two_finger_friction_capacity_n": 4.0
              },
              "observation_origin": "caller_declared_not_verified",
              "physical_robot_ready": false,
              "reasons": [
                "Run and record a cautious test lift under the same calibrated pose and load conditions before simulated transport planning."
              ],
              "schema": "dvidia.task-feasibility-result/v1",
              "scope": "Planning assessment only. Parallel two-finger vertical-lift approximation; ignores moment, center of mass, deformation, transient impacts and unmodeled contact effects. Unknown values remain unknown; mass is never inferred from images. Probe/test-lift/controller integration is not implemented. No hardware actuation is performed; this is not hardware qualification.",
              "status": "test_lift_required"
            },
            "probe": {
              "admissible": false,
              "historical_qualified": false,
              "latest_qualified": false,
              "physical_robot_ready": false,
              "reasons": [
                "latest_native_window_not_qualified",
                "no_controller_qualification_for_this_probe",
                "latest_controller_not_qualified"
              ],
              "receipt_sha256": "8552bb4130d7c063414b6681b0f7486194bdf322e8ecb5ebdae25b29f59b71bc",
              "schema": "dvidia.probe-evidence-verification/v1",
              "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.",
              "verified": true
            },
            "schema": "dvidia.task-feasibility-with-probe/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification. Unknown planning values remain unknown. The unchanged approximate vertical-lift planning gate describes declared loads; it supplies no transport path, geospatial-goal contract or actuator permission. This wrapper never issues controls.",
            "status": "test_lift_required"
          },
          "context": {
            "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
            "calibration_id": "synthetic_probe_v01",
            "calibration_scope": "simulation_assumptions_not_hardware",
            "command_sha256": "105b4b4737bb118545fcb69ad2ec7c43699e7e79985db59979a5fda1f1ac6453",
            "feasibility_sha256": "6586d2cf941f1f3a24c177c8feda643fd636cb6985b821dbe48218ef6a5cdbdd",
            "grasp_id": "m45-f20-p0-issued_joint-probe-1",
            "initial_object_position_m": [
              0.3030001370663246,
              -0.02600003118840795,
              0.07989224451748381
            ],
            "model_sha256": "8f8a5eb6d5d953de280551cff47799961d0752b666ca6bad903913d4181498d9",
            "native_status": {
              "simulation_time_s": 20.00000000000146,
              "unexpected_contact_native_ticks": 0,
              "valid": true,
              "warnings": []
            },
            "object_id": "task_block",
            "per_finger_force_ceiling_n": 10.0,
            "pose_binding_sha256": "b20b35e233ff81795477d3be43e591ad9028d9fd6ec74eb816ee90370095b2de",
            "probe_index": 1,
            "probe_origin_object_position_m": [
              0.3038430193258891,
              -0.025817445346352507,
              0.07987922168061116
            ],
            "probe_origin_tcp_local_offset_m": [
              -0.002067289461554773,
              0.0002959775419809086,
              0.0023606173782411673
            ],
            "probe_start_s": 14.039999999997658,
            "robot_profile": "piper",
            "run_id": "m45-f20-p0-issued_joint",
            "schema": "dvidia.probe-context/v1",
            "source_sha256": "cc82eb867d3a927a487317b2e9e470fcb8f53e9da000a1764b7c5a1878883e69"
          },
          "physical_robot_ready": false,
          "planning_input": {
            "allowed_pose_tolerance_m": 0.003,
            "calibration_id": "synthetic_probe_v01",
            "friction_interval": [
              0.2,
              0.2
            ],
            "geometry_known": true,
            "gripper_max_opening_interval_m": [
              0.07,
              0.07
            ],
            "gripper_min_closure_m": 0.0,
            "mass_interval_kg": [
              0.045,
              0.045
            ],
            "object_width_interval_m": [
              0.04,
              0.04
            ],
            "observations_fresh": true,
            "per_finger_normal_force_budget_n": 10.0,
            "planned_upward_accel_m_s2": 0.1,
            "pose_specific_payload_limit_kg": 0.1,
            "pose_uncertainty_m": 0.0,
            "reachability": "reachable",
            "safety_factor": 1.5,
            "schema": "dvidia.task-feasibility-input/v1",
            "slip_detected": false,
            "test_lift_passed": false
          },
          "receipt": {
            "audit": {
              "controller_claim_mismatches": [],
              "controller_claims_checked": 1,
              "controller_conservative_abstention_count": 0,
              "controller_coverage": "Only the supplied claims are checked; omitted decisions are not inferred.",
              "controller_false_qualification_count": 0,
              "controller_positive_claims": 0,
              "force_ceiling_known": true,
              "maximum_observed_per_finger_force_n": 0.425350328926546,
              "reasons": [],
              "rows": 20000,
              "unexpected_contact_native_ticks": 0,
              "valid": true
            },
            "context": {
              "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
              "calibration_id": "synthetic_probe_v01",
              "calibration_scope": "simulation_assumptions_not_hardware",
              "command_sha256": "105b4b4737bb118545fcb69ad2ec7c43699e7e79985db59979a5fda1f1ac6453",
              "feasibility_sha256": "6586d2cf941f1f3a24c177c8feda643fd636cb6985b821dbe48218ef6a5cdbdd",
              "grasp_id": "m45-f20-p0-issued_joint-probe-1",
              "initial_object_position_m": [
                0.3030001370663246,
                -0.02600003118840795,
                0.07989224451748381
              ],
              "model_sha256": "8f8a5eb6d5d953de280551cff47799961d0752b666ca6bad903913d4181498d9",
              "native_status": {
                "simulation_time_s": 20.00000000000146,
                "unexpected_contact_native_ticks": 0,
                "valid": true,
                "warnings": []
              },
              "object_id": "task_block",
              "per_finger_force_ceiling_n": 10.0,
              "pose_binding_sha256": "b20b35e233ff81795477d3be43e591ad9028d9fd6ec74eb816ee90370095b2de",
              "probe_index": 1,
              "probe_origin_object_position_m": [
                0.3038430193258891,
                -0.025817445346352507,
                0.07987922168061116
              ],
              "probe_origin_tcp_local_offset_m": [
                -0.002067289461554773,
                0.0002959775419809086,
                0.0023606173782411673
              ],
              "probe_start_s": 14.039999999997658,
              "robot_profile": "piper",
              "run_id": "m45-f20-p0-issued_joint",
              "schema": "dvidia.probe-context/v1",
              "source_sha256": "cc82eb867d3a927a487317b2e9e470fcb8f53e9da000a1764b7c5a1878883e69"
            },
            "context_sha256": "9f9a4d399b17f22e7284a4b1bd45cd90836caed805bed0c7abc86f6d15d1e998",
            "controller_qualifications": [
              {
                "probe_index": 1,
                "qualified": false,
                "t_seconds": 20.00000000000146
              }
            ],
            "criteria": {
              "distance_comparison_epsilon": 1e-12,
              "initial_sample_tolerance_m": 0.001,
              "maximum_tcp_local_drift_m": 0.003,
              "minimum_continuous_dwell_s": 0.1,
              "minimum_per_finger_force_n_exclusive": 0.01,
              "minimum_rise_m": 0.006,
              "native_dt_s": 0.001,
              "origin_tolerance_m": 1e-09,
              "time_tolerance_s": 1e-08
            },
            "history": {
              "ever_qualified": false,
              "first_qualified_s": null,
              "maximum_continuous_qualifying_s": 0.0
            },
            "latest": {
              "condition_valid": false,
              "continuous_qualifying_s": 0.0,
              "controller_claim": {
                "probe_index": 1,
                "qualified": false,
                "t_seconds": 20.00000000000146
              },
              "native_tick": 20000,
              "qualified": false,
              "rise_m": 3.5139566001984868e-06,
              "tcp_local_drift_m": 0.00410420191741974,
              "time_s": 20.00000000000146
            },
            "metadata_sha256": "ad8229630cc9f8718829bb8317b1a82480dcf18b9f71bd23666acfe71a003ef7",
            "native_arrays_sha256": "df4b0249df885defa682139f3cebb7bc8ce80cf6434f58be073987a069495014",
            "physical_robot_ready": false,
            "receipt_sha256": "8552bb4130d7c063414b6681b0f7486194bdf322e8ecb5ebdae25b29f59b71bc",
            "schema": "dvidia.probe-evidence/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification."
          },
          "status": "inspected",
          "verification": {
            "admissible": false,
            "historical_qualified": false,
            "latest_qualified": false,
            "physical_robot_ready": false,
            "reasons": [
              "latest_native_window_not_qualified",
              "no_controller_qualification_for_this_probe",
              "latest_controller_not_qualified"
            ],
            "receipt_sha256": "8552bb4130d7c063414b6681b0f7486194bdf322e8ecb5ebdae25b29f59b71bc",
            "schema": "dvidia.probe-evidence-verification/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.",
            "verified": true
          }
        },
        "stationarity": {
          "complete_5s": false,
          "grip_retention_and_stationarity": false,
          "tcp_pose_within_bounds": false
        },
        "status": "inspected"
      },
      "files": {
        "episode.json.gz": {
          "bytes": 773488,
          "sha256": "b1955f568dcd4a8d82917ca33b417e19a9bc7082d5ecb52990ec9690787b9596"
        },
        "evaluation.json": {
          "bytes": 11689,
          "sha256": "3fc09a288786e15cff9a6c39192b4f6f61ceffb778f012d7f4f35f5f0f5b0739"
        },
        "native.json": {
          "bytes": 13763,
          "sha256": "19cc1d5998901cbc12da2916add3096763081e9decbfc7193981bfabc4b871e0"
        },
        "native.npz": {
          "bytes": 4085699,
          "sha256": "bff98b959380da98e0e67c566372d3e1c7507308bae8991dbede205fd9d938ef"
        },
        "started.json": {
          "bytes": 149,
          "sha256": "132046253387cb0b5bdf15d3e487be5982f49e513199ddd249e9f122e11b6574"
        }
      },
      "friction": 0.2,
      "id": "m45-f20-p0-issued_joint",
      "mass_kg": 0.045,
      "metrics": {
        "carry_complete": false,
        "carry_contact_loss_events": 0,
        "carry_contact_loss_tolerance_seconds": 0.04,
        "dwell_seconds": 0.0,
        "first_success_time_seconds": null,
        "grasp_seen": true,
        "lift_dwell_seconds": 0.0,
        "lift_seen": false,
        "max_carry_contact_loss_seconds": 0.0,
        "max_object_lift_m": 9.424369621281736e-05,
        "max_pad_normal_force_n": 0.425350328926546,
        "physical_robot_ready": false,
        "reason": "timeout",
        "retention_lost": false,
        "simulation_time": 20.00000000000146,
        "steps": 1000,
        "success": false,
        "target_distance_m": 0.11524862244288327,
        "unexpected_contact_native_ticks": 0,
        "valid": true,
        "warnings": []
      },
      "policy": {
        "abort_reason": "retry_budget_exhausted:object_not_following",
        "acquisition_contract": {
          "comparison_scope": "Closed-loop variants may acquire different trajectories through early hold/retry. This is not an isolated classifier ablation.",
          "control_dt_s": 0.02,
          "evidence_admission": "Current bilateral force >0.01 N, no table support, object rise >=6 mm and TCP-local offset drift <=3 mm continuously across sampled boundaries for elapsed >=100 ms.",
          "hold": "Latch measured six arm joints and the last issued jaw target at admission/terminal invalidity. No full lift/transfer, no squeeze escalation, no post-admission retry.",
          "invalidation": "At each subsequent 20 ms observation and final observation, invalidate immediately on lost contact/force, support, insufficient rise, >3 mm local drift or unexpected contact. Never requalify after terminal invalidity.",
          "observation_origin": "privileged_native_simulator_state",
          "parameters": {
            "close_timeout_s": 1.4,
            "consecutive_alarm_samples": 2,
            "max_retries": 1,
            "monitor_min_probe_motion_m": 0.003,
            "probe_height_m": 0.01,
            "probe_min_object_rise_m": 0.006,
            "probe_speed_m_s": 0.02,
            "probe_timeout_s": 1.4,
            "qualification_dwell_s": 0.1,
            "relative_drift_limit_m": 0.003,
            "retry_clearance_m": 0.012,
            "retry_open_timeout_s": 1.2,
            "retry_recenter_timeout_s": 1.5
          },
          "physical_robot_ready": false,
          "prefix": "Original GuardedPiperTaskPolicy approach/close and at most one supported open/recenter/retry; already uses authored native state, not a fully blind baseline.",
          "sampling_limit": "Independent 1 ms evidence may contradict sampled admission; that remains a finding. No sensor or material inference is implemented.",
          "schema": "dvidia.piper-probe-stop/v1",
          "stop_scope": "Holding native position targets is not physical arrest or calibrated force limiting; inertia and existing target rate limits can continue motion.",
          "timer_admission": "Same 10 mm/20 mm/s probe target law, admitted at elapsed >=600 ms from that probe start; no evidence predicate or slip alarm before admission. Unexpected contacts and bounded timeouts still stop.",
          "timer_admission_s": 0.6,
          "variants": [
            "evidence",
            "timer"
          ]
        },
        "acquisition_variant": "evidence",
        "active_probe_index": 1,
        "admission_time_s": null,
        "admitted": false,
        "contract": {
          "acquisition": "Unchanged ProbeStopPolicy evidence acquisition, including its bounded supported retry. All variants share the same prefix through the first admission observation.",
          "cartesian": "Latch measured TCP position/orientation and preceding issued targets. Fixed joint bias equals issued target minus pose_action at the admission pose. First command repeats the exact issued target; later pose_action updates receive that fixed bias.",
          "control_dt_s": 0.02,
          "final_observation": "Repeat force, original eligibility and Cartesian pose-error checks. Do not solve or issue a hypothetical next control at the terminal observation.",
          "invalid_measurements": "Malformed, nonfinite or noncausal observations terminally refuse and raise without issuing a command. No measured-position stop is claimed from invalid measurements.",
          "issued_joint": "Latch the preceding issued six joint targets and the same last issued jaw target at admission.",
          "limits": {
            "initial_joint_bias_ceiling_rad": 0.08,
            "joint_correction_ceiling_rad": 0.03,
            "joint_correction_rate_rad_s": 0.1,
            "native_joint_target_margin_rad": 0.02,
            "per_finger_force_ceiling_n": 10.0,
            "tcp_orientation_error_ceiling_rad": 0.05,
            "tcp_position_error_ceiling_m": 0.004
          },
          "measured_joint": "Original hold: latch measured six joint coordinates and the last issued jaw target at admission.",
          "observation_origin": "privileged_native_simulator_state",
          "physical_robot_ready": false,
          "qualifications": "Engineering limits and the 10 N ceiling are authored synthetic assumptions, not damage limits or calibrated physical telemetry. Position targets are not physical stops or force limiters. No load/friction inference, model training or complete placement is implemented.",
          "rate_scope": "The extra correction slews at at most 0.002 rad per 20 ms per joint. Original native 1 ms target slew, servos, gains and force caps remain unchanged.",
          "refusal": "Original eligibility loss, unexpected contact or observed pad force >10 N terminally requests measured joint hold and the frozen jaw target. Cartesian error, initial-bias, total-correction or native-margin exhaustion also refuses terminally; it never chases an already failed grip.",
          "sampling": "Control checks occur at 20 ms boundaries. Independent saved 1 ms native evidence must judge a continuous 5 s hold; missed between-boundary failures remain findings.",
          "schema": "dvidia.piper-retention/v2",
          "variants": [
            "measured_joint",
            "issued_joint",
            "cartesian"
          ]
        },
        "events": [
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "continue",
              "drift_streak": 0,
              "object_height_delta_m": 0.0,
              "phase": "probe",
              "progress_streak": 0,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0,
              "retry_index": 0,
              "t_seconds": 11.139999999999265,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_probe",
            "probe_index": 0,
            "reason": "slow_load_bearing_check",
            "retention_variant": "issued_joint",
            "retry_index": 0,
            "status": "probing",
            "t_seconds": 11.139999999999265,
            "type": "probe_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm",
              "drift_streak": 2,
              "object_height_delta_m": 5.346590078657287e-05,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0039294068617164914,
              "retry_index": 0,
              "t_seconds": 11.499999999999066,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0037492959011598548
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_stop",
            "probe_index": 0,
            "reason": "object_not_following",
            "retention_variant": "issued_joint",
            "retry_index": 0,
            "status": "probing",
            "t_seconds": 11.499999999999066,
            "type": "alarm",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm",
              "drift_streak": 2,
              "object_height_delta_m": 5.346590078657287e-05,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0039294068617164914,
              "retry_index": 0,
              "t_seconds": 11.499999999999066,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0037492959011598548
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_stop",
            "probe_index": 0,
            "reason": "supported_object_only",
            "retention_variant": "issued_joint",
            "retry_index": 1,
            "status": "acquiring_retry",
            "t_seconds": 11.499999999999066,
            "type": "retry_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": false,
              "contact_loss_streak": 0,
              "decision": "recenter_with_open_jaw",
              "drift_streak": 2,
              "object_height_delta_m": -2.132078276366467e-05,
              "phase": "retry_recenter",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.009725244409345739,
              "retry_index": 1,
              "t_seconds": 13.159999999998146,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.009693635181218088
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_retry_recenter",
            "probe_index": 0,
            "reason": "open_recenter_complete",
            "retention_variant": "issued_joint",
            "retry_index": 1,
            "status": "acquiring",
            "t_seconds": 13.159999999998146,
            "type": "retry_completed",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "continue",
              "drift_streak": 0,
              "object_height_delta_m": 0.0,
              "phase": "probe",
              "progress_streak": 0,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0,
              "retry_index": 1,
              "t_seconds": 14.039999999997658,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_probe",
            "probe_index": 1,
            "reason": "slow_load_bearing_check",
            "retention_variant": "issued_joint",
            "retry_index": 1,
            "status": "probing",
            "t_seconds": 14.039999999997658,
            "type": "probe_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm",
              "drift_streak": 2,
              "object_height_delta_m": 9.719634259618137e-05,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0038980648610235833,
              "retry_index": 1,
              "t_seconds": 14.399999999997458,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.00371331417477494
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_stop",
            "probe_index": 1,
            "reason": "object_not_following",
            "retention_variant": "issued_joint",
            "retry_index": 1,
            "status": "probing",
            "t_seconds": 14.399999999997458,
            "type": "alarm",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm_and_freeze_issued_jaw",
              "drift_streak": 2,
              "object_height_delta_m": 9.719634259618137e-05,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0038980648610235833,
              "retry_index": 1,
              "t_seconds": 14.399999999997458,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.00371331417477494
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "probe_stop",
            "probe_index": 1,
            "reason": "retry_budget_exhausted:object_not_following",
            "retention_variant": "issued_joint",
            "retry_index": 1,
            "status": "invalidated_hold",
            "t_seconds": 14.399999999997458,
            "type": "abort",
            "variant": "evidence"
          }
        ],
        "ever_admitted": false,
        "final_observed": true,
        "frozen_jaw_target_m": 0.0,
        "initial_context": {
          "object_position_m": [
            0.3030001370663246,
            -0.02600003118840795,
            0.07989224451748381
          ],
          "observation_origin": "privileged_native_simulator_state",
          "t_seconds": 0.0,
          "tcp_position_m": [
            0.4890696662845219,
            0.0014141975654808877,
            0.3665849431043091
          ],
          "tcp_quaternion_wxyz": [
            0.6580840948238629,
            2.7730466224793136e-07,
            0.7529444362872891,
            -1.9485471114950535e-06
          ]
        },
        "last_observed_s": 20.00000000000146,
        "observation_origin": "privileged_native_simulator_state",
        "physical_robot_ready": false,
        "probes": [
          {
            "disposition": "interrupted",
            "end_time_s": 11.499999999999066,
            "local_offset_origin_m": [
              0.002323317739738715,
              0.0003054667011489341,
              0.0019003044007361407
            ],
            "object_origin_m": [
              0.30262249553379206,
              -0.02594388384956118,
              0.07991356536254736
            ],
            "observation_origin": "privileged_native_simulator_state",
            "probe_index": 0,
            "reason": "object_not_following",
            "start_time_s": 11.139999999999265,
            "tcp_origin_m": [
              0.30492803561320747,
              -0.02623914949799081,
              0.08183699333879683
            ],
            "tcp_quaternion_wxyz": [
              0.004930611857964067,
              -0.0017910250829001391,
              0.9999861157287365,
              -0.000499645487046681
            ]
          },
          {
            "disposition": "invalidated_hold",
            "end_time_s": 14.399999999997458,
            "local_offset_origin_m": [
              -0.002067289461554773,
              0.0002959775419809086,
              0.0023606173782411673
            ],
            "object_origin_m": [
              0.3038430193258891,
              -0.025817445346352507,
              0.07987922168061116
            ],
            "observation_origin": "privileged_native_simulator_state",
            "probe_index": 1,
            "reason": "retry_budget_exhausted:object_not_following",
            "start_time_s": 14.039999999997658,
            "tcp_origin_m": [
              0.3017961430887887,
              -0.026115608447635573,
              0.08225728796746984
            ],
            "tcp_quaternion_wxyz": [
              -0.004286306633260288,
              -0.00017097704223043418,
              0.9999907502162869,
              0.0003127685468266506
            ]
          }
        ],
        "retention": {
          "hold_reference": null,
          "input_refusals": [],
          "native_joint_control_limits_rad": [
            [
              -2.618,
              2.618
            ],
            [
              0.0,
              3.14
            ],
            [
              -2.697,
              0.0
            ],
            [
              -1.832,
              1.832
            ],
            [
              -1.22,
              1.22
            ],
            [
              -3.14,
              3.14
            ]
          ],
          "variant": "issued_joint"
        },
        "retry_count": 1,
        "schema": "dvidia.piper-retention/v2",
        "status": "invalidated_hold",
        "stop_targets_rad": [
          -0.09088092897521653,
          1.734366233152953,
          -1.1462630671948562,
          -0.00020099408709414523,
          1.0688352745081022,
          -0.091149580273082
        ],
        "variant": "issued_joint"
      },
      "scene_id": "m45-f20-p0",
      "timing": {
        "policy_cpu": {
          "maximum_s": 0.00021200000000121122,
          "mean_s": 4.4673000000024385e-05,
          "over_20ms": 0,
          "p50_s": 4.900000000063187e-05,
          "p95_s": 7.500000000248974e-05,
          "p99_s": 0.00010103000000079018,
          "samples": 1000
        },
        "policy_wall": {
          "maximum_s": 0.00027420930564403534,
          "mean_s": 4.494277201592922e-05,
          "over_20ms": 0,
          "p50_s": 4.862528294324875e-05,
          "p95_s": 7.618181407451629e-05,
          "p99_s": 0.000104301362298429,
          "samples": 1000
        },
        "step_cpu": {
          "maximum_s": 0.005182000000001352,
          "mean_s": 0.0016516810000000142,
          "over_20ms": 0,
          "p50_s": 0.0013399999999990087,
          "p95_s": 0.0033121999999977444,
          "p99_s": 0.003853070000001927,
          "samples": 1000
        },
        "step_wall": {
          "maximum_s": 0.005590875167399645,
          "mean_s": 0.0016684539965353905,
          "over_20ms": 0,
          "p50_s": 0.0013468330726027489,
          "p95_s": 0.003339254180900752,
          "p99_s": 0.00415732357185334,
          "samples": 1000
        }
      },
      "valid": true,
      "variant": "issued_joint"
    },
    {
      "error": null,
      "evaluation": {
        "corrections": {
          "bound_refusal_counts": {},
          "flag_counts": {
            "correction_rate_limited": 0
          },
          "hold_record_count": 281,
          "input_refusals": [],
          "maximum_abs_active_correction_rad": null,
          "maximum_abs_desired_correction_rad": null,
          "rate_limited_axis_occurrences": 0,
          "scope": "Includes recorded final diagnostic checks; only command_issued rows represent issued controls."
        },
        "decomposition": null,
        "final": {
          "both_qualified": false,
          "controller_qualified": false,
          "evidence_admissible": false,
          "native_qualified": false
        },
        "first_admission": null,
        "native": {
          "arrays_sha256": "df4b0249df885defa682139f3cebb7bc8ce80cf6434f58be073987a069495014",
          "complete": true,
          "maximum_per_finger_force_n": 0.425350328926546,
          "rows": 20000,
          "unexpected_contact_native_ticks": 0,
          "valid": true,
          "warnings": []
        },
        "physical_robot_ready": false,
        "primary": {
          "combined_qualified_pause": false,
          "complete_5s": false,
          "controller_retained_at_5s": false,
          "native_pause_success": false,
          "reason": "no_admission",
          "required_s": 5.0,
          "success": false
        },
        "probes": [
          {
            "claims": [],
            "disposition": "interrupted",
            "final_native_qualified_from_origin": false,
            "probe_index": 0,
            "start_time_s": 11.139999999999265
          },
          {
            "claims": [],
            "disposition": "invalidated_hold",
            "final_native_qualified_from_origin": false,
            "probe_index": 1,
            "start_time_s": 14.039999999997658
          }
        ],
        "receipt": {
          "admission": {
            "observation_origin": "privileged_native_simulation_plus_caller_planning_assumptions",
            "physical_robot_ready": false,
            "planning": {
              "computed": {
                "conservative_required_load_n": 0.6686988749999999,
                "gravity_m_s2": 9.80665,
                "pose_specific_payload_limit_force_n": 0.980665,
                "two_finger_friction_capacity_n": 4.0
              },
              "observation_origin": "caller_declared_not_verified",
              "physical_robot_ready": false,
              "reasons": [
                "Run and record a cautious test lift under the same calibrated pose and load conditions before simulated transport planning."
              ],
              "schema": "dvidia.task-feasibility-result/v1",
              "scope": "Planning assessment only. Parallel two-finger vertical-lift approximation; ignores moment, center of mass, deformation, transient impacts and unmodeled contact effects. Unknown values remain unknown; mass is never inferred from images. Probe/test-lift/controller integration is not implemented. No hardware actuation is performed; this is not hardware qualification.",
              "status": "test_lift_required"
            },
            "probe": {
              "admissible": false,
              "historical_qualified": false,
              "latest_qualified": false,
              "physical_robot_ready": false,
              "reasons": [
                "latest_native_window_not_qualified",
                "no_controller_qualification_for_this_probe",
                "latest_controller_not_qualified"
              ],
              "receipt_sha256": "c0d18d7dc16499ff11484be5957b53ed408a31022d9c6571e2163fcfe1c129b3",
              "schema": "dvidia.probe-evidence-verification/v1",
              "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.",
              "verified": true
            },
            "schema": "dvidia.task-feasibility-with-probe/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification. Unknown planning values remain unknown. The unchanged approximate vertical-lift planning gate describes declared loads; it supplies no transport path, geospatial-goal contract or actuator permission. This wrapper never issues controls.",
            "status": "test_lift_required"
          },
          "context": {
            "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
            "calibration_id": "synthetic_probe_v01",
            "calibration_scope": "simulation_assumptions_not_hardware",
            "command_sha256": "105b4b4737bb118545fcb69ad2ec7c43699e7e79985db59979a5fda1f1ac6453",
            "feasibility_sha256": "6586d2cf941f1f3a24c177c8feda643fd636cb6985b821dbe48218ef6a5cdbdd",
            "grasp_id": "m45-f20-p0-measured_joint-probe-1",
            "initial_object_position_m": [
              0.3030001370663246,
              -0.02600003118840795,
              0.07989224451748381
            ],
            "model_sha256": "8f8a5eb6d5d953de280551cff47799961d0752b666ca6bad903913d4181498d9",
            "native_status": {
              "simulation_time_s": 20.00000000000146,
              "unexpected_contact_native_ticks": 0,
              "valid": true,
              "warnings": []
            },
            "object_id": "task_block",
            "per_finger_force_ceiling_n": 10.0,
            "pose_binding_sha256": "b20b35e233ff81795477d3be43e591ad9028d9fd6ec74eb816ee90370095b2de",
            "probe_index": 1,
            "probe_origin_object_position_m": [
              0.3038430193258891,
              -0.025817445346352507,
              0.07987922168061116
            ],
            "probe_origin_tcp_local_offset_m": [
              -0.002067289461554773,
              0.0002959775419809086,
              0.0023606173782411673
            ],
            "probe_start_s": 14.039999999997658,
            "robot_profile": "piper",
            "run_id": "m45-f20-p0-measured_joint",
            "schema": "dvidia.probe-context/v1",
            "source_sha256": "cc82eb867d3a927a487317b2e9e470fcb8f53e9da000a1764b7c5a1878883e69"
          },
          "physical_robot_ready": false,
          "planning_input": {
            "allowed_pose_tolerance_m": 0.003,
            "calibration_id": "synthetic_probe_v01",
            "friction_interval": [
              0.2,
              0.2
            ],
            "geometry_known": true,
            "gripper_max_opening_interval_m": [
              0.07,
              0.07
            ],
            "gripper_min_closure_m": 0.0,
            "mass_interval_kg": [
              0.045,
              0.045
            ],
            "object_width_interval_m": [
              0.04,
              0.04
            ],
            "observations_fresh": true,
            "per_finger_normal_force_budget_n": 10.0,
            "planned_upward_accel_m_s2": 0.1,
            "pose_specific_payload_limit_kg": 0.1,
            "pose_uncertainty_m": 0.0,
            "reachability": "reachable",
            "safety_factor": 1.5,
            "schema": "dvidia.task-feasibility-input/v1",
            "slip_detected": false,
            "test_lift_passed": false
          },
          "receipt": {
            "audit": {
              "controller_claim_mismatches": [],
              "controller_claims_checked": 1,
              "controller_conservative_abstention_count": 0,
              "controller_coverage": "Only the supplied claims are checked; omitted decisions are not inferred.",
              "controller_false_qualification_count": 0,
              "controller_positive_claims": 0,
              "force_ceiling_known": true,
              "maximum_observed_per_finger_force_n": 0.425350328926546,
              "reasons": [],
              "rows": 20000,
              "unexpected_contact_native_ticks": 0,
              "valid": true
            },
            "context": {
              "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
              "calibration_id": "synthetic_probe_v01",
              "calibration_scope": "simulation_assumptions_not_hardware",
              "command_sha256": "105b4b4737bb118545fcb69ad2ec7c43699e7e79985db59979a5fda1f1ac6453",
              "feasibility_sha256": "6586d2cf941f1f3a24c177c8feda643fd636cb6985b821dbe48218ef6a5cdbdd",
              "grasp_id": "m45-f20-p0-measured_joint-probe-1",
              "initial_object_position_m": [
                0.3030001370663246,
                -0.02600003118840795,
                0.07989224451748381
              ],
              "model_sha256": "8f8a5eb6d5d953de280551cff47799961d0752b666ca6bad903913d4181498d9",
              "native_status": {
                "simulation_time_s": 20.00000000000146,
                "unexpected_contact_native_ticks": 0,
                "valid": true,
                "warnings": []
              },
              "object_id": "task_block",
              "per_finger_force_ceiling_n": 10.0,
              "pose_binding_sha256": "b20b35e233ff81795477d3be43e591ad9028d9fd6ec74eb816ee90370095b2de",
              "probe_index": 1,
              "probe_origin_object_position_m": [
                0.3038430193258891,
                -0.025817445346352507,
                0.07987922168061116
              ],
              "probe_origin_tcp_local_offset_m": [
                -0.002067289461554773,
                0.0002959775419809086,
                0.0023606173782411673
              ],
              "probe_start_s": 14.039999999997658,
              "robot_profile": "piper",
              "run_id": "m45-f20-p0-measured_joint",
              "schema": "dvidia.probe-context/v1",
              "source_sha256": "cc82eb867d3a927a487317b2e9e470fcb8f53e9da000a1764b7c5a1878883e69"
            },
            "context_sha256": "96b12818f84ec5e748decc0762050c4582c566a43fe117d4d1b867b0dc3b6d86",
            "controller_qualifications": [
              {
                "probe_index": 1,
                "qualified": false,
                "t_seconds": 20.00000000000146
              }
            ],
            "criteria": {
              "distance_comparison_epsilon": 1e-12,
              "initial_sample_tolerance_m": 0.001,
              "maximum_tcp_local_drift_m": 0.003,
              "minimum_continuous_dwell_s": 0.1,
              "minimum_per_finger_force_n_exclusive": 0.01,
              "minimum_rise_m": 0.006,
              "native_dt_s": 0.001,
              "origin_tolerance_m": 1e-09,
              "time_tolerance_s": 1e-08
            },
            "history": {
              "ever_qualified": false,
              "first_qualified_s": null,
              "maximum_continuous_qualifying_s": 0.0
            },
            "latest": {
              "condition_valid": false,
              "continuous_qualifying_s": 0.0,
              "controller_claim": {
                "probe_index": 1,
                "qualified": false,
                "t_seconds": 20.00000000000146
              },
              "native_tick": 20000,
              "qualified": false,
              "rise_m": 3.5139566001984868e-06,
              "tcp_local_drift_m": 0.00410420191741974,
              "time_s": 20.00000000000146
            },
            "metadata_sha256": "ad8229630cc9f8718829bb8317b1a82480dcf18b9f71bd23666acfe71a003ef7",
            "native_arrays_sha256": "df4b0249df885defa682139f3cebb7bc8ce80cf6434f58be073987a069495014",
            "physical_robot_ready": false,
            "receipt_sha256": "c0d18d7dc16499ff11484be5957b53ed408a31022d9c6571e2163fcfe1c129b3",
            "schema": "dvidia.probe-evidence/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification."
          },
          "status": "inspected",
          "verification": {
            "admissible": false,
            "historical_qualified": false,
            "latest_qualified": false,
            "physical_robot_ready": false,
            "reasons": [
              "latest_native_window_not_qualified",
              "no_controller_qualification_for_this_probe",
              "latest_controller_not_qualified"
            ],
            "receipt_sha256": "c0d18d7dc16499ff11484be5957b53ed408a31022d9c6571e2163fcfe1c129b3",
            "schema": "dvidia.probe-evidence-verification/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.",
            "verified": true
          }
        },
        "stationarity": {
          "complete_5s": false,
          "grip_retention_and_stationarity": false,
          "tcp_pose_within_bounds": false
        },
        "status": "inspected"
      },
      "files": {
        "episode.json.gz": {
          "bytes": 774252,
          "sha256": "3d2e6e9f2a35a6fc7e8160dc775fb8684c614b42adb0aa5245fe04c12a81544c"
        },
        "evaluation.json": {
          "bytes": 11697,
          "sha256": "34af977aa72425574c1484526d3eae5312d7c49c7ed83ab32f56e109de187f0a"
        },
        "native.json": {
          "bytes": 13763,
          "sha256": "19cc1d5998901cbc12da2916add3096763081e9decbfc7193981bfabc4b871e0"
        },
        "native.npz": {
          "bytes": 4085699,
          "sha256": "bff98b959380da98e0e67c566372d3e1c7507308bae8991dbede205fd9d938ef"
        },
        "started.json": {
          "bytes": 151,
          "sha256": "9b3820f1477fdc75a681e9e3d6cd764a9f38fb8f1b10174346e5ffcd49f4d361"
        }
      },
      "friction": 0.2,
      "id": "m45-f20-p0-measured_joint",
      "mass_kg": 0.045,
      "metrics": {
        "carry_complete": false,
        "carry_contact_loss_events": 0,
        "carry_contact_loss_tolerance_seconds": 0.04,
        "dwell_seconds": 0.0,
        "first_success_time_seconds": null,
        "grasp_seen": true,
        "lift_dwell_seconds": 0.0,
        "lift_seen": false,
        "max_carry_contact_loss_seconds": 0.0,
        "max_object_lift_m": 9.424369621281736e-05,
        "max_pad_normal_force_n": 0.425350328926546,
        "physical_robot_ready": false,
        "reason": "timeout",
        "retention_lost": false,
        "simulation_time": 20.00000000000146,
        "steps": 1000,
        "success": false,
        "target_distance_m": 0.11524862244288327,
        "unexpected_contact_native_ticks": 0,
        "valid": true,
        "warnings": []
      },
      "policy": {
        "abort_reason": "retry_budget_exhausted:object_not_following",
        "acquisition_contract": {
          "comparison_scope": "Closed-loop variants may acquire different trajectories through early hold/retry. This is not an isolated classifier ablation.",
          "control_dt_s": 0.02,
          "evidence_admission": "Current bilateral force >0.01 N, no table support, object rise >=6 mm and TCP-local offset drift <=3 mm continuously across sampled boundaries for elapsed >=100 ms.",
          "hold": "Latch measured six arm joints and the last issued jaw target at admission/terminal invalidity. No full lift/transfer, no squeeze escalation, no post-admission retry.",
          "invalidation": "At each subsequent 20 ms observation and final observation, invalidate immediately on lost contact/force, support, insufficient rise, >3 mm local drift or unexpected contact. Never requalify after terminal invalidity.",
          "observation_origin": "privileged_native_simulator_state",
          "parameters": {
            "close_timeout_s": 1.4,
            "consecutive_alarm_samples": 2,
            "max_retries": 1,
            "monitor_min_probe_motion_m": 0.003,
            "probe_height_m": 0.01,
            "probe_min_object_rise_m": 0.006,
            "probe_speed_m_s": 0.02,
            "probe_timeout_s": 1.4,
            "qualification_dwell_s": 0.1,
            "relative_drift_limit_m": 0.003,
            "retry_clearance_m": 0.012,
            "retry_open_timeout_s": 1.2,
            "retry_recenter_timeout_s": 1.5
          },
          "physical_robot_ready": false,
          "prefix": "Original GuardedPiperTaskPolicy approach/close and at most one supported open/recenter/retry; already uses authored native state, not a fully blind baseline.",
          "sampling_limit": "Independent 1 ms evidence may contradict sampled admission; that remains a finding. No sensor or material inference is implemented.",
          "schema": "dvidia.piper-probe-stop/v1",
          "stop_scope": "Holding native position targets is not physical arrest or calibrated force limiting; inertia and existing target rate limits can continue motion.",
          "timer_admission": "Same 10 mm/20 mm/s probe target law, admitted at elapsed >=600 ms from that probe start; no evidence predicate or slip alarm before admission. Unexpected contacts and bounded timeouts still stop.",
          "timer_admission_s": 0.6,
          "variants": [
            "evidence",
            "timer"
          ]
        },
        "acquisition_variant": "evidence",
        "active_probe_index": 1,
        "admission_time_s": null,
        "admitted": false,
        "contract": {
          "acquisition": "Unchanged ProbeStopPolicy evidence acquisition, including its bounded supported retry. All variants share the same prefix through the first admission observation.",
          "cartesian": "Latch measured TCP position/orientation and preceding issued targets. Fixed joint bias equals issued target minus pose_action at the admission pose. First command repeats the exact issued target; later pose_action updates receive that fixed bias.",
          "control_dt_s": 0.02,
          "final_observation": "Repeat force, original eligibility and Cartesian pose-error checks. Do not solve or issue a hypothetical next control at the terminal observation.",
          "invalid_measurements": "Malformed, nonfinite or noncausal observations terminally refuse and raise without issuing a command. No measured-position stop is claimed from invalid measurements.",
          "issued_joint": "Latch the preceding issued six joint targets and the same last issued jaw target at admission.",
          "limits": {
            "initial_joint_bias_ceiling_rad": 0.08,
            "joint_correction_ceiling_rad": 0.03,
            "joint_correction_rate_rad_s": 0.1,
            "native_joint_target_margin_rad": 0.02,
            "per_finger_force_ceiling_n": 10.0,
            "tcp_orientation_error_ceiling_rad": 0.05,
            "tcp_position_error_ceiling_m": 0.004
          },
          "measured_joint": "Original hold: latch measured six joint coordinates and the last issued jaw target at admission.",
          "observation_origin": "privileged_native_simulator_state",
          "physical_robot_ready": false,
          "qualifications": "Engineering limits and the 10 N ceiling are authored synthetic assumptions, not damage limits or calibrated physical telemetry. Position targets are not physical stops or force limiters. No load/friction inference, model training or complete placement is implemented.",
          "rate_scope": "The extra correction slews at at most 0.002 rad per 20 ms per joint. Original native 1 ms target slew, servos, gains and force caps remain unchanged.",
          "refusal": "Original eligibility loss, unexpected contact or observed pad force >10 N terminally requests measured joint hold and the frozen jaw target. Cartesian error, initial-bias, total-correction or native-margin exhaustion also refuses terminally; it never chases an already failed grip.",
          "sampling": "Control checks occur at 20 ms boundaries. Independent saved 1 ms native evidence must judge a continuous 5 s hold; missed between-boundary failures remain findings.",
          "schema": "dvidia.piper-retention/v2",
          "variants": [
            "measured_joint",
            "issued_joint",
            "cartesian"
          ]
        },
        "events": [
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "continue",
              "drift_streak": 0,
              "object_height_delta_m": 0.0,
              "phase": "probe",
              "progress_streak": 0,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0,
              "retry_index": 0,
              "t_seconds": 11.139999999999265,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_probe",
            "probe_index": 0,
            "reason": "slow_load_bearing_check",
            "retention_variant": "measured_joint",
            "retry_index": 0,
            "status": "probing",
            "t_seconds": 11.139999999999265,
            "type": "probe_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm",
              "drift_streak": 2,
              "object_height_delta_m": 5.346590078657287e-05,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0039294068617164914,
              "retry_index": 0,
              "t_seconds": 11.499999999999066,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0037492959011598548
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_stop",
            "probe_index": 0,
            "reason": "object_not_following",
            "retention_variant": "measured_joint",
            "retry_index": 0,
            "status": "probing",
            "t_seconds": 11.499999999999066,
            "type": "alarm",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm",
              "drift_streak": 2,
              "object_height_delta_m": 5.346590078657287e-05,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0039294068617164914,
              "retry_index": 0,
              "t_seconds": 11.499999999999066,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0037492959011598548
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_stop",
            "probe_index": 0,
            "reason": "supported_object_only",
            "retention_variant": "measured_joint",
            "retry_index": 1,
            "status": "acquiring_retry",
            "t_seconds": 11.499999999999066,
            "type": "retry_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": false,
              "contact_loss_streak": 0,
              "decision": "recenter_with_open_jaw",
              "drift_streak": 2,
              "object_height_delta_m": -2.132078276366467e-05,
              "phase": "retry_recenter",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.009725244409345739,
              "retry_index": 1,
              "t_seconds": 13.159999999998146,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.009693635181218088
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_retry_recenter",
            "probe_index": 0,
            "reason": "open_recenter_complete",
            "retention_variant": "measured_joint",
            "retry_index": 1,
            "status": "acquiring",
            "t_seconds": 13.159999999998146,
            "type": "retry_completed",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "continue",
              "drift_streak": 0,
              "object_height_delta_m": 0.0,
              "phase": "probe",
              "progress_streak": 0,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0,
              "retry_index": 1,
              "t_seconds": 14.039999999997658,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_probe",
            "probe_index": 1,
            "reason": "slow_load_bearing_check",
            "retention_variant": "measured_joint",
            "retry_index": 1,
            "status": "probing",
            "t_seconds": 14.039999999997658,
            "type": "probe_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm",
              "drift_streak": 2,
              "object_height_delta_m": 9.719634259618137e-05,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0038980648610235833,
              "retry_index": 1,
              "t_seconds": 14.399999999997458,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.00371331417477494
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_stop",
            "probe_index": 1,
            "reason": "object_not_following",
            "retention_variant": "measured_joint",
            "retry_index": 1,
            "status": "probing",
            "t_seconds": 14.399999999997458,
            "type": "alarm",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm_and_freeze_issued_jaw",
              "drift_streak": 2,
              "object_height_delta_m": 9.719634259618137e-05,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0038980648610235833,
              "retry_index": 1,
              "t_seconds": 14.399999999997458,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.00371331417477494
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "probe_stop",
            "probe_index": 1,
            "reason": "retry_budget_exhausted:object_not_following",
            "retention_variant": "measured_joint",
            "retry_index": 1,
            "status": "invalidated_hold",
            "t_seconds": 14.399999999997458,
            "type": "abort",
            "variant": "evidence"
          }
        ],
        "ever_admitted": false,
        "final_observed": true,
        "frozen_jaw_target_m": 0.0,
        "initial_context": {
          "object_position_m": [
            0.3030001370663246,
            -0.02600003118840795,
            0.07989224451748381
          ],
          "observation_origin": "privileged_native_simulator_state",
          "t_seconds": 0.0,
          "tcp_position_m": [
            0.4890696662845219,
            0.0014141975654808877,
            0.3665849431043091
          ],
          "tcp_quaternion_wxyz": [
            0.6580840948238629,
            2.7730466224793136e-07,
            0.7529444362872891,
            -1.9485471114950535e-06
          ]
        },
        "last_observed_s": 20.00000000000146,
        "observation_origin": "privileged_native_simulator_state",
        "physical_robot_ready": false,
        "probes": [
          {
            "disposition": "interrupted",
            "end_time_s": 11.499999999999066,
            "local_offset_origin_m": [
              0.002323317739738715,
              0.0003054667011489341,
              0.0019003044007361407
            ],
            "object_origin_m": [
              0.30262249553379206,
              -0.02594388384956118,
              0.07991356536254736
            ],
            "observation_origin": "privileged_native_simulator_state",
            "probe_index": 0,
            "reason": "object_not_following",
            "start_time_s": 11.139999999999265,
            "tcp_origin_m": [
              0.30492803561320747,
              -0.02623914949799081,
              0.08183699333879683
            ],
            "tcp_quaternion_wxyz": [
              0.004930611857964067,
              -0.0017910250829001391,
              0.9999861157287365,
              -0.000499645487046681
            ]
          },
          {
            "disposition": "invalidated_hold",
            "end_time_s": 14.399999999997458,
            "local_offset_origin_m": [
              -0.002067289461554773,
              0.0002959775419809086,
              0.0023606173782411673
            ],
            "object_origin_m": [
              0.3038430193258891,
              -0.025817445346352507,
              0.07987922168061116
            ],
            "observation_origin": "privileged_native_simulator_state",
            "probe_index": 1,
            "reason": "retry_budget_exhausted:object_not_following",
            "start_time_s": 14.039999999997658,
            "tcp_origin_m": [
              0.3017961430887887,
              -0.026115608447635573,
              0.08225728796746984
            ],
            "tcp_quaternion_wxyz": [
              -0.004286306633260288,
              -0.00017097704223043418,
              0.9999907502162869,
              0.0003127685468266506
            ]
          }
        ],
        "retention": {
          "hold_reference": null,
          "input_refusals": [],
          "native_joint_control_limits_rad": [
            [
              -2.618,
              2.618
            ],
            [
              0.0,
              3.14
            ],
            [
              -2.697,
              0.0
            ],
            [
              -1.832,
              1.832
            ],
            [
              -1.22,
              1.22
            ],
            [
              -3.14,
              3.14
            ]
          ],
          "variant": "measured_joint"
        },
        "retry_count": 1,
        "schema": "dvidia.piper-retention/v2",
        "status": "invalidated_hold",
        "stop_targets_rad": [
          -0.09088092897521653,
          1.734366233152953,
          -1.1462630671948562,
          -0.00020099408709414523,
          1.0688352745081022,
          -0.091149580273082
        ],
        "variant": "measured_joint"
      },
      "scene_id": "m45-f20-p0",
      "timing": {
        "policy_cpu": {
          "maximum_s": 0.0003010000000003288,
          "mean_s": 4.835500000001502e-05,
          "over_20ms": 0,
          "p50_s": 5.1000000002687784e-05,
          "p95_s": 9.005000000001924e-05,
          "p99_s": 0.0001330299999982287,
          "samples": 1000
        },
        "policy_wall": {
          "maximum_s": 0.0002998341806232929,
          "mean_s": 4.849120881408453e-05,
          "over_20ms": 0,
          "p50_s": 5.137501284480095e-05,
          "p95_s": 9.042534511536359e-05,
          "p99_s": 0.00014161375816911455,
          "samples": 1000
        },
        "step_cpu": {
          "maximum_s": 0.008392000000000621,
          "mean_s": 0.0016898310000000407,
          "over_20ms": 0,
          "p50_s": 0.0014430000000018595,
          "p95_s": 0.003428100000002131,
          "p99_s": 0.004039319999998767,
          "samples": 1000
        },
        "step_wall": {
          "maximum_s": 0.008434500079602003,
          "mean_s": 0.0016983190290629864,
          "over_20ms": 0,
          "p50_s": 0.0014485623687505722,
          "p95_s": 0.003434498375281691,
          "p99_s": 0.004138964391313493,
          "samples": 1000
        }
      },
      "valid": true,
      "variant": "measured_joint"
    },
    {
      "error": null,
      "evaluation": {
        "corrections": {
          "bound_refusal_counts": {},
          "flag_counts": {
            "correction_rate_limited": 0
          },
          "hold_record_count": 281,
          "input_refusals": [],
          "maximum_abs_active_correction_rad": null,
          "maximum_abs_desired_correction_rad": null,
          "rate_limited_axis_occurrences": 0,
          "scope": "Includes recorded final diagnostic checks; only command_issued rows represent issued controls."
        },
        "decomposition": null,
        "final": {
          "both_qualified": false,
          "controller_qualified": false,
          "evidence_admissible": false,
          "native_qualified": false
        },
        "first_admission": null,
        "native": {
          "arrays_sha256": "df4b0249df885defa682139f3cebb7bc8ce80cf6434f58be073987a069495014",
          "complete": true,
          "maximum_per_finger_force_n": 0.425350328926546,
          "rows": 20000,
          "unexpected_contact_native_ticks": 0,
          "valid": true,
          "warnings": []
        },
        "physical_robot_ready": false,
        "primary": {
          "combined_qualified_pause": false,
          "complete_5s": false,
          "controller_retained_at_5s": false,
          "native_pause_success": false,
          "reason": "no_admission",
          "required_s": 5.0,
          "success": false
        },
        "probes": [
          {
            "claims": [],
            "disposition": "interrupted",
            "final_native_qualified_from_origin": false,
            "probe_index": 0,
            "start_time_s": 11.139999999999265
          },
          {
            "claims": [],
            "disposition": "invalidated_hold",
            "final_native_qualified_from_origin": false,
            "probe_index": 1,
            "start_time_s": 14.039999999997658
          }
        ],
        "receipt": {
          "admission": {
            "observation_origin": "privileged_native_simulation_plus_caller_planning_assumptions",
            "physical_robot_ready": false,
            "planning": {
              "computed": {
                "conservative_required_load_n": 0.6686988749999999,
                "gravity_m_s2": 9.80665,
                "pose_specific_payload_limit_force_n": 0.980665,
                "two_finger_friction_capacity_n": 4.0
              },
              "observation_origin": "caller_declared_not_verified",
              "physical_robot_ready": false,
              "reasons": [
                "Run and record a cautious test lift under the same calibrated pose and load conditions before simulated transport planning."
              ],
              "schema": "dvidia.task-feasibility-result/v1",
              "scope": "Planning assessment only. Parallel two-finger vertical-lift approximation; ignores moment, center of mass, deformation, transient impacts and unmodeled contact effects. Unknown values remain unknown; mass is never inferred from images. Probe/test-lift/controller integration is not implemented. No hardware actuation is performed; this is not hardware qualification.",
              "status": "test_lift_required"
            },
            "probe": {
              "admissible": false,
              "historical_qualified": false,
              "latest_qualified": false,
              "physical_robot_ready": false,
              "reasons": [
                "latest_native_window_not_qualified",
                "no_controller_qualification_for_this_probe",
                "latest_controller_not_qualified"
              ],
              "receipt_sha256": "2c3117ce7a4aac311086a9673680ab661490e28ec39ac37c4ae532bbfd35e2e0",
              "schema": "dvidia.probe-evidence-verification/v1",
              "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.",
              "verified": true
            },
            "schema": "dvidia.task-feasibility-with-probe/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification. Unknown planning values remain unknown. The unchanged approximate vertical-lift planning gate describes declared loads; it supplies no transport path, geospatial-goal contract or actuator permission. This wrapper never issues controls.",
            "status": "test_lift_required"
          },
          "context": {
            "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
            "calibration_id": "synthetic_probe_v01",
            "calibration_scope": "simulation_assumptions_not_hardware",
            "command_sha256": "105b4b4737bb118545fcb69ad2ec7c43699e7e79985db59979a5fda1f1ac6453",
            "feasibility_sha256": "6586d2cf941f1f3a24c177c8feda643fd636cb6985b821dbe48218ef6a5cdbdd",
            "grasp_id": "m45-f20-p0-cartesian-probe-1",
            "initial_object_position_m": [
              0.3030001370663246,
              -0.02600003118840795,
              0.07989224451748381
            ],
            "model_sha256": "8f8a5eb6d5d953de280551cff47799961d0752b666ca6bad903913d4181498d9",
            "native_status": {
              "simulation_time_s": 20.00000000000146,
              "unexpected_contact_native_ticks": 0,
              "valid": true,
              "warnings": []
            },
            "object_id": "task_block",
            "per_finger_force_ceiling_n": 10.0,
            "pose_binding_sha256": "b20b35e233ff81795477d3be43e591ad9028d9fd6ec74eb816ee90370095b2de",
            "probe_index": 1,
            "probe_origin_object_position_m": [
              0.3038430193258891,
              -0.025817445346352507,
              0.07987922168061116
            ],
            "probe_origin_tcp_local_offset_m": [
              -0.002067289461554773,
              0.0002959775419809086,
              0.0023606173782411673
            ],
            "probe_start_s": 14.039999999997658,
            "robot_profile": "piper",
            "run_id": "m45-f20-p0-cartesian",
            "schema": "dvidia.probe-context/v1",
            "source_sha256": "cc82eb867d3a927a487317b2e9e470fcb8f53e9da000a1764b7c5a1878883e69"
          },
          "physical_robot_ready": false,
          "planning_input": {
            "allowed_pose_tolerance_m": 0.003,
            "calibration_id": "synthetic_probe_v01",
            "friction_interval": [
              0.2,
              0.2
            ],
            "geometry_known": true,
            "gripper_max_opening_interval_m": [
              0.07,
              0.07
            ],
            "gripper_min_closure_m": 0.0,
            "mass_interval_kg": [
              0.045,
              0.045
            ],
            "object_width_interval_m": [
              0.04,
              0.04
            ],
            "observations_fresh": true,
            "per_finger_normal_force_budget_n": 10.0,
            "planned_upward_accel_m_s2": 0.1,
            "pose_specific_payload_limit_kg": 0.1,
            "pose_uncertainty_m": 0.0,
            "reachability": "reachable",
            "safety_factor": 1.5,
            "schema": "dvidia.task-feasibility-input/v1",
            "slip_detected": false,
            "test_lift_passed": false
          },
          "receipt": {
            "audit": {
              "controller_claim_mismatches": [],
              "controller_claims_checked": 1,
              "controller_conservative_abstention_count": 0,
              "controller_coverage": "Only the supplied claims are checked; omitted decisions are not inferred.",
              "controller_false_qualification_count": 0,
              "controller_positive_claims": 0,
              "force_ceiling_known": true,
              "maximum_observed_per_finger_force_n": 0.425350328926546,
              "reasons": [],
              "rows": 20000,
              "unexpected_contact_native_ticks": 0,
              "valid": true
            },
            "context": {
              "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
              "calibration_id": "synthetic_probe_v01",
              "calibration_scope": "simulation_assumptions_not_hardware",
              "command_sha256": "105b4b4737bb118545fcb69ad2ec7c43699e7e79985db59979a5fda1f1ac6453",
              "feasibility_sha256": "6586d2cf941f1f3a24c177c8feda643fd636cb6985b821dbe48218ef6a5cdbdd",
              "grasp_id": "m45-f20-p0-cartesian-probe-1",
              "initial_object_position_m": [
                0.3030001370663246,
                -0.02600003118840795,
                0.07989224451748381
              ],
              "model_sha256": "8f8a5eb6d5d953de280551cff47799961d0752b666ca6bad903913d4181498d9",
              "native_status": {
                "simulation_time_s": 20.00000000000146,
                "unexpected_contact_native_ticks": 0,
                "valid": true,
                "warnings": []
              },
              "object_id": "task_block",
              "per_finger_force_ceiling_n": 10.0,
              "pose_binding_sha256": "b20b35e233ff81795477d3be43e591ad9028d9fd6ec74eb816ee90370095b2de",
              "probe_index": 1,
              "probe_origin_object_position_m": [
                0.3038430193258891,
                -0.025817445346352507,
                0.07987922168061116
              ],
              "probe_origin_tcp_local_offset_m": [
                -0.002067289461554773,
                0.0002959775419809086,
                0.0023606173782411673
              ],
              "probe_start_s": 14.039999999997658,
              "robot_profile": "piper",
              "run_id": "m45-f20-p0-cartesian",
              "schema": "dvidia.probe-context/v1",
              "source_sha256": "cc82eb867d3a927a487317b2e9e470fcb8f53e9da000a1764b7c5a1878883e69"
            },
            "context_sha256": "90fce31cc756a42ffc3557697b256b66dcdc6d389d1778af987a988737830ca1",
            "controller_qualifications": [
              {
                "probe_index": 1,
                "qualified": false,
                "t_seconds": 20.00000000000146
              }
            ],
            "criteria": {
              "distance_comparison_epsilon": 1e-12,
              "initial_sample_tolerance_m": 0.001,
              "maximum_tcp_local_drift_m": 0.003,
              "minimum_continuous_dwell_s": 0.1,
              "minimum_per_finger_force_n_exclusive": 0.01,
              "minimum_rise_m": 0.006,
              "native_dt_s": 0.001,
              "origin_tolerance_m": 1e-09,
              "time_tolerance_s": 1e-08
            },
            "history": {
              "ever_qualified": false,
              "first_qualified_s": null,
              "maximum_continuous_qualifying_s": 0.0
            },
            "latest": {
              "condition_valid": false,
              "continuous_qualifying_s": 0.0,
              "controller_claim": {
                "probe_index": 1,
                "qualified": false,
                "t_seconds": 20.00000000000146
              },
              "native_tick": 20000,
              "qualified": false,
              "rise_m": 3.5139566001984868e-06,
              "tcp_local_drift_m": 0.00410420191741974,
              "time_s": 20.00000000000146
            },
            "metadata_sha256": "ad8229630cc9f8718829bb8317b1a82480dcf18b9f71bd23666acfe71a003ef7",
            "native_arrays_sha256": "df4b0249df885defa682139f3cebb7bc8ce80cf6434f58be073987a069495014",
            "physical_robot_ready": false,
            "receipt_sha256": "2c3117ce7a4aac311086a9673680ab661490e28ec39ac37c4ae532bbfd35e2e0",
            "schema": "dvidia.probe-evidence/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification."
          },
          "status": "inspected",
          "verification": {
            "admissible": false,
            "historical_qualified": false,
            "latest_qualified": false,
            "physical_robot_ready": false,
            "reasons": [
              "latest_native_window_not_qualified",
              "no_controller_qualification_for_this_probe",
              "latest_controller_not_qualified"
            ],
            "receipt_sha256": "2c3117ce7a4aac311086a9673680ab661490e28ec39ac37c4ae532bbfd35e2e0",
            "schema": "dvidia.probe-evidence-verification/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.",
            "verified": true
          }
        },
        "stationarity": {
          "complete_5s": false,
          "grip_retention_and_stationarity": false,
          "tcp_pose_within_bounds": false
        },
        "status": "inspected"
      },
      "files": {
        "episode.json.gz": {
          "bytes": 773386,
          "sha256": "2513505848ed6e71c930cdb698ea4ea895c4faa097d2185cfa2c7269e1d6a57e"
        },
        "evaluation.json": {
          "bytes": 11677,
          "sha256": "f5e7072af929244faeeb7397a93b1295c98389d2067dca06d5b6a8f392fa8ebf"
        },
        "native.json": {
          "bytes": 13763,
          "sha256": "19cc1d5998901cbc12da2916add3096763081e9decbfc7193981bfabc4b871e0"
        },
        "native.npz": {
          "bytes": 4085699,
          "sha256": "bff98b959380da98e0e67c566372d3e1c7507308bae8991dbede205fd9d938ef"
        },
        "started.json": {
          "bytes": 146,
          "sha256": "facdd0c4e68d57d431bf7620e1ec3129fcba249da21f1a4bd3ad546a7f1798e8"
        }
      },
      "friction": 0.2,
      "id": "m45-f20-p0-cartesian",
      "mass_kg": 0.045,
      "metrics": {
        "carry_complete": false,
        "carry_contact_loss_events": 0,
        "carry_contact_loss_tolerance_seconds": 0.04,
        "dwell_seconds": 0.0,
        "first_success_time_seconds": null,
        "grasp_seen": true,
        "lift_dwell_seconds": 0.0,
        "lift_seen": false,
        "max_carry_contact_loss_seconds": 0.0,
        "max_object_lift_m": 9.424369621281736e-05,
        "max_pad_normal_force_n": 0.425350328926546,
        "physical_robot_ready": false,
        "reason": "timeout",
        "retention_lost": false,
        "simulation_time": 20.00000000000146,
        "steps": 1000,
        "success": false,
        "target_distance_m": 0.11524862244288327,
        "unexpected_contact_native_ticks": 0,
        "valid": true,
        "warnings": []
      },
      "policy": {
        "abort_reason": "retry_budget_exhausted:object_not_following",
        "acquisition_contract": {
          "comparison_scope": "Closed-loop variants may acquire different trajectories through early hold/retry. This is not an isolated classifier ablation.",
          "control_dt_s": 0.02,
          "evidence_admission": "Current bilateral force >0.01 N, no table support, object rise >=6 mm and TCP-local offset drift <=3 mm continuously across sampled boundaries for elapsed >=100 ms.",
          "hold": "Latch measured six arm joints and the last issued jaw target at admission/terminal invalidity. No full lift/transfer, no squeeze escalation, no post-admission retry.",
          "invalidation": "At each subsequent 20 ms observation and final observation, invalidate immediately on lost contact/force, support, insufficient rise, >3 mm local drift or unexpected contact. Never requalify after terminal invalidity.",
          "observation_origin": "privileged_native_simulator_state",
          "parameters": {
            "close_timeout_s": 1.4,
            "consecutive_alarm_samples": 2,
            "max_retries": 1,
            "monitor_min_probe_motion_m": 0.003,
            "probe_height_m": 0.01,
            "probe_min_object_rise_m": 0.006,
            "probe_speed_m_s": 0.02,
            "probe_timeout_s": 1.4,
            "qualification_dwell_s": 0.1,
            "relative_drift_limit_m": 0.003,
            "retry_clearance_m": 0.012,
            "retry_open_timeout_s": 1.2,
            "retry_recenter_timeout_s": 1.5
          },
          "physical_robot_ready": false,
          "prefix": "Original GuardedPiperTaskPolicy approach/close and at most one supported open/recenter/retry; already uses authored native state, not a fully blind baseline.",
          "sampling_limit": "Independent 1 ms evidence may contradict sampled admission; that remains a finding. No sensor or material inference is implemented.",
          "schema": "dvidia.piper-probe-stop/v1",
          "stop_scope": "Holding native position targets is not physical arrest or calibrated force limiting; inertia and existing target rate limits can continue motion.",
          "timer_admission": "Same 10 mm/20 mm/s probe target law, admitted at elapsed >=600 ms from that probe start; no evidence predicate or slip alarm before admission. Unexpected contacts and bounded timeouts still stop.",
          "timer_admission_s": 0.6,
          "variants": [
            "evidence",
            "timer"
          ]
        },
        "acquisition_variant": "evidence",
        "active_probe_index": 1,
        "admission_time_s": null,
        "admitted": false,
        "contract": {
          "acquisition": "Unchanged ProbeStopPolicy evidence acquisition, including its bounded supported retry. All variants share the same prefix through the first admission observation.",
          "cartesian": "Latch measured TCP position/orientation and preceding issued targets. Fixed joint bias equals issued target minus pose_action at the admission pose. First command repeats the exact issued target; later pose_action updates receive that fixed bias.",
          "control_dt_s": 0.02,
          "final_observation": "Repeat force, original eligibility and Cartesian pose-error checks. Do not solve or issue a hypothetical next control at the terminal observation.",
          "invalid_measurements": "Malformed, nonfinite or noncausal observations terminally refuse and raise without issuing a command. No measured-position stop is claimed from invalid measurements.",
          "issued_joint": "Latch the preceding issued six joint targets and the same last issued jaw target at admission.",
          "limits": {
            "initial_joint_bias_ceiling_rad": 0.08,
            "joint_correction_ceiling_rad": 0.03,
            "joint_correction_rate_rad_s": 0.1,
            "native_joint_target_margin_rad": 0.02,
            "per_finger_force_ceiling_n": 10.0,
            "tcp_orientation_error_ceiling_rad": 0.05,
            "tcp_position_error_ceiling_m": 0.004
          },
          "measured_joint": "Original hold: latch measured six joint coordinates and the last issued jaw target at admission.",
          "observation_origin": "privileged_native_simulator_state",
          "physical_robot_ready": false,
          "qualifications": "Engineering limits and the 10 N ceiling are authored synthetic assumptions, not damage limits or calibrated physical telemetry. Position targets are not physical stops or force limiters. No load/friction inference, model training or complete placement is implemented.",
          "rate_scope": "The extra correction slews at at most 0.002 rad per 20 ms per joint. Original native 1 ms target slew, servos, gains and force caps remain unchanged.",
          "refusal": "Original eligibility loss, unexpected contact or observed pad force >10 N terminally requests measured joint hold and the frozen jaw target. Cartesian error, initial-bias, total-correction or native-margin exhaustion also refuses terminally; it never chases an already failed grip.",
          "sampling": "Control checks occur at 20 ms boundaries. Independent saved 1 ms native evidence must judge a continuous 5 s hold; missed between-boundary failures remain findings.",
          "schema": "dvidia.piper-retention/v2",
          "variants": [
            "measured_joint",
            "issued_joint",
            "cartesian"
          ]
        },
        "events": [
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "continue",
              "drift_streak": 0,
              "object_height_delta_m": 0.0,
              "phase": "probe",
              "progress_streak": 0,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0,
              "retry_index": 0,
              "t_seconds": 11.139999999999265,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_probe",
            "probe_index": 0,
            "reason": "slow_load_bearing_check",
            "retention_variant": "cartesian",
            "retry_index": 0,
            "status": "probing",
            "t_seconds": 11.139999999999265,
            "type": "probe_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm",
              "drift_streak": 2,
              "object_height_delta_m": 5.346590078657287e-05,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0039294068617164914,
              "retry_index": 0,
              "t_seconds": 11.499999999999066,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0037492959011598548
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_stop",
            "probe_index": 0,
            "reason": "object_not_following",
            "retention_variant": "cartesian",
            "retry_index": 0,
            "status": "probing",
            "t_seconds": 11.499999999999066,
            "type": "alarm",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm",
              "drift_streak": 2,
              "object_height_delta_m": 5.346590078657287e-05,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0039294068617164914,
              "retry_index": 0,
              "t_seconds": 11.499999999999066,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0037492959011598548
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_stop",
            "probe_index": 0,
            "reason": "supported_object_only",
            "retention_variant": "cartesian",
            "retry_index": 1,
            "status": "acquiring_retry",
            "t_seconds": 11.499999999999066,
            "type": "retry_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": false,
              "contact_loss_streak": 0,
              "decision": "recenter_with_open_jaw",
              "drift_streak": 2,
              "object_height_delta_m": -2.132078276366467e-05,
              "phase": "retry_recenter",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.009725244409345739,
              "retry_index": 1,
              "t_seconds": 13.159999999998146,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.009693635181218088
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_retry_recenter",
            "probe_index": 0,
            "reason": "open_recenter_complete",
            "retention_variant": "cartesian",
            "retry_index": 1,
            "status": "acquiring",
            "t_seconds": 13.159999999998146,
            "type": "retry_completed",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "continue",
              "drift_streak": 0,
              "object_height_delta_m": 0.0,
              "phase": "probe",
              "progress_streak": 0,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0,
              "retry_index": 1,
              "t_seconds": 14.039999999997658,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_probe",
            "probe_index": 1,
            "reason": "slow_load_bearing_check",
            "retention_variant": "cartesian",
            "retry_index": 1,
            "status": "probing",
            "t_seconds": 14.039999999997658,
            "type": "probe_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm",
              "drift_streak": 2,
              "object_height_delta_m": 9.719634259618137e-05,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0038980648610235833,
              "retry_index": 1,
              "t_seconds": 14.399999999997458,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.00371331417477494
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_stop",
            "probe_index": 1,
            "reason": "object_not_following",
            "retention_variant": "cartesian",
            "retry_index": 1,
            "status": "probing",
            "t_seconds": 14.399999999997458,
            "type": "alarm",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm_and_freeze_issued_jaw",
              "drift_streak": 2,
              "object_height_delta_m": 9.719634259618137e-05,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0038980648610235833,
              "retry_index": 1,
              "t_seconds": 14.399999999997458,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.00371331417477494
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "probe_stop",
            "probe_index": 1,
            "reason": "retry_budget_exhausted:object_not_following",
            "retention_variant": "cartesian",
            "retry_index": 1,
            "status": "invalidated_hold",
            "t_seconds": 14.399999999997458,
            "type": "abort",
            "variant": "evidence"
          }
        ],
        "ever_admitted": false,
        "final_observed": true,
        "frozen_jaw_target_m": 0.0,
        "initial_context": {
          "object_position_m": [
            0.3030001370663246,
            -0.02600003118840795,
            0.07989224451748381
          ],
          "observation_origin": "privileged_native_simulator_state",
          "t_seconds": 0.0,
          "tcp_position_m": [
            0.4890696662845219,
            0.0014141975654808877,
            0.3665849431043091
          ],
          "tcp_quaternion_wxyz": [
            0.6580840948238629,
            2.7730466224793136e-07,
            0.7529444362872891,
            -1.9485471114950535e-06
          ]
        },
        "last_observed_s": 20.00000000000146,
        "observation_origin": "privileged_native_simulator_state",
        "physical_robot_ready": false,
        "probes": [
          {
            "disposition": "interrupted",
            "end_time_s": 11.499999999999066,
            "local_offset_origin_m": [
              0.002323317739738715,
              0.0003054667011489341,
              0.0019003044007361407
            ],
            "object_origin_m": [
              0.30262249553379206,
              -0.02594388384956118,
              0.07991356536254736
            ],
            "observation_origin": "privileged_native_simulator_state",
            "probe_index": 0,
            "reason": "object_not_following",
            "start_time_s": 11.139999999999265,
            "tcp_origin_m": [
              0.30492803561320747,
              -0.02623914949799081,
              0.08183699333879683
            ],
            "tcp_quaternion_wxyz": [
              0.004930611857964067,
              -0.0017910250829001391,
              0.9999861157287365,
              -0.000499645487046681
            ]
          },
          {
            "disposition": "invalidated_hold",
            "end_time_s": 14.399999999997458,
            "local_offset_origin_m": [
              -0.002067289461554773,
              0.0002959775419809086,
              0.0023606173782411673
            ],
            "object_origin_m": [
              0.3038430193258891,
              -0.025817445346352507,
              0.07987922168061116
            ],
            "observation_origin": "privileged_native_simulator_state",
            "probe_index": 1,
            "reason": "retry_budget_exhausted:object_not_following",
            "start_time_s": 14.039999999997658,
            "tcp_origin_m": [
              0.3017961430887887,
              -0.026115608447635573,
              0.08225728796746984
            ],
            "tcp_quaternion_wxyz": [
              -0.004286306633260288,
              -0.00017097704223043418,
              0.9999907502162869,
              0.0003127685468266506
            ]
          }
        ],
        "retention": {
          "hold_reference": null,
          "input_refusals": [],
          "native_joint_control_limits_rad": [
            [
              -2.618,
              2.618
            ],
            [
              0.0,
              3.14
            ],
            [
              -2.697,
              0.0
            ],
            [
              -1.832,
              1.832
            ],
            [
              -1.22,
              1.22
            ],
            [
              -3.14,
              3.14
            ]
          ],
          "variant": "cartesian"
        },
        "retry_count": 1,
        "schema": "dvidia.piper-retention/v2",
        "status": "invalidated_hold",
        "stop_targets_rad": [
          -0.09088092897521653,
          1.734366233152953,
          -1.1462630671948562,
          -0.00020099408709414523,
          1.0688352745081022,
          -0.091149580273082
        ],
        "variant": "cartesian"
      },
      "scene_id": "m45-f20-p0",
      "timing": {
        "policy_cpu": {
          "maximum_s": 0.00042400000000242244,
          "mean_s": 4.554400000001379e-05,
          "over_20ms": 0,
          "p50_s": 4.899999999707916e-05,
          "p95_s": 7.799999999491547e-05,
          "p99_s": 0.00010813999999733413,
          "samples": 1000
        },
        "policy_wall": {
          "maximum_s": 0.00042345793917775154,
          "mean_s": 4.576470796018839e-05,
          "over_20ms": 0,
          "p50_s": 4.874984733760357e-05,
          "p95_s": 7.745162583887573e-05,
          "p99_s": 0.00012205001898109901,
          "samples": 1000
        },
        "step_cpu": {
          "maximum_s": 0.010658999999996865,
          "mean_s": 0.001660833999999852,
          "over_20ms": 0,
          "p50_s": 0.001376000000000488,
          "p95_s": 0.0033390499999971014,
          "p99_s": 0.004190700000001256,
          "samples": 1000
        },
        "step_wall": {
          "maximum_s": 0.010682416148483753,
          "mean_s": 0.0016700046015903354,
          "over_20ms": 0,
          "p50_s": 0.0013832494150847197,
          "p95_s": 0.003339006030000746,
          "p99_s": 0.004206092427484691,
          "samples": 1000
        }
      },
      "valid": true,
      "variant": "cartesian"
    },
    {
      "error": null,
      "evaluation": {
        "corrections": {
          "bound_refusal_counts": {},
          "flag_counts": {
            "correction_rate_limited": 0
          },
          "hold_record_count": 266,
          "input_refusals": [],
          "maximum_abs_active_correction_rad": null,
          "maximum_abs_desired_correction_rad": null,
          "rate_limited_axis_occurrences": 0,
          "scope": "Includes recorded final diagnostic checks; only command_issued rows represent issued controls."
        },
        "decomposition": null,
        "final": {
          "both_qualified": false,
          "controller_qualified": false,
          "evidence_admissible": false,
          "native_qualified": false
        },
        "first_admission": null,
        "native": {
          "arrays_sha256": "1170c0801c4d45012872fa2f3fb6bd2d9130e120fe236a48d8f9c543f3414d3a",
          "complete": true,
          "maximum_per_finger_force_n": 0.41893790889372645,
          "rows": 20000,
          "unexpected_contact_native_ticks": 0,
          "valid": true,
          "warnings": []
        },
        "physical_robot_ready": false,
        "primary": {
          "combined_qualified_pause": false,
          "complete_5s": false,
          "controller_retained_at_5s": false,
          "native_pause_success": false,
          "reason": "no_admission",
          "required_s": 5.0,
          "success": false
        },
        "probes": [
          {
            "claims": [],
            "disposition": "interrupted",
            "final_native_qualified_from_origin": false,
            "probe_index": 0,
            "start_time_s": 11.439999999999099
          },
          {
            "claims": [],
            "disposition": "invalidated_hold",
            "final_native_qualified_from_origin": false,
            "probe_index": 1,
            "start_time_s": 14.339999999997492
          }
        ],
        "receipt": {
          "admission": {
            "observation_origin": "privileged_native_simulation_plus_caller_planning_assumptions",
            "physical_robot_ready": false,
            "planning": {
              "computed": {
                "conservative_required_load_n": 0.6686988749999999,
                "gravity_m_s2": 9.80665,
                "pose_specific_payload_limit_force_n": 0.980665,
                "two_finger_friction_capacity_n": 4.0
              },
              "observation_origin": "caller_declared_not_verified",
              "physical_robot_ready": false,
              "reasons": [
                "Run and record a cautious test lift under the same calibrated pose and load conditions before simulated transport planning."
              ],
              "schema": "dvidia.task-feasibility-result/v1",
              "scope": "Planning assessment only. Parallel two-finger vertical-lift approximation; ignores moment, center of mass, deformation, transient impacts and unmodeled contact effects. Unknown values remain unknown; mass is never inferred from images. Probe/test-lift/controller integration is not implemented. No hardware actuation is performed; this is not hardware qualification.",
              "status": "test_lift_required"
            },
            "probe": {
              "admissible": false,
              "historical_qualified": false,
              "latest_qualified": false,
              "physical_robot_ready": false,
              "reasons": [
                "latest_native_window_not_qualified",
                "no_controller_qualification_for_this_probe",
                "latest_controller_not_qualified"
              ],
              "receipt_sha256": "3e1147d288e7a9540d6568ae35ff1705985c9d0dc59620db3f88a98fe7d6a8ed",
              "schema": "dvidia.probe-evidence-verification/v1",
              "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.",
              "verified": true
            },
            "schema": "dvidia.task-feasibility-with-probe/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification. Unknown planning values remain unknown. The unchanged approximate vertical-lift planning gate describes declared loads; it supplies no transport path, geospatial-goal contract or actuator permission. This wrapper never issues controls.",
            "status": "test_lift_required"
          },
          "context": {
            "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
            "calibration_id": "synthetic_probe_v01",
            "calibration_scope": "simulation_assumptions_not_hardware",
            "command_sha256": "ae0ba72231537bc20c68fcebce1a63b813ac83fbb5119ffb08fe0e849eff58f7",
            "feasibility_sha256": "6586d2cf941f1f3a24c177c8feda643fd636cb6985b821dbe48218ef6a5cdbdd",
            "grasp_id": "m45-f20-p1-measured_joint-probe-1",
            "initial_object_position_m": [
              0.30699992366647033,
              -0.037000151615188895,
              0.0798922445174838
            ],
            "model_sha256": "aa9a0a5cc35ba8c32cc887d4c66f42a4536ef9d834e5b7d0adf9d253c92aea14",
            "native_status": {
              "simulation_time_s": 20.00000000000146,
              "unexpected_contact_native_ticks": 0,
              "valid": true,
              "warnings": []
            },
            "object_id": "task_block",
            "per_finger_force_ceiling_n": 10.0,
            "pose_binding_sha256": "6f29fd09c2d2ce6360e5bea1f449e1d2dc378225a0091c7bc9b7e7e305e99ff0",
            "probe_index": 1,
            "probe_origin_object_position_m": [
              0.30779249543478926,
              -0.03689962044953032,
              0.07987906841445513
            ],
            "probe_origin_tcp_local_offset_m": [
              -0.0020302345076859143,
              0.00029714554762124557,
              0.0023596965786041773
            ],
            "probe_start_s": 14.339999999997492,
            "robot_profile": "piper",
            "run_id": "m45-f20-p1-measured_joint",
            "schema": "dvidia.probe-context/v1",
            "source_sha256": "cc82eb867d3a927a487317b2e9e470fcb8f53e9da000a1764b7c5a1878883e69"
          },
          "physical_robot_ready": false,
          "planning_input": {
            "allowed_pose_tolerance_m": 0.003,
            "calibration_id": "synthetic_probe_v01",
            "friction_interval": [
              0.2,
              0.2
            ],
            "geometry_known": true,
            "gripper_max_opening_interval_m": [
              0.07,
              0.07
            ],
            "gripper_min_closure_m": 0.0,
            "mass_interval_kg": [
              0.045,
              0.045
            ],
            "object_width_interval_m": [
              0.04,
              0.04
            ],
            "observations_fresh": true,
            "per_finger_normal_force_budget_n": 10.0,
            "planned_upward_accel_m_s2": 0.1,
            "pose_specific_payload_limit_kg": 0.1,
            "pose_uncertainty_m": 0.0,
            "reachability": "reachable",
            "safety_factor": 1.5,
            "schema": "dvidia.task-feasibility-input/v1",
            "slip_detected": false,
            "test_lift_passed": false
          },
          "receipt": {
            "audit": {
              "controller_claim_mismatches": [],
              "controller_claims_checked": 1,
              "controller_conservative_abstention_count": 0,
              "controller_coverage": "Only the supplied claims are checked; omitted decisions are not inferred.",
              "controller_false_qualification_count": 0,
              "controller_positive_claims": 0,
              "force_ceiling_known": true,
              "maximum_observed_per_finger_force_n": 0.41893790889372645,
              "reasons": [],
              "rows": 20000,
              "unexpected_contact_native_ticks": 0,
              "valid": true
            },
            "context": {
              "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
              "calibration_id": "synthetic_probe_v01",
              "calibration_scope": "simulation_assumptions_not_hardware",
              "command_sha256": "ae0ba72231537bc20c68fcebce1a63b813ac83fbb5119ffb08fe0e849eff58f7",
              "feasibility_sha256": "6586d2cf941f1f3a24c177c8feda643fd636cb6985b821dbe48218ef6a5cdbdd",
              "grasp_id": "m45-f20-p1-measured_joint-probe-1",
              "initial_object_position_m": [
                0.30699992366647033,
                -0.037000151615188895,
                0.0798922445174838
              ],
              "model_sha256": "aa9a0a5cc35ba8c32cc887d4c66f42a4536ef9d834e5b7d0adf9d253c92aea14",
              "native_status": {
                "simulation_time_s": 20.00000000000146,
                "unexpected_contact_native_ticks": 0,
                "valid": true,
                "warnings": []
              },
              "object_id": "task_block",
              "per_finger_force_ceiling_n": 10.0,
              "pose_binding_sha256": "6f29fd09c2d2ce6360e5bea1f449e1d2dc378225a0091c7bc9b7e7e305e99ff0",
              "probe_index": 1,
              "probe_origin_object_position_m": [
                0.30779249543478926,
                -0.03689962044953032,
                0.07987906841445513
              ],
              "probe_origin_tcp_local_offset_m": [
                -0.0020302345076859143,
                0.00029714554762124557,
                0.0023596965786041773
              ],
              "probe_start_s": 14.339999999997492,
              "robot_profile": "piper",
              "run_id": "m45-f20-p1-measured_joint",
              "schema": "dvidia.probe-context/v1",
              "source_sha256": "cc82eb867d3a927a487317b2e9e470fcb8f53e9da000a1764b7c5a1878883e69"
            },
            "context_sha256": "ae50376addf33f442e33d489d28d04e4d00689da45392274150a2a613d283864",
            "controller_qualifications": [
              {
                "probe_index": 1,
                "qualified": false,
                "t_seconds": 20.00000000000146
              }
            ],
            "criteria": {
              "distance_comparison_epsilon": 1e-12,
              "initial_sample_tolerance_m": 0.001,
              "maximum_tcp_local_drift_m": 0.003,
              "minimum_continuous_dwell_s": 0.1,
              "minimum_per_finger_force_n_exclusive": 0.01,
              "minimum_rise_m": 0.006,
              "native_dt_s": 0.001,
              "origin_tolerance_m": 1e-09,
              "time_tolerance_s": 1e-08
            },
            "history": {
              "ever_qualified": false,
              "first_qualified_s": null,
              "maximum_continuous_qualifying_s": 0.0
            },
            "latest": {
              "condition_valid": false,
              "continuous_qualifying_s": 0.0,
              "controller_claim": {
                "probe_index": 1,
                "qualified": false,
                "t_seconds": 20.00000000000146
              },
              "native_tick": 20000,
              "qualified": false,
              "rise_m": 3.155861048834141e-06,
              "tcp_local_drift_m": 0.004064985389485682,
              "time_s": 20.00000000000146
            },
            "metadata_sha256": "ad8229630cc9f8718829bb8317b1a82480dcf18b9f71bd23666acfe71a003ef7",
            "native_arrays_sha256": "1170c0801c4d45012872fa2f3fb6bd2d9130e120fe236a48d8f9c543f3414d3a",
            "physical_robot_ready": false,
            "receipt_sha256": "3e1147d288e7a9540d6568ae35ff1705985c9d0dc59620db3f88a98fe7d6a8ed",
            "schema": "dvidia.probe-evidence/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification."
          },
          "status": "inspected",
          "verification": {
            "admissible": false,
            "historical_qualified": false,
            "latest_qualified": false,
            "physical_robot_ready": false,
            "reasons": [
              "latest_native_window_not_qualified",
              "no_controller_qualification_for_this_probe",
              "latest_controller_not_qualified"
            ],
            "receipt_sha256": "3e1147d288e7a9540d6568ae35ff1705985c9d0dc59620db3f88a98fe7d6a8ed",
            "schema": "dvidia.probe-evidence-verification/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.",
            "verified": true
          }
        },
        "stationarity": {
          "complete_5s": false,
          "grip_retention_and_stationarity": false,
          "tcp_pose_within_bounds": false
        },
        "status": "inspected"
      },
      "files": {
        "episode.json.gz": {
          "bytes": 777489,
          "sha256": "1521173063d3e47c9324cd0fb8bab5114876b2de68e4e750fae36b4f4eb55c6f"
        },
        "evaluation.json": {
          "bytes": 11707,
          "sha256": "f863253d32767ec1ea49472cbd19258b9918580f9d5bdbb79efed12fe90e5dba"
        },
        "native.json": {
          "bytes": 13763,
          "sha256": "19cc1d5998901cbc12da2916add3096763081e9decbfc7193981bfabc4b871e0"
        },
        "native.npz": {
          "bytes": 4094455,
          "sha256": "b2553a416564b1e39fcf62dfb08a066b071e10d66c033e6bea0a15fe5497caf0"
        },
        "started.json": {
          "bytes": 151,
          "sha256": "0e00fd81088f98770cf920b4150917245c1ec2b9ed2dfad734f6b2518dac4f28"
        }
      },
      "friction": 0.2,
      "id": "m45-f20-p1-measured_joint",
      "mass_kg": 0.045,
      "metrics": {
        "carry_complete": false,
        "carry_contact_loss_events": 0,
        "carry_contact_loss_tolerance_seconds": 0.04,
        "dwell_seconds": 0.0,
        "first_success_time_seconds": null,
        "grasp_seen": true,
        "lift_dwell_seconds": 0.0,
        "lift_seen": false,
        "max_carry_contact_loss_seconds": 0.0,
        "max_object_lift_m": 8.849458355135453e-05,
        "max_pad_normal_force_n": 0.41893790889372645,
        "physical_robot_ready": false,
        "reason": "timeout",
        "retention_lost": false,
        "simulation_time": 20.00000000000146,
        "steps": 1000,
        "success": false,
        "target_distance_m": 0.12424313722074976,
        "unexpected_contact_native_ticks": 0,
        "valid": true,
        "warnings": []
      },
      "policy": {
        "abort_reason": "retry_budget_exhausted:object_not_following",
        "acquisition_contract": {
          "comparison_scope": "Closed-loop variants may acquire different trajectories through early hold/retry. This is not an isolated classifier ablation.",
          "control_dt_s": 0.02,
          "evidence_admission": "Current bilateral force >0.01 N, no table support, object rise >=6 mm and TCP-local offset drift <=3 mm continuously across sampled boundaries for elapsed >=100 ms.",
          "hold": "Latch measured six arm joints and the last issued jaw target at admission/terminal invalidity. No full lift/transfer, no squeeze escalation, no post-admission retry.",
          "invalidation": "At each subsequent 20 ms observation and final observation, invalidate immediately on lost contact/force, support, insufficient rise, >3 mm local drift or unexpected contact. Never requalify after terminal invalidity.",
          "observation_origin": "privileged_native_simulator_state",
          "parameters": {
            "close_timeout_s": 1.4,
            "consecutive_alarm_samples": 2,
            "max_retries": 1,
            "monitor_min_probe_motion_m": 0.003,
            "probe_height_m": 0.01,
            "probe_min_object_rise_m": 0.006,
            "probe_speed_m_s": 0.02,
            "probe_timeout_s": 1.4,
            "qualification_dwell_s": 0.1,
            "relative_drift_limit_m": 0.003,
            "retry_clearance_m": 0.012,
            "retry_open_timeout_s": 1.2,
            "retry_recenter_timeout_s": 1.5
          },
          "physical_robot_ready": false,
          "prefix": "Original GuardedPiperTaskPolicy approach/close and at most one supported open/recenter/retry; already uses authored native state, not a fully blind baseline.",
          "sampling_limit": "Independent 1 ms evidence may contradict sampled admission; that remains a finding. No sensor or material inference is implemented.",
          "schema": "dvidia.piper-probe-stop/v1",
          "stop_scope": "Holding native position targets is not physical arrest or calibrated force limiting; inertia and existing target rate limits can continue motion.",
          "timer_admission": "Same 10 mm/20 mm/s probe target law, admitted at elapsed >=600 ms from that probe start; no evidence predicate or slip alarm before admission. Unexpected contacts and bounded timeouts still stop.",
          "timer_admission_s": 0.6,
          "variants": [
            "evidence",
            "timer"
          ]
        },
        "acquisition_variant": "evidence",
        "active_probe_index": 1,
        "admission_time_s": null,
        "admitted": false,
        "contract": {
          "acquisition": "Unchanged ProbeStopPolicy evidence acquisition, including its bounded supported retry. All variants share the same prefix through the first admission observation.",
          "cartesian": "Latch measured TCP position/orientation and preceding issued targets. Fixed joint bias equals issued target minus pose_action at the admission pose. First command repeats the exact issued target; later pose_action updates receive that fixed bias.",
          "control_dt_s": 0.02,
          "final_observation": "Repeat force, original eligibility and Cartesian pose-error checks. Do not solve or issue a hypothetical next control at the terminal observation.",
          "invalid_measurements": "Malformed, nonfinite or noncausal observations terminally refuse and raise without issuing a command. No measured-position stop is claimed from invalid measurements.",
          "issued_joint": "Latch the preceding issued six joint targets and the same last issued jaw target at admission.",
          "limits": {
            "initial_joint_bias_ceiling_rad": 0.08,
            "joint_correction_ceiling_rad": 0.03,
            "joint_correction_rate_rad_s": 0.1,
            "native_joint_target_margin_rad": 0.02,
            "per_finger_force_ceiling_n": 10.0,
            "tcp_orientation_error_ceiling_rad": 0.05,
            "tcp_position_error_ceiling_m": 0.004
          },
          "measured_joint": "Original hold: latch measured six joint coordinates and the last issued jaw target at admission.",
          "observation_origin": "privileged_native_simulator_state",
          "physical_robot_ready": false,
          "qualifications": "Engineering limits and the 10 N ceiling are authored synthetic assumptions, not damage limits or calibrated physical telemetry. Position targets are not physical stops or force limiters. No load/friction inference, model training or complete placement is implemented.",
          "rate_scope": "The extra correction slews at at most 0.002 rad per 20 ms per joint. Original native 1 ms target slew, servos, gains and force caps remain unchanged.",
          "refusal": "Original eligibility loss, unexpected contact or observed pad force >10 N terminally requests measured joint hold and the frozen jaw target. Cartesian error, initial-bias, total-correction or native-margin exhaustion also refuses terminally; it never chases an already failed grip.",
          "sampling": "Control checks occur at 20 ms boundaries. Independent saved 1 ms native evidence must judge a continuous 5 s hold; missed between-boundary failures remain findings.",
          "schema": "dvidia.piper-retention/v2",
          "variants": [
            "measured_joint",
            "issued_joint",
            "cartesian"
          ]
        },
        "events": [
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "continue",
              "drift_streak": 0,
              "object_height_delta_m": 0.0,
              "phase": "probe",
              "progress_streak": 0,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0,
              "retry_index": 0,
              "t_seconds": 11.439999999999099,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_probe",
            "probe_index": 0,
            "reason": "slow_load_bearing_check",
            "retention_variant": "measured_joint",
            "retry_index": 0,
            "status": "probing",
            "t_seconds": 11.439999999999099,
            "type": "probe_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm",
              "drift_streak": 2,
              "object_height_delta_m": 4.5477496807014295e-05,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.003905384564402418,
              "retry_index": 0,
              "t_seconds": 11.7999999999989,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.003710431035973849
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_stop",
            "probe_index": 0,
            "reason": "object_not_following",
            "retention_variant": "measured_joint",
            "retry_index": 0,
            "status": "probing",
            "t_seconds": 11.7999999999989,
            "type": "alarm",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm",
              "drift_streak": 2,
              "object_height_delta_m": 4.5477496807014295e-05,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.003905384564402418,
              "retry_index": 0,
              "t_seconds": 11.7999999999989,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.003710431035973849
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_stop",
            "probe_index": 0,
            "reason": "supported_object_only",
            "retention_variant": "measured_joint",
            "retry_index": 1,
            "status": "acquiring_retry",
            "t_seconds": 11.7999999999989,
            "type": "retry_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": false,
              "contact_loss_streak": 0,
              "decision": "recenter_with_open_jaw",
              "drift_streak": 2,
              "object_height_delta_m": -2.15664574304969e-05,
              "phase": "retry_recenter",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.009726785210686347,
              "retry_index": 1,
              "t_seconds": 13.45999999999798,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.009694796948082215
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_retry_recenter",
            "probe_index": 0,
            "reason": "open_recenter_complete",
            "retention_variant": "measured_joint",
            "retry_index": 1,
            "status": "acquiring",
            "t_seconds": 13.45999999999798,
            "type": "retry_completed",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "continue",
              "drift_streak": 0,
              "object_height_delta_m": 0.0,
              "phase": "probe",
              "progress_streak": 0,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0,
              "retry_index": 1,
              "t_seconds": 14.339999999997492,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_probe",
            "probe_index": 1,
            "reason": "slow_load_bearing_check",
            "retention_variant": "measured_joint",
            "retry_index": 1,
            "status": "probing",
            "t_seconds": 14.339999999997492,
            "type": "probe_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm",
              "drift_streak": 2,
              "object_height_delta_m": 9.881379624707143e-05,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0038509930331787744,
              "retry_index": 1,
              "t_seconds": 14.699999999997292,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.003681580047205077
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_stop",
            "probe_index": 1,
            "reason": "object_not_following",
            "retention_variant": "measured_joint",
            "retry_index": 1,
            "status": "probing",
            "t_seconds": 14.699999999997292,
            "type": "alarm",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm_and_freeze_issued_jaw",
              "drift_streak": 2,
              "object_height_delta_m": 9.881379624707143e-05,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0038509930331787744,
              "retry_index": 1,
              "t_seconds": 14.699999999997292,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.003681580047205077
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "probe_stop",
            "probe_index": 1,
            "reason": "retry_budget_exhausted:object_not_following",
            "retention_variant": "measured_joint",
            "retry_index": 1,
            "status": "invalidated_hold",
            "t_seconds": 14.699999999997292,
            "type": "abort",
            "variant": "evidence"
          }
        ],
        "ever_admitted": false,
        "final_observed": true,
        "frozen_jaw_target_m": 0.0,
        "initial_context": {
          "object_position_m": [
            0.30699992366647033,
            -0.037000151615188895,
            0.0798922445174838
          ],
          "observation_origin": "privileged_native_simulator_state",
          "t_seconds": 0.0,
          "tcp_position_m": [
            0.4890696662845219,
            0.0014141975654808877,
            0.3665849431043091
          ],
          "tcp_quaternion_wxyz": [
            0.6580840948238629,
            2.7730466224793136e-07,
            0.7529444362872891,
            -1.9485471114950535e-06
          ]
        },
        "last_observed_s": 20.00000000000146,
        "observation_origin": "privileged_native_simulator_state",
        "physical_robot_ready": false,
        "probes": [
          {
            "disposition": "interrupted",
            "end_time_s": 11.7999999999989,
            "local_offset_origin_m": [
              0.002307254832391367,
              0.0003070960765484035,
              0.0018972731642421712
            ],
            "object_origin_m": [
              0.3066356172557242,
              -0.03699470508625316,
              0.07991381103721419
            ],
            "observation_origin": "privileged_native_simulator_state",
            "probe_index": 0,
            "reason": "object_not_following",
            "start_time_s": 11.439999999999099,
            "tcp_origin_m": [
              0.3089255240226363,
              -0.03728781621915139,
              0.08183417329059232
            ],
            "tcp_quaternion_wxyz": [
              0.004933783508453158,
              -0.0024784600832372544,
              0.99998452710401,
              -0.0006786519557549539
            ]
          },
          {
            "disposition": "invalidated_hold",
            "end_time_s": 14.699999999997292,
            "local_offset_origin_m": [
              -0.0020302345076859143,
              0.00029714554762124557,
              0.0023596965786041773
            ],
            "object_origin_m": [
              0.30779249543478926,
              -0.03689962044953032,
              0.07987906841445513
            ],
            "observation_origin": "privileged_native_simulator_state",
            "probe_index": 1,
            "reason": "retry_budget_exhausted:object_not_following",
            "start_time_s": 14.339999999997492,
            "tcp_origin_m": [
              0.3057824201739526,
              -0.03719985806423325,
              0.08225557223230098
            ],
            "tcp_quaternion_wxyz": [
              -0.004227741810605728,
              -0.00022704289567962503,
              0.9999909318662479,
              0.0004591687916657399
            ]
          }
        ],
        "retention": {
          "hold_reference": null,
          "input_refusals": [],
          "native_joint_control_limits_rad": [
            [
              -2.618,
              2.618
            ],
            [
              0.0,
              3.14
            ],
            [
              -2.697,
              0.0
            ],
            [
              -1.832,
              1.832
            ],
            [
              -1.22,
              1.22
            ],
            [
              -3.14,
              3.14
            ]
          ],
          "variant": "measured_joint"
        },
        "retry_count": 1,
        "schema": "dvidia.piper-retention/v2",
        "status": "invalidated_hold",
        "stop_targets_rad": [
          -0.12555341052382382,
          1.750984933362091,
          -1.168267548950787,
          -0.00019898899166473702,
          1.0742925951351627,
          -0.12593525176189752
        ],
        "variant": "measured_joint"
      },
      "scene_id": "m45-f20-p1",
      "timing": {
        "policy_cpu": {
          "maximum_s": 0.000453999999997734,
          "mean_s": 6.736600000002824e-05,
          "over_20ms": 0,
          "p50_s": 6.100000000230921e-05,
          "p95_s": 0.00015304999999727893,
          "p99_s": 0.0002460200000041368,
          "samples": 1000
        },
        "policy_wall": {
          "maximum_s": 0.006762332748621702,
          "mean_s": 9.113401221111417e-05,
          "over_20ms": 0,
          "p50_s": 6.079208105802536e-05,
          "p95_s": 0.0001672934042289851,
          "p99_s": 0.00046109081245958593,
          "samples": 1000
        },
        "step_cpu": {
          "maximum_s": 0.012828999999996427,
          "mean_s": 0.0019139560000000415,
          "over_20ms": 0,
          "p50_s": 0.0017180000000003304,
          "p95_s": 0.0037501500000033158,
          "p99_s": 0.004805530000004552,
          "samples": 1000
        },
        "step_wall": {
          "maximum_s": 0.08782041724771261,
          "mean_s": 0.0023214159263297914,
          "over_20ms": 7,
          "p50_s": 0.0017345205415040255,
          "p95_s": 0.004166018031537533,
          "p99_s": 0.012872097971849118,
          "samples": 1000
        }
      },
      "valid": true,
      "variant": "measured_joint"
    },
    {
      "error": null,
      "evaluation": {
        "corrections": {
          "bound_refusal_counts": {},
          "flag_counts": {
            "correction_rate_limited": 0
          },
          "hold_record_count": 266,
          "input_refusals": [],
          "maximum_abs_active_correction_rad": null,
          "maximum_abs_desired_correction_rad": null,
          "rate_limited_axis_occurrences": 0,
          "scope": "Includes recorded final diagnostic checks; only command_issued rows represent issued controls."
        },
        "decomposition": null,
        "final": {
          "both_qualified": false,
          "controller_qualified": false,
          "evidence_admissible": false,
          "native_qualified": false
        },
        "first_admission": null,
        "native": {
          "arrays_sha256": "1170c0801c4d45012872fa2f3fb6bd2d9130e120fe236a48d8f9c543f3414d3a",
          "complete": true,
          "maximum_per_finger_force_n": 0.41893790889372645,
          "rows": 20000,
          "unexpected_contact_native_ticks": 0,
          "valid": true,
          "warnings": []
        },
        "physical_robot_ready": false,
        "primary": {
          "combined_qualified_pause": false,
          "complete_5s": false,
          "controller_retained_at_5s": false,
          "native_pause_success": false,
          "reason": "no_admission",
          "required_s": 5.0,
          "success": false
        },
        "probes": [
          {
            "claims": [],
            "disposition": "interrupted",
            "final_native_qualified_from_origin": false,
            "probe_index": 0,
            "start_time_s": 11.439999999999099
          },
          {
            "claims": [],
            "disposition": "invalidated_hold",
            "final_native_qualified_from_origin": false,
            "probe_index": 1,
            "start_time_s": 14.339999999997492
          }
        ],
        "receipt": {
          "admission": {
            "observation_origin": "privileged_native_simulation_plus_caller_planning_assumptions",
            "physical_robot_ready": false,
            "planning": {
              "computed": {
                "conservative_required_load_n": 0.6686988749999999,
                "gravity_m_s2": 9.80665,
                "pose_specific_payload_limit_force_n": 0.980665,
                "two_finger_friction_capacity_n": 4.0
              },
              "observation_origin": "caller_declared_not_verified",
              "physical_robot_ready": false,
              "reasons": [
                "Run and record a cautious test lift under the same calibrated pose and load conditions before simulated transport planning."
              ],
              "schema": "dvidia.task-feasibility-result/v1",
              "scope": "Planning assessment only. Parallel two-finger vertical-lift approximation; ignores moment, center of mass, deformation, transient impacts and unmodeled contact effects. Unknown values remain unknown; mass is never inferred from images. Probe/test-lift/controller integration is not implemented. No hardware actuation is performed; this is not hardware qualification.",
              "status": "test_lift_required"
            },
            "probe": {
              "admissible": false,
              "historical_qualified": false,
              "latest_qualified": false,
              "physical_robot_ready": false,
              "reasons": [
                "latest_native_window_not_qualified",
                "no_controller_qualification_for_this_probe",
                "latest_controller_not_qualified"
              ],
              "receipt_sha256": "1b4c23fe0b541e1c5a7df682188e2416ad08f6f719ad91e61251ef184339c5d0",
              "schema": "dvidia.probe-evidence-verification/v1",
              "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.",
              "verified": true
            },
            "schema": "dvidia.task-feasibility-with-probe/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification. Unknown planning values remain unknown. The unchanged approximate vertical-lift planning gate describes declared loads; it supplies no transport path, geospatial-goal contract or actuator permission. This wrapper never issues controls.",
            "status": "test_lift_required"
          },
          "context": {
            "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
            "calibration_id": "synthetic_probe_v01",
            "calibration_scope": "simulation_assumptions_not_hardware",
            "command_sha256": "ae0ba72231537bc20c68fcebce1a63b813ac83fbb5119ffb08fe0e849eff58f7",
            "feasibility_sha256": "6586d2cf941f1f3a24c177c8feda643fd636cb6985b821dbe48218ef6a5cdbdd",
            "grasp_id": "m45-f20-p1-cartesian-probe-1",
            "initial_object_position_m": [
              0.30699992366647033,
              -0.037000151615188895,
              0.0798922445174838
            ],
            "model_sha256": "aa9a0a5cc35ba8c32cc887d4c66f42a4536ef9d834e5b7d0adf9d253c92aea14",
            "native_status": {
              "simulation_time_s": 20.00000000000146,
              "unexpected_contact_native_ticks": 0,
              "valid": true,
              "warnings": []
            },
            "object_id": "task_block",
            "per_finger_force_ceiling_n": 10.0,
            "pose_binding_sha256": "6f29fd09c2d2ce6360e5bea1f449e1d2dc378225a0091c7bc9b7e7e305e99ff0",
            "probe_index": 1,
            "probe_origin_object_position_m": [
              0.30779249543478926,
              -0.03689962044953032,
              0.07987906841445513
            ],
            "probe_origin_tcp_local_offset_m": [
              -0.0020302345076859143,
              0.00029714554762124557,
              0.0023596965786041773
            ],
            "probe_start_s": 14.339999999997492,
            "robot_profile": "piper",
            "run_id": "m45-f20-p1-cartesian",
            "schema": "dvidia.probe-context/v1",
            "source_sha256": "cc82eb867d3a927a487317b2e9e470fcb8f53e9da000a1764b7c5a1878883e69"
          },
          "physical_robot_ready": false,
          "planning_input": {
            "allowed_pose_tolerance_m": 0.003,
            "calibration_id": "synthetic_probe_v01",
            "friction_interval": [
              0.2,
              0.2
            ],
            "geometry_known": true,
            "gripper_max_opening_interval_m": [
              0.07,
              0.07
            ],
            "gripper_min_closure_m": 0.0,
            "mass_interval_kg": [
              0.045,
              0.045
            ],
            "object_width_interval_m": [
              0.04,
              0.04
            ],
            "observations_fresh": true,
            "per_finger_normal_force_budget_n": 10.0,
            "planned_upward_accel_m_s2": 0.1,
            "pose_specific_payload_limit_kg": 0.1,
            "pose_uncertainty_m": 0.0,
            "reachability": "reachable",
            "safety_factor": 1.5,
            "schema": "dvidia.task-feasibility-input/v1",
            "slip_detected": false,
            "test_lift_passed": false
          },
          "receipt": {
            "audit": {
              "controller_claim_mismatches": [],
              "controller_claims_checked": 1,
              "controller_conservative_abstention_count": 0,
              "controller_coverage": "Only the supplied claims are checked; omitted decisions are not inferred.",
              "controller_false_qualification_count": 0,
              "controller_positive_claims": 0,
              "force_ceiling_known": true,
              "maximum_observed_per_finger_force_n": 0.41893790889372645,
              "reasons": [],
              "rows": 20000,
              "unexpected_contact_native_ticks": 0,
              "valid": true
            },
            "context": {
              "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
              "calibration_id": "synthetic_probe_v01",
              "calibration_scope": "simulation_assumptions_not_hardware",
              "command_sha256": "ae0ba72231537bc20c68fcebce1a63b813ac83fbb5119ffb08fe0e849eff58f7",
              "feasibility_sha256": "6586d2cf941f1f3a24c177c8feda643fd636cb6985b821dbe48218ef6a5cdbdd",
              "grasp_id": "m45-f20-p1-cartesian-probe-1",
              "initial_object_position_m": [
                0.30699992366647033,
                -0.037000151615188895,
                0.0798922445174838
              ],
              "model_sha256": "aa9a0a5cc35ba8c32cc887d4c66f42a4536ef9d834e5b7d0adf9d253c92aea14",
              "native_status": {
                "simulation_time_s": 20.00000000000146,
                "unexpected_contact_native_ticks": 0,
                "valid": true,
                "warnings": []
              },
              "object_id": "task_block",
              "per_finger_force_ceiling_n": 10.0,
              "pose_binding_sha256": "6f29fd09c2d2ce6360e5bea1f449e1d2dc378225a0091c7bc9b7e7e305e99ff0",
              "probe_index": 1,
              "probe_origin_object_position_m": [
                0.30779249543478926,
                -0.03689962044953032,
                0.07987906841445513
              ],
              "probe_origin_tcp_local_offset_m": [
                -0.0020302345076859143,
                0.00029714554762124557,
                0.0023596965786041773
              ],
              "probe_start_s": 14.339999999997492,
              "robot_profile": "piper",
              "run_id": "m45-f20-p1-cartesian",
              "schema": "dvidia.probe-context/v1",
              "source_sha256": "cc82eb867d3a927a487317b2e9e470fcb8f53e9da000a1764b7c5a1878883e69"
            },
            "context_sha256": "2c0f58612a279cba5bc072a0b016d52b8d3494d002afab3682f099eb0b278661",
            "controller_qualifications": [
              {
                "probe_index": 1,
                "qualified": false,
                "t_seconds": 20.00000000000146
              }
            ],
            "criteria": {
              "distance_comparison_epsilon": 1e-12,
              "initial_sample_tolerance_m": 0.001,
              "maximum_tcp_local_drift_m": 0.003,
              "minimum_continuous_dwell_s": 0.1,
              "minimum_per_finger_force_n_exclusive": 0.01,
              "minimum_rise_m": 0.006,
              "native_dt_s": 0.001,
              "origin_tolerance_m": 1e-09,
              "time_tolerance_s": 1e-08
            },
            "history": {
              "ever_qualified": false,
              "first_qualified_s": null,
              "maximum_continuous_qualifying_s": 0.0
            },
            "latest": {
              "condition_valid": false,
              "continuous_qualifying_s": 0.0,
              "controller_claim": {
                "probe_index": 1,
                "qualified": false,
                "t_seconds": 20.00000000000146
              },
              "native_tick": 20000,
              "qualified": false,
              "rise_m": 3.155861048834141e-06,
              "tcp_local_drift_m": 0.004064985389485682,
              "time_s": 20.00000000000146
            },
            "metadata_sha256": "ad8229630cc9f8718829bb8317b1a82480dcf18b9f71bd23666acfe71a003ef7",
            "native_arrays_sha256": "1170c0801c4d45012872fa2f3fb6bd2d9130e120fe236a48d8f9c543f3414d3a",
            "physical_robot_ready": false,
            "receipt_sha256": "1b4c23fe0b541e1c5a7df682188e2416ad08f6f719ad91e61251ef184339c5d0",
            "schema": "dvidia.probe-evidence/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification."
          },
          "status": "inspected",
          "verification": {
            "admissible": false,
            "historical_qualified": false,
            "latest_qualified": false,
            "physical_robot_ready": false,
            "reasons": [
              "latest_native_window_not_qualified",
              "no_controller_qualification_for_this_probe",
              "latest_controller_not_qualified"
            ],
            "receipt_sha256": "1b4c23fe0b541e1c5a7df682188e2416ad08f6f719ad91e61251ef184339c5d0",
            "schema": "dvidia.probe-evidence-verification/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.",
            "verified": true
          }
        },
        "stationarity": {
          "complete_5s": false,
          "grip_retention_and_stationarity": false,
          "tcp_pose_within_bounds": false
        },
        "status": "inspected"
      },
      "files": {
        "episode.json.gz": {
          "bytes": 775726,
          "sha256": "ff4ced895c7ffe5afb6a2bacbf65e120817f10bb330e680bc108649b5ba6aee4"
        },
        "evaluation.json": {
          "bytes": 11687,
          "sha256": "938dd9ce3baf687e1b93cce9d7bad6523477278b9ac3d7e21dab60784ea8b17f"
        },
        "native.json": {
          "bytes": 13763,
          "sha256": "19cc1d5998901cbc12da2916add3096763081e9decbfc7193981bfabc4b871e0"
        },
        "native.npz": {
          "bytes": 4094455,
          "sha256": "b2553a416564b1e39fcf62dfb08a066b071e10d66c033e6bea0a15fe5497caf0"
        },
        "started.json": {
          "bytes": 146,
          "sha256": "096d3b3c32237932761573861e9c0495531e4e460714c277f5b5b0a9545f7137"
        }
      },
      "friction": 0.2,
      "id": "m45-f20-p1-cartesian",
      "mass_kg": 0.045,
      "metrics": {
        "carry_complete": false,
        "carry_contact_loss_events": 0,
        "carry_contact_loss_tolerance_seconds": 0.04,
        "dwell_seconds": 0.0,
        "first_success_time_seconds": null,
        "grasp_seen": true,
        "lift_dwell_seconds": 0.0,
        "lift_seen": false,
        "max_carry_contact_loss_seconds": 0.0,
        "max_object_lift_m": 8.849458355135453e-05,
        "max_pad_normal_force_n": 0.41893790889372645,
        "physical_robot_ready": false,
        "reason": "timeout",
        "retention_lost": false,
        "simulation_time": 20.00000000000146,
        "steps": 1000,
        "success": false,
        "target_distance_m": 0.12424313722074976,
        "unexpected_contact_native_ticks": 0,
        "valid": true,
        "warnings": []
      },
      "policy": {
        "abort_reason": "retry_budget_exhausted:object_not_following",
        "acquisition_contract": {
          "comparison_scope": "Closed-loop variants may acquire different trajectories through early hold/retry. This is not an isolated classifier ablation.",
          "control_dt_s": 0.02,
          "evidence_admission": "Current bilateral force >0.01 N, no table support, object rise >=6 mm and TCP-local offset drift <=3 mm continuously across sampled boundaries for elapsed >=100 ms.",
          "hold": "Latch measured six arm joints and the last issued jaw target at admission/terminal invalidity. No full lift/transfer, no squeeze escalation, no post-admission retry.",
          "invalidation": "At each subsequent 20 ms observation and final observation, invalidate immediately on lost contact/force, support, insufficient rise, >3 mm local drift or unexpected contact. Never requalify after terminal invalidity.",
          "observation_origin": "privileged_native_simulator_state",
          "parameters": {
            "close_timeout_s": 1.4,
            "consecutive_alarm_samples": 2,
            "max_retries": 1,
            "monitor_min_probe_motion_m": 0.003,
            "probe_height_m": 0.01,
            "probe_min_object_rise_m": 0.006,
            "probe_speed_m_s": 0.02,
            "probe_timeout_s": 1.4,
            "qualification_dwell_s": 0.1,
            "relative_drift_limit_m": 0.003,
            "retry_clearance_m": 0.012,
            "retry_open_timeout_s": 1.2,
            "retry_recenter_timeout_s": 1.5
          },
          "physical_robot_ready": false,
          "prefix": "Original GuardedPiperTaskPolicy approach/close and at most one supported open/recenter/retry; already uses authored native state, not a fully blind baseline.",
          "sampling_limit": "Independent 1 ms evidence may contradict sampled admission; that remains a finding. No sensor or material inference is implemented.",
          "schema": "dvidia.piper-probe-stop/v1",
          "stop_scope": "Holding native position targets is not physical arrest or calibrated force limiting; inertia and existing target rate limits can continue motion.",
          "timer_admission": "Same 10 mm/20 mm/s probe target law, admitted at elapsed >=600 ms from that probe start; no evidence predicate or slip alarm before admission. Unexpected contacts and bounded timeouts still stop.",
          "timer_admission_s": 0.6,
          "variants": [
            "evidence",
            "timer"
          ]
        },
        "acquisition_variant": "evidence",
        "active_probe_index": 1,
        "admission_time_s": null,
        "admitted": false,
        "contract": {
          "acquisition": "Unchanged ProbeStopPolicy evidence acquisition, including its bounded supported retry. All variants share the same prefix through the first admission observation.",
          "cartesian": "Latch measured TCP position/orientation and preceding issued targets. Fixed joint bias equals issued target minus pose_action at the admission pose. First command repeats the exact issued target; later pose_action updates receive that fixed bias.",
          "control_dt_s": 0.02,
          "final_observation": "Repeat force, original eligibility and Cartesian pose-error checks. Do not solve or issue a hypothetical next control at the terminal observation.",
          "invalid_measurements": "Malformed, nonfinite or noncausal observations terminally refuse and raise without issuing a command. No measured-position stop is claimed from invalid measurements.",
          "issued_joint": "Latch the preceding issued six joint targets and the same last issued jaw target at admission.",
          "limits": {
            "initial_joint_bias_ceiling_rad": 0.08,
            "joint_correction_ceiling_rad": 0.03,
            "joint_correction_rate_rad_s": 0.1,
            "native_joint_target_margin_rad": 0.02,
            "per_finger_force_ceiling_n": 10.0,
            "tcp_orientation_error_ceiling_rad": 0.05,
            "tcp_position_error_ceiling_m": 0.004
          },
          "measured_joint": "Original hold: latch measured six joint coordinates and the last issued jaw target at admission.",
          "observation_origin": "privileged_native_simulator_state",
          "physical_robot_ready": false,
          "qualifications": "Engineering limits and the 10 N ceiling are authored synthetic assumptions, not damage limits or calibrated physical telemetry. Position targets are not physical stops or force limiters. No load/friction inference, model training or complete placement is implemented.",
          "rate_scope": "The extra correction slews at at most 0.002 rad per 20 ms per joint. Original native 1 ms target slew, servos, gains and force caps remain unchanged.",
          "refusal": "Original eligibility loss, unexpected contact or observed pad force >10 N terminally requests measured joint hold and the frozen jaw target. Cartesian error, initial-bias, total-correction or native-margin exhaustion also refuses terminally; it never chases an already failed grip.",
          "sampling": "Control checks occur at 20 ms boundaries. Independent saved 1 ms native evidence must judge a continuous 5 s hold; missed between-boundary failures remain findings.",
          "schema": "dvidia.piper-retention/v2",
          "variants": [
            "measured_joint",
            "issued_joint",
            "cartesian"
          ]
        },
        "events": [
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "continue",
              "drift_streak": 0,
              "object_height_delta_m": 0.0,
              "phase": "probe",
              "progress_streak": 0,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0,
              "retry_index": 0,
              "t_seconds": 11.439999999999099,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_probe",
            "probe_index": 0,
            "reason": "slow_load_bearing_check",
            "retention_variant": "cartesian",
            "retry_index": 0,
            "status": "probing",
            "t_seconds": 11.439999999999099,
            "type": "probe_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm",
              "drift_streak": 2,
              "object_height_delta_m": 4.5477496807014295e-05,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.003905384564402418,
              "retry_index": 0,
              "t_seconds": 11.7999999999989,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.003710431035973849
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_stop",
            "probe_index": 0,
            "reason": "object_not_following",
            "retention_variant": "cartesian",
            "retry_index": 0,
            "status": "probing",
            "t_seconds": 11.7999999999989,
            "type": "alarm",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm",
              "drift_streak": 2,
              "object_height_delta_m": 4.5477496807014295e-05,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.003905384564402418,
              "retry_index": 0,
              "t_seconds": 11.7999999999989,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.003710431035973849
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_stop",
            "probe_index": 0,
            "reason": "supported_object_only",
            "retention_variant": "cartesian",
            "retry_index": 1,
            "status": "acquiring_retry",
            "t_seconds": 11.7999999999989,
            "type": "retry_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": false,
              "contact_loss_streak": 0,
              "decision": "recenter_with_open_jaw",
              "drift_streak": 2,
              "object_height_delta_m": -2.15664574304969e-05,
              "phase": "retry_recenter",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.009726785210686347,
              "retry_index": 1,
              "t_seconds": 13.45999999999798,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.009694796948082215
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_retry_recenter",
            "probe_index": 0,
            "reason": "open_recenter_complete",
            "retention_variant": "cartesian",
            "retry_index": 1,
            "status": "acquiring",
            "t_seconds": 13.45999999999798,
            "type": "retry_completed",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "continue",
              "drift_streak": 0,
              "object_height_delta_m": 0.0,
              "phase": "probe",
              "progress_streak": 0,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0,
              "retry_index": 1,
              "t_seconds": 14.339999999997492,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_probe",
            "probe_index": 1,
            "reason": "slow_load_bearing_check",
            "retention_variant": "cartesian",
            "retry_index": 1,
            "status": "probing",
            "t_seconds": 14.339999999997492,
            "type": "probe_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm",
              "drift_streak": 2,
              "object_height_delta_m": 9.881379624707143e-05,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0038509930331787744,
              "retry_index": 1,
              "t_seconds": 14.699999999997292,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.003681580047205077
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_stop",
            "probe_index": 1,
            "reason": "object_not_following",
            "retention_variant": "cartesian",
            "retry_index": 1,
            "status": "probing",
            "t_seconds": 14.699999999997292,
            "type": "alarm",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm_and_freeze_issued_jaw",
              "drift_streak": 2,
              "object_height_delta_m": 9.881379624707143e-05,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0038509930331787744,
              "retry_index": 1,
              "t_seconds": 14.699999999997292,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.003681580047205077
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "probe_stop",
            "probe_index": 1,
            "reason": "retry_budget_exhausted:object_not_following",
            "retention_variant": "cartesian",
            "retry_index": 1,
            "status": "invalidated_hold",
            "t_seconds": 14.699999999997292,
            "type": "abort",
            "variant": "evidence"
          }
        ],
        "ever_admitted": false,
        "final_observed": true,
        "frozen_jaw_target_m": 0.0,
        "initial_context": {
          "object_position_m": [
            0.30699992366647033,
            -0.037000151615188895,
            0.0798922445174838
          ],
          "observation_origin": "privileged_native_simulator_state",
          "t_seconds": 0.0,
          "tcp_position_m": [
            0.4890696662845219,
            0.0014141975654808877,
            0.3665849431043091
          ],
          "tcp_quaternion_wxyz": [
            0.6580840948238629,
            2.7730466224793136e-07,
            0.7529444362872891,
            -1.9485471114950535e-06
          ]
        },
        "last_observed_s": 20.00000000000146,
        "observation_origin": "privileged_native_simulator_state",
        "physical_robot_ready": false,
        "probes": [
          {
            "disposition": "interrupted",
            "end_time_s": 11.7999999999989,
            "local_offset_origin_m": [
              0.002307254832391367,
              0.0003070960765484035,
              0.0018972731642421712
            ],
            "object_origin_m": [
              0.3066356172557242,
              -0.03699470508625316,
              0.07991381103721419
            ],
            "observation_origin": "privileged_native_simulator_state",
            "probe_index": 0,
            "reason": "object_not_following",
            "start_time_s": 11.439999999999099,
            "tcp_origin_m": [
              0.3089255240226363,
              -0.03728781621915139,
              0.08183417329059232
            ],
            "tcp_quaternion_wxyz": [
              0.004933783508453158,
              -0.0024784600832372544,
              0.99998452710401,
              -0.0006786519557549539
            ]
          },
          {
            "disposition": "invalidated_hold",
            "end_time_s": 14.699999999997292,
            "local_offset_origin_m": [
              -0.0020302345076859143,
              0.00029714554762124557,
              0.0023596965786041773
            ],
            "object_origin_m": [
              0.30779249543478926,
              -0.03689962044953032,
              0.07987906841445513
            ],
            "observation_origin": "privileged_native_simulator_state",
            "probe_index": 1,
            "reason": "retry_budget_exhausted:object_not_following",
            "start_time_s": 14.339999999997492,
            "tcp_origin_m": [
              0.3057824201739526,
              -0.03719985806423325,
              0.08225557223230098
            ],
            "tcp_quaternion_wxyz": [
              -0.004227741810605728,
              -0.00022704289567962503,
              0.9999909318662479,
              0.0004591687916657399
            ]
          }
        ],
        "retention": {
          "hold_reference": null,
          "input_refusals": [],
          "native_joint_control_limits_rad": [
            [
              -2.618,
              2.618
            ],
            [
              0.0,
              3.14
            ],
            [
              -2.697,
              0.0
            ],
            [
              -1.832,
              1.832
            ],
            [
              -1.22,
              1.22
            ],
            [
              -3.14,
              3.14
            ]
          ],
          "variant": "cartesian"
        },
        "retry_count": 1,
        "schema": "dvidia.piper-retention/v2",
        "status": "invalidated_hold",
        "stop_targets_rad": [
          -0.12555341052382382,
          1.750984933362091,
          -1.168267548950787,
          -0.00019898899166473702,
          1.0742925951351627,
          -0.12593525176189752
        ],
        "variant": "cartesian"
      },
      "scene_id": "m45-f20-p1",
      "timing": {
        "policy_cpu": {
          "maximum_s": 0.00025800000000231194,
          "mean_s": 5.0658999999988905e-05,
          "over_20ms": 0,
          "p50_s": 5.499999999614147e-05,
          "p95_s": 9.099999999797603e-05,
          "p99_s": 0.00013105000000315664,
          "samples": 1000
        },
        "policy_wall": {
          "maximum_s": 0.00030399998649954796,
          "mean_s": 5.13325915671885e-05,
          "over_20ms": 0,
          "p50_s": 5.458341911435127e-05,
          "p95_s": 9.213078301399938e-05,
          "p99_s": 0.00016942271962761877,
          "samples": 1000
        },
        "step_cpu": {
          "maximum_s": 0.004556000000000893,
          "mean_s": 0.0017269020000001446,
          "over_20ms": 0,
          "p50_s": 0.0014885000000006698,
          "p95_s": 0.003359399999996171,
          "p99_s": 0.0038611200000005395,
          "samples": 1000
        },
        "step_wall": {
          "maximum_s": 0.00455583306029439,
          "mean_s": 0.0017646587854251265,
          "over_20ms": 0,
          "p50_s": 0.0015651874709874392,
          "p95_s": 0.003407752513885498,
          "p99_s": 0.003909077015705406,
          "samples": 1000
        }
      },
      "valid": true,
      "variant": "cartesian"
    },
    {
      "error": null,
      "evaluation": {
        "corrections": {
          "bound_refusal_counts": {},
          "flag_counts": {
            "correction_rate_limited": 0
          },
          "hold_record_count": 266,
          "input_refusals": [],
          "maximum_abs_active_correction_rad": null,
          "maximum_abs_desired_correction_rad": null,
          "rate_limited_axis_occurrences": 0,
          "scope": "Includes recorded final diagnostic checks; only command_issued rows represent issued controls."
        },
        "decomposition": null,
        "final": {
          "both_qualified": false,
          "controller_qualified": false,
          "evidence_admissible": false,
          "native_qualified": false
        },
        "first_admission": null,
        "native": {
          "arrays_sha256": "1170c0801c4d45012872fa2f3fb6bd2d9130e120fe236a48d8f9c543f3414d3a",
          "complete": true,
          "maximum_per_finger_force_n": 0.41893790889372645,
          "rows": 20000,
          "unexpected_contact_native_ticks": 0,
          "valid": true,
          "warnings": []
        },
        "physical_robot_ready": false,
        "primary": {
          "combined_qualified_pause": false,
          "complete_5s": false,
          "controller_retained_at_5s": false,
          "native_pause_success": false,
          "reason": "no_admission",
          "required_s": 5.0,
          "success": false
        },
        "probes": [
          {
            "claims": [],
            "disposition": "interrupted",
            "final_native_qualified_from_origin": false,
            "probe_index": 0,
            "start_time_s": 11.439999999999099
          },
          {
            "claims": [],
            "disposition": "invalidated_hold",
            "final_native_qualified_from_origin": false,
            "probe_index": 1,
            "start_time_s": 14.339999999997492
          }
        ],
        "receipt": {
          "admission": {
            "observation_origin": "privileged_native_simulation_plus_caller_planning_assumptions",
            "physical_robot_ready": false,
            "planning": {
              "computed": {
                "conservative_required_load_n": 0.6686988749999999,
                "gravity_m_s2": 9.80665,
                "pose_specific_payload_limit_force_n": 0.980665,
                "two_finger_friction_capacity_n": 4.0
              },
              "observation_origin": "caller_declared_not_verified",
              "physical_robot_ready": false,
              "reasons": [
                "Run and record a cautious test lift under the same calibrated pose and load conditions before simulated transport planning."
              ],
              "schema": "dvidia.task-feasibility-result/v1",
              "scope": "Planning assessment only. Parallel two-finger vertical-lift approximation; ignores moment, center of mass, deformation, transient impacts and unmodeled contact effects. Unknown values remain unknown; mass is never inferred from images. Probe/test-lift/controller integration is not implemented. No hardware actuation is performed; this is not hardware qualification.",
              "status": "test_lift_required"
            },
            "probe": {
              "admissible": false,
              "historical_qualified": false,
              "latest_qualified": false,
              "physical_robot_ready": false,
              "reasons": [
                "latest_native_window_not_qualified",
                "no_controller_qualification_for_this_probe",
                "latest_controller_not_qualified"
              ],
              "receipt_sha256": "382d5c517313ef33edf2bb0cf5436df9f8b921db2f37886e5d558111c7132eaa",
              "schema": "dvidia.probe-evidence-verification/v1",
              "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.",
              "verified": true
            },
            "schema": "dvidia.task-feasibility-with-probe/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification. Unknown planning values remain unknown. The unchanged approximate vertical-lift planning gate describes declared loads; it supplies no transport path, geospatial-goal contract or actuator permission. This wrapper never issues controls.",
            "status": "test_lift_required"
          },
          "context": {
            "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
            "calibration_id": "synthetic_probe_v01",
            "calibration_scope": "simulation_assumptions_not_hardware",
            "command_sha256": "ae0ba72231537bc20c68fcebce1a63b813ac83fbb5119ffb08fe0e849eff58f7",
            "feasibility_sha256": "6586d2cf941f1f3a24c177c8feda643fd636cb6985b821dbe48218ef6a5cdbdd",
            "grasp_id": "m45-f20-p1-issued_joint-probe-1",
            "initial_object_position_m": [
              0.30699992366647033,
              -0.037000151615188895,
              0.0798922445174838
            ],
            "model_sha256": "aa9a0a5cc35ba8c32cc887d4c66f42a4536ef9d834e5b7d0adf9d253c92aea14",
            "native_status": {
              "simulation_time_s": 20.00000000000146,
              "unexpected_contact_native_ticks": 0,
              "valid": true,
              "warnings": []
            },
            "object_id": "task_block",
            "per_finger_force_ceiling_n": 10.0,
            "pose_binding_sha256": "6f29fd09c2d2ce6360e5bea1f449e1d2dc378225a0091c7bc9b7e7e305e99ff0",
            "probe_index": 1,
            "probe_origin_object_position_m": [
              0.30779249543478926,
              -0.03689962044953032,
              0.07987906841445513
            ],
            "probe_origin_tcp_local_offset_m": [
              -0.0020302345076859143,
              0.00029714554762124557,
              0.0023596965786041773
            ],
            "probe_start_s": 14.339999999997492,
            "robot_profile": "piper",
            "run_id": "m45-f20-p1-issued_joint",
            "schema": "dvidia.probe-context/v1",
            "source_sha256": "cc82eb867d3a927a487317b2e9e470fcb8f53e9da000a1764b7c5a1878883e69"
          },
          "physical_robot_ready": false,
          "planning_input": {
            "allowed_pose_tolerance_m": 0.003,
            "calibration_id": "synthetic_probe_v01",
            "friction_interval": [
              0.2,
              0.2
            ],
            "geometry_known": true,
            "gripper_max_opening_interval_m": [
              0.07,
              0.07
            ],
            "gripper_min_closure_m": 0.0,
            "mass_interval_kg": [
              0.045,
              0.045
            ],
            "object_width_interval_m": [
              0.04,
              0.04
            ],
            "observations_fresh": true,
            "per_finger_normal_force_budget_n": 10.0,
            "planned_upward_accel_m_s2": 0.1,
            "pose_specific_payload_limit_kg": 0.1,
            "pose_uncertainty_m": 0.0,
            "reachability": "reachable",
            "safety_factor": 1.5,
            "schema": "dvidia.task-feasibility-input/v1",
            "slip_detected": false,
            "test_lift_passed": false
          },
          "receipt": {
            "audit": {
              "controller_claim_mismatches": [],
              "controller_claims_checked": 1,
              "controller_conservative_abstention_count": 0,
              "controller_coverage": "Only the supplied claims are checked; omitted decisions are not inferred.",
              "controller_false_qualification_count": 0,
              "controller_positive_claims": 0,
              "force_ceiling_known": true,
              "maximum_observed_per_finger_force_n": 0.41893790889372645,
              "reasons": [],
              "rows": 20000,
              "unexpected_contact_native_ticks": 0,
              "valid": true
            },
            "context": {
              "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
              "calibration_id": "synthetic_probe_v01",
              "calibration_scope": "simulation_assumptions_not_hardware",
              "command_sha256": "ae0ba72231537bc20c68fcebce1a63b813ac83fbb5119ffb08fe0e849eff58f7",
              "feasibility_sha256": "6586d2cf941f1f3a24c177c8feda643fd636cb6985b821dbe48218ef6a5cdbdd",
              "grasp_id": "m45-f20-p1-issued_joint-probe-1",
              "initial_object_position_m": [
                0.30699992366647033,
                -0.037000151615188895,
                0.0798922445174838
              ],
              "model_sha256": "aa9a0a5cc35ba8c32cc887d4c66f42a4536ef9d834e5b7d0adf9d253c92aea14",
              "native_status": {
                "simulation_time_s": 20.00000000000146,
                "unexpected_contact_native_ticks": 0,
                "valid": true,
                "warnings": []
              },
              "object_id": "task_block",
              "per_finger_force_ceiling_n": 10.0,
              "pose_binding_sha256": "6f29fd09c2d2ce6360e5bea1f449e1d2dc378225a0091c7bc9b7e7e305e99ff0",
              "probe_index": 1,
              "probe_origin_object_position_m": [
                0.30779249543478926,
                -0.03689962044953032,
                0.07987906841445513
              ],
              "probe_origin_tcp_local_offset_m": [
                -0.0020302345076859143,
                0.00029714554762124557,
                0.0023596965786041773
              ],
              "probe_start_s": 14.339999999997492,
              "robot_profile": "piper",
              "run_id": "m45-f20-p1-issued_joint",
              "schema": "dvidia.probe-context/v1",
              "source_sha256": "cc82eb867d3a927a487317b2e9e470fcb8f53e9da000a1764b7c5a1878883e69"
            },
            "context_sha256": "e4da5f9ae6ccfaf41ffe88890fac1b9d59c65445d0b43cd6104e683facfb9d8e",
            "controller_qualifications": [
              {
                "probe_index": 1,
                "qualified": false,
                "t_seconds": 20.00000000000146
              }
            ],
            "criteria": {
              "distance_comparison_epsilon": 1e-12,
              "initial_sample_tolerance_m": 0.001,
              "maximum_tcp_local_drift_m": 0.003,
              "minimum_continuous_dwell_s": 0.1,
              "minimum_per_finger_force_n_exclusive": 0.01,
              "minimum_rise_m": 0.006,
              "native_dt_s": 0.001,
              "origin_tolerance_m": 1e-09,
              "time_tolerance_s": 1e-08
            },
            "history": {
              "ever_qualified": false,
              "first_qualified_s": null,
              "maximum_continuous_qualifying_s": 0.0
            },
            "latest": {
              "condition_valid": false,
              "continuous_qualifying_s": 0.0,
              "controller_claim": {
                "probe_index": 1,
                "qualified": false,
                "t_seconds": 20.00000000000146
              },
              "native_tick": 20000,
              "qualified": false,
              "rise_m": 3.155861048834141e-06,
              "tcp_local_drift_m": 0.004064985389485682,
              "time_s": 20.00000000000146
            },
            "metadata_sha256": "ad8229630cc9f8718829bb8317b1a82480dcf18b9f71bd23666acfe71a003ef7",
            "native_arrays_sha256": "1170c0801c4d45012872fa2f3fb6bd2d9130e120fe236a48d8f9c543f3414d3a",
            "physical_robot_ready": false,
            "receipt_sha256": "382d5c517313ef33edf2bb0cf5436df9f8b921db2f37886e5d558111c7132eaa",
            "schema": "dvidia.probe-evidence/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification."
          },
          "status": "inspected",
          "verification": {
            "admissible": false,
            "historical_qualified": false,
            "latest_qualified": false,
            "physical_robot_ready": false,
            "reasons": [
              "latest_native_window_not_qualified",
              "no_controller_qualification_for_this_probe",
              "latest_controller_not_qualified"
            ],
            "receipt_sha256": "382d5c517313ef33edf2bb0cf5436df9f8b921db2f37886e5d558111c7132eaa",
            "schema": "dvidia.probe-evidence-verification/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.",
            "verified": true
          }
        },
        "stationarity": {
          "complete_5s": false,
          "grip_retention_and_stationarity": false,
          "tcp_pose_within_bounds": false
        },
        "status": "inspected"
      },
      "files": {
        "episode.json.gz": {
          "bytes": 776167,
          "sha256": "2b9bd89d151ee14b25501324eda3f642fc8be8e26994b590b6b2964abf406b9e"
        },
        "evaluation.json": {
          "bytes": 11699,
          "sha256": "05cc2406cd3171c702c88b221d464afbdf84fcfa52fa78c0c2b97c2cbfc6ca42"
        },
        "native.json": {
          "bytes": 13763,
          "sha256": "19cc1d5998901cbc12da2916add3096763081e9decbfc7193981bfabc4b871e0"
        },
        "native.npz": {
          "bytes": 4094455,
          "sha256": "b2553a416564b1e39fcf62dfb08a066b071e10d66c033e6bea0a15fe5497caf0"
        },
        "started.json": {
          "bytes": 149,
          "sha256": "8e06c3de00759aad2bc90f8a5aef628394432136f7639ebcad76d7c869776b9e"
        }
      },
      "friction": 0.2,
      "id": "m45-f20-p1-issued_joint",
      "mass_kg": 0.045,
      "metrics": {
        "carry_complete": false,
        "carry_contact_loss_events": 0,
        "carry_contact_loss_tolerance_seconds": 0.04,
        "dwell_seconds": 0.0,
        "first_success_time_seconds": null,
        "grasp_seen": true,
        "lift_dwell_seconds": 0.0,
        "lift_seen": false,
        "max_carry_contact_loss_seconds": 0.0,
        "max_object_lift_m": 8.849458355135453e-05,
        "max_pad_normal_force_n": 0.41893790889372645,
        "physical_robot_ready": false,
        "reason": "timeout",
        "retention_lost": false,
        "simulation_time": 20.00000000000146,
        "steps": 1000,
        "success": false,
        "target_distance_m": 0.12424313722074976,
        "unexpected_contact_native_ticks": 0,
        "valid": true,
        "warnings": []
      },
      "policy": {
        "abort_reason": "retry_budget_exhausted:object_not_following",
        "acquisition_contract": {
          "comparison_scope": "Closed-loop variants may acquire different trajectories through early hold/retry. This is not an isolated classifier ablation.",
          "control_dt_s": 0.02,
          "evidence_admission": "Current bilateral force >0.01 N, no table support, object rise >=6 mm and TCP-local offset drift <=3 mm continuously across sampled boundaries for elapsed >=100 ms.",
          "hold": "Latch measured six arm joints and the last issued jaw target at admission/terminal invalidity. No full lift/transfer, no squeeze escalation, no post-admission retry.",
          "invalidation": "At each subsequent 20 ms observation and final observation, invalidate immediately on lost contact/force, support, insufficient rise, >3 mm local drift or unexpected contact. Never requalify after terminal invalidity.",
          "observation_origin": "privileged_native_simulator_state",
          "parameters": {
            "close_timeout_s": 1.4,
            "consecutive_alarm_samples": 2,
            "max_retries": 1,
            "monitor_min_probe_motion_m": 0.003,
            "probe_height_m": 0.01,
            "probe_min_object_rise_m": 0.006,
            "probe_speed_m_s": 0.02,
            "probe_timeout_s": 1.4,
            "qualification_dwell_s": 0.1,
            "relative_drift_limit_m": 0.003,
            "retry_clearance_m": 0.012,
            "retry_open_timeout_s": 1.2,
            "retry_recenter_timeout_s": 1.5
          },
          "physical_robot_ready": false,
          "prefix": "Original GuardedPiperTaskPolicy approach/close and at most one supported open/recenter/retry; already uses authored native state, not a fully blind baseline.",
          "sampling_limit": "Independent 1 ms evidence may contradict sampled admission; that remains a finding. No sensor or material inference is implemented.",
          "schema": "dvidia.piper-probe-stop/v1",
          "stop_scope": "Holding native position targets is not physical arrest or calibrated force limiting; inertia and existing target rate limits can continue motion.",
          "timer_admission": "Same 10 mm/20 mm/s probe target law, admitted at elapsed >=600 ms from that probe start; no evidence predicate or slip alarm before admission. Unexpected contacts and bounded timeouts still stop.",
          "timer_admission_s": 0.6,
          "variants": [
            "evidence",
            "timer"
          ]
        },
        "acquisition_variant": "evidence",
        "active_probe_index": 1,
        "admission_time_s": null,
        "admitted": false,
        "contract": {
          "acquisition": "Unchanged ProbeStopPolicy evidence acquisition, including its bounded supported retry. All variants share the same prefix through the first admission observation.",
          "cartesian": "Latch measured TCP position/orientation and preceding issued targets. Fixed joint bias equals issued target minus pose_action at the admission pose. First command repeats the exact issued target; later pose_action updates receive that fixed bias.",
          "control_dt_s": 0.02,
          "final_observation": "Repeat force, original eligibility and Cartesian pose-error checks. Do not solve or issue a hypothetical next control at the terminal observation.",
          "invalid_measurements": "Malformed, nonfinite or noncausal observations terminally refuse and raise without issuing a command. No measured-position stop is claimed from invalid measurements.",
          "issued_joint": "Latch the preceding issued six joint targets and the same last issued jaw target at admission.",
          "limits": {
            "initial_joint_bias_ceiling_rad": 0.08,
            "joint_correction_ceiling_rad": 0.03,
            "joint_correction_rate_rad_s": 0.1,
            "native_joint_target_margin_rad": 0.02,
            "per_finger_force_ceiling_n": 10.0,
            "tcp_orientation_error_ceiling_rad": 0.05,
            "tcp_position_error_ceiling_m": 0.004
          },
          "measured_joint": "Original hold: latch measured six joint coordinates and the last issued jaw target at admission.",
          "observation_origin": "privileged_native_simulator_state",
          "physical_robot_ready": false,
          "qualifications": "Engineering limits and the 10 N ceiling are authored synthetic assumptions, not damage limits or calibrated physical telemetry. Position targets are not physical stops or force limiters. No load/friction inference, model training or complete placement is implemented.",
          "rate_scope": "The extra correction slews at at most 0.002 rad per 20 ms per joint. Original native 1 ms target slew, servos, gains and force caps remain unchanged.",
          "refusal": "Original eligibility loss, unexpected contact or observed pad force >10 N terminally requests measured joint hold and the frozen jaw target. Cartesian error, initial-bias, total-correction or native-margin exhaustion also refuses terminally; it never chases an already failed grip.",
          "sampling": "Control checks occur at 20 ms boundaries. Independent saved 1 ms native evidence must judge a continuous 5 s hold; missed between-boundary failures remain findings.",
          "schema": "dvidia.piper-retention/v2",
          "variants": [
            "measured_joint",
            "issued_joint",
            "cartesian"
          ]
        },
        "events": [
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "continue",
              "drift_streak": 0,
              "object_height_delta_m": 0.0,
              "phase": "probe",
              "progress_streak": 0,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0,
              "retry_index": 0,
              "t_seconds": 11.439999999999099,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_probe",
            "probe_index": 0,
            "reason": "slow_load_bearing_check",
            "retention_variant": "issued_joint",
            "retry_index": 0,
            "status": "probing",
            "t_seconds": 11.439999999999099,
            "type": "probe_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm",
              "drift_streak": 2,
              "object_height_delta_m": 4.5477496807014295e-05,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.003905384564402418,
              "retry_index": 0,
              "t_seconds": 11.7999999999989,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.003710431035973849
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_stop",
            "probe_index": 0,
            "reason": "object_not_following",
            "retention_variant": "issued_joint",
            "retry_index": 0,
            "status": "probing",
            "t_seconds": 11.7999999999989,
            "type": "alarm",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm",
              "drift_streak": 2,
              "object_height_delta_m": 4.5477496807014295e-05,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.003905384564402418,
              "retry_index": 0,
              "t_seconds": 11.7999999999989,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.003710431035973849
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_stop",
            "probe_index": 0,
            "reason": "supported_object_only",
            "retention_variant": "issued_joint",
            "retry_index": 1,
            "status": "acquiring_retry",
            "t_seconds": 11.7999999999989,
            "type": "retry_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": false,
              "contact_loss_streak": 0,
              "decision": "recenter_with_open_jaw",
              "drift_streak": 2,
              "object_height_delta_m": -2.15664574304969e-05,
              "phase": "retry_recenter",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.009726785210686347,
              "retry_index": 1,
              "t_seconds": 13.45999999999798,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.009694796948082215
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_retry_recenter",
            "probe_index": 0,
            "reason": "open_recenter_complete",
            "retention_variant": "issued_joint",
            "retry_index": 1,
            "status": "acquiring",
            "t_seconds": 13.45999999999798,
            "type": "retry_completed",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "continue",
              "drift_streak": 0,
              "object_height_delta_m": 0.0,
              "phase": "probe",
              "progress_streak": 0,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0,
              "retry_index": 1,
              "t_seconds": 14.339999999997492,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_probe",
            "probe_index": 1,
            "reason": "slow_load_bearing_check",
            "retention_variant": "issued_joint",
            "retry_index": 1,
            "status": "probing",
            "t_seconds": 14.339999999997492,
            "type": "probe_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm",
              "drift_streak": 2,
              "object_height_delta_m": 9.881379624707143e-05,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0038509930331787744,
              "retry_index": 1,
              "t_seconds": 14.699999999997292,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.003681580047205077
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_stop",
            "probe_index": 1,
            "reason": "object_not_following",
            "retention_variant": "issued_joint",
            "retry_index": 1,
            "status": "probing",
            "t_seconds": 14.699999999997292,
            "type": "alarm",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm_and_freeze_issued_jaw",
              "drift_streak": 2,
              "object_height_delta_m": 9.881379624707143e-05,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0038509930331787744,
              "retry_index": 1,
              "t_seconds": 14.699999999997292,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.003681580047205077
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "probe_stop",
            "probe_index": 1,
            "reason": "retry_budget_exhausted:object_not_following",
            "retention_variant": "issued_joint",
            "retry_index": 1,
            "status": "invalidated_hold",
            "t_seconds": 14.699999999997292,
            "type": "abort",
            "variant": "evidence"
          }
        ],
        "ever_admitted": false,
        "final_observed": true,
        "frozen_jaw_target_m": 0.0,
        "initial_context": {
          "object_position_m": [
            0.30699992366647033,
            -0.037000151615188895,
            0.0798922445174838
          ],
          "observation_origin": "privileged_native_simulator_state",
          "t_seconds": 0.0,
          "tcp_position_m": [
            0.4890696662845219,
            0.0014141975654808877,
            0.3665849431043091
          ],
          "tcp_quaternion_wxyz": [
            0.6580840948238629,
            2.7730466224793136e-07,
            0.7529444362872891,
            -1.9485471114950535e-06
          ]
        },
        "last_observed_s": 20.00000000000146,
        "observation_origin": "privileged_native_simulator_state",
        "physical_robot_ready": false,
        "probes": [
          {
            "disposition": "interrupted",
            "end_time_s": 11.7999999999989,
            "local_offset_origin_m": [
              0.002307254832391367,
              0.0003070960765484035,
              0.0018972731642421712
            ],
            "object_origin_m": [
              0.3066356172557242,
              -0.03699470508625316,
              0.07991381103721419
            ],
            "observation_origin": "privileged_native_simulator_state",
            "probe_index": 0,
            "reason": "object_not_following",
            "start_time_s": 11.439999999999099,
            "tcp_origin_m": [
              0.3089255240226363,
              -0.03728781621915139,
              0.08183417329059232
            ],
            "tcp_quaternion_wxyz": [
              0.004933783508453158,
              -0.0024784600832372544,
              0.99998452710401,
              -0.0006786519557549539
            ]
          },
          {
            "disposition": "invalidated_hold",
            "end_time_s": 14.699999999997292,
            "local_offset_origin_m": [
              -0.0020302345076859143,
              0.00029714554762124557,
              0.0023596965786041773
            ],
            "object_origin_m": [
              0.30779249543478926,
              -0.03689962044953032,
              0.07987906841445513
            ],
            "observation_origin": "privileged_native_simulator_state",
            "probe_index": 1,
            "reason": "retry_budget_exhausted:object_not_following",
            "start_time_s": 14.339999999997492,
            "tcp_origin_m": [
              0.3057824201739526,
              -0.03719985806423325,
              0.08225557223230098
            ],
            "tcp_quaternion_wxyz": [
              -0.004227741810605728,
              -0.00022704289567962503,
              0.9999909318662479,
              0.0004591687916657399
            ]
          }
        ],
        "retention": {
          "hold_reference": null,
          "input_refusals": [],
          "native_joint_control_limits_rad": [
            [
              -2.618,
              2.618
            ],
            [
              0.0,
              3.14
            ],
            [
              -2.697,
              0.0
            ],
            [
              -1.832,
              1.832
            ],
            [
              -1.22,
              1.22
            ],
            [
              -3.14,
              3.14
            ]
          ],
          "variant": "issued_joint"
        },
        "retry_count": 1,
        "schema": "dvidia.piper-retention/v2",
        "status": "invalidated_hold",
        "stop_targets_rad": [
          -0.12555341052382382,
          1.750984933362091,
          -1.168267548950787,
          -0.00019898899166473702,
          1.0742925951351627,
          -0.12593525176189752
        ],
        "variant": "issued_joint"
      },
      "scene_id": "m45-f20-p1",
      "timing": {
        "policy_cpu": {
          "maximum_s": 0.0003150000000005093,
          "mean_s": 6.0563000000087186e-05,
          "over_20ms": 0,
          "p50_s": 5.9000000000253294e-05,
          "p95_s": 0.0001260500000018538,
          "p99_s": 0.00020600999999857093,
          "samples": 1000
        },
        "policy_wall": {
          "maximum_s": 0.00038737524300813675,
          "mean_s": 6.180334137752653e-05,
          "over_20ms": 0,
          "p50_s": 5.9125013649463654e-05,
          "p95_s": 0.0001303683966398239,
          "p99_s": 0.00021912563592195496,
          "samples": 1000
        },
        "step_cpu": {
          "maximum_s": 0.007217000000004248,
          "mean_s": 0.0018613989999997926,
          "over_20ms": 0,
          "p50_s": 0.0016294999999999504,
          "p95_s": 0.0037358999999991473,
          "p99_s": 0.004796259999994418,
          "samples": 1000
        },
        "step_wall": {
          "maximum_s": 0.012052124831825495,
          "mean_s": 0.0019075583931989968,
          "over_20ms": 0,
          "p50_s": 0.0016689791809767485,
          "p95_s": 0.0038097105221822844,
          "p99_s": 0.005014582141302525,
          "samples": 1000
        }
      },
      "valid": true,
      "variant": "issued_joint"
    },
    {
      "error": null,
      "evaluation": {
        "corrections": {
          "bound_refusal_counts": {},
          "flag_counts": {
            "correction_rate_limited": 0
          },
          "hold_record_count": 413,
          "input_refusals": [],
          "maximum_abs_active_correction_rad": null,
          "maximum_abs_desired_correction_rad": null,
          "rate_limited_axis_occurrences": 0,
          "scope": "Includes recorded final diagnostic checks; only command_issued rows represent issued controls."
        },
        "decomposition": {
          "elapsed_s": 5.0,
          "local_offset_change_m": 0.000533394119430437,
          "object_world_z_delta_m": -0.0025017679805674625,
          "relative_world_z_delta_m": -0.0005154334836118268,
          "scope": "Kinematic components, not causal attribution or calibrated physical slip.",
          "tcp_world_z_delta_m": -0.0019863344969556357
        },
        "final": {
          "both_qualified": false,
          "controller_qualified": false,
          "evidence_admissible": false,
          "native_qualified": false
        },
        "first_admission": {
          "native_prefix_qualified": true,
          "native_qualifying_window_s": 0.116,
          "probe_index": 0,
          "time_s": 11.759999999998922
        },
        "native": {
          "arrays_sha256": "caa0e471895545668d62ecd2925ba1f3cb0f99fa13ce6f80a6e514ec2ad6a357",
          "complete": true,
          "maximum_per_finger_force_n": 0.4525014846088354,
          "rows": 20000,
          "unexpected_contact_native_ticks": 0,
          "valid": true,
          "warnings": []
        },
        "physical_robot_ready": false,
        "primary": {
          "all_native_hold_forces_within_ceiling": true,
          "combined_qualified_pause": false,
          "complete_5s": true,
          "controller_retained_at_5s": false,
          "first_native_predicate_failure_s": 14.480999999997413,
          "followup_available_s": 8.240000000002539,
          "native_pause_success": false,
          "reason": "native_predicate_lost",
          "required_s": 5.0,
          "success": false,
          "target_time_s": 16.75999999999892
        },
        "probes": [
          {
            "claims": [
              {
                "native_prefix_qualified": true,
                "t_seconds": 11.759999999998922
              }
            ],
            "disposition": "invalidated_hold",
            "final_native_qualified_from_origin": false,
            "probe_index": 0,
            "start_time_s": 11.139999999999265
          }
        ],
        "receipt": {
          "admission": {
            "observation_origin": "privileged_native_simulation_plus_caller_planning_assumptions",
            "physical_robot_ready": false,
            "planning": {
              "computed": {
                "conservative_required_load_n": 0.8172986249999998,
                "gravity_m_s2": 9.80665,
                "pose_specific_payload_limit_force_n": 0.980665,
                "two_finger_friction_capacity_n": 15.0
              },
              "observation_origin": "caller_declared_not_verified",
              "physical_robot_ready": false,
              "reasons": [
                "Run and record a cautious test lift under the same calibrated pose and load conditions before simulated transport planning."
              ],
              "schema": "dvidia.task-feasibility-result/v1",
              "scope": "Planning assessment only. Parallel two-finger vertical-lift approximation; ignores moment, center of mass, deformation, transient impacts and unmodeled contact effects. Unknown values remain unknown; mass is never inferred from images. Probe/test-lift/controller integration is not implemented. No hardware actuation is performed; this is not hardware qualification.",
              "status": "test_lift_required"
            },
            "probe": {
              "admissible": false,
              "historical_qualified": true,
              "latest_qualified": false,
              "physical_robot_ready": false,
              "reasons": [
                "latest_native_window_not_qualified",
                "latest_controller_not_qualified"
              ],
              "receipt_sha256": "ef6600b0da95a330b19e7cbe15bea44727393ba115e567a3e67ed17fc0e7fb81",
              "schema": "dvidia.probe-evidence-verification/v1",
              "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.",
              "verified": true
            },
            "schema": "dvidia.task-feasibility-with-probe/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification. Unknown planning values remain unknown. The unchanged approximate vertical-lift planning gate describes declared loads; it supplies no transport path, geospatial-goal contract or actuator permission. This wrapper never issues controls.",
            "status": "test_lift_required"
          },
          "context": {
            "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
            "calibration_id": "synthetic_probe_v01",
            "calibration_scope": "simulation_assumptions_not_hardware",
            "command_sha256": "c5fed53a78e50d57ea603ab2720fcc1ddf46e25bc7a206cea2634a73d154ceee",
            "feasibility_sha256": "9fc37136dd63b98f09de65127d974f722f9264024909f8bd554d253bc3b4fc92",
            "grasp_id": "m55-f75-p0-measured_joint-probe-0",
            "initial_object_position_m": [
              0.3030000461054176,
              -0.0259997964761733,
              0.07989224451748383
            ],
            "model_sha256": "39a21b3516970a6bc28eb22dd828efd6e4428c20ed43e5e4c8bd8d057e292824",
            "native_status": {
              "simulation_time_s": 20.00000000000146,
              "unexpected_contact_native_ticks": 0,
              "valid": true,
              "warnings": []
            },
            "object_id": "task_block",
            "per_finger_force_ceiling_n": 10.0,
            "pose_binding_sha256": "348b353f2c049db3c73b1c9ed19f364b7bd3159879714367347334a1f4a14a2f",
            "probe_index": 0,
            "probe_origin_object_position_m": [
              0.30289725328915224,
              -0.0259829377212981,
              0.07991750847332504
            ],
            "probe_origin_tcp_local_offset_m": [
              0.0023283768470907366,
              0.00028785158946637403,
              0.0019330357012626149
            ],
            "probe_start_s": 11.139999999999265,
            "robot_profile": "piper",
            "run_id": "m55-f75-p0-measured_joint",
            "schema": "dvidia.probe-context/v1",
            "source_sha256": "cc82eb867d3a927a487317b2e9e470fcb8f53e9da000a1764b7c5a1878883e69"
          },
          "physical_robot_ready": false,
          "planning_input": {
            "allowed_pose_tolerance_m": 0.003,
            "calibration_id": "synthetic_probe_v01",
            "friction_interval": [
              0.75,
              0.75
            ],
            "geometry_known": true,
            "gripper_max_opening_interval_m": [
              0.07,
              0.07
            ],
            "gripper_min_closure_m": 0.0,
            "mass_interval_kg": [
              0.055,
              0.055
            ],
            "object_width_interval_m": [
              0.04,
              0.04
            ],
            "observations_fresh": true,
            "per_finger_normal_force_budget_n": 10.0,
            "planned_upward_accel_m_s2": 0.1,
            "pose_specific_payload_limit_kg": 0.1,
            "pose_uncertainty_m": 0.0,
            "reachability": "reachable",
            "safety_factor": 1.5,
            "schema": "dvidia.task-feasibility-input/v1",
            "slip_detected": false,
            "test_lift_passed": false
          },
          "receipt": {
            "audit": {
              "controller_claim_mismatches": [],
              "controller_claims_checked": 2,
              "controller_conservative_abstention_count": 0,
              "controller_coverage": "Only the supplied claims are checked; omitted decisions are not inferred.",
              "controller_false_qualification_count": 0,
              "controller_positive_claims": 1,
              "force_ceiling_known": true,
              "maximum_observed_per_finger_force_n": 0.4525014846088354,
              "reasons": [],
              "rows": 20000,
              "unexpected_contact_native_ticks": 0,
              "valid": true
            },
            "context": {
              "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
              "calibration_id": "synthetic_probe_v01",
              "calibration_scope": "simulation_assumptions_not_hardware",
              "command_sha256": "c5fed53a78e50d57ea603ab2720fcc1ddf46e25bc7a206cea2634a73d154ceee",
              "feasibility_sha256": "9fc37136dd63b98f09de65127d974f722f9264024909f8bd554d253bc3b4fc92",
              "grasp_id": "m55-f75-p0-measured_joint-probe-0",
              "initial_object_position_m": [
                0.3030000461054176,
                -0.0259997964761733,
                0.07989224451748383
              ],
              "model_sha256": "39a21b3516970a6bc28eb22dd828efd6e4428c20ed43e5e4c8bd8d057e292824",
              "native_status": {
                "simulation_time_s": 20.00000000000146,
                "unexpected_contact_native_ticks": 0,
                "valid": true,
                "warnings": []
              },
              "object_id": "task_block",
              "per_finger_force_ceiling_n": 10.0,
              "pose_binding_sha256": "348b353f2c049db3c73b1c9ed19f364b7bd3159879714367347334a1f4a14a2f",
              "probe_index": 0,
              "probe_origin_object_position_m": [
                0.30289725328915224,
                -0.0259829377212981,
                0.07991750847332504
              ],
              "probe_origin_tcp_local_offset_m": [
                0.0023283768470907366,
                0.00028785158946637403,
                0.0019330357012626149
              ],
              "probe_start_s": 11.139999999999265,
              "robot_profile": "piper",
              "run_id": "m55-f75-p0-measured_joint",
              "schema": "dvidia.probe-context/v1",
              "source_sha256": "cc82eb867d3a927a487317b2e9e470fcb8f53e9da000a1764b7c5a1878883e69"
            },
            "context_sha256": "e99b2b8a10a85fba273175e890615fcc1abfed3f1cb953b6f84031ab9990d25b",
            "controller_qualifications": [
              {
                "probe_index": 0,
                "qualified": true,
                "t_seconds": 11.759999999998922
              },
              {
                "probe_index": 0,
                "qualified": false,
                "t_seconds": 20.00000000000146
              }
            ],
            "criteria": {
              "distance_comparison_epsilon": 1e-12,
              "initial_sample_tolerance_m": 0.001,
              "maximum_tcp_local_drift_m": 0.003,
              "minimum_continuous_dwell_s": 0.1,
              "minimum_per_finger_force_n_exclusive": 0.01,
              "minimum_rise_m": 0.006,
              "native_dt_s": 0.001,
              "origin_tolerance_m": 1e-09,
              "time_tolerance_s": 1e-08
            },
            "history": {
              "ever_qualified": true,
              "first_qualified_s": 11.74399999999893,
              "maximum_continuous_qualifying_s": 2.836
            },
            "latest": {
              "condition_valid": false,
              "continuous_qualifying_s": 0.0,
              "controller_claim": {
                "probe_index": 0,
                "qualified": false,
                "t_seconds": 20.00000000000146
              },
              "native_tick": 20000,
              "qualified": false,
              "rise_m": 0.004419656417101667,
              "tcp_local_drift_m": 0.0009694317351369167,
              "time_s": 20.00000000000146
            },
            "metadata_sha256": "ad8229630cc9f8718829bb8317b1a82480dcf18b9f71bd23666acfe71a003ef7",
            "native_arrays_sha256": "caa0e471895545668d62ecd2925ba1f3cb0f99fa13ce6f80a6e514ec2ad6a357",
            "physical_robot_ready": false,
            "receipt_sha256": "ef6600b0da95a330b19e7cbe15bea44727393ba115e567a3e67ed17fc0e7fb81",
            "schema": "dvidia.probe-evidence/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification."
          },
          "status": "inspected",
          "verification": {
            "admissible": false,
            "historical_qualified": true,
            "latest_qualified": false,
            "physical_robot_ready": false,
            "reasons": [
              "latest_native_window_not_qualified",
              "latest_controller_not_qualified"
            ],
            "receipt_sha256": "ef6600b0da95a330b19e7cbe15bea44727393ba115e567a3e67ed17fc0e7fb81",
            "schema": "dvidia.probe-evidence-verification/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.",
            "verified": true
          }
        },
        "stationarity": {
          "complete_5s": true,
          "grip_retention_and_stationarity": false,
          "maximum_tcp_orientation_excursion_rad": 0.007397354240090559,
          "maximum_tcp_position_excursion_m": 0.0022861523811811115,
          "orientation_ceiling_rad": 0.05,
          "position_ceiling_m": 0.004,
          "required_s": 5.0,
          "scope": "Common recorded native TCP pose endpoint, not calibrated hardware stationarity.",
          "tcp_pose_within_bounds": true,
          "terminal_tcp_orientation_delta_rad": 0.007397354240090559,
          "terminal_tcp_position_delta_m": [
            -0.0011277476791952679,
            9.567208711926123e-05,
            -0.0019863344969556357
          ]
        },
        "status": "inspected"
      },
      "files": {
        "episode.json.gz": {
          "bytes": 793086,
          "sha256": "5df7f53b2245dcbc2b364846bc439562624b527936054d9e93f5248bde71926b"
        },
        "evaluation.json": {
          "bytes": 12828,
          "sha256": "1b647dd428860b469f155683a6f0460fd40b171d5cca18bfebb1e0515a5321af"
        },
        "native.json": {
          "bytes": 13763,
          "sha256": "19cc1d5998901cbc12da2916add3096763081e9decbfc7193981bfabc4b871e0"
        },
        "native.npz": {
          "bytes": 4051606,
          "sha256": "aa3d573db16e8664ff8a78c5665f20d47eb881186f35e0c79ec4dbefabe16251"
        },
        "started.json": {
          "bytes": 151,
          "sha256": "8f61551c322242aa302ece1dd2b2f2e06fae3fb4e29df10dc0e21cbc33320557"
        }
      },
      "friction": 0.75,
      "id": "m55-f75-p0-measured_joint",
      "mass_kg": 0.055,
      "metrics": {
        "carry_complete": false,
        "carry_contact_loss_events": 0,
        "carry_contact_loss_tolerance_seconds": 0.04,
        "dwell_seconds": 0.0,
        "first_success_time_seconds": null,
        "grasp_seen": true,
        "lift_dwell_seconds": 0.0,
        "lift_seen": false,
        "max_carry_contact_loss_seconds": 0.0,
        "max_object_lift_m": 0.007332488897288242,
        "max_pad_normal_force_n": 0.4525014846088354,
        "physical_robot_ready": false,
        "reason": "timeout",
        "retention_lost": false,
        "simulation_time": 20.00000000000146,
        "steps": 1000,
        "success": false,
        "target_distance_m": 0.11516335669855225,
        "unexpected_contact_native_ticks": 0,
        "valid": true,
        "warnings": []
      },
      "policy": {
        "abort_reason": "probe_height_not_retained",
        "acquisition_contract": {
          "comparison_scope": "Closed-loop variants may acquire different trajectories through early hold/retry. This is not an isolated classifier ablation.",
          "control_dt_s": 0.02,
          "evidence_admission": "Current bilateral force >0.01 N, no table support, object rise >=6 mm and TCP-local offset drift <=3 mm continuously across sampled boundaries for elapsed >=100 ms.",
          "hold": "Latch measured six arm joints and the last issued jaw target at admission/terminal invalidity. No full lift/transfer, no squeeze escalation, no post-admission retry.",
          "invalidation": "At each subsequent 20 ms observation and final observation, invalidate immediately on lost contact/force, support, insufficient rise, >3 mm local drift or unexpected contact. Never requalify after terminal invalidity.",
          "observation_origin": "privileged_native_simulator_state",
          "parameters": {
            "close_timeout_s": 1.4,
            "consecutive_alarm_samples": 2,
            "max_retries": 1,
            "monitor_min_probe_motion_m": 0.003,
            "probe_height_m": 0.01,
            "probe_min_object_rise_m": 0.006,
            "probe_speed_m_s": 0.02,
            "probe_timeout_s": 1.4,
            "qualification_dwell_s": 0.1,
            "relative_drift_limit_m": 0.003,
            "retry_clearance_m": 0.012,
            "retry_open_timeout_s": 1.2,
            "retry_recenter_timeout_s": 1.5
          },
          "physical_robot_ready": false,
          "prefix": "Original GuardedPiperTaskPolicy approach/close and at most one supported open/recenter/retry; already uses authored native state, not a fully blind baseline.",
          "sampling_limit": "Independent 1 ms evidence may contradict sampled admission; that remains a finding. No sensor or material inference is implemented.",
          "schema": "dvidia.piper-probe-stop/v1",
          "stop_scope": "Holding native position targets is not physical arrest or calibrated force limiting; inertia and existing target rate limits can continue motion.",
          "timer_admission": "Same 10 mm/20 mm/s probe target law, admitted at elapsed >=600 ms from that probe start; no evidence predicate or slip alarm before admission. Unexpected contacts and bounded timeouts still stop.",
          "timer_admission_s": 0.6,
          "variants": [
            "evidence",
            "timer"
          ]
        },
        "acquisition_variant": "evidence",
        "active_probe_index": 0,
        "admission_time_s": 11.759999999998922,
        "admitted": false,
        "contract": {
          "acquisition": "Unchanged ProbeStopPolicy evidence acquisition, including its bounded supported retry. All variants share the same prefix through the first admission observation.",
          "cartesian": "Latch measured TCP position/orientation and preceding issued targets. Fixed joint bias equals issued target minus pose_action at the admission pose. First command repeats the exact issued target; later pose_action updates receive that fixed bias.",
          "control_dt_s": 0.02,
          "final_observation": "Repeat force, original eligibility and Cartesian pose-error checks. Do not solve or issue a hypothetical next control at the terminal observation.",
          "invalid_measurements": "Malformed, nonfinite or noncausal observations terminally refuse and raise without issuing a command. No measured-position stop is claimed from invalid measurements.",
          "issued_joint": "Latch the preceding issued six joint targets and the same last issued jaw target at admission.",
          "limits": {
            "initial_joint_bias_ceiling_rad": 0.08,
            "joint_correction_ceiling_rad": 0.03,
            "joint_correction_rate_rad_s": 0.1,
            "native_joint_target_margin_rad": 0.02,
            "per_finger_force_ceiling_n": 10.0,
            "tcp_orientation_error_ceiling_rad": 0.05,
            "tcp_position_error_ceiling_m": 0.004
          },
          "measured_joint": "Original hold: latch measured six joint coordinates and the last issued jaw target at admission.",
          "observation_origin": "privileged_native_simulator_state",
          "physical_robot_ready": false,
          "qualifications": "Engineering limits and the 10 N ceiling are authored synthetic assumptions, not damage limits or calibrated physical telemetry. Position targets are not physical stops or force limiters. No load/friction inference, model training or complete placement is implemented.",
          "rate_scope": "The extra correction slews at at most 0.002 rad per 20 ms per joint. Original native 1 ms target slew, servos, gains and force caps remain unchanged.",
          "refusal": "Original eligibility loss, unexpected contact or observed pad force >10 N terminally requests measured joint hold and the frozen jaw target. Cartesian error, initial-bias, total-correction or native-margin exhaustion also refuses terminally; it never chases an already failed grip.",
          "sampling": "Control checks occur at 20 ms boundaries. Independent saved 1 ms native evidence must judge a continuous 5 s hold; missed between-boundary failures remain findings.",
          "schema": "dvidia.piper-retention/v2",
          "variants": [
            "measured_joint",
            "issued_joint",
            "cartesian"
          ]
        },
        "events": [
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "continue",
              "drift_streak": 0,
              "object_height_delta_m": 0.0,
              "phase": "probe",
              "progress_streak": 0,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0,
              "retry_index": 0,
              "t_seconds": 11.139999999999265,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_probe",
            "probe_index": 0,
            "reason": "slow_load_bearing_check",
            "retention_variant": "measured_joint",
            "retry_index": 0,
            "status": "probing",
            "t_seconds": 11.139999999999265,
            "type": "probe_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "bounded_measured_joint_hold",
              "drift_streak": 0,
              "object_height_delta_m": 0.0072873616493831644,
              "phase": "probe",
              "progress_streak": 0,
              "qualification_dwell_seconds": 0.09999999999994458,
              "qualified": true,
              "relative_offset_error_m": 0.00010380357630352104,
              "retry_index": 0,
              "t_seconds": 11.759999999998922,
              "table_supported": false,
              "tcp_probe_height_delta_m": 0.00742147699173297
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "probe_stop",
            "probe_index": 0,
            "reason": "sampled_probe_evidence",
            "retention_hold_reference": {
              "fixed_bias_rad": null,
              "frozen_jaw_target_m": 0.0,
              "issued_joint_targets_rad": [
                -0.09039070244081344,
                1.7226290292249027,
                -1.1563319589920034,
                -9.519593522942202e-05,
                1.0805466022591796,
                -0.09388006333960737
              ],
              "measured_joint_position_rad": [
                -0.0904040816469628,
                1.727659381385057,
                -1.1514666320343232,
                -0.00011068258374648745,
                1.0541081367672012,
                -0.09384305443866144
              ],
              "position_m": [
                0.30908589275786463,
                -0.02661902186116322,
                0.08929798337420297
              ],
              "quaternion_wxyz": [
                0.013807266828500444,
                -0.0017422621915427416,
                0.9999022811881652,
                -0.0013236237705514453
              ],
              "raw_pose_joint_targets_rad": null,
              "t_seconds": 11.759999999998922
            },
            "retention_variant": "measured_joint",
            "retry_index": 0,
            "status": "qualified_hold",
            "t_seconds": 11.759999999998922,
            "type": "evidence_qualified",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm_and_freeze_issued_jaw",
              "drift_streak": 0,
              "object_height_delta_m": 0.005997542392111019,
              "phase": "probe_hold",
              "progress_streak": 0,
              "qualification_dwell_seconds": 2.839999999998426,
              "qualified": false,
              "relative_offset_error_m": 0.00039402109039274335,
              "retry_index": 0,
              "t_seconds": 14.499999999997403,
              "table_supported": false,
              "tcp_probe_height_delta_m": 0.006418828404127511
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "probe_stop",
            "probe_index": 0,
            "reason": "probe_height_not_retained",
            "retention_variant": "measured_joint",
            "retry_index": 0,
            "status": "invalidated_hold",
            "t_seconds": 14.499999999997403,
            "type": "hold_invalidated",
            "variant": "evidence"
          }
        ],
        "ever_admitted": true,
        "final_observed": true,
        "frozen_jaw_target_m": 0.0,
        "initial_context": {
          "object_position_m": [
            0.3030000461054176,
            -0.0259997964761733,
            0.07989224451748383
          ],
          "observation_origin": "privileged_native_simulator_state",
          "t_seconds": 0.0,
          "tcp_position_m": [
            0.4890696662845219,
            0.0014141975654808877,
            0.3665849431043091
          ],
          "tcp_quaternion_wxyz": [
            0.6580840948238629,
            2.7730466224793136e-07,
            0.7529444362872891,
            -1.9485471114950535e-06
          ]
        },
        "last_observed_s": 20.00000000000146,
        "observation_origin": "privileged_native_simulator_state",
        "physical_robot_ready": false,
        "probes": [
          {
            "admission_time_s": 11.759999999998922,
            "disposition": "invalidated_hold",
            "end_time_s": 14.499999999997403,
            "local_offset_origin_m": [
              0.0023283768470907366,
              0.00028785158946637403,
              0.0019330357012626149
            ],
            "object_origin_m": [
              0.30289725328915224,
              -0.0259829377212981,
              0.07991750847332504
            ],
            "observation_origin": "privileged_native_simulator_state",
            "probe_index": 0,
            "reason": "probe_height_not_retained",
            "start_time_s": 11.139999999999265,
            "tcp_origin_m": [
              0.30520509457193273,
              -0.02626046268853909,
              0.08187650638247
            ],
            "tcp_quaternion_wxyz": [
              0.005532314545727244,
              -0.0017629651456056658,
              0.9999829895817203,
              -0.0005531698362201787
            ]
          }
        ],
        "retention": {
          "hold_reference": {
            "fixed_bias_rad": null,
            "frozen_jaw_target_m": 0.0,
            "issued_joint_targets_rad": [
              -0.09039070244081344,
              1.7226290292249027,
              -1.1563319589920034,
              -9.519593522942202e-05,
              1.0805466022591796,
              -0.09388006333960737
            ],
            "measured_joint_position_rad": [
              -0.0904040816469628,
              1.727659381385057,
              -1.1514666320343232,
              -0.00011068258374648745,
              1.0541081367672012,
              -0.09384305443866144
            ],
            "position_m": [
              0.30908589275786463,
              -0.02661902186116322,
              0.08929798337420297
            ],
            "quaternion_wxyz": [
              0.013807266828500444,
              -0.0017422621915427416,
              0.9999022811881652,
              -0.0013236237705514453
            ],
            "raw_pose_joint_targets_rad": null,
            "t_seconds": 11.759999999998922
          },
          "input_refusals": [],
          "native_joint_control_limits_rad": [
            [
              -2.618,
              2.618
            ],
            [
              0.0,
              3.14
            ],
            [
              -2.697,
              0.0
            ],
            [
              -1.832,
              1.832
            ],
            [
              -1.22,
              1.22
            ],
            [
              -3.14,
              3.14
            ]
          ],
          "variant": "measured_joint"
        },
        "retry_count": 0,
        "schema": "dvidia.piper-retention/v2",
        "status": "invalidated_hold",
        "stop_targets_rad": [
          -0.09040407389157691,
          1.72972641246365,
          -1.1499431693424047,
          -0.000128516131519745,
          1.0542819489616249,
          -0.09384332524299051
        ],
        "variant": "measured_joint"
      },
      "scene_id": "m55-f75-p0",
      "timing": {
        "policy_cpu": {
          "maximum_s": 0.0001829999999998222,
          "mean_s": 4.2160999999936166e-05,
          "over_20ms": 0,
          "p50_s": 4.7999999999603915e-05,
          "p95_s": 7.200000000295859e-05,
          "p99_s": 0.00011302999999898586,
          "samples": 1000
        },
        "policy_wall": {
          "maximum_s": 0.00019575003534555435,
          "mean_s": 4.227042151615024e-05,
          "over_20ms": 0,
          "p50_s": 4.7999899834394455e-05,
          "p95_s": 7.335366681218145e-05,
          "p99_s": 0.00011444633826613424,
          "samples": 1000
        },
        "step_cpu": {
          "maximum_s": 0.010197000000005119,
          "mean_s": 0.0017744359999999943,
          "over_20ms": 0,
          "p50_s": 0.001653500000003305,
          "p95_s": 0.0027080499999986075,
          "p99_s": 0.0031090300000020223,
          "samples": 1000
        },
        "step_wall": {
          "maximum_s": 0.01023429213091731,
          "mean_s": 0.0017834294149652124,
          "over_20ms": 0,
          "p50_s": 0.0016574379988014698,
          "p95_s": 0.0027163648279383778,
          "p99_s": 0.0031454644678160543,
          "samples": 1000
        }
      },
      "valid": true,
      "variant": "measured_joint"
    },
    {
      "error": null,
      "evaluation": {
        "corrections": {
          "bound_refusal_counts": {},
          "flag_counts": {
            "correction_rate_limited": 0
          },
          "hold_record_count": 413,
          "input_refusals": [],
          "maximum_abs_active_correction_rad": null,
          "maximum_abs_desired_correction_rad": null,
          "rate_limited_axis_occurrences": 0,
          "scope": "Includes recorded final diagnostic checks; only command_issued rows represent issued controls."
        },
        "decomposition": {
          "elapsed_s": 5.0,
          "local_offset_change_m": 0.0005332390107289775,
          "object_world_z_delta_m": 0.0011114193928241645,
          "relative_world_z_delta_m": -0.00048603483432181627,
          "scope": "Kinematic components, not causal attribution or calibrated physical slip.",
          "tcp_world_z_delta_m": 0.0015974542271459807
        },
        "final": {
          "both_qualified": true,
          "controller_qualified": true,
          "evidence_admissible": true,
          "native_qualified": true
        },
        "first_admission": {
          "native_prefix_qualified": true,
          "native_qualifying_window_s": 0.116,
          "probe_index": 0,
          "time_s": 11.759999999998922
        },
        "native": {
          "arrays_sha256": "c68b2192bea74dc94166a57b0dccc47bbc1148d313725d19556343f30fb8e911",
          "complete": true,
          "maximum_per_finger_force_n": 0.4525014846088354,
          "rows": 20000,
          "unexpected_contact_native_ticks": 0,
          "valid": true,
          "warnings": []
        },
        "physical_robot_ready": false,
        "primary": {
          "all_native_hold_forces_within_ceiling": true,
          "combined_qualified_pause": true,
          "complete_5s": true,
          "controller_retained_at_5s": true,
          "first_native_predicate_failure_s": null,
          "followup_available_s": 8.240000000002539,
          "native_pause_success": true,
          "reason": "success",
          "required_s": 5.0,
          "success": true,
          "target_time_s": 16.75999999999892
        },
        "probes": [
          {
            "claims": [
              {
                "native_prefix_qualified": true,
                "t_seconds": 11.759999999998922
              }
            ],
            "disposition": "qualified_hold",
            "final_native_qualified_from_origin": true,
            "probe_index": 0,
            "start_time_s": 11.139999999999265
          }
        ],
        "receipt": {
          "admission": {
            "observation_origin": "privileged_native_simulation_plus_caller_planning_assumptions",
            "physical_robot_ready": false,
            "planning": {
              "computed": {
                "conservative_required_load_n": 0.8172986249999998,
                "gravity_m_s2": 9.80665,
                "pose_specific_payload_limit_force_n": 0.980665,
                "two_finger_friction_capacity_n": 15.0
              },
              "observation_origin": "caller_declared_not_verified",
              "physical_robot_ready": false,
              "reasons": [
                "Declared checks pass for simulated transport planning; this is not hardware qualification."
              ],
              "schema": "dvidia.task-feasibility-result/v1",
              "scope": "Planning assessment only. Parallel two-finger vertical-lift approximation; ignores moment, center of mass, deformation, transient impacts and unmodeled contact effects. Unknown values remain unknown; mass is never inferred from images. Probe/test-lift/controller integration is not implemented. No hardware actuation is performed; this is not hardware qualification.",
              "status": "ready_for_simulated_transport"
            },
            "probe": {
              "admissible": true,
              "historical_qualified": true,
              "latest_qualified": true,
              "physical_robot_ready": false,
              "reasons": [],
              "receipt_sha256": "1f0ac34f20152bec33f7b5995006e4aa71a464050585d564608eb3ec8e7b3516",
              "schema": "dvidia.probe-evidence-verification/v1",
              "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.",
              "verified": true
            },
            "schema": "dvidia.task-feasibility-with-probe/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification. Unknown planning values remain unknown. The unchanged approximate vertical-lift planning gate describes declared loads; it supplies no transport path, geospatial-goal contract or actuator permission. This wrapper never issues controls.",
            "status": "ready_for_simulated_transport"
          },
          "context": {
            "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
            "calibration_id": "synthetic_probe_v01",
            "calibration_scope": "simulation_assumptions_not_hardware",
            "command_sha256": "ecec26875f0a809c0cb44f96df2127773657d36cccfdce654b00a5edfa3d9896",
            "feasibility_sha256": "9fc37136dd63b98f09de65127d974f722f9264024909f8bd554d253bc3b4fc92",
            "grasp_id": "m55-f75-p0-issued_joint-probe-0",
            "initial_object_position_m": [
              0.3030000461054176,
              -0.0259997964761733,
              0.07989224451748383
            ],
            "model_sha256": "39a21b3516970a6bc28eb22dd828efd6e4428c20ed43e5e4c8bd8d057e292824",
            "native_status": {
              "simulation_time_s": 20.00000000000146,
              "unexpected_contact_native_ticks": 0,
              "valid": true,
              "warnings": []
            },
            "object_id": "task_block",
            "per_finger_force_ceiling_n": 10.0,
            "pose_binding_sha256": "85fc722322a16318cba18a3653fc682a3b3ad7d4c45e7a00fc0698ea120a9243",
            "probe_index": 0,
            "probe_origin_object_position_m": [
              0.30289725328915224,
              -0.0259829377212981,
              0.07991750847332504
            ],
            "probe_origin_tcp_local_offset_m": [
              0.0023283768470907366,
              0.00028785158946637403,
              0.0019330357012626149
            ],
            "probe_start_s": 11.139999999999265,
            "robot_profile": "piper",
            "run_id": "m55-f75-p0-issued_joint",
            "schema": "dvidia.probe-context/v1",
            "source_sha256": "cc82eb867d3a927a487317b2e9e470fcb8f53e9da000a1764b7c5a1878883e69"
          },
          "physical_robot_ready": false,
          "planning_input": {
            "allowed_pose_tolerance_m": 0.003,
            "calibration_id": "synthetic_probe_v01",
            "friction_interval": [
              0.75,
              0.75
            ],
            "geometry_known": true,
            "gripper_max_opening_interval_m": [
              0.07,
              0.07
            ],
            "gripper_min_closure_m": 0.0,
            "mass_interval_kg": [
              0.055,
              0.055
            ],
            "object_width_interval_m": [
              0.04,
              0.04
            ],
            "observations_fresh": true,
            "per_finger_normal_force_budget_n": 10.0,
            "planned_upward_accel_m_s2": 0.1,
            "pose_specific_payload_limit_kg": 0.1,
            "pose_uncertainty_m": 0.0,
            "reachability": "reachable",
            "safety_factor": 1.5,
            "schema": "dvidia.task-feasibility-input/v1",
            "slip_detected": false,
            "test_lift_passed": false
          },
          "receipt": {
            "audit": {
              "controller_claim_mismatches": [],
              "controller_claims_checked": 2,
              "controller_conservative_abstention_count": 0,
              "controller_coverage": "Only the supplied claims are checked; omitted decisions are not inferred.",
              "controller_false_qualification_count": 0,
              "controller_positive_claims": 2,
              "force_ceiling_known": true,
              "maximum_observed_per_finger_force_n": 0.4525014846088354,
              "reasons": [],
              "rows": 20000,
              "unexpected_contact_native_ticks": 0,
              "valid": true
            },
            "context": {
              "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
              "calibration_id": "synthetic_probe_v01",
              "calibration_scope": "simulation_assumptions_not_hardware",
              "command_sha256": "ecec26875f0a809c0cb44f96df2127773657d36cccfdce654b00a5edfa3d9896",
              "feasibility_sha256": "9fc37136dd63b98f09de65127d974f722f9264024909f8bd554d253bc3b4fc92",
              "grasp_id": "m55-f75-p0-issued_joint-probe-0",
              "initial_object_position_m": [
                0.3030000461054176,
                -0.0259997964761733,
                0.07989224451748383
              ],
              "model_sha256": "39a21b3516970a6bc28eb22dd828efd6e4428c20ed43e5e4c8bd8d057e292824",
              "native_status": {
                "simulation_time_s": 20.00000000000146,
                "unexpected_contact_native_ticks": 0,
                "valid": true,
                "warnings": []
              },
              "object_id": "task_block",
              "per_finger_force_ceiling_n": 10.0,
              "pose_binding_sha256": "85fc722322a16318cba18a3653fc682a3b3ad7d4c45e7a00fc0698ea120a9243",
              "probe_index": 0,
              "probe_origin_object_position_m": [
                0.30289725328915224,
                -0.0259829377212981,
                0.07991750847332504
              ],
              "probe_origin_tcp_local_offset_m": [
                0.0023283768470907366,
                0.00028785158946637403,
                0.0019330357012626149
              ],
              "probe_start_s": 11.139999999999265,
              "robot_profile": "piper",
              "run_id": "m55-f75-p0-issued_joint",
              "schema": "dvidia.probe-context/v1",
              "source_sha256": "cc82eb867d3a927a487317b2e9e470fcb8f53e9da000a1764b7c5a1878883e69"
            },
            "context_sha256": "1911b1e945b82d28f9226fb3ef9a805852246f03218a85d29a3d3a83dfd170db",
            "controller_qualifications": [
              {
                "probe_index": 0,
                "qualified": true,
                "t_seconds": 11.759999999998922
              },
              {
                "probe_index": 0,
                "qualified": true,
                "t_seconds": 20.00000000000146
              }
            ],
            "criteria": {
              "distance_comparison_epsilon": 1e-12,
              "initial_sample_tolerance_m": 0.001,
              "maximum_tcp_local_drift_m": 0.003,
              "minimum_continuous_dwell_s": 0.1,
              "minimum_per_finger_force_n_exclusive": 0.01,
              "minimum_rise_m": 0.006,
              "native_dt_s": 0.001,
              "origin_tolerance_m": 1e-09,
              "time_tolerance_s": 1e-08
            },
            "history": {
              "ever_qualified": true,
              "first_qualified_s": 11.74399999999893,
              "maximum_continuous_qualifying_s": 8.356
            },
            "latest": {
              "condition_valid": true,
              "continuous_qualifying_s": 8.356,
              "controller_claim": {
                "probe_index": 0,
                "qualified": true,
                "t_seconds": 20.00000000000146
              },
              "native_tick": 20000,
              "qualified": true,
              "rise_m": 0.008061068258508608,
              "tcp_local_drift_m": 0.0009697680230106028,
              "time_s": 20.00000000000146
            },
            "metadata_sha256": "ad8229630cc9f8718829bb8317b1a82480dcf18b9f71bd23666acfe71a003ef7",
            "native_arrays_sha256": "c68b2192bea74dc94166a57b0dccc47bbc1148d313725d19556343f30fb8e911",
            "physical_robot_ready": false,
            "receipt_sha256": "1f0ac34f20152bec33f7b5995006e4aa71a464050585d564608eb3ec8e7b3516",
            "schema": "dvidia.probe-evidence/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification."
          },
          "status": "inspected",
          "verification": {
            "admissible": true,
            "historical_qualified": true,
            "latest_qualified": true,
            "physical_robot_ready": false,
            "reasons": [],
            "receipt_sha256": "1f0ac34f20152bec33f7b5995006e4aa71a464050585d564608eb3ec8e7b3516",
            "schema": "dvidia.probe-evidence-verification/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.",
            "verified": true
          }
        },
        "stationarity": {
          "complete_5s": true,
          "grip_retention_and_stationarity": false,
          "maximum_tcp_orientation_excursion_rad": 0.02000775102162913,
          "maximum_tcp_position_excursion_m": 0.0047101585511196255,
          "orientation_ceiling_rad": 0.05,
          "position_ceiling_m": 0.004,
          "required_s": 5.0,
          "scope": "Common recorded native TCP pose endpoint, not calibrated hardware stationarity.",
          "tcp_pose_within_bounds": false,
          "terminal_tcp_orientation_delta_rad": 0.02000775102162913,
          "terminal_tcp_position_delta_m": [
            -0.004412595921548912,
            0.0004033990604707452,
            0.0015974542271459807
          ]
        },
        "status": "inspected"
      },
      "files": {
        "episode.json.gz": {
          "bytes": 790680,
          "sha256": "d1b303eea89ba6418c2a85f75057ab5e7d932caff97400e53dbc332a28c3c026"
        },
        "evaluation.json": {
          "bytes": 12565,
          "sha256": "b9fe45f95545f8811bb911ae40587ba73aa16d6da372400fd35674fedb2310bb"
        },
        "native.json": {
          "bytes": 13763,
          "sha256": "19cc1d5998901cbc12da2916add3096763081e9decbfc7193981bfabc4b871e0"
        },
        "native.npz": {
          "bytes": 4059763,
          "sha256": "96ffa716371a9d18992fb21a71eccd359e40e4879553854e29ae69b90dc0e6af"
        },
        "started.json": {
          "bytes": 149,
          "sha256": "e0a978499fd4842efa730b48929d50c73f75fc2fb8b2133400517732adf36bbe"
        }
      },
      "friction": 0.75,
      "id": "m55-f75-p0-issued_joint",
      "mass_kg": 0.055,
      "metrics": {
        "carry_complete": false,
        "carry_contact_loss_events": 0,
        "carry_contact_loss_tolerance_seconds": 0.04,
        "dwell_seconds": 0.0,
        "first_success_time_seconds": null,
        "grasp_seen": true,
        "lift_dwell_seconds": 0.0,
        "lift_seen": false,
        "max_carry_contact_loss_seconds": 0.0,
        "max_object_lift_m": 0.00865928622556883,
        "max_pad_normal_force_n": 0.4525014846088354,
        "physical_robot_ready": false,
        "reason": "timeout",
        "retention_lost": false,
        "simulation_time": 20.00000000000146,
        "steps": 1000,
        "success": false,
        "target_distance_m": 0.11638298859367172,
        "unexpected_contact_native_ticks": 0,
        "valid": true,
        "warnings": []
      },
      "policy": {
        "abort_reason": null,
        "acquisition_contract": {
          "comparison_scope": "Closed-loop variants may acquire different trajectories through early hold/retry. This is not an isolated classifier ablation.",
          "control_dt_s": 0.02,
          "evidence_admission": "Current bilateral force >0.01 N, no table support, object rise >=6 mm and TCP-local offset drift <=3 mm continuously across sampled boundaries for elapsed >=100 ms.",
          "hold": "Latch measured six arm joints and the last issued jaw target at admission/terminal invalidity. No full lift/transfer, no squeeze escalation, no post-admission retry.",
          "invalidation": "At each subsequent 20 ms observation and final observation, invalidate immediately on lost contact/force, support, insufficient rise, >3 mm local drift or unexpected contact. Never requalify after terminal invalidity.",
          "observation_origin": "privileged_native_simulator_state",
          "parameters": {
            "close_timeout_s": 1.4,
            "consecutive_alarm_samples": 2,
            "max_retries": 1,
            "monitor_min_probe_motion_m": 0.003,
            "probe_height_m": 0.01,
            "probe_min_object_rise_m": 0.006,
            "probe_speed_m_s": 0.02,
            "probe_timeout_s": 1.4,
            "qualification_dwell_s": 0.1,
            "relative_drift_limit_m": 0.003,
            "retry_clearance_m": 0.012,
            "retry_open_timeout_s": 1.2,
            "retry_recenter_timeout_s": 1.5
          },
          "physical_robot_ready": false,
          "prefix": "Original GuardedPiperTaskPolicy approach/close and at most one supported open/recenter/retry; already uses authored native state, not a fully blind baseline.",
          "sampling_limit": "Independent 1 ms evidence may contradict sampled admission; that remains a finding. No sensor or material inference is implemented.",
          "schema": "dvidia.piper-probe-stop/v1",
          "stop_scope": "Holding native position targets is not physical arrest or calibrated force limiting; inertia and existing target rate limits can continue motion.",
          "timer_admission": "Same 10 mm/20 mm/s probe target law, admitted at elapsed >=600 ms from that probe start; no evidence predicate or slip alarm before admission. Unexpected contacts and bounded timeouts still stop.",
          "timer_admission_s": 0.6,
          "variants": [
            "evidence",
            "timer"
          ]
        },
        "acquisition_variant": "evidence",
        "active_probe_index": 0,
        "admission_time_s": 11.759999999998922,
        "admitted": true,
        "contract": {
          "acquisition": "Unchanged ProbeStopPolicy evidence acquisition, including its bounded supported retry. All variants share the same prefix through the first admission observation.",
          "cartesian": "Latch measured TCP position/orientation and preceding issued targets. Fixed joint bias equals issued target minus pose_action at the admission pose. First command repeats the exact issued target; later pose_action updates receive that fixed bias.",
          "control_dt_s": 0.02,
          "final_observation": "Repeat force, original eligibility and Cartesian pose-error checks. Do not solve or issue a hypothetical next control at the terminal observation.",
          "invalid_measurements": "Malformed, nonfinite or noncausal observations terminally refuse and raise without issuing a command. No measured-position stop is claimed from invalid measurements.",
          "issued_joint": "Latch the preceding issued six joint targets and the same last issued jaw target at admission.",
          "limits": {
            "initial_joint_bias_ceiling_rad": 0.08,
            "joint_correction_ceiling_rad": 0.03,
            "joint_correction_rate_rad_s": 0.1,
            "native_joint_target_margin_rad": 0.02,
            "per_finger_force_ceiling_n": 10.0,
            "tcp_orientation_error_ceiling_rad": 0.05,
            "tcp_position_error_ceiling_m": 0.004
          },
          "measured_joint": "Original hold: latch measured six joint coordinates and the last issued jaw target at admission.",
          "observation_origin": "privileged_native_simulator_state",
          "physical_robot_ready": false,
          "qualifications": "Engineering limits and the 10 N ceiling are authored synthetic assumptions, not damage limits or calibrated physical telemetry. Position targets are not physical stops or force limiters. No load/friction inference, model training or complete placement is implemented.",
          "rate_scope": "The extra correction slews at at most 0.002 rad per 20 ms per joint. Original native 1 ms target slew, servos, gains and force caps remain unchanged.",
          "refusal": "Original eligibility loss, unexpected contact or observed pad force >10 N terminally requests measured joint hold and the frozen jaw target. Cartesian error, initial-bias, total-correction or native-margin exhaustion also refuses terminally; it never chases an already failed grip.",
          "sampling": "Control checks occur at 20 ms boundaries. Independent saved 1 ms native evidence must judge a continuous 5 s hold; missed between-boundary failures remain findings.",
          "schema": "dvidia.piper-retention/v2",
          "variants": [
            "measured_joint",
            "issued_joint",
            "cartesian"
          ]
        },
        "events": [
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "continue",
              "drift_streak": 0,
              "object_height_delta_m": 0.0,
              "phase": "probe",
              "progress_streak": 0,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0,
              "retry_index": 0,
              "t_seconds": 11.139999999999265,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_probe",
            "probe_index": 0,
            "reason": "slow_load_bearing_check",
            "retention_variant": "issued_joint",
            "retry_index": 0,
            "status": "probing",
            "t_seconds": 11.139999999999265,
            "type": "probe_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "bounded_issued_joint_hold",
              "drift_streak": 0,
              "object_height_delta_m": 0.0072873616493831644,
              "phase": "probe",
              "progress_streak": 0,
              "qualification_dwell_seconds": 0.09999999999994458,
              "qualified": true,
              "relative_offset_error_m": 0.00010380357630352104,
              "retry_index": 0,
              "t_seconds": 11.759999999998922,
              "table_supported": false,
              "tcp_probe_height_delta_m": 0.00742147699173297
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "probe_stop",
            "probe_index": 0,
            "reason": "sampled_probe_evidence",
            "retention_hold_reference": {
              "fixed_bias_rad": null,
              "frozen_jaw_target_m": 0.0,
              "issued_joint_targets_rad": [
                -0.09039070244081344,
                1.7226290292249027,
                -1.1563319589920034,
                -9.519593522942202e-05,
                1.0805466022591796,
                -0.09388006333960737
              ],
              "measured_joint_position_rad": [
                -0.0904040816469628,
                1.727659381385057,
                -1.1514666320343232,
                -0.00011068258374648745,
                1.0541081367672012,
                -0.09384305443866144
              ],
              "position_m": [
                0.30908589275786463,
                -0.02661902186116322,
                0.08929798337420297
              ],
              "quaternion_wxyz": [
                0.013807266828500444,
                -0.0017422621915427416,
                0.9999022811881652,
                -0.0013236237705514453
              ],
              "raw_pose_joint_targets_rad": null,
              "t_seconds": 11.759999999998922
            },
            "retention_variant": "issued_joint",
            "retry_index": 0,
            "status": "qualified_hold",
            "t_seconds": 11.759999999998922,
            "type": "evidence_qualified",
            "variant": "evidence"
          }
        ],
        "ever_admitted": true,
        "final_observed": true,
        "frozen_jaw_target_m": 0.0,
        "initial_context": {
          "object_position_m": [
            0.3030000461054176,
            -0.0259997964761733,
            0.07989224451748383
          ],
          "observation_origin": "privileged_native_simulator_state",
          "t_seconds": 0.0,
          "tcp_position_m": [
            0.4890696662845219,
            0.0014141975654808877,
            0.3665849431043091
          ],
          "tcp_quaternion_wxyz": [
            0.6580840948238629,
            2.7730466224793136e-07,
            0.7529444362872891,
            -1.9485471114950535e-06
          ]
        },
        "last_observed_s": 20.00000000000146,
        "observation_origin": "privileged_native_simulator_state",
        "physical_robot_ready": false,
        "probes": [
          {
            "admission_time_s": 11.759999999998922,
            "disposition": "qualified_hold",
            "end_time_s": null,
            "local_offset_origin_m": [
              0.0023283768470907366,
              0.00028785158946637403,
              0.0019330357012626149
            ],
            "object_origin_m": [
              0.30289725328915224,
              -0.0259829377212981,
              0.07991750847332504
            ],
            "observation_origin": "privileged_native_simulator_state",
            "probe_index": 0,
            "reason": null,
            "start_time_s": 11.139999999999265,
            "tcp_origin_m": [
              0.30520509457193273,
              -0.02626046268853909,
              0.08187650638247
            ],
            "tcp_quaternion_wxyz": [
              0.005532314545727244,
              -0.0017629651456056658,
              0.9999829895817203,
              -0.0005531698362201787
            ]
          }
        ],
        "retention": {
          "hold_reference": {
            "fixed_bias_rad": null,
            "frozen_jaw_target_m": 0.0,
            "issued_joint_targets_rad": [
              -0.09039070244081344,
              1.7226290292249027,
              -1.1563319589920034,
              -9.519593522942202e-05,
              1.0805466022591796,
              -0.09388006333960737
            ],
            "measured_joint_position_rad": [
              -0.0904040816469628,
              1.727659381385057,
              -1.1514666320343232,
              -0.00011068258374648745,
              1.0541081367672012,
              -0.09384305443866144
            ],
            "position_m": [
              0.30908589275786463,
              -0.02661902186116322,
              0.08929798337420297
            ],
            "quaternion_wxyz": [
              0.013807266828500444,
              -0.0017422621915427416,
              0.9999022811881652,
              -0.0013236237705514453
            ],
            "raw_pose_joint_targets_rad": null,
            "t_seconds": 11.759999999998922
          },
          "input_refusals": [],
          "native_joint_control_limits_rad": [
            [
              -2.618,
              2.618
            ],
            [
              0.0,
              3.14
            ],
            [
              -2.697,
              0.0
            ],
            [
              -1.832,
              1.832
            ],
            [
              -1.22,
              1.22
            ],
            [
              -3.14,
              3.14
            ]
          ],
          "variant": "issued_joint"
        },
        "retry_count": 0,
        "schema": "dvidia.piper-retention/v2",
        "status": "qualified_hold",
        "stop_targets_rad": [
          -0.09039070244081344,
          1.7226290292249027,
          -1.1563319589920034,
          -9.519593522942202e-05,
          1.0805466022591796,
          -0.09388006333960737
        ],
        "variant": "issued_joint"
      },
      "scene_id": "m55-f75-p0",
      "timing": {
        "policy_cpu": {
          "maximum_s": 0.00016500000000263526,
          "mean_s": 4.059700000008348e-05,
          "over_20ms": 0,
          "p50_s": 4.7999999999603915e-05,
          "p95_s": 6.405000000171408e-05,
          "p99_s": 8.504999999857428e-05,
          "samples": 1000
        },
        "policy_wall": {
          "maximum_s": 0.00023504067212343216,
          "mean_s": 4.071064386516809e-05,
          "over_20ms": 0,
          "p50_s": 4.77710273116827e-05,
          "p95_s": 6.509569939225911e-05,
          "p99_s": 8.578304667025802e-05,
          "samples": 1000
        },
        "step_cpu": {
          "maximum_s": 0.01150700000000171,
          "mean_s": 0.0017537429999999149,
          "over_20ms": 0,
          "p50_s": 0.0015099999999996783,
          "p95_s": 0.002607450000004263,
          "p99_s": 0.0031670399999977404,
          "samples": 1000
        },
        "step_wall": {
          "maximum_s": 0.011513249948620796,
          "mean_s": 0.0017730382988229395,
          "over_20ms": 0,
          "p50_s": 0.0015476045664399862,
          "p95_s": 0.0026668253820389507,
          "p99_s": 0.003302102885209024,
          "samples": 1000
        }
      },
      "valid": true,
      "variant": "issued_joint"
    },
    {
      "error": null,
      "evaluation": {
        "corrections": {
          "bound_refusal_counts": {
            "tcp_position_error_exhausted": 1
          },
          "flag_counts": {
            "correction_rate_limited": 0
          },
          "hold_record_count": 413,
          "input_refusals": [],
          "maximum_abs_active_correction_rad": 0.0002442867911442992,
          "maximum_abs_desired_correction_rad": 0.0002442867911442992,
          "rate_limited_axis_occurrences": 0,
          "scope": "Includes recorded final diagnostic checks; only command_issued rows represent issued controls."
        },
        "decomposition": {
          "elapsed_s": 5.0,
          "local_offset_change_m": 0.0005334250830857412,
          "object_world_z_delta_m": 4.4703970877330024e-05,
          "relative_world_z_delta_m": -0.0004859896010895176,
          "scope": "Kinematic components, not causal attribution or calibrated physical slip.",
          "tcp_world_z_delta_m": 0.0005306935719668476
        },
        "final": {
          "both_qualified": false,
          "controller_qualified": false,
          "evidence_admissible": false,
          "native_qualified": true
        },
        "first_admission": {
          "native_prefix_qualified": true,
          "native_qualifying_window_s": 0.116,
          "probe_index": 0,
          "time_s": 11.759999999998922
        },
        "native": {
          "arrays_sha256": "65e02dea59f651471abfd294244a2002ff2e792f0dcb5e2025d1fb07ccc751ba",
          "complete": true,
          "maximum_per_finger_force_n": 0.4525014846088354,
          "rows": 20000,
          "unexpected_contact_native_ticks": 0,
          "valid": true,
          "warnings": []
        },
        "physical_robot_ready": false,
        "primary": {
          "all_native_hold_forces_within_ceiling": true,
          "combined_qualified_pause": false,
          "complete_5s": true,
          "controller_retained_at_5s": false,
          "first_native_predicate_failure_s": null,
          "followup_available_s": 8.240000000002539,
          "native_pause_success": true,
          "reason": "success",
          "required_s": 5.0,
          "success": true,
          "target_time_s": 16.75999999999892
        },
        "probes": [
          {
            "claims": [
              {
                "native_prefix_qualified": true,
                "t_seconds": 11.759999999998922
              }
            ],
            "disposition": "invalidated_hold",
            "final_native_qualified_from_origin": true,
            "probe_index": 0,
            "start_time_s": 11.139999999999265
          }
        ],
        "receipt": {
          "admission": {
            "observation_origin": "privileged_native_simulation_plus_caller_planning_assumptions",
            "physical_robot_ready": false,
            "planning": {
              "computed": {
                "conservative_required_load_n": 0.8172986249999998,
                "gravity_m_s2": 9.80665,
                "pose_specific_payload_limit_force_n": 0.980665,
                "two_finger_friction_capacity_n": 15.0
              },
              "observation_origin": "caller_declared_not_verified",
              "physical_robot_ready": false,
              "reasons": [
                "Run and record a cautious test lift under the same calibrated pose and load conditions before simulated transport planning."
              ],
              "schema": "dvidia.task-feasibility-result/v1",
              "scope": "Planning assessment only. Parallel two-finger vertical-lift approximation; ignores moment, center of mass, deformation, transient impacts and unmodeled contact effects. Unknown values remain unknown; mass is never inferred from images. Probe/test-lift/controller integration is not implemented. No hardware actuation is performed; this is not hardware qualification.",
              "status": "test_lift_required"
            },
            "probe": {
              "admissible": false,
              "historical_qualified": true,
              "latest_qualified": true,
              "physical_robot_ready": false,
              "reasons": [
                "latest_controller_not_qualified"
              ],
              "receipt_sha256": "0d41abcb577fd685add3d9e14da4ae2987163fdeb0d1b55f9c287c4ede0cc75f",
              "schema": "dvidia.probe-evidence-verification/v1",
              "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.",
              "verified": true
            },
            "schema": "dvidia.task-feasibility-with-probe/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification. Unknown planning values remain unknown. The unchanged approximate vertical-lift planning gate describes declared loads; it supplies no transport path, geospatial-goal contract or actuator permission. This wrapper never issues controls.",
            "status": "test_lift_required"
          },
          "context": {
            "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
            "calibration_id": "synthetic_probe_v01",
            "calibration_scope": "simulation_assumptions_not_hardware",
            "command_sha256": "d35de9a66eaf8777070f99c04bc7a4568700c5343f2a367eba959fca6cbef044",
            "feasibility_sha256": "9fc37136dd63b98f09de65127d974f722f9264024909f8bd554d253bc3b4fc92",
            "grasp_id": "m55-f75-p0-cartesian-probe-0",
            "initial_object_position_m": [
              0.3030000461054176,
              -0.0259997964761733,
              0.07989224451748383
            ],
            "model_sha256": "39a21b3516970a6bc28eb22dd828efd6e4428c20ed43e5e4c8bd8d057e292824",
            "native_status": {
              "simulation_time_s": 20.00000000000146,
              "unexpected_contact_native_ticks": 0,
              "valid": true,
              "warnings": []
            },
            "object_id": "task_block",
            "per_finger_force_ceiling_n": 10.0,
            "pose_binding_sha256": "30386a744bf5fa7004f83403c25c21a86981d5140238299c0d30279aa2f737ef",
            "probe_index": 0,
            "probe_origin_object_position_m": [
              0.30289725328915224,
              -0.0259829377212981,
              0.07991750847332504
            ],
            "probe_origin_tcp_local_offset_m": [
              0.0023283768470907366,
              0.00028785158946637403,
              0.0019330357012626149
            ],
            "probe_start_s": 11.139999999999265,
            "robot_profile": "piper",
            "run_id": "m55-f75-p0-cartesian",
            "schema": "dvidia.probe-context/v1",
            "source_sha256": "cc82eb867d3a927a487317b2e9e470fcb8f53e9da000a1764b7c5a1878883e69"
          },
          "physical_robot_ready": false,
          "planning_input": {
            "allowed_pose_tolerance_m": 0.003,
            "calibration_id": "synthetic_probe_v01",
            "friction_interval": [
              0.75,
              0.75
            ],
            "geometry_known": true,
            "gripper_max_opening_interval_m": [
              0.07,
              0.07
            ],
            "gripper_min_closure_m": 0.0,
            "mass_interval_kg": [
              0.055,
              0.055
            ],
            "object_width_interval_m": [
              0.04,
              0.04
            ],
            "observations_fresh": true,
            "per_finger_normal_force_budget_n": 10.0,
            "planned_upward_accel_m_s2": 0.1,
            "pose_specific_payload_limit_kg": 0.1,
            "pose_uncertainty_m": 0.0,
            "reachability": "reachable",
            "safety_factor": 1.5,
            "schema": "dvidia.task-feasibility-input/v1",
            "slip_detected": false,
            "test_lift_passed": false
          },
          "receipt": {
            "audit": {
              "controller_claim_mismatches": [
                {
                  "classification": "conservative_abstention",
                  "controller_qualified": false,
                  "native_prefix_qualified": true,
                  "t_seconds": 20.00000000000146
                }
              ],
              "controller_claims_checked": 2,
              "controller_conservative_abstention_count": 1,
              "controller_coverage": "Only the supplied claims are checked; omitted decisions are not inferred.",
              "controller_false_qualification_count": 0,
              "controller_positive_claims": 1,
              "force_ceiling_known": true,
              "maximum_observed_per_finger_force_n": 0.4525014846088354,
              "reasons": [],
              "rows": 20000,
              "unexpected_contact_native_ticks": 0,
              "valid": true
            },
            "context": {
              "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
              "calibration_id": "synthetic_probe_v01",
              "calibration_scope": "simulation_assumptions_not_hardware",
              "command_sha256": "d35de9a66eaf8777070f99c04bc7a4568700c5343f2a367eba959fca6cbef044",
              "feasibility_sha256": "9fc37136dd63b98f09de65127d974f722f9264024909f8bd554d253bc3b4fc92",
              "grasp_id": "m55-f75-p0-cartesian-probe-0",
              "initial_object_position_m": [
                0.3030000461054176,
                -0.0259997964761733,
                0.07989224451748383
              ],
              "model_sha256": "39a21b3516970a6bc28eb22dd828efd6e4428c20ed43e5e4c8bd8d057e292824",
              "native_status": {
                "simulation_time_s": 20.00000000000146,
                "unexpected_contact_native_ticks": 0,
                "valid": true,
                "warnings": []
              },
              "object_id": "task_block",
              "per_finger_force_ceiling_n": 10.0,
              "pose_binding_sha256": "30386a744bf5fa7004f83403c25c21a86981d5140238299c0d30279aa2f737ef",
              "probe_index": 0,
              "probe_origin_object_position_m": [
                0.30289725328915224,
                -0.0259829377212981,
                0.07991750847332504
              ],
              "probe_origin_tcp_local_offset_m": [
                0.0023283768470907366,
                0.00028785158946637403,
                0.0019330357012626149
              ],
              "probe_start_s": 11.139999999999265,
              "robot_profile": "piper",
              "run_id": "m55-f75-p0-cartesian",
              "schema": "dvidia.probe-context/v1",
              "source_sha256": "cc82eb867d3a927a487317b2e9e470fcb8f53e9da000a1764b7c5a1878883e69"
            },
            "context_sha256": "ff855cd86bb9cfe1f842498fed9c7a27717dfcef8f51936dc0e92ee050ee3f07",
            "controller_qualifications": [
              {
                "probe_index": 0,
                "qualified": true,
                "t_seconds": 11.759999999998922
              },
              {
                "probe_index": 0,
                "qualified": false,
                "t_seconds": 20.00000000000146
              }
            ],
            "criteria": {
              "distance_comparison_epsilon": 1e-12,
              "initial_sample_tolerance_m": 0.001,
              "maximum_tcp_local_drift_m": 0.003,
              "minimum_continuous_dwell_s": 0.1,
              "minimum_per_finger_force_n_exclusive": 0.01,
              "minimum_rise_m": 0.006,
              "native_dt_s": 0.001,
              "origin_tolerance_m": 1e-09,
              "time_tolerance_s": 1e-08
            },
            "history": {
              "ever_qualified": true,
              "first_qualified_s": 11.74399999999893,
              "maximum_continuous_qualifying_s": 8.356
            },
            "latest": {
              "condition_valid": true,
              "continuous_qualifying_s": 8.356,
              "controller_claim": {
                "probe_index": 0,
                "qualified": false,
                "t_seconds": 20.00000000000146
              },
              "native_tick": 20000,
              "qualified": true,
              "rise_m": 0.006985862023194123,
              "tcp_local_drift_m": 0.0009699474296923659,
              "time_s": 20.00000000000146
            },
            "metadata_sha256": "ad8229630cc9f8718829bb8317b1a82480dcf18b9f71bd23666acfe71a003ef7",
            "native_arrays_sha256": "65e02dea59f651471abfd294244a2002ff2e792f0dcb5e2025d1fb07ccc751ba",
            "physical_robot_ready": false,
            "receipt_sha256": "0d41abcb577fd685add3d9e14da4ae2987163fdeb0d1b55f9c287c4ede0cc75f",
            "schema": "dvidia.probe-evidence/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification."
          },
          "status": "inspected",
          "verification": {
            "admissible": false,
            "historical_qualified": true,
            "latest_qualified": true,
            "physical_robot_ready": false,
            "reasons": [
              "latest_controller_not_qualified"
            ],
            "receipt_sha256": "0d41abcb577fd685add3d9e14da4ae2987163fdeb0d1b55f9c287c4ede0cc75f",
            "schema": "dvidia.probe-evidence-verification/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.",
            "verified": true
          }
        },
        "stationarity": {
          "complete_5s": true,
          "grip_retention_and_stationarity": false,
          "maximum_tcp_orientation_excursion_rad": 0.020103722590612647,
          "maximum_tcp_position_excursion_m": 0.00428418039590373,
          "orientation_ceiling_rad": 0.05,
          "position_ceiling_m": 0.004,
          "required_s": 5.0,
          "scope": "Common recorded native TCP pose endpoint, not calibrated hardware stationarity.",
          "tcp_pose_within_bounds": false,
          "terminal_tcp_orientation_delta_rad": 0.020103722590612647,
          "terminal_tcp_position_delta_m": [
            -0.004233822662470521,
            0.0003838120113674598,
            0.0005306935719668476
          ]
        },
        "status": "inspected"
      },
      "files": {
        "episode.json.gz": {
          "bytes": 822383,
          "sha256": "394dd303c4b4c8bf1664d654d3747a40fe63ec64905919e5454db03a417f028a"
        },
        "evaluation.json": {
          "bytes": 12977,
          "sha256": "3712118cf6f2eaeec1235957055672507fbb171d41b3ca911ef2aaf660b104b8"
        },
        "native.json": {
          "bytes": 13763,
          "sha256": "19cc1d5998901cbc12da2916add3096763081e9decbfc7193981bfabc4b871e0"
        },
        "native.npz": {
          "bytes": 4051876,
          "sha256": "a2a04ea46a730461e3701edf6f667ebc59c5d236a54268f9dc0e79ef539e6169"
        },
        "started.json": {
          "bytes": 146,
          "sha256": "443feca51f965acd465f05fb78d802e16a631246c631816b0a0053a06c33a327"
        }
      },
      "friction": 0.75,
      "id": "m55-f75-p0-cartesian",
      "mass_kg": 0.055,
      "metrics": {
        "carry_complete": false,
        "carry_contact_loss_events": 0,
        "carry_contact_loss_tolerance_seconds": 0.04,
        "dwell_seconds": 0.0,
        "first_success_time_seconds": null,
        "grasp_seen": true,
        "lift_dwell_seconds": 0.0,
        "lift_seen": false,
        "max_carry_contact_loss_seconds": 0.0,
        "max_object_lift_m": 0.008678694599193598,
        "max_pad_normal_force_n": 0.4525014846088354,
        "physical_robot_ready": false,
        "reason": "timeout",
        "retention_lost": false,
        "simulation_time": 20.00000000000146,
        "steps": 1000,
        "success": false,
        "target_distance_m": 0.11625445818272485,
        "unexpected_contact_native_ticks": 0,
        "valid": true,
        "warnings": []
      },
      "policy": {
        "abort_reason": "tcp_position_error_exhausted",
        "acquisition_contract": {
          "comparison_scope": "Closed-loop variants may acquire different trajectories through early hold/retry. This is not an isolated classifier ablation.",
          "control_dt_s": 0.02,
          "evidence_admission": "Current bilateral force >0.01 N, no table support, object rise >=6 mm and TCP-local offset drift <=3 mm continuously across sampled boundaries for elapsed >=100 ms.",
          "hold": "Latch measured six arm joints and the last issued jaw target at admission/terminal invalidity. No full lift/transfer, no squeeze escalation, no post-admission retry.",
          "invalidation": "At each subsequent 20 ms observation and final observation, invalidate immediately on lost contact/force, support, insufficient rise, >3 mm local drift or unexpected contact. Never requalify after terminal invalidity.",
          "observation_origin": "privileged_native_simulator_state",
          "parameters": {
            "close_timeout_s": 1.4,
            "consecutive_alarm_samples": 2,
            "max_retries": 1,
            "monitor_min_probe_motion_m": 0.003,
            "probe_height_m": 0.01,
            "probe_min_object_rise_m": 0.006,
            "probe_speed_m_s": 0.02,
            "probe_timeout_s": 1.4,
            "qualification_dwell_s": 0.1,
            "relative_drift_limit_m": 0.003,
            "retry_clearance_m": 0.012,
            "retry_open_timeout_s": 1.2,
            "retry_recenter_timeout_s": 1.5
          },
          "physical_robot_ready": false,
          "prefix": "Original GuardedPiperTaskPolicy approach/close and at most one supported open/recenter/retry; already uses authored native state, not a fully blind baseline.",
          "sampling_limit": "Independent 1 ms evidence may contradict sampled admission; that remains a finding. No sensor or material inference is implemented.",
          "schema": "dvidia.piper-probe-stop/v1",
          "stop_scope": "Holding native position targets is not physical arrest or calibrated force limiting; inertia and existing target rate limits can continue motion.",
          "timer_admission": "Same 10 mm/20 mm/s probe target law, admitted at elapsed >=600 ms from that probe start; no evidence predicate or slip alarm before admission. Unexpected contacts and bounded timeouts still stop.",
          "timer_admission_s": 0.6,
          "variants": [
            "evidence",
            "timer"
          ]
        },
        "acquisition_variant": "evidence",
        "active_probe_index": 0,
        "admission_time_s": 11.759999999998922,
        "admitted": false,
        "contract": {
          "acquisition": "Unchanged ProbeStopPolicy evidence acquisition, including its bounded supported retry. All variants share the same prefix through the first admission observation.",
          "cartesian": "Latch measured TCP position/orientation and preceding issued targets. Fixed joint bias equals issued target minus pose_action at the admission pose. First command repeats the exact issued target; later pose_action updates receive that fixed bias.",
          "control_dt_s": 0.02,
          "final_observation": "Repeat force, original eligibility and Cartesian pose-error checks. Do not solve or issue a hypothetical next control at the terminal observation.",
          "invalid_measurements": "Malformed, nonfinite or noncausal observations terminally refuse and raise without issuing a command. No measured-position stop is claimed from invalid measurements.",
          "issued_joint": "Latch the preceding issued six joint targets and the same last issued jaw target at admission.",
          "limits": {
            "initial_joint_bias_ceiling_rad": 0.08,
            "joint_correction_ceiling_rad": 0.03,
            "joint_correction_rate_rad_s": 0.1,
            "native_joint_target_margin_rad": 0.02,
            "per_finger_force_ceiling_n": 10.0,
            "tcp_orientation_error_ceiling_rad": 0.05,
            "tcp_position_error_ceiling_m": 0.004
          },
          "measured_joint": "Original hold: latch measured six joint coordinates and the last issued jaw target at admission.",
          "observation_origin": "privileged_native_simulator_state",
          "physical_robot_ready": false,
          "qualifications": "Engineering limits and the 10 N ceiling are authored synthetic assumptions, not damage limits or calibrated physical telemetry. Position targets are not physical stops or force limiters. No load/friction inference, model training or complete placement is implemented.",
          "rate_scope": "The extra correction slews at at most 0.002 rad per 20 ms per joint. Original native 1 ms target slew, servos, gains and force caps remain unchanged.",
          "refusal": "Original eligibility loss, unexpected contact or observed pad force >10 N terminally requests measured joint hold and the frozen jaw target. Cartesian error, initial-bias, total-correction or native-margin exhaustion also refuses terminally; it never chases an already failed grip.",
          "sampling": "Control checks occur at 20 ms boundaries. Independent saved 1 ms native evidence must judge a continuous 5 s hold; missed between-boundary failures remain findings.",
          "schema": "dvidia.piper-retention/v2",
          "variants": [
            "measured_joint",
            "issued_joint",
            "cartesian"
          ]
        },
        "events": [
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "continue",
              "drift_streak": 0,
              "object_height_delta_m": 0.0,
              "phase": "probe",
              "progress_streak": 0,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0,
              "retry_index": 0,
              "t_seconds": 11.139999999999265,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_probe",
            "probe_index": 0,
            "reason": "slow_load_bearing_check",
            "retention_variant": "cartesian",
            "retry_index": 0,
            "status": "probing",
            "t_seconds": 11.139999999999265,
            "type": "probe_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "bounded_cartesian_hold",
              "drift_streak": 0,
              "object_height_delta_m": 0.0072873616493831644,
              "phase": "probe",
              "progress_streak": 0,
              "qualification_dwell_seconds": 0.09999999999994458,
              "qualified": true,
              "relative_offset_error_m": 0.00010380357630352104,
              "retry_index": 0,
              "t_seconds": 11.759999999998922,
              "table_supported": false,
              "tcp_probe_height_delta_m": 0.00742147699173297
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "probe_stop",
            "probe_index": 0,
            "reason": "sampled_probe_evidence",
            "retention_hold_reference": {
              "fixed_bias_rad": [
                1.3379206149355394e-05,
                -0.005030352160154239,
                -0.0048653269576801605,
                1.5486648517067352e-05,
                0.02643846549197848,
                -3.700890094593401e-05
              ],
              "frozen_jaw_target_m": 0.0,
              "issued_joint_targets_rad": [
                -0.09039070244081344,
                1.7226290292249027,
                -1.1563319589920034,
                -9.519593522942202e-05,
                1.0805466022591796,
                -0.09388006333960737
              ],
              "measured_joint_position_rad": [
                -0.0904040816469628,
                1.727659381385057,
                -1.1514666320343232,
                -0.00011068258374648745,
                1.0541081367672012,
                -0.09384305443866144
              ],
              "position_m": [
                0.30908589275786463,
                -0.02661902186116322,
                0.08929798337420297
              ],
              "quaternion_wxyz": [
                0.013807266828500444,
                -0.0017422621915427416,
                0.9999022811881652,
                -0.0013236237705514453
              ],
              "raw_pose_joint_targets_rad": [
                -0.0904040816469628,
                1.727659381385057,
                -1.1514666320343232,
                -0.00011068258374648937,
                1.0541081367672012,
                -0.09384305443866144
              ],
              "t_seconds": 11.759999999998922
            },
            "retention_variant": "cartesian",
            "retry_index": 0,
            "status": "qualified_hold",
            "t_seconds": 11.759999999998922,
            "type": "evidence_qualified",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm_and_freeze_issued_jaw",
              "drift_streak": 0,
              "object_height_delta_m": 0.008653430643352389,
              "phase": "probe_hold",
              "progress_streak": 0,
              "qualification_dwell_seconds": 1.8199999999989913,
              "qualified": false,
              "relative_offset_error_m": 0.0002868847014167534,
              "retry_index": 0,
              "t_seconds": 13.479999999997968,
              "table_supported": false,
              "tcp_probe_height_delta_m": 0.008937577648992903
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "probe_stop",
            "probe_index": 0,
            "reason": "tcp_position_error_exhausted",
            "retention_variant": "cartesian",
            "retry_index": 0,
            "status": "invalidated_hold",
            "t_seconds": 13.479999999997968,
            "type": "hold_invalidated",
            "variant": "evidence"
          }
        ],
        "ever_admitted": true,
        "final_observed": true,
        "frozen_jaw_target_m": 0.0,
        "initial_context": {
          "object_position_m": [
            0.3030000461054176,
            -0.0259997964761733,
            0.07989224451748383
          ],
          "observation_origin": "privileged_native_simulator_state",
          "t_seconds": 0.0,
          "tcp_position_m": [
            0.4890696662845219,
            0.0014141975654808877,
            0.3665849431043091
          ],
          "tcp_quaternion_wxyz": [
            0.6580840948238629,
            2.7730466224793136e-07,
            0.7529444362872891,
            -1.9485471114950535e-06
          ]
        },
        "last_observed_s": 20.00000000000146,
        "observation_origin": "privileged_native_simulator_state",
        "physical_robot_ready": false,
        "probes": [
          {
            "admission_time_s": 11.759999999998922,
            "disposition": "invalidated_hold",
            "end_time_s": 13.479999999997968,
            "local_offset_origin_m": [
              0.0023283768470907366,
              0.00028785158946637403,
              0.0019330357012626149
            ],
            "object_origin_m": [
              0.30289725328915224,
              -0.0259829377212981,
              0.07991750847332504
            ],
            "observation_origin": "privileged_native_simulator_state",
            "probe_index": 0,
            "reason": "tcp_position_error_exhausted",
            "start_time_s": 11.139999999999265,
            "tcp_origin_m": [
              0.30520509457193273,
              -0.02626046268853909,
              0.08187650638247
            ],
            "tcp_quaternion_wxyz": [
              0.005532314545727244,
              -0.0017629651456056658,
              0.9999829895817203,
              -0.0005531698362201787
            ]
          }
        ],
        "retention": {
          "hold_reference": {
            "fixed_bias_rad": [
              1.3379206149355394e-05,
              -0.005030352160154239,
              -0.0048653269576801605,
              1.5486648517067352e-05,
              0.02643846549197848,
              -3.700890094593401e-05
            ],
            "frozen_jaw_target_m": 0.0,
            "issued_joint_targets_rad": [
              -0.09039070244081344,
              1.7226290292249027,
              -1.1563319589920034,
              -9.519593522942202e-05,
              1.0805466022591796,
              -0.09388006333960737
            ],
            "measured_joint_position_rad": [
              -0.0904040816469628,
              1.727659381385057,
              -1.1514666320343232,
              -0.00011068258374648745,
              1.0541081367672012,
              -0.09384305443866144
            ],
            "position_m": [
              0.30908589275786463,
              -0.02661902186116322,
              0.08929798337420297
            ],
            "quaternion_wxyz": [
              0.013807266828500444,
              -0.0017422621915427416,
              0.9999022811881652,
              -0.0013236237705514453
            ],
            "raw_pose_joint_targets_rad": [
              -0.0904040816469628,
              1.727659381385057,
              -1.1514666320343232,
              -0.00011068258374648937,
              1.0541081367672012,
              -0.09384305443866144
            ],
            "t_seconds": 11.759999999998922
          },
          "input_refusals": [],
          "native_joint_control_limits_rad": [
            [
              -2.618,
              2.618
            ],
            [
              0.0,
              3.14
            ],
            [
              -2.697,
              0.0
            ],
            [
              -1.832,
              1.832
            ],
            [
              -1.22,
              1.22
            ],
            [
              -3.14,
              3.14
            ]
          ],
          "variant": "cartesian"
        },
        "retry_count": 0,
        "schema": "dvidia.piper-retention/v2",
        "status": "invalidated_hold",
        "stop_targets_rad": [
          -0.09039087364271658,
          1.724745486004709,
          -1.1544733226458552,
          -0.00011332216264650242,
          1.076585780536505,
          -0.0938765093563689
        ],
        "variant": "cartesian"
      },
      "scene_id": "m55-f75-p0",
      "timing": {
        "policy_cpu": {
          "maximum_s": 0.0002539999999982001,
          "mean_s": 4.926299999996076e-05,
          "over_20ms": 0,
          "p50_s": 5.000000000165983e-05,
          "p95_s": 9.399999999750718e-05,
          "p99_s": 0.00013712000000225532,
          "samples": 1000
        },
        "policy_wall": {
          "maximum_s": 0.0006140423938632011,
          "mean_s": 4.98511353507638e-05,
          "over_20ms": 0,
          "p50_s": 5.0020404160022736e-05,
          "p95_s": 9.571891278028484e-05,
          "p99_s": 0.00015094542875885962,
          "samples": 1000
        },
        "step_cpu": {
          "maximum_s": 0.016279000000004373,
          "mean_s": 0.0018284569999998937,
          "over_20ms": 0,
          "p50_s": 0.0018864999999976817,
          "p95_s": 0.0028111499999941003,
          "p99_s": 0.003410150000002332,
          "samples": 1000
        },
        "step_wall": {
          "maximum_s": 0.017307083122432232,
          "mean_s": 0.0018448591493070126,
          "over_20ms": 0,
          "p50_s": 0.0019121041987091303,
          "p95_s": 0.0028656041482463474,
          "p99_s": 0.0034595250105485314,
          "samples": 1000
        }
      },
      "valid": true,
      "variant": "cartesian"
    },
    {
      "error": null,
      "evaluation": {
        "corrections": {
          "bound_refusal_counts": {},
          "flag_counts": {
            "correction_rate_limited": 0
          },
          "hold_record_count": 398,
          "input_refusals": [],
          "maximum_abs_active_correction_rad": null,
          "maximum_abs_desired_correction_rad": null,
          "rate_limited_axis_occurrences": 0,
          "scope": "Includes recorded final diagnostic checks; only command_issued rows represent issued controls."
        },
        "decomposition": {
          "elapsed_s": 5.0,
          "local_offset_change_m": 0.0005337617203137636,
          "object_world_z_delta_m": 0.0011248112319273557,
          "relative_world_z_delta_m": -0.00048713088501203816,
          "scope": "Kinematic components, not causal attribution or calibrated physical slip.",
          "tcp_world_z_delta_m": 0.0016119421169393938
        },
        "final": {
          "both_qualified": true,
          "controller_qualified": true,
          "evidence_admissible": true,
          "native_qualified": true
        },
        "first_admission": {
          "native_prefix_qualified": true,
          "native_qualifying_window_s": 0.112,
          "probe_index": 0,
          "time_s": 12.059999999998755
        },
        "native": {
          "arrays_sha256": "0f93c8c61d409500385eba152f4ae5b42c726bf04296488d248e4d116e26f2f5",
          "complete": true,
          "maximum_per_finger_force_n": 0.4309006326810817,
          "rows": 20000,
          "unexpected_contact_native_ticks": 0,
          "valid": true,
          "warnings": []
        },
        "physical_robot_ready": false,
        "primary": {
          "all_native_hold_forces_within_ceiling": true,
          "combined_qualified_pause": true,
          "complete_5s": true,
          "controller_retained_at_5s": true,
          "first_native_predicate_failure_s": null,
          "followup_available_s": 7.940000000002705,
          "native_pause_success": true,
          "reason": "success",
          "required_s": 5.0,
          "success": true,
          "target_time_s": 17.059999999998755
        },
        "probes": [
          {
            "claims": [
              {
                "native_prefix_qualified": true,
                "t_seconds": 12.059999999998755
              }
            ],
            "disposition": "qualified_hold",
            "final_native_qualified_from_origin": true,
            "probe_index": 0,
            "start_time_s": 11.439999999999099
          }
        ],
        "receipt": {
          "admission": {
            "observation_origin": "privileged_native_simulation_plus_caller_planning_assumptions",
            "physical_robot_ready": false,
            "planning": {
              "computed": {
                "conservative_required_load_n": 0.8172986249999998,
                "gravity_m_s2": 9.80665,
                "pose_specific_payload_limit_force_n": 0.980665,
                "two_finger_friction_capacity_n": 15.0
              },
              "observation_origin": "caller_declared_not_verified",
              "physical_robot_ready": false,
              "reasons": [
                "Declared checks pass for simulated transport planning; this is not hardware qualification."
              ],
              "schema": "dvidia.task-feasibility-result/v1",
              "scope": "Planning assessment only. Parallel two-finger vertical-lift approximation; ignores moment, center of mass, deformation, transient impacts and unmodeled contact effects. Unknown values remain unknown; mass is never inferred from images. Probe/test-lift/controller integration is not implemented. No hardware actuation is performed; this is not hardware qualification.",
              "status": "ready_for_simulated_transport"
            },
            "probe": {
              "admissible": true,
              "historical_qualified": true,
              "latest_qualified": true,
              "physical_robot_ready": false,
              "reasons": [],
              "receipt_sha256": "a308f5a40d0048294e6ff2ecfeb65e9a531bd75fb9f16046a066ecd32e183446",
              "schema": "dvidia.probe-evidence-verification/v1",
              "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.",
              "verified": true
            },
            "schema": "dvidia.task-feasibility-with-probe/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification. Unknown planning values remain unknown. The unchanged approximate vertical-lift planning gate describes declared loads; it supplies no transport path, geospatial-goal contract or actuator permission. This wrapper never issues controls.",
            "status": "ready_for_simulated_transport"
          },
          "context": {
            "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
            "calibration_id": "synthetic_probe_v01",
            "calibration_scope": "simulation_assumptions_not_hardware",
            "command_sha256": "d1a2921a34cb258ec02c47dcdcd9ace3a76a7561463781b0122ff4b8d784bd3c",
            "feasibility_sha256": "9fc37136dd63b98f09de65127d974f722f9264024909f8bd554d253bc3b4fc92",
            "grasp_id": "m55-f75-p1-issued_joint-probe-0",
            "initial_object_position_m": [
              0.30699999506272085,
              -0.03700017660547427,
              0.07989224451748382
            ],
            "model_sha256": "62fd8938c01f628eb96737450bf0146b182cc15843fd7f0948fdd5ff02a49fab",
            "native_status": {
              "simulation_time_s": 20.00000000000146,
              "unexpected_contact_native_ticks": 0,
              "valid": true,
              "warnings": []
            },
            "object_id": "task_block",
            "per_finger_force_ceiling_n": 10.0,
            "pose_binding_sha256": "b6c2e3d767a118e06ddea7b55d88d5be88fa560ea7bb59b976d65f16c47c5274",
            "probe_index": 0,
            "probe_origin_object_position_m": [
              0.3068916127587379,
              -0.03699201129123967,
              0.0799188013937404
            ],
            "probe_origin_tcp_local_offset_m": [
              0.0023160192423370613,
              0.00029850897452960687,
              0.0019229568490792455
            ],
            "probe_start_s": 11.439999999999099,
            "robot_profile": "piper",
            "run_id": "m55-f75-p1-issued_joint",
            "schema": "dvidia.probe-context/v1",
            "source_sha256": "cc82eb867d3a927a487317b2e9e470fcb8f53e9da000a1764b7c5a1878883e69"
          },
          "physical_robot_ready": false,
          "planning_input": {
            "allowed_pose_tolerance_m": 0.003,
            "calibration_id": "synthetic_probe_v01",
            "friction_interval": [
              0.75,
              0.75
            ],
            "geometry_known": true,
            "gripper_max_opening_interval_m": [
              0.07,
              0.07
            ],
            "gripper_min_closure_m": 0.0,
            "mass_interval_kg": [
              0.055,
              0.055
            ],
            "object_width_interval_m": [
              0.04,
              0.04
            ],
            "observations_fresh": true,
            "per_finger_normal_force_budget_n": 10.0,
            "planned_upward_accel_m_s2": 0.1,
            "pose_specific_payload_limit_kg": 0.1,
            "pose_uncertainty_m": 0.0,
            "reachability": "reachable",
            "safety_factor": 1.5,
            "schema": "dvidia.task-feasibility-input/v1",
            "slip_detected": false,
            "test_lift_passed": false
          },
          "receipt": {
            "audit": {
              "controller_claim_mismatches": [],
              "controller_claims_checked": 2,
              "controller_conservative_abstention_count": 0,
              "controller_coverage": "Only the supplied claims are checked; omitted decisions are not inferred.",
              "controller_false_qualification_count": 0,
              "controller_positive_claims": 2,
              "force_ceiling_known": true,
              "maximum_observed_per_finger_force_n": 0.4309006326810817,
              "reasons": [],
              "rows": 20000,
              "unexpected_contact_native_ticks": 0,
              "valid": true
            },
            "context": {
              "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
              "calibration_id": "synthetic_probe_v01",
              "calibration_scope": "simulation_assumptions_not_hardware",
              "command_sha256": "d1a2921a34cb258ec02c47dcdcd9ace3a76a7561463781b0122ff4b8d784bd3c",
              "feasibility_sha256": "9fc37136dd63b98f09de65127d974f722f9264024909f8bd554d253bc3b4fc92",
              "grasp_id": "m55-f75-p1-issued_joint-probe-0",
              "initial_object_position_m": [
                0.30699999506272085,
                -0.03700017660547427,
                0.07989224451748382
              ],
              "model_sha256": "62fd8938c01f628eb96737450bf0146b182cc15843fd7f0948fdd5ff02a49fab",
              "native_status": {
                "simulation_time_s": 20.00000000000146,
                "unexpected_contact_native_ticks": 0,
                "valid": true,
                "warnings": []
              },
              "object_id": "task_block",
              "per_finger_force_ceiling_n": 10.0,
              "pose_binding_sha256": "b6c2e3d767a118e06ddea7b55d88d5be88fa560ea7bb59b976d65f16c47c5274",
              "probe_index": 0,
              "probe_origin_object_position_m": [
                0.3068916127587379,
                -0.03699201129123967,
                0.0799188013937404
              ],
              "probe_origin_tcp_local_offset_m": [
                0.0023160192423370613,
                0.00029850897452960687,
                0.0019229568490792455
              ],
              "probe_start_s": 11.439999999999099,
              "robot_profile": "piper",
              "run_id": "m55-f75-p1-issued_joint",
              "schema": "dvidia.probe-context/v1",
              "source_sha256": "cc82eb867d3a927a487317b2e9e470fcb8f53e9da000a1764b7c5a1878883e69"
            },
            "context_sha256": "8302504195e138007913a24c3409008ecd33f692e47ad851410b7767e191c2f7",
            "controller_qualifications": [
              {
                "probe_index": 0,
                "qualified": true,
                "t_seconds": 12.059999999998755
              },
              {
                "probe_index": 0,
                "qualified": true,
                "t_seconds": 20.00000000000146
              }
            ],
            "criteria": {
              "distance_comparison_epsilon": 1e-12,
              "initial_sample_tolerance_m": 0.001,
              "maximum_tcp_local_drift_m": 0.003,
              "minimum_continuous_dwell_s": 0.1,
              "minimum_per_finger_force_n_exclusive": 0.01,
              "minimum_rise_m": 0.006,
              "native_dt_s": 0.001,
              "origin_tolerance_m": 1e-09,
              "time_tolerance_s": 1e-08
            },
            "history": {
              "ever_qualified": true,
              "first_qualified_s": 12.047999999998762,
              "maximum_continuous_qualifying_s": 8.052
            },
            "latest": {
              "condition_valid": true,
              "continuous_qualifying_s": 8.052,
              "controller_claim": {
                "probe_index": 0,
                "qualified": true,
                "t_seconds": 20.00000000000146
              },
              "native_tick": 20000,
              "qualified": true,
              "rise_m": 0.00804421806892236,
              "tcp_local_drift_m": 0.0009627682020305383,
              "time_s": 20.00000000000146
            },
            "metadata_sha256": "ad8229630cc9f8718829bb8317b1a82480dcf18b9f71bd23666acfe71a003ef7",
            "native_arrays_sha256": "0f93c8c61d409500385eba152f4ae5b42c726bf04296488d248e4d116e26f2f5",
            "physical_robot_ready": false,
            "receipt_sha256": "a308f5a40d0048294e6ff2ecfeb65e9a531bd75fb9f16046a066ecd32e183446",
            "schema": "dvidia.probe-evidence/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification."
          },
          "status": "inspected",
          "verification": {
            "admissible": true,
            "historical_qualified": true,
            "latest_qualified": true,
            "physical_robot_ready": false,
            "reasons": [],
            "receipt_sha256": "a308f5a40d0048294e6ff2ecfeb65e9a531bd75fb9f16046a066ecd32e183446",
            "schema": "dvidia.probe-evidence-verification/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.",
            "verified": true
          }
        },
        "stationarity": {
          "complete_5s": true,
          "grip_retention_and_stationarity": false,
          "maximum_tcp_orientation_excursion_rad": 0.019813999866114127,
          "maximum_tcp_position_excursion_m": 0.004677570715596143,
          "orientation_ceiling_rad": 0.05,
          "position_ceiling_m": 0.004,
          "required_s": 5.0,
          "scope": "Common recorded native TCP pose endpoint, not calibrated hardware stationarity.",
          "tcp_pose_within_bounds": false,
          "terminal_tcp_orientation_delta_rad": 0.019813999866114127,
          "terminal_tcp_position_delta_m": [
            -0.00435694829952904,
            0.0005461793901920531,
            0.0016119421169393938
          ]
        },
        "status": "inspected"
      },
      "files": {
        "episode.json.gz": {
          "bytes": 791424,
          "sha256": "8d2fcf7b9d571c74126669e9b22a81abce0c8f5af9c3ef74ffb91f6140467e7d"
        },
        "evaluation.json": {
          "bytes": 12568,
          "sha256": "5d5e9ae0122df6dfc75735cae4bf517d6555b38f5a1dee747317f5448f2f78f5"
        },
        "native.json": {
          "bytes": 13763,
          "sha256": "19cc1d5998901cbc12da2916add3096763081e9decbfc7193981bfabc4b871e0"
        },
        "native.npz": {
          "bytes": 4065004,
          "sha256": "8c412340e244b6960debbe2be18daf513d6a34e5af5959a8d01b0e569dcfcbb5"
        },
        "started.json": {
          "bytes": 149,
          "sha256": "859dffed39f3b47bee2e6efbdf702cd3d3d41c7a33cab0c43fd45952b5e1824d"
        }
      },
      "friction": 0.75,
      "id": "m55-f75-p1-issued_joint",
      "mass_kg": 0.055,
      "metrics": {
        "carry_complete": false,
        "carry_contact_loss_events": 0,
        "carry_contact_loss_tolerance_seconds": 0.04,
        "dwell_seconds": 0.0,
        "first_success_time_seconds": null,
        "grasp_seen": true,
        "lift_dwell_seconds": 0.0,
        "lift_seen": false,
        "max_carry_contact_loss_seconds": 0.0,
        "max_object_lift_m": 0.008611965096605806,
        "max_pad_normal_force_n": 0.4309006326810817,
        "physical_robot_ready": false,
        "reason": "timeout",
        "retention_lost": false,
        "simulation_time": 20.00000000000146,
        "steps": 1000,
        "success": false,
        "target_distance_m": 0.12502637947444425,
        "unexpected_contact_native_ticks": 0,
        "valid": true,
        "warnings": []
      },
      "policy": {
        "abort_reason": null,
        "acquisition_contract": {
          "comparison_scope": "Closed-loop variants may acquire different trajectories through early hold/retry. This is not an isolated classifier ablation.",
          "control_dt_s": 0.02,
          "evidence_admission": "Current bilateral force >0.01 N, no table support, object rise >=6 mm and TCP-local offset drift <=3 mm continuously across sampled boundaries for elapsed >=100 ms.",
          "hold": "Latch measured six arm joints and the last issued jaw target at admission/terminal invalidity. No full lift/transfer, no squeeze escalation, no post-admission retry.",
          "invalidation": "At each subsequent 20 ms observation and final observation, invalidate immediately on lost contact/force, support, insufficient rise, >3 mm local drift or unexpected contact. Never requalify after terminal invalidity.",
          "observation_origin": "privileged_native_simulator_state",
          "parameters": {
            "close_timeout_s": 1.4,
            "consecutive_alarm_samples": 2,
            "max_retries": 1,
            "monitor_min_probe_motion_m": 0.003,
            "probe_height_m": 0.01,
            "probe_min_object_rise_m": 0.006,
            "probe_speed_m_s": 0.02,
            "probe_timeout_s": 1.4,
            "qualification_dwell_s": 0.1,
            "relative_drift_limit_m": 0.003,
            "retry_clearance_m": 0.012,
            "retry_open_timeout_s": 1.2,
            "retry_recenter_timeout_s": 1.5
          },
          "physical_robot_ready": false,
          "prefix": "Original GuardedPiperTaskPolicy approach/close and at most one supported open/recenter/retry; already uses authored native state, not a fully blind baseline.",
          "sampling_limit": "Independent 1 ms evidence may contradict sampled admission; that remains a finding. No sensor or material inference is implemented.",
          "schema": "dvidia.piper-probe-stop/v1",
          "stop_scope": "Holding native position targets is not physical arrest or calibrated force limiting; inertia and existing target rate limits can continue motion.",
          "timer_admission": "Same 10 mm/20 mm/s probe target law, admitted at elapsed >=600 ms from that probe start; no evidence predicate or slip alarm before admission. Unexpected contacts and bounded timeouts still stop.",
          "timer_admission_s": 0.6,
          "variants": [
            "evidence",
            "timer"
          ]
        },
        "acquisition_variant": "evidence",
        "active_probe_index": 0,
        "admission_time_s": 12.059999999998755,
        "admitted": true,
        "contract": {
          "acquisition": "Unchanged ProbeStopPolicy evidence acquisition, including its bounded supported retry. All variants share the same prefix through the first admission observation.",
          "cartesian": "Latch measured TCP position/orientation and preceding issued targets. Fixed joint bias equals issued target minus pose_action at the admission pose. First command repeats the exact issued target; later pose_action updates receive that fixed bias.",
          "control_dt_s": 0.02,
          "final_observation": "Repeat force, original eligibility and Cartesian pose-error checks. Do not solve or issue a hypothetical next control at the terminal observation.",
          "invalid_measurements": "Malformed, nonfinite or noncausal observations terminally refuse and raise without issuing a command. No measured-position stop is claimed from invalid measurements.",
          "issued_joint": "Latch the preceding issued six joint targets and the same last issued jaw target at admission.",
          "limits": {
            "initial_joint_bias_ceiling_rad": 0.08,
            "joint_correction_ceiling_rad": 0.03,
            "joint_correction_rate_rad_s": 0.1,
            "native_joint_target_margin_rad": 0.02,
            "per_finger_force_ceiling_n": 10.0,
            "tcp_orientation_error_ceiling_rad": 0.05,
            "tcp_position_error_ceiling_m": 0.004
          },
          "measured_joint": "Original hold: latch measured six joint coordinates and the last issued jaw target at admission.",
          "observation_origin": "privileged_native_simulator_state",
          "physical_robot_ready": false,
          "qualifications": "Engineering limits and the 10 N ceiling are authored synthetic assumptions, not damage limits or calibrated physical telemetry. Position targets are not physical stops or force limiters. No load/friction inference, model training or complete placement is implemented.",
          "rate_scope": "The extra correction slews at at most 0.002 rad per 20 ms per joint. Original native 1 ms target slew, servos, gains and force caps remain unchanged.",
          "refusal": "Original eligibility loss, unexpected contact or observed pad force >10 N terminally requests measured joint hold and the frozen jaw target. Cartesian error, initial-bias, total-correction or native-margin exhaustion also refuses terminally; it never chases an already failed grip.",
          "sampling": "Control checks occur at 20 ms boundaries. Independent saved 1 ms native evidence must judge a continuous 5 s hold; missed between-boundary failures remain findings.",
          "schema": "dvidia.piper-retention/v2",
          "variants": [
            "measured_joint",
            "issued_joint",
            "cartesian"
          ]
        },
        "events": [
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "continue",
              "drift_streak": 0,
              "object_height_delta_m": 0.0,
              "phase": "probe",
              "progress_streak": 0,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0,
              "retry_index": 0,
              "t_seconds": 11.439999999999099,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_probe",
            "probe_index": 0,
            "reason": "slow_load_bearing_check",
            "retention_variant": "issued_joint",
            "retry_index": 0,
            "status": "probing",
            "t_seconds": 11.439999999999099,
            "type": "probe_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "bounded_issued_joint_hold",
              "drift_streak": 0,
              "object_height_delta_m": 0.007225666166532266,
              "phase": "probe",
              "progress_streak": 0,
              "qualification_dwell_seconds": 0.09999999999994458,
              "qualified": true,
              "relative_offset_error_m": 0.00012382980327012234,
              "retry_index": 0,
              "t_seconds": 12.059999999998755,
              "table_supported": false,
              "tcp_probe_height_delta_m": 0.007383672809769912
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "probe_stop",
            "probe_index": 0,
            "reason": "sampled_probe_evidence",
            "retention_hold_reference": {
              "fixed_bias_rad": null,
              "frozen_jaw_target_m": 0.0,
              "issued_joint_targets_rad": [
                -0.1245300605307795,
                1.739340166316787,
                -1.1782815452207955,
                6.784023303488177e-06,
                1.0858238520022883,
                -0.12942346318337414
              ],
              "measured_joint_position_rad": [
                -0.12453803868581265,
                1.7443900796033245,
                -1.1734097925894673,
                -9.700658813532128e-07,
                1.0595912850329559,
                -0.12937423933445402
              ],
              "position_m": [
                0.31301408174079903,
                -0.0377595644934078,
                0.089251187260432
              ],
              "quaternion_wxyz": [
                0.013624640806392741,
                -0.0024143772787975503,
                0.9999027534373328,
                -0.0017388541321263103
              ],
              "raw_pose_joint_targets_rad": null,
              "t_seconds": 12.059999999998755
            },
            "retention_variant": "issued_joint",
            "retry_index": 0,
            "status": "qualified_hold",
            "t_seconds": 12.059999999998755,
            "type": "evidence_qualified",
            "variant": "evidence"
          }
        ],
        "ever_admitted": true,
        "final_observed": true,
        "frozen_jaw_target_m": 0.0,
        "initial_context": {
          "object_position_m": [
            0.30699999506272085,
            -0.03700017660547427,
            0.07989224451748382
          ],
          "observation_origin": "privileged_native_simulator_state",
          "t_seconds": 0.0,
          "tcp_position_m": [
            0.4890696662845219,
            0.0014141975654808877,
            0.3665849431043091
          ],
          "tcp_quaternion_wxyz": [
            0.6580840948238629,
            2.7730466224793136e-07,
            0.7529444362872891,
            -1.9485471114950535e-06
          ]
        },
        "last_observed_s": 20.00000000000146,
        "observation_origin": "privileged_native_simulator_state",
        "physical_robot_ready": false,
        "probes": [
          {
            "admission_time_s": 12.059999999998755,
            "disposition": "qualified_hold",
            "end_time_s": null,
            "local_offset_origin_m": [
              0.0023160192423370613,
              0.00029850897452960687,
              0.0019229568490792455
            ],
            "object_origin_m": [
              0.3068916127587379,
              -0.03699201129123967,
              0.0799188013937404
            ],
            "observation_origin": "privileged_native_simulator_state",
            "probe_index": 0,
            "reason": null,
            "start_time_s": 11.439999999999099,
            "tcp_origin_m": [
              0.30918777634724925,
              -0.03727655650513114,
              0.0818675144506621
            ],
            "tcp_quaternion_wxyz": [
              0.005496003086601375,
              -0.0024413165218607306,
              0.9999816729609204,
              -0.0006983308604810281
            ]
          }
        ],
        "retention": {
          "hold_reference": {
            "fixed_bias_rad": null,
            "frozen_jaw_target_m": 0.0,
            "issued_joint_targets_rad": [
              -0.1245300605307795,
              1.739340166316787,
              -1.1782815452207955,
              6.784023303488177e-06,
              1.0858238520022883,
              -0.12942346318337414
            ],
            "measured_joint_position_rad": [
              -0.12453803868581265,
              1.7443900796033245,
              -1.1734097925894673,
              -9.700658813532128e-07,
              1.0595912850329559,
              -0.12937423933445402
            ],
            "position_m": [
              0.31301408174079903,
              -0.0377595644934078,
              0.089251187260432
            ],
            "quaternion_wxyz": [
              0.013624640806392741,
              -0.0024143772787975503,
              0.9999027534373328,
              -0.0017388541321263103
            ],
            "raw_pose_joint_targets_rad": null,
            "t_seconds": 12.059999999998755
          },
          "input_refusals": [],
          "native_joint_control_limits_rad": [
            [
              -2.618,
              2.618
            ],
            [
              0.0,
              3.14
            ],
            [
              -2.697,
              0.0
            ],
            [
              -1.832,
              1.832
            ],
            [
              -1.22,
              1.22
            ],
            [
              -3.14,
              3.14
            ]
          ],
          "variant": "issued_joint"
        },
        "retry_count": 0,
        "schema": "dvidia.piper-retention/v2",
        "status": "qualified_hold",
        "stop_targets_rad": [
          -0.1245300605307795,
          1.739340166316787,
          -1.1782815452207955,
          6.784023303488177e-06,
          1.0858238520022883,
          -0.12942346318337414
        ],
        "variant": "issued_joint"
      },
      "scene_id": "m55-f75-p1",
      "timing": {
        "policy_cpu": {
          "maximum_s": 0.00044599999999661577,
          "mean_s": 4.4230000000005985e-05,
          "over_20ms": 0,
          "p50_s": 4.899999999707916e-05,
          "p95_s": 7.80000000020209e-05,
          "p99_s": 0.00010301000000282556,
          "samples": 1000
        },
        "policy_wall": {
          "maximum_s": 0.0004452499561011791,
          "mean_s": 4.492469737306237e-05,
          "over_20ms": 0,
          "p50_s": 4.850002005696297e-05,
          "p95_s": 7.850443944334984e-05,
          "p99_s": 0.00011382294353097675,
          "samples": 1000
        },
        "step_cpu": {
          "maximum_s": 0.004260999999999626,
          "mean_s": 0.001785268000000201,
          "over_20ms": 0,
          "p50_s": 0.001539499999999805,
          "p95_s": 0.0028043500000045182,
          "p99_s": 0.003544899999997994,
          "samples": 1000
        },
        "step_wall": {
          "maximum_s": 0.005135000217705965,
          "mean_s": 0.0018099955096840857,
          "over_20ms": 0,
          "p50_s": 0.0015651672147214413,
          "p95_s": 0.002944912365637719,
          "p99_s": 0.003888112907297908,
          "samples": 1000
        }
      },
      "valid": true,
      "variant": "issued_joint"
    },
    {
      "error": null,
      "evaluation": {
        "corrections": {
          "bound_refusal_counts": {
            "tcp_position_error_exhausted": 1
          },
          "flag_counts": {
            "correction_rate_limited": 0
          },
          "hold_record_count": 398,
          "input_refusals": [],
          "maximum_abs_active_correction_rad": 0.0002429614333165908,
          "maximum_abs_desired_correction_rad": 0.0002429614333165908,
          "rate_limited_axis_occurrences": 0,
          "scope": "Includes recorded final diagnostic checks; only command_issued rows represent issued controls."
        },
        "decomposition": {
          "elapsed_s": 5.0,
          "local_offset_change_m": 0.0005339503699161863,
          "object_world_z_delta_m": 3.8450374465509585e-05,
          "relative_world_z_delta_m": -0.00048676386710883035,
          "scope": "Kinematic components, not causal attribution or calibrated physical slip.",
          "tcp_world_z_delta_m": 0.0005252142415743399
        },
        "final": {
          "both_qualified": false,
          "controller_qualified": false,
          "evidence_admissible": false,
          "native_qualified": true
        },
        "first_admission": {
          "native_prefix_qualified": true,
          "native_qualifying_window_s": 0.112,
          "probe_index": 0,
          "time_s": 12.059999999998755
        },
        "native": {
          "arrays_sha256": "9d816f92171a122d794982dbb6b8813ad1a3cf1fc9b3bdd40ff57f8388f66cf8",
          "complete": true,
          "maximum_per_finger_force_n": 0.4309006326810817,
          "rows": 20000,
          "unexpected_contact_native_ticks": 0,
          "valid": true,
          "warnings": []
        },
        "physical_robot_ready": false,
        "primary": {
          "all_native_hold_forces_within_ceiling": true,
          "combined_qualified_pause": false,
          "complete_5s": true,
          "controller_retained_at_5s": false,
          "first_native_predicate_failure_s": null,
          "followup_available_s": 7.940000000002705,
          "native_pause_success": true,
          "reason": "success",
          "required_s": 5.0,
          "success": true,
          "target_time_s": 17.059999999998755
        },
        "probes": [
          {
            "claims": [
              {
                "native_prefix_qualified": true,
                "t_seconds": 12.059999999998755
              }
            ],
            "disposition": "invalidated_hold",
            "final_native_qualified_from_origin": true,
            "probe_index": 0,
            "start_time_s": 11.439999999999099
          }
        ],
        "receipt": {
          "admission": {
            "observation_origin": "privileged_native_simulation_plus_caller_planning_assumptions",
            "physical_robot_ready": false,
            "planning": {
              "computed": {
                "conservative_required_load_n": 0.8172986249999998,
                "gravity_m_s2": 9.80665,
                "pose_specific_payload_limit_force_n": 0.980665,
                "two_finger_friction_capacity_n": 15.0
              },
              "observation_origin": "caller_declared_not_verified",
              "physical_robot_ready": false,
              "reasons": [
                "Run and record a cautious test lift under the same calibrated pose and load conditions before simulated transport planning."
              ],
              "schema": "dvidia.task-feasibility-result/v1",
              "scope": "Planning assessment only. Parallel two-finger vertical-lift approximation; ignores moment, center of mass, deformation, transient impacts and unmodeled contact effects. Unknown values remain unknown; mass is never inferred from images. Probe/test-lift/controller integration is not implemented. No hardware actuation is performed; this is not hardware qualification.",
              "status": "test_lift_required"
            },
            "probe": {
              "admissible": false,
              "historical_qualified": true,
              "latest_qualified": true,
              "physical_robot_ready": false,
              "reasons": [
                "latest_controller_not_qualified"
              ],
              "receipt_sha256": "100422c4167d85d02ca8df8fee02129ea9caf81cea9df4b3d0ea22d08b13638f",
              "schema": "dvidia.probe-evidence-verification/v1",
              "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.",
              "verified": true
            },
            "schema": "dvidia.task-feasibility-with-probe/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification. Unknown planning values remain unknown. The unchanged approximate vertical-lift planning gate describes declared loads; it supplies no transport path, geospatial-goal contract or actuator permission. This wrapper never issues controls.",
            "status": "test_lift_required"
          },
          "context": {
            "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
            "calibration_id": "synthetic_probe_v01",
            "calibration_scope": "simulation_assumptions_not_hardware",
            "command_sha256": "1c0ae8106c009bb24049def719f868fb24203a5946d882598afa85f46609794a",
            "feasibility_sha256": "9fc37136dd63b98f09de65127d974f722f9264024909f8bd554d253bc3b4fc92",
            "grasp_id": "m55-f75-p1-cartesian-probe-0",
            "initial_object_position_m": [
              0.30699999506272085,
              -0.03700017660547427,
              0.07989224451748382
            ],
            "model_sha256": "62fd8938c01f628eb96737450bf0146b182cc15843fd7f0948fdd5ff02a49fab",
            "native_status": {
              "simulation_time_s": 20.00000000000146,
              "unexpected_contact_native_ticks": 0,
              "valid": true,
              "warnings": []
            },
            "object_id": "task_block",
            "per_finger_force_ceiling_n": 10.0,
            "pose_binding_sha256": "f4d623b3264d8a303255b33782855963a95a3096febcbe98c470db82d92146ff",
            "probe_index": 0,
            "probe_origin_object_position_m": [
              0.3068916127587379,
              -0.03699201129123967,
              0.0799188013937404
            ],
            "probe_origin_tcp_local_offset_m": [
              0.0023160192423370613,
              0.00029850897452960687,
              0.0019229568490792455
            ],
            "probe_start_s": 11.439999999999099,
            "robot_profile": "piper",
            "run_id": "m55-f75-p1-cartesian",
            "schema": "dvidia.probe-context/v1",
            "source_sha256": "cc82eb867d3a927a487317b2e9e470fcb8f53e9da000a1764b7c5a1878883e69"
          },
          "physical_robot_ready": false,
          "planning_input": {
            "allowed_pose_tolerance_m": 0.003,
            "calibration_id": "synthetic_probe_v01",
            "friction_interval": [
              0.75,
              0.75
            ],
            "geometry_known": true,
            "gripper_max_opening_interval_m": [
              0.07,
              0.07
            ],
            "gripper_min_closure_m": 0.0,
            "mass_interval_kg": [
              0.055,
              0.055
            ],
            "object_width_interval_m": [
              0.04,
              0.04
            ],
            "observations_fresh": true,
            "per_finger_normal_force_budget_n": 10.0,
            "planned_upward_accel_m_s2": 0.1,
            "pose_specific_payload_limit_kg": 0.1,
            "pose_uncertainty_m": 0.0,
            "reachability": "reachable",
            "safety_factor": 1.5,
            "schema": "dvidia.task-feasibility-input/v1",
            "slip_detected": false,
            "test_lift_passed": false
          },
          "receipt": {
            "audit": {
              "controller_claim_mismatches": [
                {
                  "classification": "conservative_abstention",
                  "controller_qualified": false,
                  "native_prefix_qualified": true,
                  "t_seconds": 20.00000000000146
                }
              ],
              "controller_claims_checked": 2,
              "controller_conservative_abstention_count": 1,
              "controller_coverage": "Only the supplied claims are checked; omitted decisions are not inferred.",
              "controller_false_qualification_count": 0,
              "controller_positive_claims": 1,
              "force_ceiling_known": true,
              "maximum_observed_per_finger_force_n": 0.4309006326810817,
              "reasons": [],
              "rows": 20000,
              "unexpected_contact_native_ticks": 0,
              "valid": true
            },
            "context": {
              "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
              "calibration_id": "synthetic_probe_v01",
              "calibration_scope": "simulation_assumptions_not_hardware",
              "command_sha256": "1c0ae8106c009bb24049def719f868fb24203a5946d882598afa85f46609794a",
              "feasibility_sha256": "9fc37136dd63b98f09de65127d974f722f9264024909f8bd554d253bc3b4fc92",
              "grasp_id": "m55-f75-p1-cartesian-probe-0",
              "initial_object_position_m": [
                0.30699999506272085,
                -0.03700017660547427,
                0.07989224451748382
              ],
              "model_sha256": "62fd8938c01f628eb96737450bf0146b182cc15843fd7f0948fdd5ff02a49fab",
              "native_status": {
                "simulation_time_s": 20.00000000000146,
                "unexpected_contact_native_ticks": 0,
                "valid": true,
                "warnings": []
              },
              "object_id": "task_block",
              "per_finger_force_ceiling_n": 10.0,
              "pose_binding_sha256": "f4d623b3264d8a303255b33782855963a95a3096febcbe98c470db82d92146ff",
              "probe_index": 0,
              "probe_origin_object_position_m": [
                0.3068916127587379,
                -0.03699201129123967,
                0.0799188013937404
              ],
              "probe_origin_tcp_local_offset_m": [
                0.0023160192423370613,
                0.00029850897452960687,
                0.0019229568490792455
              ],
              "probe_start_s": 11.439999999999099,
              "robot_profile": "piper",
              "run_id": "m55-f75-p1-cartesian",
              "schema": "dvidia.probe-context/v1",
              "source_sha256": "cc82eb867d3a927a487317b2e9e470fcb8f53e9da000a1764b7c5a1878883e69"
            },
            "context_sha256": "32994abc98d206330ad4bcf2543387b2a6ed638ec497b18f8a23bf3137d0420d",
            "controller_qualifications": [
              {
                "probe_index": 0,
                "qualified": true,
                "t_seconds": 12.059999999998755
              },
              {
                "probe_index": 0,
                "qualified": false,
                "t_seconds": 20.00000000000146
              }
            ],
            "criteria": {
              "distance_comparison_epsilon": 1e-12,
              "initial_sample_tolerance_m": 0.001,
              "maximum_tcp_local_drift_m": 0.003,
              "minimum_continuous_dwell_s": 0.1,
              "minimum_per_finger_force_n_exclusive": 0.01,
              "minimum_rise_m": 0.006,
              "native_dt_s": 0.001,
              "origin_tolerance_m": 1e-09,
              "time_tolerance_s": 1e-08
            },
            "history": {
              "ever_qualified": true,
              "first_qualified_s": 12.047999999998762,
              "maximum_continuous_qualifying_s": 8.052
            },
            "latest": {
              "condition_valid": true,
              "continuous_qualifying_s": 8.052,
              "controller_claim": {
                "probe_index": 0,
                "qualified": false,
                "t_seconds": 20.00000000000146
              },
              "native_tick": 20000,
              "qualified": true,
              "rise_m": 0.006949209579850707,
              "tcp_local_drift_m": 0.0009629540674341267,
              "time_s": 20.00000000000146
            },
            "metadata_sha256": "ad8229630cc9f8718829bb8317b1a82480dcf18b9f71bd23666acfe71a003ef7",
            "native_arrays_sha256": "9d816f92171a122d794982dbb6b8813ad1a3cf1fc9b3bdd40ff57f8388f66cf8",
            "physical_robot_ready": false,
            "receipt_sha256": "100422c4167d85d02ca8df8fee02129ea9caf81cea9df4b3d0ea22d08b13638f",
            "schema": "dvidia.probe-evidence/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification."
          },
          "status": "inspected",
          "verification": {
            "admissible": false,
            "historical_qualified": true,
            "latest_qualified": true,
            "physical_robot_ready": false,
            "reasons": [
              "latest_controller_not_qualified"
            ],
            "receipt_sha256": "100422c4167d85d02ca8df8fee02129ea9caf81cea9df4b3d0ea22d08b13638f",
            "schema": "dvidia.probe-evidence-verification/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.",
            "verified": true
          }
        },
        "stationarity": {
          "complete_5s": true,
          "grip_retention_and_stationarity": false,
          "maximum_tcp_orientation_excursion_rad": 0.020050088166113502,
          "maximum_tcp_position_excursion_m": 0.004264594980950906,
          "orientation_ceiling_rad": 0.05,
          "position_ceiling_m": 0.004,
          "required_s": 5.0,
          "scope": "Common recorded native TCP pose endpoint, not calibrated hardware stationarity.",
          "tcp_pose_within_bounds": false,
          "terminal_tcp_orientation_delta_rad": 0.020050088166113502,
          "terminal_tcp_position_delta_m": [
            -0.004199661889085271,
            0.0005232211476650026,
            0.0005252142415743399
          ]
        },
        "status": "inspected"
      },
      "files": {
        "episode.json.gz": {
          "bytes": 822729,
          "sha256": "7fdc90ad509ecbd0a820f732589dcadffbdfaada6950231f11d203549a6326bb"
        },
        "evaluation.json": {
          "bytes": 12983,
          "sha256": "437ed485534f05d7a4a5e1d7bc4453460dd3fd003cede2cb88d686671faa803d"
        },
        "native.json": {
          "bytes": 13763,
          "sha256": "19cc1d5998901cbc12da2916add3096763081e9decbfc7193981bfabc4b871e0"
        },
        "native.npz": {
          "bytes": 4056425,
          "sha256": "1528d556613959bd19be0afa4d1b2556d3fd6477e8961bc2c0b41f00916bbc7f"
        },
        "started.json": {
          "bytes": 146,
          "sha256": "78db75d4a84aed461d9e478733a3b42ac7d15b562faccb3fc7e0caa6633557eb"
        }
      },
      "friction": 0.75,
      "id": "m55-f75-p1-cartesian",
      "mass_kg": 0.055,
      "metrics": {
        "carry_complete": false,
        "carry_contact_loss_events": 0,
        "carry_contact_loss_tolerance_seconds": 0.04,
        "dwell_seconds": 0.0,
        "first_success_time_seconds": null,
        "grasp_seen": true,
        "lift_dwell_seconds": 0.0,
        "lift_seen": false,
        "max_carry_contact_loss_seconds": 0.0,
        "max_object_lift_m": 0.008632145555709986,
        "max_pad_normal_force_n": 0.4309006326810817,
        "physical_robot_ready": false,
        "reason": "timeout",
        "retention_lost": false,
        "simulation_time": 20.00000000000146,
        "steps": 1000,
        "success": false,
        "target_distance_m": 0.12492505756345737,
        "unexpected_contact_native_ticks": 0,
        "valid": true,
        "warnings": []
      },
      "policy": {
        "abort_reason": "tcp_position_error_exhausted",
        "acquisition_contract": {
          "comparison_scope": "Closed-loop variants may acquire different trajectories through early hold/retry. This is not an isolated classifier ablation.",
          "control_dt_s": 0.02,
          "evidence_admission": "Current bilateral force >0.01 N, no table support, object rise >=6 mm and TCP-local offset drift <=3 mm continuously across sampled boundaries for elapsed >=100 ms.",
          "hold": "Latch measured six arm joints and the last issued jaw target at admission/terminal invalidity. No full lift/transfer, no squeeze escalation, no post-admission retry.",
          "invalidation": "At each subsequent 20 ms observation and final observation, invalidate immediately on lost contact/force, support, insufficient rise, >3 mm local drift or unexpected contact. Never requalify after terminal invalidity.",
          "observation_origin": "privileged_native_simulator_state",
          "parameters": {
            "close_timeout_s": 1.4,
            "consecutive_alarm_samples": 2,
            "max_retries": 1,
            "monitor_min_probe_motion_m": 0.003,
            "probe_height_m": 0.01,
            "probe_min_object_rise_m": 0.006,
            "probe_speed_m_s": 0.02,
            "probe_timeout_s": 1.4,
            "qualification_dwell_s": 0.1,
            "relative_drift_limit_m": 0.003,
            "retry_clearance_m": 0.012,
            "retry_open_timeout_s": 1.2,
            "retry_recenter_timeout_s": 1.5
          },
          "physical_robot_ready": false,
          "prefix": "Original GuardedPiperTaskPolicy approach/close and at most one supported open/recenter/retry; already uses authored native state, not a fully blind baseline.",
          "sampling_limit": "Independent 1 ms evidence may contradict sampled admission; that remains a finding. No sensor or material inference is implemented.",
          "schema": "dvidia.piper-probe-stop/v1",
          "stop_scope": "Holding native position targets is not physical arrest or calibrated force limiting; inertia and existing target rate limits can continue motion.",
          "timer_admission": "Same 10 mm/20 mm/s probe target law, admitted at elapsed >=600 ms from that probe start; no evidence predicate or slip alarm before admission. Unexpected contacts and bounded timeouts still stop.",
          "timer_admission_s": 0.6,
          "variants": [
            "evidence",
            "timer"
          ]
        },
        "acquisition_variant": "evidence",
        "active_probe_index": 0,
        "admission_time_s": 12.059999999998755,
        "admitted": false,
        "contract": {
          "acquisition": "Unchanged ProbeStopPolicy evidence acquisition, including its bounded supported retry. All variants share the same prefix through the first admission observation.",
          "cartesian": "Latch measured TCP position/orientation and preceding issued targets. Fixed joint bias equals issued target minus pose_action at the admission pose. First command repeats the exact issued target; later pose_action updates receive that fixed bias.",
          "control_dt_s": 0.02,
          "final_observation": "Repeat force, original eligibility and Cartesian pose-error checks. Do not solve or issue a hypothetical next control at the terminal observation.",
          "invalid_measurements": "Malformed, nonfinite or noncausal observations terminally refuse and raise without issuing a command. No measured-position stop is claimed from invalid measurements.",
          "issued_joint": "Latch the preceding issued six joint targets and the same last issued jaw target at admission.",
          "limits": {
            "initial_joint_bias_ceiling_rad": 0.08,
            "joint_correction_ceiling_rad": 0.03,
            "joint_correction_rate_rad_s": 0.1,
            "native_joint_target_margin_rad": 0.02,
            "per_finger_force_ceiling_n": 10.0,
            "tcp_orientation_error_ceiling_rad": 0.05,
            "tcp_position_error_ceiling_m": 0.004
          },
          "measured_joint": "Original hold: latch measured six joint coordinates and the last issued jaw target at admission.",
          "observation_origin": "privileged_native_simulator_state",
          "physical_robot_ready": false,
          "qualifications": "Engineering limits and the 10 N ceiling are authored synthetic assumptions, not damage limits or calibrated physical telemetry. Position targets are not physical stops or force limiters. No load/friction inference, model training or complete placement is implemented.",
          "rate_scope": "The extra correction slews at at most 0.002 rad per 20 ms per joint. Original native 1 ms target slew, servos, gains and force caps remain unchanged.",
          "refusal": "Original eligibility loss, unexpected contact or observed pad force >10 N terminally requests measured joint hold and the frozen jaw target. Cartesian error, initial-bias, total-correction or native-margin exhaustion also refuses terminally; it never chases an already failed grip.",
          "sampling": "Control checks occur at 20 ms boundaries. Independent saved 1 ms native evidence must judge a continuous 5 s hold; missed between-boundary failures remain findings.",
          "schema": "dvidia.piper-retention/v2",
          "variants": [
            "measured_joint",
            "issued_joint",
            "cartesian"
          ]
        },
        "events": [
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "continue",
              "drift_streak": 0,
              "object_height_delta_m": 0.0,
              "phase": "probe",
              "progress_streak": 0,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0,
              "retry_index": 0,
              "t_seconds": 11.439999999999099,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_probe",
            "probe_index": 0,
            "reason": "slow_load_bearing_check",
            "retention_variant": "cartesian",
            "retry_index": 0,
            "status": "probing",
            "t_seconds": 11.439999999999099,
            "type": "probe_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "bounded_cartesian_hold",
              "drift_streak": 0,
              "object_height_delta_m": 0.007225666166532266,
              "phase": "probe",
              "progress_streak": 0,
              "qualification_dwell_seconds": 0.09999999999994458,
              "qualified": true,
              "relative_offset_error_m": 0.00012382980327012234,
              "retry_index": 0,
              "t_seconds": 12.059999999998755,
              "table_supported": false,
              "tcp_probe_height_delta_m": 0.007383672809769912
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "probe_stop",
            "probe_index": 0,
            "reason": "sampled_probe_evidence",
            "retention_hold_reference": {
              "fixed_bias_rad": [
                7.978155033144807e-06,
                -0.005049913286537588,
                -0.004871752631328219,
                7.754089184841641e-06,
                0.026232566969332405,
                -4.9223848920115776e-05
              ],
              "frozen_jaw_target_m": 0.0,
              "issued_joint_targets_rad": [
                -0.1245300605307795,
                1.739340166316787,
                -1.1782815452207955,
                6.784023303488177e-06,
                1.0858238520022883,
                -0.12942346318337414
              ],
              "measured_joint_position_rad": [
                -0.12453803868581265,
                1.7443900796033245,
                -1.1734097925894673,
                -9.700658813532128e-07,
                1.0595912850329559,
                -0.12937423933445402
              ],
              "position_m": [
                0.31301408174079903,
                -0.0377595644934078,
                0.089251187260432
              ],
              "quaternion_wxyz": [
                0.013624640806392741,
                -0.0024143772787975503,
                0.9999027534373328,
                -0.0017388541321263103
              ],
              "raw_pose_joint_targets_rad": [
                -0.12453803868581265,
                1.7443900796033245,
                -1.1734097925894673,
                -9.700658813534648e-07,
                1.0595912850329559,
                -0.12937423933445402
              ],
              "t_seconds": 12.059999999998755
            },
            "retention_variant": "cartesian",
            "retry_index": 0,
            "status": "qualified_hold",
            "t_seconds": 12.059999999998755,
            "type": "evidence_qualified",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm_and_freeze_issued_jaw",
              "drift_streak": 0,
              "object_height_delta_m": 0.008605588679453408,
              "phase": "probe_hold",
              "progress_streak": 0,
              "qualification_dwell_seconds": 1.8399999999989802,
              "qualified": false,
              "relative_offset_error_m": 0.00031259685883504236,
              "retry_index": 0,
              "t_seconds": 13.799999999997791,
              "table_supported": false,
              "tcp_probe_height_delta_m": 0.008916572044128296
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "probe_stop",
            "probe_index": 0,
            "reason": "tcp_position_error_exhausted",
            "retention_variant": "cartesian",
            "retry_index": 0,
            "status": "invalidated_hold",
            "t_seconds": 13.799999999997791,
            "type": "hold_invalidated",
            "variant": "evidence"
          }
        ],
        "ever_admitted": true,
        "final_observed": true,
        "frozen_jaw_target_m": 0.0,
        "initial_context": {
          "object_position_m": [
            0.30699999506272085,
            -0.03700017660547427,
            0.07989224451748382
          ],
          "observation_origin": "privileged_native_simulator_state",
          "t_seconds": 0.0,
          "tcp_position_m": [
            0.4890696662845219,
            0.0014141975654808877,
            0.3665849431043091
          ],
          "tcp_quaternion_wxyz": [
            0.6580840948238629,
            2.7730466224793136e-07,
            0.7529444362872891,
            -1.9485471114950535e-06
          ]
        },
        "last_observed_s": 20.00000000000146,
        "observation_origin": "privileged_native_simulator_state",
        "physical_robot_ready": false,
        "probes": [
          {
            "admission_time_s": 12.059999999998755,
            "disposition": "invalidated_hold",
            "end_time_s": 13.799999999997791,
            "local_offset_origin_m": [
              0.0023160192423370613,
              0.00029850897452960687,
              0.0019229568490792455
            ],
            "object_origin_m": [
              0.3068916127587379,
              -0.03699201129123967,
              0.0799188013937404
            ],
            "observation_origin": "privileged_native_simulator_state",
            "probe_index": 0,
            "reason": "tcp_position_error_exhausted",
            "start_time_s": 11.439999999999099,
            "tcp_origin_m": [
              0.30918777634724925,
              -0.03727655650513114,
              0.0818675144506621
            ],
            "tcp_quaternion_wxyz": [
              0.005496003086601375,
              -0.0024413165218607306,
              0.9999816729609204,
              -0.0006983308604810281
            ]
          }
        ],
        "retention": {
          "hold_reference": {
            "fixed_bias_rad": [
              7.978155033144807e-06,
              -0.005049913286537588,
              -0.004871752631328219,
              7.754089184841641e-06,
              0.026232566969332405,
              -4.9223848920115776e-05
            ],
            "frozen_jaw_target_m": 0.0,
            "issued_joint_targets_rad": [
              -0.1245300605307795,
              1.739340166316787,
              -1.1782815452207955,
              6.784023303488177e-06,
              1.0858238520022883,
              -0.12942346318337414
            ],
            "measured_joint_position_rad": [
              -0.12453803868581265,
              1.7443900796033245,
              -1.1734097925894673,
              -9.700658813532128e-07,
              1.0595912850329559,
              -0.12937423933445402
            ],
            "position_m": [
              0.31301408174079903,
              -0.0377595644934078,
              0.089251187260432
            ],
            "quaternion_wxyz": [
              0.013624640806392741,
              -0.0024143772787975503,
              0.9999027534373328,
              -0.0017388541321263103
            ],
            "raw_pose_joint_targets_rad": [
              -0.12453803868581265,
              1.7443900796033245,
              -1.1734097925894673,
              -9.700658813534648e-07,
              1.0595912850329559,
              -0.12937423933445402
            ],
            "t_seconds": 12.059999999998755
          },
          "input_refusals": [],
          "native_joint_control_limits_rad": [
            [
              -2.618,
              2.618
            ],
            [
              0.0,
              3.14
            ],
            [
              -2.697,
              0.0
            ],
            [
              -1.832,
              1.832
            ],
            [
              -1.22,
              1.22
            ],
            [
              -3.14,
              3.14
            ]
          ],
          "variant": "cartesian"
        },
        "retry_count": 0,
        "schema": "dvidia.piper-retention/v2",
        "status": "invalidated_hold",
        "stop_targets_rad": [
          -0.1245301474423694,
          1.7414891339523757,
          -1.1764304660163252,
          -1.0537477461472583e-05,
          1.0819817449207079,
          -0.12941857577163687
        ],
        "variant": "cartesian"
      },
      "scene_id": "m55-f75-p1",
      "timing": {
        "policy_cpu": {
          "maximum_s": 0.0004199999999983106,
          "mean_s": 5.3759999999989816e-05,
          "over_20ms": 0,
          "p50_s": 5.050000000039745e-05,
          "p95_s": 9.599999999920783e-05,
          "p99_s": 0.0001680300000021617,
          "samples": 1000
        },
        "policy_wall": {
          "maximum_s": 0.0017682909965515137,
          "mean_s": 5.940562579780817e-05,
          "over_20ms": 0,
          "p50_s": 5.047908052802086e-05,
          "p95_s": 0.00010331682860851282,
          "p99_s": 0.00022210970520973198,
          "samples": 1000
        },
        "step_cpu": {
          "maximum_s": 0.007899999999999352,
          "mean_s": 0.00199552699999996,
          "over_20ms": 0,
          "p50_s": 0.0014524999999991905,
          "p95_s": 0.003729049999999745,
          "p99_s": 0.005936779999998407,
          "samples": 1000
        },
        "step_wall": {
          "maximum_s": 0.06547537492588162,
          "mean_s": 0.0023332671765238047,
          "over_20ms": 6,
          "p50_s": 0.00148387486115098,
          "p95_s": 0.004232806060463188,
          "p99_s": 0.012883029752410935,
          "samples": 1000
        }
      },
      "valid": true,
      "variant": "cartesian"
    },
    {
      "error": null,
      "evaluation": {
        "corrections": {
          "bound_refusal_counts": {},
          "flag_counts": {
            "correction_rate_limited": 0
          },
          "hold_record_count": 398,
          "input_refusals": [],
          "maximum_abs_active_correction_rad": null,
          "maximum_abs_desired_correction_rad": null,
          "rate_limited_axis_occurrences": 0,
          "scope": "Includes recorded final diagnostic checks; only command_issued rows represent issued controls."
        },
        "decomposition": {
          "elapsed_s": 5.0,
          "local_offset_change_m": 0.0005330628961527986,
          "object_world_z_delta_m": -0.0025416052659186783,
          "relative_world_z_delta_m": -0.0005149587287628515,
          "scope": "Kinematic components, not causal attribution or calibrated physical slip.",
          "tcp_world_z_delta_m": -0.0020266465371558268
        },
        "final": {
          "both_qualified": false,
          "controller_qualified": false,
          "evidence_admissible": false,
          "native_qualified": false
        },
        "first_admission": {
          "native_prefix_qualified": true,
          "native_qualifying_window_s": 0.112,
          "probe_index": 0,
          "time_s": 12.059999999998755
        },
        "native": {
          "arrays_sha256": "36b7cce9eea80ba504a474c174b80870c641d573ad77e582ee24df7724092b72",
          "complete": true,
          "maximum_per_finger_force_n": 0.4309006326810817,
          "rows": 20000,
          "unexpected_contact_native_ticks": 0,
          "valid": true,
          "warnings": []
        },
        "physical_robot_ready": false,
        "primary": {
          "all_native_hold_forces_within_ceiling": true,
          "combined_qualified_pause": false,
          "complete_5s": true,
          "controller_retained_at_5s": false,
          "first_native_predicate_failure_s": 14.174999999997583,
          "followup_available_s": 7.940000000002705,
          "native_pause_success": false,
          "reason": "native_predicate_lost",
          "required_s": 5.0,
          "success": false,
          "target_time_s": 17.059999999998755
        },
        "probes": [
          {
            "claims": [
              {
                "native_prefix_qualified": true,
                "t_seconds": 12.059999999998755
              }
            ],
            "disposition": "invalidated_hold",
            "final_native_qualified_from_origin": false,
            "probe_index": 0,
            "start_time_s": 11.439999999999099
          }
        ],
        "receipt": {
          "admission": {
            "observation_origin": "privileged_native_simulation_plus_caller_planning_assumptions",
            "physical_robot_ready": false,
            "planning": {
              "computed": {
                "conservative_required_load_n": 0.8172986249999998,
                "gravity_m_s2": 9.80665,
                "pose_specific_payload_limit_force_n": 0.980665,
                "two_finger_friction_capacity_n": 15.0
              },
              "observation_origin": "caller_declared_not_verified",
              "physical_robot_ready": false,
              "reasons": [
                "Run and record a cautious test lift under the same calibrated pose and load conditions before simulated transport planning."
              ],
              "schema": "dvidia.task-feasibility-result/v1",
              "scope": "Planning assessment only. Parallel two-finger vertical-lift approximation; ignores moment, center of mass, deformation, transient impacts and unmodeled contact effects. Unknown values remain unknown; mass is never inferred from images. Probe/test-lift/controller integration is not implemented. No hardware actuation is performed; this is not hardware qualification.",
              "status": "test_lift_required"
            },
            "probe": {
              "admissible": false,
              "historical_qualified": true,
              "latest_qualified": false,
              "physical_robot_ready": false,
              "reasons": [
                "latest_native_window_not_qualified",
                "latest_controller_not_qualified"
              ],
              "receipt_sha256": "b6b3382ae61765f63a635230114d66e6f1e81396b143371d62783428ce6a8d67",
              "schema": "dvidia.probe-evidence-verification/v1",
              "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.",
              "verified": true
            },
            "schema": "dvidia.task-feasibility-with-probe/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification. Unknown planning values remain unknown. The unchanged approximate vertical-lift planning gate describes declared loads; it supplies no transport path, geospatial-goal contract or actuator permission. This wrapper never issues controls.",
            "status": "test_lift_required"
          },
          "context": {
            "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
            "calibration_id": "synthetic_probe_v01",
            "calibration_scope": "simulation_assumptions_not_hardware",
            "command_sha256": "fc130e8b4f614b6b9ef310bd54ada7a6700b4d7f626ebb39b69f376fe4bfc441",
            "feasibility_sha256": "9fc37136dd63b98f09de65127d974f722f9264024909f8bd554d253bc3b4fc92",
            "grasp_id": "m55-f75-p1-measured_joint-probe-0",
            "initial_object_position_m": [
              0.30699999506272085,
              -0.03700017660547427,
              0.07989224451748382
            ],
            "model_sha256": "62fd8938c01f628eb96737450bf0146b182cc15843fd7f0948fdd5ff02a49fab",
            "native_status": {
              "simulation_time_s": 20.00000000000146,
              "unexpected_contact_native_ticks": 0,
              "valid": true,
              "warnings": []
            },
            "object_id": "task_block",
            "per_finger_force_ceiling_n": 10.0,
            "pose_binding_sha256": "a69bc17428fec9e179f7a0d24c0f45c19a833dd28eab4e0ad6101086bd58bb1a",
            "probe_index": 0,
            "probe_origin_object_position_m": [
              0.3068916127587379,
              -0.03699201129123967,
              0.0799188013937404
            ],
            "probe_origin_tcp_local_offset_m": [
              0.0023160192423370613,
              0.00029850897452960687,
              0.0019229568490792455
            ],
            "probe_start_s": 11.439999999999099,
            "robot_profile": "piper",
            "run_id": "m55-f75-p1-measured_joint",
            "schema": "dvidia.probe-context/v1",
            "source_sha256": "cc82eb867d3a927a487317b2e9e470fcb8f53e9da000a1764b7c5a1878883e69"
          },
          "physical_robot_ready": false,
          "planning_input": {
            "allowed_pose_tolerance_m": 0.003,
            "calibration_id": "synthetic_probe_v01",
            "friction_interval": [
              0.75,
              0.75
            ],
            "geometry_known": true,
            "gripper_max_opening_interval_m": [
              0.07,
              0.07
            ],
            "gripper_min_closure_m": 0.0,
            "mass_interval_kg": [
              0.055,
              0.055
            ],
            "object_width_interval_m": [
              0.04,
              0.04
            ],
            "observations_fresh": true,
            "per_finger_normal_force_budget_n": 10.0,
            "planned_upward_accel_m_s2": 0.1,
            "pose_specific_payload_limit_kg": 0.1,
            "pose_uncertainty_m": 0.0,
            "reachability": "reachable",
            "safety_factor": 1.5,
            "schema": "dvidia.task-feasibility-input/v1",
            "slip_detected": false,
            "test_lift_passed": false
          },
          "receipt": {
            "audit": {
              "controller_claim_mismatches": [],
              "controller_claims_checked": 2,
              "controller_conservative_abstention_count": 0,
              "controller_coverage": "Only the supplied claims are checked; omitted decisions are not inferred.",
              "controller_false_qualification_count": 0,
              "controller_positive_claims": 1,
              "force_ceiling_known": true,
              "maximum_observed_per_finger_force_n": 0.4309006326810817,
              "reasons": [],
              "rows": 20000,
              "unexpected_contact_native_ticks": 0,
              "valid": true
            },
            "context": {
              "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
              "calibration_id": "synthetic_probe_v01",
              "calibration_scope": "simulation_assumptions_not_hardware",
              "command_sha256": "fc130e8b4f614b6b9ef310bd54ada7a6700b4d7f626ebb39b69f376fe4bfc441",
              "feasibility_sha256": "9fc37136dd63b98f09de65127d974f722f9264024909f8bd554d253bc3b4fc92",
              "grasp_id": "m55-f75-p1-measured_joint-probe-0",
              "initial_object_position_m": [
                0.30699999506272085,
                -0.03700017660547427,
                0.07989224451748382
              ],
              "model_sha256": "62fd8938c01f628eb96737450bf0146b182cc15843fd7f0948fdd5ff02a49fab",
              "native_status": {
                "simulation_time_s": 20.00000000000146,
                "unexpected_contact_native_ticks": 0,
                "valid": true,
                "warnings": []
              },
              "object_id": "task_block",
              "per_finger_force_ceiling_n": 10.0,
              "pose_binding_sha256": "a69bc17428fec9e179f7a0d24c0f45c19a833dd28eab4e0ad6101086bd58bb1a",
              "probe_index": 0,
              "probe_origin_object_position_m": [
                0.3068916127587379,
                -0.03699201129123967,
                0.0799188013937404
              ],
              "probe_origin_tcp_local_offset_m": [
                0.0023160192423370613,
                0.00029850897452960687,
                0.0019229568490792455
              ],
              "probe_start_s": 11.439999999999099,
              "robot_profile": "piper",
              "run_id": "m55-f75-p1-measured_joint",
              "schema": "dvidia.probe-context/v1",
              "source_sha256": "cc82eb867d3a927a487317b2e9e470fcb8f53e9da000a1764b7c5a1878883e69"
            },
            "context_sha256": "b7bbf8415614006885647e86ca7c1cd012411512842077566ba4225f759f2558",
            "controller_qualifications": [
              {
                "probe_index": 0,
                "qualified": true,
                "t_seconds": 12.059999999998755
              },
              {
                "probe_index": 0,
                "qualified": false,
                "t_seconds": 20.00000000000146
              }
            ],
            "criteria": {
              "distance_comparison_epsilon": 1e-12,
              "initial_sample_tolerance_m": 0.001,
              "maximum_tcp_local_drift_m": 0.003,
              "minimum_continuous_dwell_s": 0.1,
              "minimum_per_finger_force_n_exclusive": 0.01,
              "minimum_rise_m": 0.006,
              "native_dt_s": 0.001,
              "origin_tolerance_m": 1e-09,
              "time_tolerance_s": 1e-08
            },
            "history": {
              "ever_qualified": true,
              "first_qualified_s": 12.047999999998762,
              "maximum_continuous_qualifying_s": 2.226
            },
            "latest": {
              "condition_valid": false,
              "continuous_qualifying_s": 0.0,
              "controller_claim": {
                "probe_index": 0,
                "qualified": false,
                "t_seconds": 20.00000000000146
              },
              "native_tick": 20000,
              "qualified": false,
              "rise_m": 0.004364967655025878,
              "tcp_local_drift_m": 0.0009616885342466379,
              "time_s": 20.00000000000146
            },
            "metadata_sha256": "ad8229630cc9f8718829bb8317b1a82480dcf18b9f71bd23666acfe71a003ef7",
            "native_arrays_sha256": "36b7cce9eea80ba504a474c174b80870c641d573ad77e582ee24df7724092b72",
            "physical_robot_ready": false,
            "receipt_sha256": "b6b3382ae61765f63a635230114d66e6f1e81396b143371d62783428ce6a8d67",
            "schema": "dvidia.probe-evidence/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification."
          },
          "status": "inspected",
          "verification": {
            "admissible": false,
            "historical_qualified": true,
            "latest_qualified": false,
            "physical_robot_ready": false,
            "reasons": [
              "latest_native_window_not_qualified",
              "latest_controller_not_qualified"
            ],
            "receipt_sha256": "b6b3382ae61765f63a635230114d66e6f1e81396b143371d62783428ce6a8d67",
            "schema": "dvidia.probe-evidence-verification/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.",
            "verified": true
          }
        },
        "stationarity": {
          "complete_5s": true,
          "grip_retention_and_stationarity": false,
          "maximum_tcp_orientation_excursion_rad": 0.007471043467487646,
          "maximum_tcp_position_excursion_m": 0.0023215091017755665,
          "orientation_ceiling_rad": 0.05,
          "position_ceiling_m": 0.004,
          "required_s": 5.0,
          "scope": "Common recorded native TCP pose endpoint, not calibrated hardware stationarity.",
          "tcp_pose_within_bounds": true,
          "terminal_tcp_orientation_delta_rad": 0.007471043467487646,
          "terminal_tcp_position_delta_m": [
            -0.00112429778874662,
            0.0001343979362957437,
            -0.0020266465371558268
          ]
        },
        "status": "inspected"
      },
      "files": {
        "episode.json.gz": {
          "bytes": 791991,
          "sha256": "5e99bc8e30c322bbb12195caa80c3a3fbb8458077025f301e7bb35537abc0764"
        },
        "evaluation.json": {
          "bytes": 12831,
          "sha256": "f2823254113f49f9fe7d157edd38ec68683df6a70459532080aa6192faabb578"
        },
        "native.json": {
          "bytes": 13763,
          "sha256": "19cc1d5998901cbc12da2916add3096763081e9decbfc7193981bfabc4b871e0"
        },
        "native.npz": {
          "bytes": 4044034,
          "sha256": "e7f8a3ea474b2edd9f2a088d440c5c4bd023370cd54ac9308912dcb7e2c22173"
        },
        "started.json": {
          "bytes": 151,
          "sha256": "5aff69de67fbd7f141d07a4fa90a8452d2b7024c8e8d2fe9d1ce1833e9c5b233"
        }
      },
      "friction": 0.75,
      "id": "m55-f75-p1-measured_joint",
      "mass_kg": 0.055,
      "metrics": {
        "carry_complete": false,
        "carry_contact_loss_events": 0,
        "carry_contact_loss_tolerance_seconds": 0.04,
        "dwell_seconds": 0.0,
        "first_success_time_seconds": null,
        "grasp_seen": true,
        "lift_dwell_seconds": 0.0,
        "lift_seen": false,
        "max_carry_contact_loss_seconds": 0.0,
        "max_object_lift_m": 0.007272553169187165,
        "max_pad_normal_force_n": 0.4309006326810817,
        "physical_robot_ready": false,
        "reason": "timeout",
        "retention_lost": false,
        "simulation_time": 20.00000000000146,
        "steps": 1000,
        "success": false,
        "target_distance_m": 0.12413739968202714,
        "unexpected_contact_native_ticks": 0,
        "valid": true,
        "warnings": []
      },
      "policy": {
        "abort_reason": "probe_height_not_retained",
        "acquisition_contract": {
          "comparison_scope": "Closed-loop variants may acquire different trajectories through early hold/retry. This is not an isolated classifier ablation.",
          "control_dt_s": 0.02,
          "evidence_admission": "Current bilateral force >0.01 N, no table support, object rise >=6 mm and TCP-local offset drift <=3 mm continuously across sampled boundaries for elapsed >=100 ms.",
          "hold": "Latch measured six arm joints and the last issued jaw target at admission/terminal invalidity. No full lift/transfer, no squeeze escalation, no post-admission retry.",
          "invalidation": "At each subsequent 20 ms observation and final observation, invalidate immediately on lost contact/force, support, insufficient rise, >3 mm local drift or unexpected contact. Never requalify after terminal invalidity.",
          "observation_origin": "privileged_native_simulator_state",
          "parameters": {
            "close_timeout_s": 1.4,
            "consecutive_alarm_samples": 2,
            "max_retries": 1,
            "monitor_min_probe_motion_m": 0.003,
            "probe_height_m": 0.01,
            "probe_min_object_rise_m": 0.006,
            "probe_speed_m_s": 0.02,
            "probe_timeout_s": 1.4,
            "qualification_dwell_s": 0.1,
            "relative_drift_limit_m": 0.003,
            "retry_clearance_m": 0.012,
            "retry_open_timeout_s": 1.2,
            "retry_recenter_timeout_s": 1.5
          },
          "physical_robot_ready": false,
          "prefix": "Original GuardedPiperTaskPolicy approach/close and at most one supported open/recenter/retry; already uses authored native state, not a fully blind baseline.",
          "sampling_limit": "Independent 1 ms evidence may contradict sampled admission; that remains a finding. No sensor or material inference is implemented.",
          "schema": "dvidia.piper-probe-stop/v1",
          "stop_scope": "Holding native position targets is not physical arrest or calibrated force limiting; inertia and existing target rate limits can continue motion.",
          "timer_admission": "Same 10 mm/20 mm/s probe target law, admitted at elapsed >=600 ms from that probe start; no evidence predicate or slip alarm before admission. Unexpected contacts and bounded timeouts still stop.",
          "timer_admission_s": 0.6,
          "variants": [
            "evidence",
            "timer"
          ]
        },
        "acquisition_variant": "evidence",
        "active_probe_index": 0,
        "admission_time_s": 12.059999999998755,
        "admitted": false,
        "contract": {
          "acquisition": "Unchanged ProbeStopPolicy evidence acquisition, including its bounded supported retry. All variants share the same prefix through the first admission observation.",
          "cartesian": "Latch measured TCP position/orientation and preceding issued targets. Fixed joint bias equals issued target minus pose_action at the admission pose. First command repeats the exact issued target; later pose_action updates receive that fixed bias.",
          "control_dt_s": 0.02,
          "final_observation": "Repeat force, original eligibility and Cartesian pose-error checks. Do not solve or issue a hypothetical next control at the terminal observation.",
          "invalid_measurements": "Malformed, nonfinite or noncausal observations terminally refuse and raise without issuing a command. No measured-position stop is claimed from invalid measurements.",
          "issued_joint": "Latch the preceding issued six joint targets and the same last issued jaw target at admission.",
          "limits": {
            "initial_joint_bias_ceiling_rad": 0.08,
            "joint_correction_ceiling_rad": 0.03,
            "joint_correction_rate_rad_s": 0.1,
            "native_joint_target_margin_rad": 0.02,
            "per_finger_force_ceiling_n": 10.0,
            "tcp_orientation_error_ceiling_rad": 0.05,
            "tcp_position_error_ceiling_m": 0.004
          },
          "measured_joint": "Original hold: latch measured six joint coordinates and the last issued jaw target at admission.",
          "observation_origin": "privileged_native_simulator_state",
          "physical_robot_ready": false,
          "qualifications": "Engineering limits and the 10 N ceiling are authored synthetic assumptions, not damage limits or calibrated physical telemetry. Position targets are not physical stops or force limiters. No load/friction inference, model training or complete placement is implemented.",
          "rate_scope": "The extra correction slews at at most 0.002 rad per 20 ms per joint. Original native 1 ms target slew, servos, gains and force caps remain unchanged.",
          "refusal": "Original eligibility loss, unexpected contact or observed pad force >10 N terminally requests measured joint hold and the frozen jaw target. Cartesian error, initial-bias, total-correction or native-margin exhaustion also refuses terminally; it never chases an already failed grip.",
          "sampling": "Control checks occur at 20 ms boundaries. Independent saved 1 ms native evidence must judge a continuous 5 s hold; missed between-boundary failures remain findings.",
          "schema": "dvidia.piper-retention/v2",
          "variants": [
            "measured_joint",
            "issued_joint",
            "cartesian"
          ]
        },
        "events": [
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "continue",
              "drift_streak": 0,
              "object_height_delta_m": 0.0,
              "phase": "probe",
              "progress_streak": 0,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0,
              "retry_index": 0,
              "t_seconds": 11.439999999999099,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_probe",
            "probe_index": 0,
            "reason": "slow_load_bearing_check",
            "retention_variant": "measured_joint",
            "retry_index": 0,
            "status": "probing",
            "t_seconds": 11.439999999999099,
            "type": "probe_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "bounded_measured_joint_hold",
              "drift_streak": 0,
              "object_height_delta_m": 0.007225666166532266,
              "phase": "probe",
              "progress_streak": 0,
              "qualification_dwell_seconds": 0.09999999999994458,
              "qualified": true,
              "relative_offset_error_m": 0.00012382980327012234,
              "retry_index": 0,
              "t_seconds": 12.059999999998755,
              "table_supported": false,
              "tcp_probe_height_delta_m": 0.007383672809769912
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "probe_stop",
            "probe_index": 0,
            "reason": "sampled_probe_evidence",
            "retention_hold_reference": {
              "fixed_bias_rad": null,
              "frozen_jaw_target_m": 0.0,
              "issued_joint_targets_rad": [
                -0.1245300605307795,
                1.739340166316787,
                -1.1782815452207955,
                6.784023303488177e-06,
                1.0858238520022883,
                -0.12942346318337414
              ],
              "measured_joint_position_rad": [
                -0.12453803868581265,
                1.7443900796033245,
                -1.1734097925894673,
                -9.700658813532128e-07,
                1.0595912850329559,
                -0.12937423933445402
              ],
              "position_m": [
                0.31301408174079903,
                -0.0377595644934078,
                0.089251187260432
              ],
              "quaternion_wxyz": [
                0.013624640806392741,
                -0.0024143772787975503,
                0.9999027534373328,
                -0.0017388541321263103
              ],
              "raw_pose_joint_targets_rad": null,
              "t_seconds": 12.059999999998755
            },
            "retention_variant": "measured_joint",
            "retry_index": 0,
            "status": "qualified_hold",
            "t_seconds": 12.059999999998755,
            "type": "evidence_qualified",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm_and_freeze_issued_jaw",
              "drift_streak": 0,
              "object_height_delta_m": 0.005999092024727329,
              "phase": "probe_hold",
              "progress_streak": 0,
              "qualification_dwell_seconds": 2.2199999999987696,
              "qualified": false,
              "relative_offset_error_m": 0.00035238353258013896,
              "retry_index": 0,
              "t_seconds": 14.17999999999758,
              "table_supported": false,
              "tcp_probe_height_delta_m": 0.006379131586085746
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "probe_stop",
            "probe_index": 0,
            "reason": "probe_height_not_retained",
            "retention_variant": "measured_joint",
            "retry_index": 0,
            "status": "invalidated_hold",
            "t_seconds": 14.17999999999758,
            "type": "hold_invalidated",
            "variant": "evidence"
          }
        ],
        "ever_admitted": true,
        "final_observed": true,
        "frozen_jaw_target_m": 0.0,
        "initial_context": {
          "object_position_m": [
            0.30699999506272085,
            -0.03700017660547427,
            0.07989224451748382
          ],
          "observation_origin": "privileged_native_simulator_state",
          "t_seconds": 0.0,
          "tcp_position_m": [
            0.4890696662845219,
            0.0014141975654808877,
            0.3665849431043091
          ],
          "tcp_quaternion_wxyz": [
            0.6580840948238629,
            2.7730466224793136e-07,
            0.7529444362872891,
            -1.9485471114950535e-06
          ]
        },
        "last_observed_s": 20.00000000000146,
        "observation_origin": "privileged_native_simulator_state",
        "physical_robot_ready": false,
        "probes": [
          {
            "admission_time_s": 12.059999999998755,
            "disposition": "invalidated_hold",
            "end_time_s": 14.17999999999758,
            "local_offset_origin_m": [
              0.0023160192423370613,
              0.00029850897452960687,
              0.0019229568490792455
            ],
            "object_origin_m": [
              0.3068916127587379,
              -0.03699201129123967,
              0.0799188013937404
            ],
            "observation_origin": "privileged_native_simulator_state",
            "probe_index": 0,
            "reason": "probe_height_not_retained",
            "start_time_s": 11.439999999999099,
            "tcp_origin_m": [
              0.30918777634724925,
              -0.03727655650513114,
              0.0818675144506621
            ],
            "tcp_quaternion_wxyz": [
              0.005496003086601375,
              -0.0024413165218607306,
              0.9999816729609204,
              -0.0006983308604810281
            ]
          }
        ],
        "retention": {
          "hold_reference": {
            "fixed_bias_rad": null,
            "frozen_jaw_target_m": 0.0,
            "issued_joint_targets_rad": [
              -0.1245300605307795,
              1.739340166316787,
              -1.1782815452207955,
              6.784023303488177e-06,
              1.0858238520022883,
              -0.12942346318337414
            ],
            "measured_joint_position_rad": [
              -0.12453803868581265,
              1.7443900796033245,
              -1.1734097925894673,
              -9.700658813532128e-07,
              1.0595912850329559,
              -0.12937423933445402
            ],
            "position_m": [
              0.31301408174079903,
              -0.0377595644934078,
              0.089251187260432
            ],
            "quaternion_wxyz": [
              0.013624640806392741,
              -0.0024143772787975503,
              0.9999027534373328,
              -0.0017388541321263103
            ],
            "raw_pose_joint_targets_rad": null,
            "t_seconds": 12.059999999998755
          },
          "input_refusals": [],
          "native_joint_control_limits_rad": [
            [
              -2.618,
              2.618
            ],
            [
              0.0,
              3.14
            ],
            [
              -2.697,
              0.0
            ],
            [
              -1.832,
              1.832
            ],
            [
              -1.22,
              1.22
            ],
            [
              -3.14,
              3.14
            ]
          ],
          "variant": "measured_joint"
        },
        "retry_count": 0,
        "schema": "dvidia.piper-retention/v2",
        "status": "invalidated_hold",
        "stop_targets_rad": [
          -0.12453801794066674,
          1.7464737421617034,
          -1.1719478146238758,
          -1.814957162876684e-05,
          1.059783608601759,
          -0.12937455893843752
        ],
        "variant": "measured_joint"
      },
      "scene_id": "m55-f75-p1",
      "timing": {
        "policy_cpu": {
          "maximum_s": 0.0005269999999981678,
          "mean_s": 4.5498000000065984e-05,
          "over_20ms": 0,
          "p50_s": 4.9000000004184585e-05,
          "p95_s": 8.400000000108321e-05,
          "p99_s": 0.00016009000000103405,
          "samples": 1000
        },
        "policy_wall": {
          "maximum_s": 0.0005250843241810799,
          "mean_s": 4.588695615530014e-05,
          "over_20ms": 0,
          "p50_s": 4.893750883638859e-05,
          "p95_s": 8.452483452856539e-05,
          "p99_s": 0.00019768327940255403,
          "samples": 1000
        },
        "step_cpu": {
          "maximum_s": 0.014793999999994867,
          "mean_s": 0.0017830969999999197,
          "over_20ms": 0,
          "p50_s": 0.001562000000003394,
          "p95_s": 0.002743150000002359,
          "p99_s": 0.0035393599999989775,
          "samples": 1000
        },
        "step_wall": {
          "maximum_s": 0.016393250320106745,
          "mean_s": 0.001795060786884278,
          "over_20ms": 0,
          "p50_s": 0.0016090625431388617,
          "p95_s": 0.0027577292406931507,
          "p99_s": 0.003626816007308661,
          "samples": 1000
        }
      },
      "valid": true,
      "variant": "measured_joint"
    },
    {
      "error": null,
      "evaluation": {
        "corrections": {
          "bound_refusal_counts": {},
          "flag_counts": {
            "correction_rate_limited": 0
          },
          "hold_record_count": 279,
          "input_refusals": [],
          "maximum_abs_active_correction_rad": null,
          "maximum_abs_desired_correction_rad": null,
          "rate_limited_axis_occurrences": 0,
          "scope": "Includes recorded final diagnostic checks; only command_issued rows represent issued controls."
        },
        "decomposition": null,
        "final": {
          "both_qualified": false,
          "controller_qualified": false,
          "evidence_admissible": false,
          "native_qualified": false
        },
        "first_admission": null,
        "native": {
          "arrays_sha256": "b60927860bab63b32f11f24fdedde215e8466d11f310d490bb378e7aecc70b15",
          "complete": true,
          "maximum_per_finger_force_n": 0.5085316725721623,
          "rows": 20000,
          "unexpected_contact_native_ticks": 0,
          "valid": true,
          "warnings": []
        },
        "physical_robot_ready": false,
        "primary": {
          "combined_qualified_pause": false,
          "complete_5s": false,
          "controller_retained_at_5s": false,
          "native_pause_success": false,
          "reason": "no_admission",
          "required_s": 5.0,
          "success": false
        },
        "probes": [
          {
            "claims": [],
            "disposition": "interrupted",
            "final_native_qualified_from_origin": false,
            "probe_index": 0,
            "start_time_s": 11.139999999999265
          },
          {
            "claims": [],
            "disposition": "invalidated_hold",
            "final_native_qualified_from_origin": false,
            "probe_index": 1,
            "start_time_s": 14.059999999997647
          }
        ],
        "receipt": {
          "admission": {
            "observation_origin": "privileged_native_simulation_plus_caller_planning_assumptions",
            "physical_robot_ready": false,
            "planning": {
              "computed": {
                "conservative_required_load_n": 0.8172986249999998,
                "gravity_m_s2": 9.80665,
                "pose_specific_payload_limit_force_n": 0.980665,
                "two_finger_friction_capacity_n": 10.0
              },
              "observation_origin": "caller_declared_not_verified",
              "physical_robot_ready": false,
              "reasons": [
                "Run and record a cautious test lift under the same calibrated pose and load conditions before simulated transport planning."
              ],
              "schema": "dvidia.task-feasibility-result/v1",
              "scope": "Planning assessment only. Parallel two-finger vertical-lift approximation; ignores moment, center of mass, deformation, transient impacts and unmodeled contact effects. Unknown values remain unknown; mass is never inferred from images. Probe/test-lift/controller integration is not implemented. No hardware actuation is performed; this is not hardware qualification.",
              "status": "test_lift_required"
            },
            "probe": {
              "admissible": false,
              "historical_qualified": false,
              "latest_qualified": false,
              "physical_robot_ready": false,
              "reasons": [
                "latest_native_window_not_qualified",
                "no_controller_qualification_for_this_probe",
                "latest_controller_not_qualified"
              ],
              "receipt_sha256": "eef34fed9c93d39356535a435e36d462a2efd81757900c015419a29b270c6761",
              "schema": "dvidia.probe-evidence-verification/v1",
              "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.",
              "verified": true
            },
            "schema": "dvidia.task-feasibility-with-probe/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification. Unknown planning values remain unknown. The unchanged approximate vertical-lift planning gate describes declared loads; it supplies no transport path, geospatial-goal contract or actuator permission. This wrapper never issues controls.",
            "status": "test_lift_required"
          },
          "context": {
            "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
            "calibration_id": "synthetic_probe_v01",
            "calibration_scope": "simulation_assumptions_not_hardware",
            "command_sha256": "661869eb5d016d736638d5363ea5af5074435b3a30ab732db6d05a258a90414c",
            "feasibility_sha256": "86b8851448d54f6860fd8a3279b1be8d7a45b297a1fd45e2d10d37b5ae6400bb",
            "grasp_id": "m55-f50-p0-cartesian-probe-1",
            "initial_object_position_m": [
              0.3030000461054176,
              -0.025999796476173304,
              0.07989224451748383
            ],
            "model_sha256": "8fc47912075c7fb4b5480f8b0d4657147a4a520e96d69e30cf78399738ae90c2",
            "native_status": {
              "simulation_time_s": 20.00000000000146,
              "unexpected_contact_native_ticks": 0,
              "valid": true,
              "warnings": []
            },
            "object_id": "task_block",
            "per_finger_force_ceiling_n": 10.0,
            "pose_binding_sha256": "01c514071a6f8c58de8e74aa32e661f26fd11d6354356e7aff1e411cdce8e967",
            "probe_index": 1,
            "probe_origin_object_position_m": [
              0.304764468077814,
              -0.026046983788497968,
              0.07986030851936131
            ],
            "probe_origin_tcp_local_offset_m": [
              -0.002050870094884708,
              0.0002383979229268336,
              0.0024064777951364625
            ],
            "probe_start_s": 14.059999999997647,
            "robot_profile": "piper",
            "run_id": "m55-f50-p0-cartesian",
            "schema": "dvidia.probe-context/v1",
            "source_sha256": "cc82eb867d3a927a487317b2e9e470fcb8f53e9da000a1764b7c5a1878883e69"
          },
          "physical_robot_ready": false,
          "planning_input": {
            "allowed_pose_tolerance_m": 0.003,
            "calibration_id": "synthetic_probe_v01",
            "friction_interval": [
              0.5,
              0.5
            ],
            "geometry_known": true,
            "gripper_max_opening_interval_m": [
              0.07,
              0.07
            ],
            "gripper_min_closure_m": 0.0,
            "mass_interval_kg": [
              0.055,
              0.055
            ],
            "object_width_interval_m": [
              0.04,
              0.04
            ],
            "observations_fresh": true,
            "per_finger_normal_force_budget_n": 10.0,
            "planned_upward_accel_m_s2": 0.1,
            "pose_specific_payload_limit_kg": 0.1,
            "pose_uncertainty_m": 0.0,
            "reachability": "reachable",
            "safety_factor": 1.5,
            "schema": "dvidia.task-feasibility-input/v1",
            "slip_detected": false,
            "test_lift_passed": false
          },
          "receipt": {
            "audit": {
              "controller_claim_mismatches": [],
              "controller_claims_checked": 1,
              "controller_conservative_abstention_count": 0,
              "controller_coverage": "Only the supplied claims are checked; omitted decisions are not inferred.",
              "controller_false_qualification_count": 0,
              "controller_positive_claims": 0,
              "force_ceiling_known": true,
              "maximum_observed_per_finger_force_n": 0.5085316725721623,
              "reasons": [],
              "rows": 20000,
              "unexpected_contact_native_ticks": 0,
              "valid": true
            },
            "context": {
              "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
              "calibration_id": "synthetic_probe_v01",
              "calibration_scope": "simulation_assumptions_not_hardware",
              "command_sha256": "661869eb5d016d736638d5363ea5af5074435b3a30ab732db6d05a258a90414c",
              "feasibility_sha256": "86b8851448d54f6860fd8a3279b1be8d7a45b297a1fd45e2d10d37b5ae6400bb",
              "grasp_id": "m55-f50-p0-cartesian-probe-1",
              "initial_object_position_m": [
                0.3030000461054176,
                -0.025999796476173304,
                0.07989224451748383
              ],
              "model_sha256": "8fc47912075c7fb4b5480f8b0d4657147a4a520e96d69e30cf78399738ae90c2",
              "native_status": {
                "simulation_time_s": 20.00000000000146,
                "unexpected_contact_native_ticks": 0,
                "valid": true,
                "warnings": []
              },
              "object_id": "task_block",
              "per_finger_force_ceiling_n": 10.0,
              "pose_binding_sha256": "01c514071a6f8c58de8e74aa32e661f26fd11d6354356e7aff1e411cdce8e967",
              "probe_index": 1,
              "probe_origin_object_position_m": [
                0.304764468077814,
                -0.026046983788497968,
                0.07986030851936131
              ],
              "probe_origin_tcp_local_offset_m": [
                -0.002050870094884708,
                0.0002383979229268336,
                0.0024064777951364625
              ],
              "probe_start_s": 14.059999999997647,
              "robot_profile": "piper",
              "run_id": "m55-f50-p0-cartesian",
              "schema": "dvidia.probe-context/v1",
              "source_sha256": "cc82eb867d3a927a487317b2e9e470fcb8f53e9da000a1764b7c5a1878883e69"
            },
            "context_sha256": "66ca8b9ca0c6d12bf8cc27ee96144e1f47257598ed139a9318678b65cbab2447",
            "controller_qualifications": [
              {
                "probe_index": 1,
                "qualified": false,
                "t_seconds": 20.00000000000146
              }
            ],
            "criteria": {
              "distance_comparison_epsilon": 1e-12,
              "initial_sample_tolerance_m": 0.001,
              "maximum_tcp_local_drift_m": 0.003,
              "minimum_continuous_dwell_s": 0.1,
              "minimum_per_finger_force_n_exclusive": 0.01,
              "minimum_rise_m": 0.006,
              "native_dt_s": 0.001,
              "origin_tolerance_m": 1e-09,
              "time_tolerance_s": 1e-08
            },
            "history": {
              "ever_qualified": false,
              "first_qualified_s": null,
              "maximum_continuous_qualifying_s": 0.0
            },
            "latest": {
              "condition_valid": false,
              "continuous_qualifying_s": 0.0,
              "controller_claim": {
                "probe_index": 1,
                "qualified": false,
                "t_seconds": 20.00000000000146
              },
              "native_tick": 20000,
              "qualified": false,
              "rise_m": 2.3240367360205516e-05,
              "tcp_local_drift_m": 0.0038326835419900535,
              "time_s": 20.00000000000146
            },
            "metadata_sha256": "ad8229630cc9f8718829bb8317b1a82480dcf18b9f71bd23666acfe71a003ef7",
            "native_arrays_sha256": "b60927860bab63b32f11f24fdedde215e8466d11f310d490bb378e7aecc70b15",
            "physical_robot_ready": false,
            "receipt_sha256": "eef34fed9c93d39356535a435e36d462a2efd81757900c015419a29b270c6761",
            "schema": "dvidia.probe-evidence/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification."
          },
          "status": "inspected",
          "verification": {
            "admissible": false,
            "historical_qualified": false,
            "latest_qualified": false,
            "physical_robot_ready": false,
            "reasons": [
              "latest_native_window_not_qualified",
              "no_controller_qualification_for_this_probe",
              "latest_controller_not_qualified"
            ],
            "receipt_sha256": "eef34fed9c93d39356535a435e36d462a2efd81757900c015419a29b270c6761",
            "schema": "dvidia.probe-evidence-verification/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.",
            "verified": true
          }
        },
        "stationarity": {
          "complete_5s": false,
          "grip_retention_and_stationarity": false,
          "tcp_pose_within_bounds": false
        },
        "status": "inspected"
      },
      "files": {
        "episode.json.gz": {
          "bytes": 775545,
          "sha256": "1ea2d52ecfab040832c78225279ca153c7be6511946a38fc065ccf8be4dc2b63"
        },
        "evaluation.json": {
          "bytes": 11682,
          "sha256": "69e47274dc49f92fddcc19a219007e765dae3de0ae3757e2df5fbfc9adc5612d"
        },
        "native.json": {
          "bytes": 13763,
          "sha256": "19cc1d5998901cbc12da2916add3096763081e9decbfc7193981bfabc4b871e0"
        },
        "native.npz": {
          "bytes": 4110837,
          "sha256": "096943b36cfd9c548380f5f2f53bfa2cc2b4b1fcbe756bb519b375db8c9b4c17"
        },
        "started.json": {
          "bytes": 146,
          "sha256": "b6df5ee2d5624ad0ab37aee7d34f2532a7aed3619fc3cee9e6452a4776488cc1"
        }
      },
      "friction": 0.5,
      "id": "m55-f50-p0-cartesian",
      "mass_kg": 0.055,
      "metrics": {
        "carry_complete": false,
        "carry_contact_loss_events": 0,
        "carry_contact_loss_tolerance_seconds": 0.04,
        "dwell_seconds": 0.0,
        "first_success_time_seconds": null,
        "grasp_seen": true,
        "lift_dwell_seconds": 0.0,
        "lift_seen": false,
        "max_carry_contact_loss_seconds": 0.0,
        "max_object_lift_m": 0.0001617639821531458,
        "max_pad_normal_force_n": 0.5085316725721623,
        "physical_robot_ready": false,
        "reason": "timeout",
        "retention_lost": false,
        "simulation_time": 20.00000000000146,
        "steps": 1000,
        "success": false,
        "target_distance_m": 0.11476742497478562,
        "unexpected_contact_native_ticks": 0,
        "valid": true,
        "warnings": []
      },
      "policy": {
        "abort_reason": "retry_budget_exhausted:object_not_following",
        "acquisition_contract": {
          "comparison_scope": "Closed-loop variants may acquire different trajectories through early hold/retry. This is not an isolated classifier ablation.",
          "control_dt_s": 0.02,
          "evidence_admission": "Current bilateral force >0.01 N, no table support, object rise >=6 mm and TCP-local offset drift <=3 mm continuously across sampled boundaries for elapsed >=100 ms.",
          "hold": "Latch measured six arm joints and the last issued jaw target at admission/terminal invalidity. No full lift/transfer, no squeeze escalation, no post-admission retry.",
          "invalidation": "At each subsequent 20 ms observation and final observation, invalidate immediately on lost contact/force, support, insufficient rise, >3 mm local drift or unexpected contact. Never requalify after terminal invalidity.",
          "observation_origin": "privileged_native_simulator_state",
          "parameters": {
            "close_timeout_s": 1.4,
            "consecutive_alarm_samples": 2,
            "max_retries": 1,
            "monitor_min_probe_motion_m": 0.003,
            "probe_height_m": 0.01,
            "probe_min_object_rise_m": 0.006,
            "probe_speed_m_s": 0.02,
            "probe_timeout_s": 1.4,
            "qualification_dwell_s": 0.1,
            "relative_drift_limit_m": 0.003,
            "retry_clearance_m": 0.012,
            "retry_open_timeout_s": 1.2,
            "retry_recenter_timeout_s": 1.5
          },
          "physical_robot_ready": false,
          "prefix": "Original GuardedPiperTaskPolicy approach/close and at most one supported open/recenter/retry; already uses authored native state, not a fully blind baseline.",
          "sampling_limit": "Independent 1 ms evidence may contradict sampled admission; that remains a finding. No sensor or material inference is implemented.",
          "schema": "dvidia.piper-probe-stop/v1",
          "stop_scope": "Holding native position targets is not physical arrest or calibrated force limiting; inertia and existing target rate limits can continue motion.",
          "timer_admission": "Same 10 mm/20 mm/s probe target law, admitted at elapsed >=600 ms from that probe start; no evidence predicate or slip alarm before admission. Unexpected contacts and bounded timeouts still stop.",
          "timer_admission_s": 0.6,
          "variants": [
            "evidence",
            "timer"
          ]
        },
        "acquisition_variant": "evidence",
        "active_probe_index": 1,
        "admission_time_s": null,
        "admitted": false,
        "contract": {
          "acquisition": "Unchanged ProbeStopPolicy evidence acquisition, including its bounded supported retry. All variants share the same prefix through the first admission observation.",
          "cartesian": "Latch measured TCP position/orientation and preceding issued targets. Fixed joint bias equals issued target minus pose_action at the admission pose. First command repeats the exact issued target; later pose_action updates receive that fixed bias.",
          "control_dt_s": 0.02,
          "final_observation": "Repeat force, original eligibility and Cartesian pose-error checks. Do not solve or issue a hypothetical next control at the terminal observation.",
          "invalid_measurements": "Malformed, nonfinite or noncausal observations terminally refuse and raise without issuing a command. No measured-position stop is claimed from invalid measurements.",
          "issued_joint": "Latch the preceding issued six joint targets and the same last issued jaw target at admission.",
          "limits": {
            "initial_joint_bias_ceiling_rad": 0.08,
            "joint_correction_ceiling_rad": 0.03,
            "joint_correction_rate_rad_s": 0.1,
            "native_joint_target_margin_rad": 0.02,
            "per_finger_force_ceiling_n": 10.0,
            "tcp_orientation_error_ceiling_rad": 0.05,
            "tcp_position_error_ceiling_m": 0.004
          },
          "measured_joint": "Original hold: latch measured six joint coordinates and the last issued jaw target at admission.",
          "observation_origin": "privileged_native_simulator_state",
          "physical_robot_ready": false,
          "qualifications": "Engineering limits and the 10 N ceiling are authored synthetic assumptions, not damage limits or calibrated physical telemetry. Position targets are not physical stops or force limiters. No load/friction inference, model training or complete placement is implemented.",
          "rate_scope": "The extra correction slews at at most 0.002 rad per 20 ms per joint. Original native 1 ms target slew, servos, gains and force caps remain unchanged.",
          "refusal": "Original eligibility loss, unexpected contact or observed pad force >10 N terminally requests measured joint hold and the frozen jaw target. Cartesian error, initial-bias, total-correction or native-margin exhaustion also refuses terminally; it never chases an already failed grip.",
          "sampling": "Control checks occur at 20 ms boundaries. Independent saved 1 ms native evidence must judge a continuous 5 s hold; missed between-boundary failures remain findings.",
          "schema": "dvidia.piper-retention/v2",
          "variants": [
            "measured_joint",
            "issued_joint",
            "cartesian"
          ]
        },
        "events": [
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "continue",
              "drift_streak": 0,
              "object_height_delta_m": 0.0,
              "phase": "probe",
              "progress_streak": 0,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0,
              "retry_index": 0,
              "t_seconds": 11.139999999999265,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_probe",
            "probe_index": 0,
            "reason": "slow_load_bearing_check",
            "retention_variant": "cartesian",
            "retry_index": 0,
            "status": "probing",
            "t_seconds": 11.139999999999265,
            "type": "probe_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm",
              "drift_streak": 2,
              "object_height_delta_m": 9.650052245090135e-05,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.003662539224984724,
              "retry_index": 0,
              "t_seconds": 11.519999999999055,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.003729145734111941
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_stop",
            "probe_index": 0,
            "reason": "object_not_following",
            "retention_variant": "cartesian",
            "retry_index": 0,
            "status": "probing",
            "t_seconds": 11.519999999999055,
            "type": "alarm",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm",
              "drift_streak": 2,
              "object_height_delta_m": 9.650052245090135e-05,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.003662539224984724,
              "retry_index": 0,
              "t_seconds": 11.519999999999055,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.003729145734111941
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_stop",
            "probe_index": 0,
            "reason": "supported_object_only",
            "retention_variant": "cartesian",
            "retry_index": 1,
            "status": "acquiring_retry",
            "t_seconds": 11.519999999999055,
            "type": "retry_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": false,
              "contact_loss_streak": 0,
              "decision": "recenter_with_open_jaw",
              "drift_streak": 2,
              "object_height_delta_m": -2.4885627265547328e-05,
              "phase": "retry_recenter",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.009726437184534009,
              "retry_index": 1,
              "t_seconds": 13.179999999998135,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.009684998039508716
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_retry_recenter",
            "probe_index": 0,
            "reason": "open_recenter_complete",
            "retention_variant": "cartesian",
            "retry_index": 1,
            "status": "acquiring",
            "t_seconds": 13.179999999998135,
            "type": "retry_completed",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "continue",
              "drift_streak": 0,
              "object_height_delta_m": 0.0,
              "phase": "probe",
              "progress_streak": 0,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0,
              "retry_index": 1,
              "t_seconds": 14.059999999997647,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_probe",
            "probe_index": 1,
            "reason": "slow_load_bearing_check",
            "retention_variant": "cartesian",
            "retry_index": 1,
            "status": "probing",
            "t_seconds": 14.059999999997647,
            "type": "probe_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm",
              "drift_streak": 2,
              "object_height_delta_m": 0.00014745862774163954,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.003602579214981779,
              "retry_index": 1,
              "t_seconds": 14.439999999997436,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.003677935011028227
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_stop",
            "probe_index": 1,
            "reason": "object_not_following",
            "retention_variant": "cartesian",
            "retry_index": 1,
            "status": "probing",
            "t_seconds": 14.439999999997436,
            "type": "alarm",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm_and_freeze_issued_jaw",
              "drift_streak": 2,
              "object_height_delta_m": 0.00014745862774163954,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.003602579214981779,
              "retry_index": 1,
              "t_seconds": 14.439999999997436,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.003677935011028227
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "probe_stop",
            "probe_index": 1,
            "reason": "retry_budget_exhausted:object_not_following",
            "retention_variant": "cartesian",
            "retry_index": 1,
            "status": "invalidated_hold",
            "t_seconds": 14.439999999997436,
            "type": "abort",
            "variant": "evidence"
          }
        ],
        "ever_admitted": false,
        "final_observed": true,
        "frozen_jaw_target_m": 0.0,
        "initial_context": {
          "object_position_m": [
            0.3030000461054176,
            -0.025999796476173304,
            0.07989224451748383
          ],
          "observation_origin": "privileged_native_simulator_state",
          "t_seconds": 0.0,
          "tcp_position_m": [
            0.4890696662845219,
            0.0014141975654808877,
            0.3665849431043091
          ],
          "tcp_quaternion_wxyz": [
            0.6580840948238629,
            2.7730466224793136e-07,
            0.7529444362872891,
            -1.9485471114950535e-06
          ]
        },
        "last_observed_s": 20.00000000000146,
        "observation_origin": "privileged_native_simulator_state",
        "physical_robot_ready": false,
        "probes": [
          {
            "disposition": "interrupted",
            "end_time_s": 11.519999999999055,
            "local_offset_origin_m": [
              0.002271312155407417,
              0.0002957181816060099,
              0.001925594489981433
            ],
            "object_origin_m": [
              0.30285090683400234,
              -0.025957236118142848,
              0.0799171302070492
            ],
            "observation_origin": "privileged_native_simulator_state",
            "probe_index": 0,
            "reason": "object_not_following",
            "start_time_s": 11.139999999999265,
            "tcp_origin_m": [
              0.3051026520857925,
              -0.026242985132875384,
              0.08186705664455922
            ],
            "tcp_quaternion_wxyz": [
              0.005312668037355206,
              -0.001758932562860304,
              0.9999842058027045,
              -0.0005194802192906238
            ]
          },
          {
            "disposition": "invalidated_hold",
            "end_time_s": 14.439999999997436,
            "local_offset_origin_m": [
              -0.002050870094884708,
              0.0002383979229268336,
              0.0024064777951364625
            ],
            "object_origin_m": [
              0.304764468077814,
              -0.026046983788497968,
              0.07986030851936131
            ],
            "observation_origin": "privileged_native_simulator_state",
            "probe_index": 1,
            "reason": "retry_budget_exhausted:object_not_following",
            "start_time_s": 14.059999999997647,
            "tcp_origin_m": [
              0.3027354728304215,
              -0.02628645145482746,
              0.0822851529715014
            ],
            "tcp_quaternion_wxyz": [
              -0.004509829831520418,
              -0.00018035078706342327,
              0.999989812013778,
              6.911680932127586e-05
            ]
          }
        ],
        "retention": {
          "hold_reference": null,
          "input_refusals": [],
          "native_joint_control_limits_rad": [
            [
              -2.618,
              2.618
            ],
            [
              0.0,
              3.14
            ],
            [
              -2.697,
              0.0
            ],
            [
              -1.832,
              1.832
            ],
            [
              -1.22,
              1.22
            ],
            [
              -3.14,
              3.14
            ]
          ],
          "variant": "cartesian"
        },
        "retry_count": 1,
        "schema": "dvidia.piper-retention/v2",
        "status": "invalidated_hold",
        "stop_targets_rad": [
          -0.09084988962439593,
          1.738001852975089,
          -1.151052914157953,
          -0.0008637740435322669,
          1.0710600680603404,
          -0.09081399099999109
        ],
        "variant": "cartesian"
      },
      "scene_id": "m55-f50-p0",
      "timing": {
        "policy_cpu": {
          "maximum_s": 0.0003980000000041173,
          "mean_s": 4.621299999999451e-05,
          "over_20ms": 0,
          "p50_s": 4.899999999707916e-05,
          "p95_s": 7.899999999949614e-05,
          "p99_s": 0.00011300999999896532,
          "samples": 1000
        },
        "policy_wall": {
          "maximum_s": 0.00039900001138448715,
          "mean_s": 4.643074655905366e-05,
          "over_20ms": 0,
          "p50_s": 4.88748773932457e-05,
          "p95_s": 7.87100289016962e-05,
          "p99_s": 0.00011659384239464997,
          "samples": 1000
        },
        "step_cpu": {
          "maximum_s": 0.010705999999998994,
          "mean_s": 0.0016609540000000322,
          "over_20ms": 0,
          "p50_s": 0.001373999999998432,
          "p95_s": 0.002855249999995375,
          "p99_s": 0.003783529999998549,
          "samples": 1000
        },
        "step_wall": {
          "maximum_s": 0.01074654096737504,
          "mean_s": 0.0016859347196295858,
          "over_20ms": 0,
          "p50_s": 0.0013845628127455711,
          "p95_s": 0.0030146815581247204,
          "p99_s": 0.003957493063062429,
          "samples": 1000
        }
      },
      "valid": true,
      "variant": "cartesian"
    },
    {
      "error": null,
      "evaluation": {
        "corrections": {
          "bound_refusal_counts": {},
          "flag_counts": {
            "correction_rate_limited": 0
          },
          "hold_record_count": 279,
          "input_refusals": [],
          "maximum_abs_active_correction_rad": null,
          "maximum_abs_desired_correction_rad": null,
          "rate_limited_axis_occurrences": 0,
          "scope": "Includes recorded final diagnostic checks; only command_issued rows represent issued controls."
        },
        "decomposition": null,
        "final": {
          "both_qualified": false,
          "controller_qualified": false,
          "evidence_admissible": false,
          "native_qualified": false
        },
        "first_admission": null,
        "native": {
          "arrays_sha256": "b60927860bab63b32f11f24fdedde215e8466d11f310d490bb378e7aecc70b15",
          "complete": true,
          "maximum_per_finger_force_n": 0.5085316725721623,
          "rows": 20000,
          "unexpected_contact_native_ticks": 0,
          "valid": true,
          "warnings": []
        },
        "physical_robot_ready": false,
        "primary": {
          "combined_qualified_pause": false,
          "complete_5s": false,
          "controller_retained_at_5s": false,
          "native_pause_success": false,
          "reason": "no_admission",
          "required_s": 5.0,
          "success": false
        },
        "probes": [
          {
            "claims": [],
            "disposition": "interrupted",
            "final_native_qualified_from_origin": false,
            "probe_index": 0,
            "start_time_s": 11.139999999999265
          },
          {
            "claims": [],
            "disposition": "invalidated_hold",
            "final_native_qualified_from_origin": false,
            "probe_index": 1,
            "start_time_s": 14.059999999997647
          }
        ],
        "receipt": {
          "admission": {
            "observation_origin": "privileged_native_simulation_plus_caller_planning_assumptions",
            "physical_robot_ready": false,
            "planning": {
              "computed": {
                "conservative_required_load_n": 0.8172986249999998,
                "gravity_m_s2": 9.80665,
                "pose_specific_payload_limit_force_n": 0.980665,
                "two_finger_friction_capacity_n": 10.0
              },
              "observation_origin": "caller_declared_not_verified",
              "physical_robot_ready": false,
              "reasons": [
                "Run and record a cautious test lift under the same calibrated pose and load conditions before simulated transport planning."
              ],
              "schema": "dvidia.task-feasibility-result/v1",
              "scope": "Planning assessment only. Parallel two-finger vertical-lift approximation; ignores moment, center of mass, deformation, transient impacts and unmodeled contact effects. Unknown values remain unknown; mass is never inferred from images. Probe/test-lift/controller integration is not implemented. No hardware actuation is performed; this is not hardware qualification.",
              "status": "test_lift_required"
            },
            "probe": {
              "admissible": false,
              "historical_qualified": false,
              "latest_qualified": false,
              "physical_robot_ready": false,
              "reasons": [
                "latest_native_window_not_qualified",
                "no_controller_qualification_for_this_probe",
                "latest_controller_not_qualified"
              ],
              "receipt_sha256": "2501c8260f33cd80a0b8aca156641514474d5eb80c4494db34fd8fb995d3811a",
              "schema": "dvidia.probe-evidence-verification/v1",
              "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.",
              "verified": true
            },
            "schema": "dvidia.task-feasibility-with-probe/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification. Unknown planning values remain unknown. The unchanged approximate vertical-lift planning gate describes declared loads; it supplies no transport path, geospatial-goal contract or actuator permission. This wrapper never issues controls.",
            "status": "test_lift_required"
          },
          "context": {
            "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
            "calibration_id": "synthetic_probe_v01",
            "calibration_scope": "simulation_assumptions_not_hardware",
            "command_sha256": "661869eb5d016d736638d5363ea5af5074435b3a30ab732db6d05a258a90414c",
            "feasibility_sha256": "86b8851448d54f6860fd8a3279b1be8d7a45b297a1fd45e2d10d37b5ae6400bb",
            "grasp_id": "m55-f50-p0-measured_joint-probe-1",
            "initial_object_position_m": [
              0.3030000461054176,
              -0.025999796476173304,
              0.07989224451748383
            ],
            "model_sha256": "8fc47912075c7fb4b5480f8b0d4657147a4a520e96d69e30cf78399738ae90c2",
            "native_status": {
              "simulation_time_s": 20.00000000000146,
              "unexpected_contact_native_ticks": 0,
              "valid": true,
              "warnings": []
            },
            "object_id": "task_block",
            "per_finger_force_ceiling_n": 10.0,
            "pose_binding_sha256": "01c514071a6f8c58de8e74aa32e661f26fd11d6354356e7aff1e411cdce8e967",
            "probe_index": 1,
            "probe_origin_object_position_m": [
              0.304764468077814,
              -0.026046983788497968,
              0.07986030851936131
            ],
            "probe_origin_tcp_local_offset_m": [
              -0.002050870094884708,
              0.0002383979229268336,
              0.0024064777951364625
            ],
            "probe_start_s": 14.059999999997647,
            "robot_profile": "piper",
            "run_id": "m55-f50-p0-measured_joint",
            "schema": "dvidia.probe-context/v1",
            "source_sha256": "cc82eb867d3a927a487317b2e9e470fcb8f53e9da000a1764b7c5a1878883e69"
          },
          "physical_robot_ready": false,
          "planning_input": {
            "allowed_pose_tolerance_m": 0.003,
            "calibration_id": "synthetic_probe_v01",
            "friction_interval": [
              0.5,
              0.5
            ],
            "geometry_known": true,
            "gripper_max_opening_interval_m": [
              0.07,
              0.07
            ],
            "gripper_min_closure_m": 0.0,
            "mass_interval_kg": [
              0.055,
              0.055
            ],
            "object_width_interval_m": [
              0.04,
              0.04
            ],
            "observations_fresh": true,
            "per_finger_normal_force_budget_n": 10.0,
            "planned_upward_accel_m_s2": 0.1,
            "pose_specific_payload_limit_kg": 0.1,
            "pose_uncertainty_m": 0.0,
            "reachability": "reachable",
            "safety_factor": 1.5,
            "schema": "dvidia.task-feasibility-input/v1",
            "slip_detected": false,
            "test_lift_passed": false
          },
          "receipt": {
            "audit": {
              "controller_claim_mismatches": [],
              "controller_claims_checked": 1,
              "controller_conservative_abstention_count": 0,
              "controller_coverage": "Only the supplied claims are checked; omitted decisions are not inferred.",
              "controller_false_qualification_count": 0,
              "controller_positive_claims": 0,
              "force_ceiling_known": true,
              "maximum_observed_per_finger_force_n": 0.5085316725721623,
              "reasons": [],
              "rows": 20000,
              "unexpected_contact_native_ticks": 0,
              "valid": true
            },
            "context": {
              "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
              "calibration_id": "synthetic_probe_v01",
              "calibration_scope": "simulation_assumptions_not_hardware",
              "command_sha256": "661869eb5d016d736638d5363ea5af5074435b3a30ab732db6d05a258a90414c",
              "feasibility_sha256": "86b8851448d54f6860fd8a3279b1be8d7a45b297a1fd45e2d10d37b5ae6400bb",
              "grasp_id": "m55-f50-p0-measured_joint-probe-1",
              "initial_object_position_m": [
                0.3030000461054176,
                -0.025999796476173304,
                0.07989224451748383
              ],
              "model_sha256": "8fc47912075c7fb4b5480f8b0d4657147a4a520e96d69e30cf78399738ae90c2",
              "native_status": {
                "simulation_time_s": 20.00000000000146,
                "unexpected_contact_native_ticks": 0,
                "valid": true,
                "warnings": []
              },
              "object_id": "task_block",
              "per_finger_force_ceiling_n": 10.0,
              "pose_binding_sha256": "01c514071a6f8c58de8e74aa32e661f26fd11d6354356e7aff1e411cdce8e967",
              "probe_index": 1,
              "probe_origin_object_position_m": [
                0.304764468077814,
                -0.026046983788497968,
                0.07986030851936131
              ],
              "probe_origin_tcp_local_offset_m": [
                -0.002050870094884708,
                0.0002383979229268336,
                0.0024064777951364625
              ],
              "probe_start_s": 14.059999999997647,
              "robot_profile": "piper",
              "run_id": "m55-f50-p0-measured_joint",
              "schema": "dvidia.probe-context/v1",
              "source_sha256": "cc82eb867d3a927a487317b2e9e470fcb8f53e9da000a1764b7c5a1878883e69"
            },
            "context_sha256": "e7ab62cf792ad6dc73759d545fea245acd3df3c0261eafd1182072a8cb83985e",
            "controller_qualifications": [
              {
                "probe_index": 1,
                "qualified": false,
                "t_seconds": 20.00000000000146
              }
            ],
            "criteria": {
              "distance_comparison_epsilon": 1e-12,
              "initial_sample_tolerance_m": 0.001,
              "maximum_tcp_local_drift_m": 0.003,
              "minimum_continuous_dwell_s": 0.1,
              "minimum_per_finger_force_n_exclusive": 0.01,
              "minimum_rise_m": 0.006,
              "native_dt_s": 0.001,
              "origin_tolerance_m": 1e-09,
              "time_tolerance_s": 1e-08
            },
            "history": {
              "ever_qualified": false,
              "first_qualified_s": null,
              "maximum_continuous_qualifying_s": 0.0
            },
            "latest": {
              "condition_valid": false,
              "continuous_qualifying_s": 0.0,
              "controller_claim": {
                "probe_index": 1,
                "qualified": false,
                "t_seconds": 20.00000000000146
              },
              "native_tick": 20000,
              "qualified": false,
              "rise_m": 2.3240367360205516e-05,
              "tcp_local_drift_m": 0.0038326835419900535,
              "time_s": 20.00000000000146
            },
            "metadata_sha256": "ad8229630cc9f8718829bb8317b1a82480dcf18b9f71bd23666acfe71a003ef7",
            "native_arrays_sha256": "b60927860bab63b32f11f24fdedde215e8466d11f310d490bb378e7aecc70b15",
            "physical_robot_ready": false,
            "receipt_sha256": "2501c8260f33cd80a0b8aca156641514474d5eb80c4494db34fd8fb995d3811a",
            "schema": "dvidia.probe-evidence/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification."
          },
          "status": "inspected",
          "verification": {
            "admissible": false,
            "historical_qualified": false,
            "latest_qualified": false,
            "physical_robot_ready": false,
            "reasons": [
              "latest_native_window_not_qualified",
              "no_controller_qualification_for_this_probe",
              "latest_controller_not_qualified"
            ],
            "receipt_sha256": "2501c8260f33cd80a0b8aca156641514474d5eb80c4494db34fd8fb995d3811a",
            "schema": "dvidia.probe-evidence-verification/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.",
            "verified": true
          }
        },
        "stationarity": {
          "complete_5s": false,
          "grip_retention_and_stationarity": false,
          "tcp_pose_within_bounds": false
        },
        "status": "inspected"
      },
      "files": {
        "episode.json.gz": {
          "bytes": 776123,
          "sha256": "56ee9618773b82e018da07e3187c23f961094af5c1f9ad27b8b11c330829bbaa"
        },
        "evaluation.json": {
          "bytes": 11702,
          "sha256": "404fe8b3c559e65a218c84bff7c475ff1a8a4efd6f9f954f68a4bc781f6718aa"
        },
        "native.json": {
          "bytes": 13763,
          "sha256": "19cc1d5998901cbc12da2916add3096763081e9decbfc7193981bfabc4b871e0"
        },
        "native.npz": {
          "bytes": 4110837,
          "sha256": "096943b36cfd9c548380f5f2f53bfa2cc2b4b1fcbe756bb519b375db8c9b4c17"
        },
        "started.json": {
          "bytes": 151,
          "sha256": "c739d3c7a30988eabb55cb8f9d5b65034b26cf50fe829d455a2e6daba20e29e6"
        }
      },
      "friction": 0.5,
      "id": "m55-f50-p0-measured_joint",
      "mass_kg": 0.055,
      "metrics": {
        "carry_complete": false,
        "carry_contact_loss_events": 0,
        "carry_contact_loss_tolerance_seconds": 0.04,
        "dwell_seconds": 0.0,
        "first_success_time_seconds": null,
        "grasp_seen": true,
        "lift_dwell_seconds": 0.0,
        "lift_seen": false,
        "max_carry_contact_loss_seconds": 0.0,
        "max_object_lift_m": 0.0001617639821531458,
        "max_pad_normal_force_n": 0.5085316725721623,
        "physical_robot_ready": false,
        "reason": "timeout",
        "retention_lost": false,
        "simulation_time": 20.00000000000146,
        "steps": 1000,
        "success": false,
        "target_distance_m": 0.11476742497478562,
        "unexpected_contact_native_ticks": 0,
        "valid": true,
        "warnings": []
      },
      "policy": {
        "abort_reason": "retry_budget_exhausted:object_not_following",
        "acquisition_contract": {
          "comparison_scope": "Closed-loop variants may acquire different trajectories through early hold/retry. This is not an isolated classifier ablation.",
          "control_dt_s": 0.02,
          "evidence_admission": "Current bilateral force >0.01 N, no table support, object rise >=6 mm and TCP-local offset drift <=3 mm continuously across sampled boundaries for elapsed >=100 ms.",
          "hold": "Latch measured six arm joints and the last issued jaw target at admission/terminal invalidity. No full lift/transfer, no squeeze escalation, no post-admission retry.",
          "invalidation": "At each subsequent 20 ms observation and final observation, invalidate immediately on lost contact/force, support, insufficient rise, >3 mm local drift or unexpected contact. Never requalify after terminal invalidity.",
          "observation_origin": "privileged_native_simulator_state",
          "parameters": {
            "close_timeout_s": 1.4,
            "consecutive_alarm_samples": 2,
            "max_retries": 1,
            "monitor_min_probe_motion_m": 0.003,
            "probe_height_m": 0.01,
            "probe_min_object_rise_m": 0.006,
            "probe_speed_m_s": 0.02,
            "probe_timeout_s": 1.4,
            "qualification_dwell_s": 0.1,
            "relative_drift_limit_m": 0.003,
            "retry_clearance_m": 0.012,
            "retry_open_timeout_s": 1.2,
            "retry_recenter_timeout_s": 1.5
          },
          "physical_robot_ready": false,
          "prefix": "Original GuardedPiperTaskPolicy approach/close and at most one supported open/recenter/retry; already uses authored native state, not a fully blind baseline.",
          "sampling_limit": "Independent 1 ms evidence may contradict sampled admission; that remains a finding. No sensor or material inference is implemented.",
          "schema": "dvidia.piper-probe-stop/v1",
          "stop_scope": "Holding native position targets is not physical arrest or calibrated force limiting; inertia and existing target rate limits can continue motion.",
          "timer_admission": "Same 10 mm/20 mm/s probe target law, admitted at elapsed >=600 ms from that probe start; no evidence predicate or slip alarm before admission. Unexpected contacts and bounded timeouts still stop.",
          "timer_admission_s": 0.6,
          "variants": [
            "evidence",
            "timer"
          ]
        },
        "acquisition_variant": "evidence",
        "active_probe_index": 1,
        "admission_time_s": null,
        "admitted": false,
        "contract": {
          "acquisition": "Unchanged ProbeStopPolicy evidence acquisition, including its bounded supported retry. All variants share the same prefix through the first admission observation.",
          "cartesian": "Latch measured TCP position/orientation and preceding issued targets. Fixed joint bias equals issued target minus pose_action at the admission pose. First command repeats the exact issued target; later pose_action updates receive that fixed bias.",
          "control_dt_s": 0.02,
          "final_observation": "Repeat force, original eligibility and Cartesian pose-error checks. Do not solve or issue a hypothetical next control at the terminal observation.",
          "invalid_measurements": "Malformed, nonfinite or noncausal observations terminally refuse and raise without issuing a command. No measured-position stop is claimed from invalid measurements.",
          "issued_joint": "Latch the preceding issued six joint targets and the same last issued jaw target at admission.",
          "limits": {
            "initial_joint_bias_ceiling_rad": 0.08,
            "joint_correction_ceiling_rad": 0.03,
            "joint_correction_rate_rad_s": 0.1,
            "native_joint_target_margin_rad": 0.02,
            "per_finger_force_ceiling_n": 10.0,
            "tcp_orientation_error_ceiling_rad": 0.05,
            "tcp_position_error_ceiling_m": 0.004
          },
          "measured_joint": "Original hold: latch measured six joint coordinates and the last issued jaw target at admission.",
          "observation_origin": "privileged_native_simulator_state",
          "physical_robot_ready": false,
          "qualifications": "Engineering limits and the 10 N ceiling are authored synthetic assumptions, not damage limits or calibrated physical telemetry. Position targets are not physical stops or force limiters. No load/friction inference, model training or complete placement is implemented.",
          "rate_scope": "The extra correction slews at at most 0.002 rad per 20 ms per joint. Original native 1 ms target slew, servos, gains and force caps remain unchanged.",
          "refusal": "Original eligibility loss, unexpected contact or observed pad force >10 N terminally requests measured joint hold and the frozen jaw target. Cartesian error, initial-bias, total-correction or native-margin exhaustion also refuses terminally; it never chases an already failed grip.",
          "sampling": "Control checks occur at 20 ms boundaries. Independent saved 1 ms native evidence must judge a continuous 5 s hold; missed between-boundary failures remain findings.",
          "schema": "dvidia.piper-retention/v2",
          "variants": [
            "measured_joint",
            "issued_joint",
            "cartesian"
          ]
        },
        "events": [
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "continue",
              "drift_streak": 0,
              "object_height_delta_m": 0.0,
              "phase": "probe",
              "progress_streak": 0,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0,
              "retry_index": 0,
              "t_seconds": 11.139999999999265,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_probe",
            "probe_index": 0,
            "reason": "slow_load_bearing_check",
            "retention_variant": "measured_joint",
            "retry_index": 0,
            "status": "probing",
            "t_seconds": 11.139999999999265,
            "type": "probe_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm",
              "drift_streak": 2,
              "object_height_delta_m": 9.650052245090135e-05,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.003662539224984724,
              "retry_index": 0,
              "t_seconds": 11.519999999999055,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.003729145734111941
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_stop",
            "probe_index": 0,
            "reason": "object_not_following",
            "retention_variant": "measured_joint",
            "retry_index": 0,
            "status": "probing",
            "t_seconds": 11.519999999999055,
            "type": "alarm",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm",
              "drift_streak": 2,
              "object_height_delta_m": 9.650052245090135e-05,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.003662539224984724,
              "retry_index": 0,
              "t_seconds": 11.519999999999055,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.003729145734111941
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_stop",
            "probe_index": 0,
            "reason": "supported_object_only",
            "retention_variant": "measured_joint",
            "retry_index": 1,
            "status": "acquiring_retry",
            "t_seconds": 11.519999999999055,
            "type": "retry_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": false,
              "contact_loss_streak": 0,
              "decision": "recenter_with_open_jaw",
              "drift_streak": 2,
              "object_height_delta_m": -2.4885627265547328e-05,
              "phase": "retry_recenter",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.009726437184534009,
              "retry_index": 1,
              "t_seconds": 13.179999999998135,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.009684998039508716
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_retry_recenter",
            "probe_index": 0,
            "reason": "open_recenter_complete",
            "retention_variant": "measured_joint",
            "retry_index": 1,
            "status": "acquiring",
            "t_seconds": 13.179999999998135,
            "type": "retry_completed",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "continue",
              "drift_streak": 0,
              "object_height_delta_m": 0.0,
              "phase": "probe",
              "progress_streak": 0,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0,
              "retry_index": 1,
              "t_seconds": 14.059999999997647,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_probe",
            "probe_index": 1,
            "reason": "slow_load_bearing_check",
            "retention_variant": "measured_joint",
            "retry_index": 1,
            "status": "probing",
            "t_seconds": 14.059999999997647,
            "type": "probe_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm",
              "drift_streak": 2,
              "object_height_delta_m": 0.00014745862774163954,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.003602579214981779,
              "retry_index": 1,
              "t_seconds": 14.439999999997436,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.003677935011028227
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_stop",
            "probe_index": 1,
            "reason": "object_not_following",
            "retention_variant": "measured_joint",
            "retry_index": 1,
            "status": "probing",
            "t_seconds": 14.439999999997436,
            "type": "alarm",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm_and_freeze_issued_jaw",
              "drift_streak": 2,
              "object_height_delta_m": 0.00014745862774163954,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.003602579214981779,
              "retry_index": 1,
              "t_seconds": 14.439999999997436,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.003677935011028227
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "probe_stop",
            "probe_index": 1,
            "reason": "retry_budget_exhausted:object_not_following",
            "retention_variant": "measured_joint",
            "retry_index": 1,
            "status": "invalidated_hold",
            "t_seconds": 14.439999999997436,
            "type": "abort",
            "variant": "evidence"
          }
        ],
        "ever_admitted": false,
        "final_observed": true,
        "frozen_jaw_target_m": 0.0,
        "initial_context": {
          "object_position_m": [
            0.3030000461054176,
            -0.025999796476173304,
            0.07989224451748383
          ],
          "observation_origin": "privileged_native_simulator_state",
          "t_seconds": 0.0,
          "tcp_position_m": [
            0.4890696662845219,
            0.0014141975654808877,
            0.3665849431043091
          ],
          "tcp_quaternion_wxyz": [
            0.6580840948238629,
            2.7730466224793136e-07,
            0.7529444362872891,
            -1.9485471114950535e-06
          ]
        },
        "last_observed_s": 20.00000000000146,
        "observation_origin": "privileged_native_simulator_state",
        "physical_robot_ready": false,
        "probes": [
          {
            "disposition": "interrupted",
            "end_time_s": 11.519999999999055,
            "local_offset_origin_m": [
              0.002271312155407417,
              0.0002957181816060099,
              0.001925594489981433
            ],
            "object_origin_m": [
              0.30285090683400234,
              -0.025957236118142848,
              0.0799171302070492
            ],
            "observation_origin": "privileged_native_simulator_state",
            "probe_index": 0,
            "reason": "object_not_following",
            "start_time_s": 11.139999999999265,
            "tcp_origin_m": [
              0.3051026520857925,
              -0.026242985132875384,
              0.08186705664455922
            ],
            "tcp_quaternion_wxyz": [
              0.005312668037355206,
              -0.001758932562860304,
              0.9999842058027045,
              -0.0005194802192906238
            ]
          },
          {
            "disposition": "invalidated_hold",
            "end_time_s": 14.439999999997436,
            "local_offset_origin_m": [
              -0.002050870094884708,
              0.0002383979229268336,
              0.0024064777951364625
            ],
            "object_origin_m": [
              0.304764468077814,
              -0.026046983788497968,
              0.07986030851936131
            ],
            "observation_origin": "privileged_native_simulator_state",
            "probe_index": 1,
            "reason": "retry_budget_exhausted:object_not_following",
            "start_time_s": 14.059999999997647,
            "tcp_origin_m": [
              0.3027354728304215,
              -0.02628645145482746,
              0.0822851529715014
            ],
            "tcp_quaternion_wxyz": [
              -0.004509829831520418,
              -0.00018035078706342327,
              0.999989812013778,
              6.911680932127586e-05
            ]
          }
        ],
        "retention": {
          "hold_reference": null,
          "input_refusals": [],
          "native_joint_control_limits_rad": [
            [
              -2.618,
              2.618
            ],
            [
              0.0,
              3.14
            ],
            [
              -2.697,
              0.0
            ],
            [
              -1.832,
              1.832
            ],
            [
              -1.22,
              1.22
            ],
            [
              -3.14,
              3.14
            ]
          ],
          "variant": "measured_joint"
        },
        "retry_count": 1,
        "schema": "dvidia.piper-retention/v2",
        "status": "invalidated_hold",
        "stop_targets_rad": [
          -0.09084988962439593,
          1.738001852975089,
          -1.151052914157953,
          -0.0008637740435322669,
          1.0710600680603404,
          -0.09081399099999109
        ],
        "variant": "measured_joint"
      },
      "scene_id": "m55-f50-p0",
      "timing": {
        "policy_cpu": {
          "maximum_s": 0.0002729999999999677,
          "mean_s": 4.523299999981845e-05,
          "over_20ms": 0,
          "p50_s": 4.9000000004184585e-05,
          "p95_s": 7.40000000050145e-05,
          "p99_s": 0.00010699999999985721,
          "samples": 1000
        },
        "policy_wall": {
          "maximum_s": 0.0002876659855246544,
          "mean_s": 4.5348347630351785e-05,
          "over_20ms": 0,
          "p50_s": 4.937499761581421e-05,
          "p95_s": 7.481004577130078e-05,
          "p99_s": 0.00011169613339006898,
          "samples": 1000
        },
        "step_cpu": {
          "maximum_s": 0.01348199999999622,
          "mean_s": 0.0016538169999999964,
          "over_20ms": 0,
          "p50_s": 0.001394499999989307,
          "p95_s": 0.002865099999999643,
          "p99_s": 0.0035466900000000116,
          "samples": 1000
        },
        "step_wall": {
          "maximum_s": 0.013534958008676767,
          "mean_s": 0.0016655762922018766,
          "over_20ms": 0,
          "p50_s": 0.0014035629574209452,
          "p95_s": 0.002865011221729219,
          "p99_s": 0.0036372567154467103,
          "samples": 1000
        }
      },
      "valid": true,
      "variant": "measured_joint"
    },
    {
      "error": null,
      "evaluation": {
        "corrections": {
          "bound_refusal_counts": {},
          "flag_counts": {
            "correction_rate_limited": 0
          },
          "hold_record_count": 279,
          "input_refusals": [],
          "maximum_abs_active_correction_rad": null,
          "maximum_abs_desired_correction_rad": null,
          "rate_limited_axis_occurrences": 0,
          "scope": "Includes recorded final diagnostic checks; only command_issued rows represent issued controls."
        },
        "decomposition": null,
        "final": {
          "both_qualified": false,
          "controller_qualified": false,
          "evidence_admissible": false,
          "native_qualified": false
        },
        "first_admission": null,
        "native": {
          "arrays_sha256": "b60927860bab63b32f11f24fdedde215e8466d11f310d490bb378e7aecc70b15",
          "complete": true,
          "maximum_per_finger_force_n": 0.5085316725721623,
          "rows": 20000,
          "unexpected_contact_native_ticks": 0,
          "valid": true,
          "warnings": []
        },
        "physical_robot_ready": false,
        "primary": {
          "combined_qualified_pause": false,
          "complete_5s": false,
          "controller_retained_at_5s": false,
          "native_pause_success": false,
          "reason": "no_admission",
          "required_s": 5.0,
          "success": false
        },
        "probes": [
          {
            "claims": [],
            "disposition": "interrupted",
            "final_native_qualified_from_origin": false,
            "probe_index": 0,
            "start_time_s": 11.139999999999265
          },
          {
            "claims": [],
            "disposition": "invalidated_hold",
            "final_native_qualified_from_origin": false,
            "probe_index": 1,
            "start_time_s": 14.059999999997647
          }
        ],
        "receipt": {
          "admission": {
            "observation_origin": "privileged_native_simulation_plus_caller_planning_assumptions",
            "physical_robot_ready": false,
            "planning": {
              "computed": {
                "conservative_required_load_n": 0.8172986249999998,
                "gravity_m_s2": 9.80665,
                "pose_specific_payload_limit_force_n": 0.980665,
                "two_finger_friction_capacity_n": 10.0
              },
              "observation_origin": "caller_declared_not_verified",
              "physical_robot_ready": false,
              "reasons": [
                "Run and record a cautious test lift under the same calibrated pose and load conditions before simulated transport planning."
              ],
              "schema": "dvidia.task-feasibility-result/v1",
              "scope": "Planning assessment only. Parallel two-finger vertical-lift approximation; ignores moment, center of mass, deformation, transient impacts and unmodeled contact effects. Unknown values remain unknown; mass is never inferred from images. Probe/test-lift/controller integration is not implemented. No hardware actuation is performed; this is not hardware qualification.",
              "status": "test_lift_required"
            },
            "probe": {
              "admissible": false,
              "historical_qualified": false,
              "latest_qualified": false,
              "physical_robot_ready": false,
              "reasons": [
                "latest_native_window_not_qualified",
                "no_controller_qualification_for_this_probe",
                "latest_controller_not_qualified"
              ],
              "receipt_sha256": "321586c00a351935577e3a86c3fe6d2085da9696cc9519afaaa7786948234997",
              "schema": "dvidia.probe-evidence-verification/v1",
              "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.",
              "verified": true
            },
            "schema": "dvidia.task-feasibility-with-probe/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification. Unknown planning values remain unknown. The unchanged approximate vertical-lift planning gate describes declared loads; it supplies no transport path, geospatial-goal contract or actuator permission. This wrapper never issues controls.",
            "status": "test_lift_required"
          },
          "context": {
            "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
            "calibration_id": "synthetic_probe_v01",
            "calibration_scope": "simulation_assumptions_not_hardware",
            "command_sha256": "661869eb5d016d736638d5363ea5af5074435b3a30ab732db6d05a258a90414c",
            "feasibility_sha256": "86b8851448d54f6860fd8a3279b1be8d7a45b297a1fd45e2d10d37b5ae6400bb",
            "grasp_id": "m55-f50-p0-issued_joint-probe-1",
            "initial_object_position_m": [
              0.3030000461054176,
              -0.025999796476173304,
              0.07989224451748383
            ],
            "model_sha256": "8fc47912075c7fb4b5480f8b0d4657147a4a520e96d69e30cf78399738ae90c2",
            "native_status": {
              "simulation_time_s": 20.00000000000146,
              "unexpected_contact_native_ticks": 0,
              "valid": true,
              "warnings": []
            },
            "object_id": "task_block",
            "per_finger_force_ceiling_n": 10.0,
            "pose_binding_sha256": "01c514071a6f8c58de8e74aa32e661f26fd11d6354356e7aff1e411cdce8e967",
            "probe_index": 1,
            "probe_origin_object_position_m": [
              0.304764468077814,
              -0.026046983788497968,
              0.07986030851936131
            ],
            "probe_origin_tcp_local_offset_m": [
              -0.002050870094884708,
              0.0002383979229268336,
              0.0024064777951364625
            ],
            "probe_start_s": 14.059999999997647,
            "robot_profile": "piper",
            "run_id": "m55-f50-p0-issued_joint",
            "schema": "dvidia.probe-context/v1",
            "source_sha256": "cc82eb867d3a927a487317b2e9e470fcb8f53e9da000a1764b7c5a1878883e69"
          },
          "physical_robot_ready": false,
          "planning_input": {
            "allowed_pose_tolerance_m": 0.003,
            "calibration_id": "synthetic_probe_v01",
            "friction_interval": [
              0.5,
              0.5
            ],
            "geometry_known": true,
            "gripper_max_opening_interval_m": [
              0.07,
              0.07
            ],
            "gripper_min_closure_m": 0.0,
            "mass_interval_kg": [
              0.055,
              0.055
            ],
            "object_width_interval_m": [
              0.04,
              0.04
            ],
            "observations_fresh": true,
            "per_finger_normal_force_budget_n": 10.0,
            "planned_upward_accel_m_s2": 0.1,
            "pose_specific_payload_limit_kg": 0.1,
            "pose_uncertainty_m": 0.0,
            "reachability": "reachable",
            "safety_factor": 1.5,
            "schema": "dvidia.task-feasibility-input/v1",
            "slip_detected": false,
            "test_lift_passed": false
          },
          "receipt": {
            "audit": {
              "controller_claim_mismatches": [],
              "controller_claims_checked": 1,
              "controller_conservative_abstention_count": 0,
              "controller_coverage": "Only the supplied claims are checked; omitted decisions are not inferred.",
              "controller_false_qualification_count": 0,
              "controller_positive_claims": 0,
              "force_ceiling_known": true,
              "maximum_observed_per_finger_force_n": 0.5085316725721623,
              "reasons": [],
              "rows": 20000,
              "unexpected_contact_native_ticks": 0,
              "valid": true
            },
            "context": {
              "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
              "calibration_id": "synthetic_probe_v01",
              "calibration_scope": "simulation_assumptions_not_hardware",
              "command_sha256": "661869eb5d016d736638d5363ea5af5074435b3a30ab732db6d05a258a90414c",
              "feasibility_sha256": "86b8851448d54f6860fd8a3279b1be8d7a45b297a1fd45e2d10d37b5ae6400bb",
              "grasp_id": "m55-f50-p0-issued_joint-probe-1",
              "initial_object_position_m": [
                0.3030000461054176,
                -0.025999796476173304,
                0.07989224451748383
              ],
              "model_sha256": "8fc47912075c7fb4b5480f8b0d4657147a4a520e96d69e30cf78399738ae90c2",
              "native_status": {
                "simulation_time_s": 20.00000000000146,
                "unexpected_contact_native_ticks": 0,
                "valid": true,
                "warnings": []
              },
              "object_id": "task_block",
              "per_finger_force_ceiling_n": 10.0,
              "pose_binding_sha256": "01c514071a6f8c58de8e74aa32e661f26fd11d6354356e7aff1e411cdce8e967",
              "probe_index": 1,
              "probe_origin_object_position_m": [
                0.304764468077814,
                -0.026046983788497968,
                0.07986030851936131
              ],
              "probe_origin_tcp_local_offset_m": [
                -0.002050870094884708,
                0.0002383979229268336,
                0.0024064777951364625
              ],
              "probe_start_s": 14.059999999997647,
              "robot_profile": "piper",
              "run_id": "m55-f50-p0-issued_joint",
              "schema": "dvidia.probe-context/v1",
              "source_sha256": "cc82eb867d3a927a487317b2e9e470fcb8f53e9da000a1764b7c5a1878883e69"
            },
            "context_sha256": "3be7cd4bbb23ce60607eb2e0603d535c9304c8a76c0ba18cc4cd5ffcb00b9559",
            "controller_qualifications": [
              {
                "probe_index": 1,
                "qualified": false,
                "t_seconds": 20.00000000000146
              }
            ],
            "criteria": {
              "distance_comparison_epsilon": 1e-12,
              "initial_sample_tolerance_m": 0.001,
              "maximum_tcp_local_drift_m": 0.003,
              "minimum_continuous_dwell_s": 0.1,
              "minimum_per_finger_force_n_exclusive": 0.01,
              "minimum_rise_m": 0.006,
              "native_dt_s": 0.001,
              "origin_tolerance_m": 1e-09,
              "time_tolerance_s": 1e-08
            },
            "history": {
              "ever_qualified": false,
              "first_qualified_s": null,
              "maximum_continuous_qualifying_s": 0.0
            },
            "latest": {
              "condition_valid": false,
              "continuous_qualifying_s": 0.0,
              "controller_claim": {
                "probe_index": 1,
                "qualified": false,
                "t_seconds": 20.00000000000146
              },
              "native_tick": 20000,
              "qualified": false,
              "rise_m": 2.3240367360205516e-05,
              "tcp_local_drift_m": 0.0038326835419900535,
              "time_s": 20.00000000000146
            },
            "metadata_sha256": "ad8229630cc9f8718829bb8317b1a82480dcf18b9f71bd23666acfe71a003ef7",
            "native_arrays_sha256": "b60927860bab63b32f11f24fdedde215e8466d11f310d490bb378e7aecc70b15",
            "physical_robot_ready": false,
            "receipt_sha256": "321586c00a351935577e3a86c3fe6d2085da9696cc9519afaaa7786948234997",
            "schema": "dvidia.probe-evidence/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification."
          },
          "status": "inspected",
          "verification": {
            "admissible": false,
            "historical_qualified": false,
            "latest_qualified": false,
            "physical_robot_ready": false,
            "reasons": [
              "latest_native_window_not_qualified",
              "no_controller_qualification_for_this_probe",
              "latest_controller_not_qualified"
            ],
            "receipt_sha256": "321586c00a351935577e3a86c3fe6d2085da9696cc9519afaaa7786948234997",
            "schema": "dvidia.probe-evidence-verification/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.",
            "verified": true
          }
        },
        "stationarity": {
          "complete_5s": false,
          "grip_retention_and_stationarity": false,
          "tcp_pose_within_bounds": false
        },
        "status": "inspected"
      },
      "files": {
        "episode.json.gz": {
          "bytes": 776770,
          "sha256": "8cc458805b6041f78d9edb451c755c7828cbe9aa656be84f0944f6356147050a"
        },
        "evaluation.json": {
          "bytes": 11694,
          "sha256": "aaa144a7ac6e556ebf01a81d3bccc1b3cdc606ab35d61efdaf1651083af64267"
        },
        "native.json": {
          "bytes": 13763,
          "sha256": "19cc1d5998901cbc12da2916add3096763081e9decbfc7193981bfabc4b871e0"
        },
        "native.npz": {
          "bytes": 4110837,
          "sha256": "096943b36cfd9c548380f5f2f53bfa2cc2b4b1fcbe756bb519b375db8c9b4c17"
        },
        "started.json": {
          "bytes": 149,
          "sha256": "390c20a9bc3bd486281f21403714fbf9b1e11637d098040bad651201c8ceec9a"
        }
      },
      "friction": 0.5,
      "id": "m55-f50-p0-issued_joint",
      "mass_kg": 0.055,
      "metrics": {
        "carry_complete": false,
        "carry_contact_loss_events": 0,
        "carry_contact_loss_tolerance_seconds": 0.04,
        "dwell_seconds": 0.0,
        "first_success_time_seconds": null,
        "grasp_seen": true,
        "lift_dwell_seconds": 0.0,
        "lift_seen": false,
        "max_carry_contact_loss_seconds": 0.0,
        "max_object_lift_m": 0.0001617639821531458,
        "max_pad_normal_force_n": 0.5085316725721623,
        "physical_robot_ready": false,
        "reason": "timeout",
        "retention_lost": false,
        "simulation_time": 20.00000000000146,
        "steps": 1000,
        "success": false,
        "target_distance_m": 0.11476742497478562,
        "unexpected_contact_native_ticks": 0,
        "valid": true,
        "warnings": []
      },
      "policy": {
        "abort_reason": "retry_budget_exhausted:object_not_following",
        "acquisition_contract": {
          "comparison_scope": "Closed-loop variants may acquire different trajectories through early hold/retry. This is not an isolated classifier ablation.",
          "control_dt_s": 0.02,
          "evidence_admission": "Current bilateral force >0.01 N, no table support, object rise >=6 mm and TCP-local offset drift <=3 mm continuously across sampled boundaries for elapsed >=100 ms.",
          "hold": "Latch measured six arm joints and the last issued jaw target at admission/terminal invalidity. No full lift/transfer, no squeeze escalation, no post-admission retry.",
          "invalidation": "At each subsequent 20 ms observation and final observation, invalidate immediately on lost contact/force, support, insufficient rise, >3 mm local drift or unexpected contact. Never requalify after terminal invalidity.",
          "observation_origin": "privileged_native_simulator_state",
          "parameters": {
            "close_timeout_s": 1.4,
            "consecutive_alarm_samples": 2,
            "max_retries": 1,
            "monitor_min_probe_motion_m": 0.003,
            "probe_height_m": 0.01,
            "probe_min_object_rise_m": 0.006,
            "probe_speed_m_s": 0.02,
            "probe_timeout_s": 1.4,
            "qualification_dwell_s": 0.1,
            "relative_drift_limit_m": 0.003,
            "retry_clearance_m": 0.012,
            "retry_open_timeout_s": 1.2,
            "retry_recenter_timeout_s": 1.5
          },
          "physical_robot_ready": false,
          "prefix": "Original GuardedPiperTaskPolicy approach/close and at most one supported open/recenter/retry; already uses authored native state, not a fully blind baseline.",
          "sampling_limit": "Independent 1 ms evidence may contradict sampled admission; that remains a finding. No sensor or material inference is implemented.",
          "schema": "dvidia.piper-probe-stop/v1",
          "stop_scope": "Holding native position targets is not physical arrest or calibrated force limiting; inertia and existing target rate limits can continue motion.",
          "timer_admission": "Same 10 mm/20 mm/s probe target law, admitted at elapsed >=600 ms from that probe start; no evidence predicate or slip alarm before admission. Unexpected contacts and bounded timeouts still stop.",
          "timer_admission_s": 0.6,
          "variants": [
            "evidence",
            "timer"
          ]
        },
        "acquisition_variant": "evidence",
        "active_probe_index": 1,
        "admission_time_s": null,
        "admitted": false,
        "contract": {
          "acquisition": "Unchanged ProbeStopPolicy evidence acquisition, including its bounded supported retry. All variants share the same prefix through the first admission observation.",
          "cartesian": "Latch measured TCP position/orientation and preceding issued targets. Fixed joint bias equals issued target minus pose_action at the admission pose. First command repeats the exact issued target; later pose_action updates receive that fixed bias.",
          "control_dt_s": 0.02,
          "final_observation": "Repeat force, original eligibility and Cartesian pose-error checks. Do not solve or issue a hypothetical next control at the terminal observation.",
          "invalid_measurements": "Malformed, nonfinite or noncausal observations terminally refuse and raise without issuing a command. No measured-position stop is claimed from invalid measurements.",
          "issued_joint": "Latch the preceding issued six joint targets and the same last issued jaw target at admission.",
          "limits": {
            "initial_joint_bias_ceiling_rad": 0.08,
            "joint_correction_ceiling_rad": 0.03,
            "joint_correction_rate_rad_s": 0.1,
            "native_joint_target_margin_rad": 0.02,
            "per_finger_force_ceiling_n": 10.0,
            "tcp_orientation_error_ceiling_rad": 0.05,
            "tcp_position_error_ceiling_m": 0.004
          },
          "measured_joint": "Original hold: latch measured six joint coordinates and the last issued jaw target at admission.",
          "observation_origin": "privileged_native_simulator_state",
          "physical_robot_ready": false,
          "qualifications": "Engineering limits and the 10 N ceiling are authored synthetic assumptions, not damage limits or calibrated physical telemetry. Position targets are not physical stops or force limiters. No load/friction inference, model training or complete placement is implemented.",
          "rate_scope": "The extra correction slews at at most 0.002 rad per 20 ms per joint. Original native 1 ms target slew, servos, gains and force caps remain unchanged.",
          "refusal": "Original eligibility loss, unexpected contact or observed pad force >10 N terminally requests measured joint hold and the frozen jaw target. Cartesian error, initial-bias, total-correction or native-margin exhaustion also refuses terminally; it never chases an already failed grip.",
          "sampling": "Control checks occur at 20 ms boundaries. Independent saved 1 ms native evidence must judge a continuous 5 s hold; missed between-boundary failures remain findings.",
          "schema": "dvidia.piper-retention/v2",
          "variants": [
            "measured_joint",
            "issued_joint",
            "cartesian"
          ]
        },
        "events": [
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "continue",
              "drift_streak": 0,
              "object_height_delta_m": 0.0,
              "phase": "probe",
              "progress_streak": 0,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0,
              "retry_index": 0,
              "t_seconds": 11.139999999999265,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_probe",
            "probe_index": 0,
            "reason": "slow_load_bearing_check",
            "retention_variant": "issued_joint",
            "retry_index": 0,
            "status": "probing",
            "t_seconds": 11.139999999999265,
            "type": "probe_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm",
              "drift_streak": 2,
              "object_height_delta_m": 9.650052245090135e-05,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.003662539224984724,
              "retry_index": 0,
              "t_seconds": 11.519999999999055,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.003729145734111941
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_stop",
            "probe_index": 0,
            "reason": "object_not_following",
            "retention_variant": "issued_joint",
            "retry_index": 0,
            "status": "probing",
            "t_seconds": 11.519999999999055,
            "type": "alarm",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm",
              "drift_streak": 2,
              "object_height_delta_m": 9.650052245090135e-05,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.003662539224984724,
              "retry_index": 0,
              "t_seconds": 11.519999999999055,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.003729145734111941
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_stop",
            "probe_index": 0,
            "reason": "supported_object_only",
            "retention_variant": "issued_joint",
            "retry_index": 1,
            "status": "acquiring_retry",
            "t_seconds": 11.519999999999055,
            "type": "retry_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": false,
              "contact_loss_streak": 0,
              "decision": "recenter_with_open_jaw",
              "drift_streak": 2,
              "object_height_delta_m": -2.4885627265547328e-05,
              "phase": "retry_recenter",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.009726437184534009,
              "retry_index": 1,
              "t_seconds": 13.179999999998135,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.009684998039508716
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_retry_recenter",
            "probe_index": 0,
            "reason": "open_recenter_complete",
            "retention_variant": "issued_joint",
            "retry_index": 1,
            "status": "acquiring",
            "t_seconds": 13.179999999998135,
            "type": "retry_completed",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "continue",
              "drift_streak": 0,
              "object_height_delta_m": 0.0,
              "phase": "probe",
              "progress_streak": 0,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0,
              "retry_index": 1,
              "t_seconds": 14.059999999997647,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_probe",
            "probe_index": 1,
            "reason": "slow_load_bearing_check",
            "retention_variant": "issued_joint",
            "retry_index": 1,
            "status": "probing",
            "t_seconds": 14.059999999997647,
            "type": "probe_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm",
              "drift_streak": 2,
              "object_height_delta_m": 0.00014745862774163954,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.003602579214981779,
              "retry_index": 1,
              "t_seconds": 14.439999999997436,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.003677935011028227
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_stop",
            "probe_index": 1,
            "reason": "object_not_following",
            "retention_variant": "issued_joint",
            "retry_index": 1,
            "status": "probing",
            "t_seconds": 14.439999999997436,
            "type": "alarm",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm_and_freeze_issued_jaw",
              "drift_streak": 2,
              "object_height_delta_m": 0.00014745862774163954,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.003602579214981779,
              "retry_index": 1,
              "t_seconds": 14.439999999997436,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.003677935011028227
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "probe_stop",
            "probe_index": 1,
            "reason": "retry_budget_exhausted:object_not_following",
            "retention_variant": "issued_joint",
            "retry_index": 1,
            "status": "invalidated_hold",
            "t_seconds": 14.439999999997436,
            "type": "abort",
            "variant": "evidence"
          }
        ],
        "ever_admitted": false,
        "final_observed": true,
        "frozen_jaw_target_m": 0.0,
        "initial_context": {
          "object_position_m": [
            0.3030000461054176,
            -0.025999796476173304,
            0.07989224451748383
          ],
          "observation_origin": "privileged_native_simulator_state",
          "t_seconds": 0.0,
          "tcp_position_m": [
            0.4890696662845219,
            0.0014141975654808877,
            0.3665849431043091
          ],
          "tcp_quaternion_wxyz": [
            0.6580840948238629,
            2.7730466224793136e-07,
            0.7529444362872891,
            -1.9485471114950535e-06
          ]
        },
        "last_observed_s": 20.00000000000146,
        "observation_origin": "privileged_native_simulator_state",
        "physical_robot_ready": false,
        "probes": [
          {
            "disposition": "interrupted",
            "end_time_s": 11.519999999999055,
            "local_offset_origin_m": [
              0.002271312155407417,
              0.0002957181816060099,
              0.001925594489981433
            ],
            "object_origin_m": [
              0.30285090683400234,
              -0.025957236118142848,
              0.0799171302070492
            ],
            "observation_origin": "privileged_native_simulator_state",
            "probe_index": 0,
            "reason": "object_not_following",
            "start_time_s": 11.139999999999265,
            "tcp_origin_m": [
              0.3051026520857925,
              -0.026242985132875384,
              0.08186705664455922
            ],
            "tcp_quaternion_wxyz": [
              0.005312668037355206,
              -0.001758932562860304,
              0.9999842058027045,
              -0.0005194802192906238
            ]
          },
          {
            "disposition": "invalidated_hold",
            "end_time_s": 14.439999999997436,
            "local_offset_origin_m": [
              -0.002050870094884708,
              0.0002383979229268336,
              0.0024064777951364625
            ],
            "object_origin_m": [
              0.304764468077814,
              -0.026046983788497968,
              0.07986030851936131
            ],
            "observation_origin": "privileged_native_simulator_state",
            "probe_index": 1,
            "reason": "retry_budget_exhausted:object_not_following",
            "start_time_s": 14.059999999997647,
            "tcp_origin_m": [
              0.3027354728304215,
              -0.02628645145482746,
              0.0822851529715014
            ],
            "tcp_quaternion_wxyz": [
              -0.004509829831520418,
              -0.00018035078706342327,
              0.999989812013778,
              6.911680932127586e-05
            ]
          }
        ],
        "retention": {
          "hold_reference": null,
          "input_refusals": [],
          "native_joint_control_limits_rad": [
            [
              -2.618,
              2.618
            ],
            [
              0.0,
              3.14
            ],
            [
              -2.697,
              0.0
            ],
            [
              -1.832,
              1.832
            ],
            [
              -1.22,
              1.22
            ],
            [
              -3.14,
              3.14
            ]
          ],
          "variant": "issued_joint"
        },
        "retry_count": 1,
        "schema": "dvidia.piper-retention/v2",
        "status": "invalidated_hold",
        "stop_targets_rad": [
          -0.09084988962439593,
          1.738001852975089,
          -1.151052914157953,
          -0.0008637740435322669,
          1.0710600680603404,
          -0.09081399099999109
        ],
        "variant": "issued_joint"
      },
      "scene_id": "m55-f50-p0",
      "timing": {
        "policy_cpu": {
          "maximum_s": 0.00038200000000188084,
          "mean_s": 5.240700000045706e-05,
          "over_20ms": 0,
          "p50_s": 5.199999999661031e-05,
          "p95_s": 9.405000000413106e-05,
          "p99_s": 0.00016806000000215698,
          "samples": 1000
        },
        "policy_wall": {
          "maximum_s": 0.0006641671061515808,
          "mean_s": 5.431695794686675e-05,
          "over_20ms": 0,
          "p50_s": 5.164602771401405e-05,
          "p95_s": 0.00010044621303677556,
          "p99_s": 0.0002192167472094297,
          "samples": 1000
        },
        "step_cpu": {
          "maximum_s": 0.005472999999994954,
          "mean_s": 0.0017861250000000125,
          "over_20ms": 0,
          "p50_s": 0.00145700000000204,
          "p95_s": 0.0036284499999922554,
          "p99_s": 0.004700379999999597,
          "samples": 1000
        },
        "step_wall": {
          "maximum_s": 0.04124170774593949,
          "mean_s": 0.001995843125972897,
          "over_20ms": 4,
          "p50_s": 0.0014781872741878033,
          "p95_s": 0.003921274421736596,
          "p99_s": 0.006939701484516258,
          "samples": 1000
        }
      },
      "valid": true,
      "variant": "issued_joint"
    },
    {
      "error": null,
      "evaluation": {
        "corrections": {
          "bound_refusal_counts": {},
          "flag_counts": {
            "correction_rate_limited": 0
          },
          "hold_record_count": 264,
          "input_refusals": [],
          "maximum_abs_active_correction_rad": null,
          "maximum_abs_desired_correction_rad": null,
          "rate_limited_axis_occurrences": 0,
          "scope": "Includes recorded final diagnostic checks; only command_issued rows represent issued controls."
        },
        "decomposition": null,
        "final": {
          "both_qualified": false,
          "controller_qualified": false,
          "evidence_admissible": false,
          "native_qualified": false
        },
        "first_admission": null,
        "native": {
          "arrays_sha256": "01d7fff72272c20805e5e9cad952f9f38a4ef67fb017883f736c1b0a38afe71d",
          "complete": true,
          "maximum_per_finger_force_n": 0.5719727928953009,
          "rows": 20000,
          "unexpected_contact_native_ticks": 0,
          "valid": true,
          "warnings": []
        },
        "physical_robot_ready": false,
        "primary": {
          "combined_qualified_pause": false,
          "complete_5s": false,
          "controller_retained_at_5s": false,
          "native_pause_success": false,
          "reason": "no_admission",
          "required_s": 5.0,
          "success": false
        },
        "probes": [
          {
            "claims": [],
            "disposition": "interrupted",
            "final_native_qualified_from_origin": false,
            "probe_index": 0,
            "start_time_s": 11.439999999999099
          },
          {
            "claims": [],
            "disposition": "invalidated_hold",
            "final_native_qualified_from_origin": false,
            "probe_index": 1,
            "start_time_s": 14.35999999999748
          }
        ],
        "receipt": {
          "admission": {
            "observation_origin": "privileged_native_simulation_plus_caller_planning_assumptions",
            "physical_robot_ready": false,
            "planning": {
              "computed": {
                "conservative_required_load_n": 0.8172986249999998,
                "gravity_m_s2": 9.80665,
                "pose_specific_payload_limit_force_n": 0.980665,
                "two_finger_friction_capacity_n": 10.0
              },
              "observation_origin": "caller_declared_not_verified",
              "physical_robot_ready": false,
              "reasons": [
                "Run and record a cautious test lift under the same calibrated pose and load conditions before simulated transport planning."
              ],
              "schema": "dvidia.task-feasibility-result/v1",
              "scope": "Planning assessment only. Parallel two-finger vertical-lift approximation; ignores moment, center of mass, deformation, transient impacts and unmodeled contact effects. Unknown values remain unknown; mass is never inferred from images. Probe/test-lift/controller integration is not implemented. No hardware actuation is performed; this is not hardware qualification.",
              "status": "test_lift_required"
            },
            "probe": {
              "admissible": false,
              "historical_qualified": false,
              "latest_qualified": false,
              "physical_robot_ready": false,
              "reasons": [
                "latest_native_window_not_qualified",
                "no_controller_qualification_for_this_probe",
                "latest_controller_not_qualified"
              ],
              "receipt_sha256": "1074c9cb5f39dfc2ccedbcbb92c72b0488517f92312142f7690a1f665033a89d",
              "schema": "dvidia.probe-evidence-verification/v1",
              "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.",
              "verified": true
            },
            "schema": "dvidia.task-feasibility-with-probe/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification. Unknown planning values remain unknown. The unchanged approximate vertical-lift planning gate describes declared loads; it supplies no transport path, geospatial-goal contract or actuator permission. This wrapper never issues controls.",
            "status": "test_lift_required"
          },
          "context": {
            "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
            "calibration_id": "synthetic_probe_v01",
            "calibration_scope": "simulation_assumptions_not_hardware",
            "command_sha256": "79df86cd7f07333efd33ca0fcc12a7b7771dc60f8b670c416cffb131001c83b0",
            "feasibility_sha256": "86b8851448d54f6860fd8a3279b1be8d7a45b297a1fd45e2d10d37b5ae6400bb",
            "grasp_id": "m55-f50-p1-cartesian-probe-1",
            "initial_object_position_m": [
              0.3069999950627209,
              -0.03700017660547428,
              0.07989224451748382
            ],
            "model_sha256": "3b87ebb874b424e6d82e65b45db7ac000cd1a8657d560a7cdd234551a69e3666",
            "native_status": {
              "simulation_time_s": 20.00000000000146,
              "unexpected_contact_native_ticks": 0,
              "valid": true,
              "warnings": []
            },
            "object_id": "task_block",
            "per_finger_force_ceiling_n": 10.0,
            "pose_binding_sha256": "4547ce07ff2cb249d173694c41c4b682ace865396e1c4c637a60055ff5fe701e",
            "probe_index": 1,
            "probe_origin_object_position_m": [
              0.30878000941820105,
              -0.03710740536734748,
              0.07986122650295552
            ],
            "probe_origin_tcp_local_offset_m": [
              -0.0020356487922222996,
              0.00024007166693715374,
              0.0024096684014061655
            ],
            "probe_start_s": 14.35999999999748,
            "robot_profile": "piper",
            "run_id": "m55-f50-p1-cartesian",
            "schema": "dvidia.probe-context/v1",
            "source_sha256": "cc82eb867d3a927a487317b2e9e470fcb8f53e9da000a1764b7c5a1878883e69"
          },
          "physical_robot_ready": false,
          "planning_input": {
            "allowed_pose_tolerance_m": 0.003,
            "calibration_id": "synthetic_probe_v01",
            "friction_interval": [
              0.5,
              0.5
            ],
            "geometry_known": true,
            "gripper_max_opening_interval_m": [
              0.07,
              0.07
            ],
            "gripper_min_closure_m": 0.0,
            "mass_interval_kg": [
              0.055,
              0.055
            ],
            "object_width_interval_m": [
              0.04,
              0.04
            ],
            "observations_fresh": true,
            "per_finger_normal_force_budget_n": 10.0,
            "planned_upward_accel_m_s2": 0.1,
            "pose_specific_payload_limit_kg": 0.1,
            "pose_uncertainty_m": 0.0,
            "reachability": "reachable",
            "safety_factor": 1.5,
            "schema": "dvidia.task-feasibility-input/v1",
            "slip_detected": false,
            "test_lift_passed": false
          },
          "receipt": {
            "audit": {
              "controller_claim_mismatches": [],
              "controller_claims_checked": 1,
              "controller_conservative_abstention_count": 0,
              "controller_coverage": "Only the supplied claims are checked; omitted decisions are not inferred.",
              "controller_false_qualification_count": 0,
              "controller_positive_claims": 0,
              "force_ceiling_known": true,
              "maximum_observed_per_finger_force_n": 0.5719727928953009,
              "reasons": [],
              "rows": 20000,
              "unexpected_contact_native_ticks": 0,
              "valid": true
            },
            "context": {
              "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
              "calibration_id": "synthetic_probe_v01",
              "calibration_scope": "simulation_assumptions_not_hardware",
              "command_sha256": "79df86cd7f07333efd33ca0fcc12a7b7771dc60f8b670c416cffb131001c83b0",
              "feasibility_sha256": "86b8851448d54f6860fd8a3279b1be8d7a45b297a1fd45e2d10d37b5ae6400bb",
              "grasp_id": "m55-f50-p1-cartesian-probe-1",
              "initial_object_position_m": [
                0.3069999950627209,
                -0.03700017660547428,
                0.07989224451748382
              ],
              "model_sha256": "3b87ebb874b424e6d82e65b45db7ac000cd1a8657d560a7cdd234551a69e3666",
              "native_status": {
                "simulation_time_s": 20.00000000000146,
                "unexpected_contact_native_ticks": 0,
                "valid": true,
                "warnings": []
              },
              "object_id": "task_block",
              "per_finger_force_ceiling_n": 10.0,
              "pose_binding_sha256": "4547ce07ff2cb249d173694c41c4b682ace865396e1c4c637a60055ff5fe701e",
              "probe_index": 1,
              "probe_origin_object_position_m": [
                0.30878000941820105,
                -0.03710740536734748,
                0.07986122650295552
              ],
              "probe_origin_tcp_local_offset_m": [
                -0.0020356487922222996,
                0.00024007166693715374,
                0.0024096684014061655
              ],
              "probe_start_s": 14.35999999999748,
              "robot_profile": "piper",
              "run_id": "m55-f50-p1-cartesian",
              "schema": "dvidia.probe-context/v1",
              "source_sha256": "cc82eb867d3a927a487317b2e9e470fcb8f53e9da000a1764b7c5a1878883e69"
            },
            "context_sha256": "95ca98c1dd0c069c94790fd13e320c2815527249c6a29bc9727fcbd863446bc5",
            "controller_qualifications": [
              {
                "probe_index": 1,
                "qualified": false,
                "t_seconds": 20.00000000000146
              }
            ],
            "criteria": {
              "distance_comparison_epsilon": 1e-12,
              "initial_sample_tolerance_m": 0.001,
              "maximum_tcp_local_drift_m": 0.003,
              "minimum_continuous_dwell_s": 0.1,
              "minimum_per_finger_force_n_exclusive": 0.01,
              "minimum_rise_m": 0.006,
              "native_dt_s": 0.001,
              "origin_tolerance_m": 1e-09,
              "time_tolerance_s": 1e-08
            },
            "history": {
              "ever_qualified": false,
              "first_qualified_s": null,
              "maximum_continuous_qualifying_s": 0.0
            },
            "latest": {
              "condition_valid": false,
              "continuous_qualifying_s": 0.0,
              "controller_claim": {
                "probe_index": 1,
                "qualified": false,
                "t_seconds": 20.00000000000146
              },
              "native_tick": 20000,
              "qualified": false,
              "rise_m": 2.354169181782717e-05,
              "tcp_local_drift_m": 0.003773343638322691,
              "time_s": 20.00000000000146
            },
            "metadata_sha256": "ad8229630cc9f8718829bb8317b1a82480dcf18b9f71bd23666acfe71a003ef7",
            "native_arrays_sha256": "01d7fff72272c20805e5e9cad952f9f38a4ef67fb017883f736c1b0a38afe71d",
            "physical_robot_ready": false,
            "receipt_sha256": "1074c9cb5f39dfc2ccedbcbb92c72b0488517f92312142f7690a1f665033a89d",
            "schema": "dvidia.probe-evidence/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification."
          },
          "status": "inspected",
          "verification": {
            "admissible": false,
            "historical_qualified": false,
            "latest_qualified": false,
            "physical_robot_ready": false,
            "reasons": [
              "latest_native_window_not_qualified",
              "no_controller_qualification_for_this_probe",
              "latest_controller_not_qualified"
            ],
            "receipt_sha256": "1074c9cb5f39dfc2ccedbcbb92c72b0488517f92312142f7690a1f665033a89d",
            "schema": "dvidia.probe-evidence-verification/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.",
            "verified": true
          }
        },
        "stationarity": {
          "complete_5s": false,
          "grip_retention_and_stationarity": false,
          "tcp_pose_within_bounds": false
        },
        "status": "inspected"
      },
      "files": {
        "episode.json.gz": {
          "bytes": 776012,
          "sha256": "834d4689c868f512785bf9ed49106498871c5421c648917cc021e70104864cb5"
        },
        "evaluation.json": {
          "bytes": 11681,
          "sha256": "45ed251b8b99bd7f6eea4cd16abb1a940510d373c3e067d64ee82c24efd4649d"
        },
        "native.json": {
          "bytes": 13763,
          "sha256": "19cc1d5998901cbc12da2916add3096763081e9decbfc7193981bfabc4b871e0"
        },
        "native.npz": {
          "bytes": 4099273,
          "sha256": "4fa954167d8de7955630439cdc53a1f02ba7a6aac56648a23b293cb968fd6e49"
        },
        "started.json": {
          "bytes": 146,
          "sha256": "0b4c28d7d265b1f51bda30c34b740d730c11226d18bdc93605b7266459ab628c"
        }
      },
      "friction": 0.5,
      "id": "m55-f50-p1-cartesian",
      "mass_kg": 0.055,
      "metrics": {
        "carry_complete": false,
        "carry_contact_loss_events": 0,
        "carry_contact_loss_tolerance_seconds": 0.04,
        "dwell_seconds": 0.0,
        "first_success_time_seconds": null,
        "grasp_seen": true,
        "lift_dwell_seconds": 0.0,
        "lift_seen": false,
        "max_carry_contact_loss_seconds": 0.0,
        "max_object_lift_m": 0.00014949661146164417,
        "max_pad_normal_force_n": 0.5719727928953009,
        "physical_robot_ready": false,
        "reason": "timeout",
        "retention_lost": false,
        "simulation_time": 20.00000000000146,
        "steps": 1000,
        "success": false,
        "target_distance_m": 0.1238374390348957,
        "unexpected_contact_native_ticks": 0,
        "valid": true,
        "warnings": []
      },
      "policy": {
        "abort_reason": "retry_budget_exhausted:relative_slip",
        "acquisition_contract": {
          "comparison_scope": "Closed-loop variants may acquire different trajectories through early hold/retry. This is not an isolated classifier ablation.",
          "control_dt_s": 0.02,
          "evidence_admission": "Current bilateral force >0.01 N, no table support, object rise >=6 mm and TCP-local offset drift <=3 mm continuously across sampled boundaries for elapsed >=100 ms.",
          "hold": "Latch measured six arm joints and the last issued jaw target at admission/terminal invalidity. No full lift/transfer, no squeeze escalation, no post-admission retry.",
          "invalidation": "At each subsequent 20 ms observation and final observation, invalidate immediately on lost contact/force, support, insufficient rise, >3 mm local drift or unexpected contact. Never requalify after terminal invalidity.",
          "observation_origin": "privileged_native_simulator_state",
          "parameters": {
            "close_timeout_s": 1.4,
            "consecutive_alarm_samples": 2,
            "max_retries": 1,
            "monitor_min_probe_motion_m": 0.003,
            "probe_height_m": 0.01,
            "probe_min_object_rise_m": 0.006,
            "probe_speed_m_s": 0.02,
            "probe_timeout_s": 1.4,
            "qualification_dwell_s": 0.1,
            "relative_drift_limit_m": 0.003,
            "retry_clearance_m": 0.012,
            "retry_open_timeout_s": 1.2,
            "retry_recenter_timeout_s": 1.5
          },
          "physical_robot_ready": false,
          "prefix": "Original GuardedPiperTaskPolicy approach/close and at most one supported open/recenter/retry; already uses authored native state, not a fully blind baseline.",
          "sampling_limit": "Independent 1 ms evidence may contradict sampled admission; that remains a finding. No sensor or material inference is implemented.",
          "schema": "dvidia.piper-probe-stop/v1",
          "stop_scope": "Holding native position targets is not physical arrest or calibrated force limiting; inertia and existing target rate limits can continue motion.",
          "timer_admission": "Same 10 mm/20 mm/s probe target law, admitted at elapsed >=600 ms from that probe start; no evidence predicate or slip alarm before admission. Unexpected contacts and bounded timeouts still stop.",
          "timer_admission_s": 0.6,
          "variants": [
            "evidence",
            "timer"
          ]
        },
        "acquisition_variant": "evidence",
        "active_probe_index": 1,
        "admission_time_s": null,
        "admitted": false,
        "contract": {
          "acquisition": "Unchanged ProbeStopPolicy evidence acquisition, including its bounded supported retry. All variants share the same prefix through the first admission observation.",
          "cartesian": "Latch measured TCP position/orientation and preceding issued targets. Fixed joint bias equals issued target minus pose_action at the admission pose. First command repeats the exact issued target; later pose_action updates receive that fixed bias.",
          "control_dt_s": 0.02,
          "final_observation": "Repeat force, original eligibility and Cartesian pose-error checks. Do not solve or issue a hypothetical next control at the terminal observation.",
          "invalid_measurements": "Malformed, nonfinite or noncausal observations terminally refuse and raise without issuing a command. No measured-position stop is claimed from invalid measurements.",
          "issued_joint": "Latch the preceding issued six joint targets and the same last issued jaw target at admission.",
          "limits": {
            "initial_joint_bias_ceiling_rad": 0.08,
            "joint_correction_ceiling_rad": 0.03,
            "joint_correction_rate_rad_s": 0.1,
            "native_joint_target_margin_rad": 0.02,
            "per_finger_force_ceiling_n": 10.0,
            "tcp_orientation_error_ceiling_rad": 0.05,
            "tcp_position_error_ceiling_m": 0.004
          },
          "measured_joint": "Original hold: latch measured six joint coordinates and the last issued jaw target at admission.",
          "observation_origin": "privileged_native_simulator_state",
          "physical_robot_ready": false,
          "qualifications": "Engineering limits and the 10 N ceiling are authored synthetic assumptions, not damage limits or calibrated physical telemetry. Position targets are not physical stops or force limiters. No load/friction inference, model training or complete placement is implemented.",
          "rate_scope": "The extra correction slews at at most 0.002 rad per 20 ms per joint. Original native 1 ms target slew, servos, gains and force caps remain unchanged.",
          "refusal": "Original eligibility loss, unexpected contact or observed pad force >10 N terminally requests measured joint hold and the frozen jaw target. Cartesian error, initial-bias, total-correction or native-margin exhaustion also refuses terminally; it never chases an already failed grip.",
          "sampling": "Control checks occur at 20 ms boundaries. Independent saved 1 ms native evidence must judge a continuous 5 s hold; missed between-boundary failures remain findings.",
          "schema": "dvidia.piper-retention/v2",
          "variants": [
            "measured_joint",
            "issued_joint",
            "cartesian"
          ]
        },
        "events": [
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "continue",
              "drift_streak": 0,
              "object_height_delta_m": 0.0,
              "phase": "probe",
              "progress_streak": 0,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0,
              "retry_index": 0,
              "t_seconds": 11.439999999999099,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_probe",
            "probe_index": 0,
            "reason": "slow_load_bearing_check",
            "retention_variant": "cartesian",
            "retry_index": 0,
            "status": "probing",
            "t_seconds": 11.439999999999099,
            "type": "probe_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm",
              "drift_streak": 2,
              "object_height_delta_m": 0.0001220120477001263,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.003563047923356402,
              "retry_index": 0,
              "t_seconds": 11.819999999998888,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0036670606221099328
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_stop",
            "probe_index": 0,
            "reason": "object_not_following",
            "retention_variant": "cartesian",
            "retry_index": 0,
            "status": "probing",
            "t_seconds": 11.819999999998888,
            "type": "alarm",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm",
              "drift_streak": 2,
              "object_height_delta_m": 0.0001220120477001263,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.003563047923356402,
              "retry_index": 0,
              "t_seconds": 11.819999999998888,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0036670606221099328
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_stop",
            "probe_index": 0,
            "reason": "supported_object_only",
            "retention_variant": "cartesian",
            "retry_index": 1,
            "status": "acquiring_retry",
            "t_seconds": 11.819999999998888,
            "type": "retry_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": false,
              "contact_loss_streak": 0,
              "decision": "recenter_with_open_jaw",
              "drift_streak": 2,
              "object_height_delta_m": -2.3779835251133696e-05,
              "phase": "retry_recenter",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.009735064820392745,
              "retry_index": 1,
              "t_seconds": 13.479999999997968,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.00969482953308387
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_retry_recenter",
            "probe_index": 0,
            "reason": "open_recenter_complete",
            "retention_variant": "cartesian",
            "retry_index": 1,
            "status": "acquiring",
            "t_seconds": 13.479999999997968,
            "type": "retry_completed",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "continue",
              "drift_streak": 0,
              "object_height_delta_m": 0.0,
              "phase": "probe",
              "progress_streak": 0,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0,
              "retry_index": 1,
              "t_seconds": 14.35999999999748,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_probe",
            "probe_index": 1,
            "reason": "slow_load_bearing_check",
            "retention_variant": "cartesian",
            "retry_index": 1,
            "status": "probing",
            "t_seconds": 14.35999999999748,
            "type": "probe_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm",
              "drift_streak": 2,
              "object_height_delta_m": 0.00012006828311551809,
              "phase": "probe",
              "progress_streak": 1,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.003586543051401373,
              "retry_index": 1,
              "t_seconds": 14.73999999999727,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0036304897429367683
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_stop",
            "probe_index": 1,
            "reason": "relative_slip",
            "retention_variant": "cartesian",
            "retry_index": 1,
            "status": "probing",
            "t_seconds": 14.73999999999727,
            "type": "alarm",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm_and_freeze_issued_jaw",
              "drift_streak": 2,
              "object_height_delta_m": 0.00012006828311551809,
              "phase": "probe",
              "progress_streak": 1,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.003586543051401373,
              "retry_index": 1,
              "t_seconds": 14.73999999999727,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0036304897429367683
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "probe_stop",
            "probe_index": 1,
            "reason": "retry_budget_exhausted:relative_slip",
            "retention_variant": "cartesian",
            "retry_index": 1,
            "status": "invalidated_hold",
            "t_seconds": 14.73999999999727,
            "type": "abort",
            "variant": "evidence"
          }
        ],
        "ever_admitted": false,
        "final_observed": true,
        "frozen_jaw_target_m": 0.0,
        "initial_context": {
          "object_position_m": [
            0.3069999950627209,
            -0.03700017660547428,
            0.07989224451748382
          ],
          "observation_origin": "privileged_native_simulator_state",
          "t_seconds": 0.0,
          "tcp_position_m": [
            0.4890696662845219,
            0.0014141975654808877,
            0.3665849431043091
          ],
          "tcp_quaternion_wxyz": [
            0.6580840948238629,
            2.7730466224793136e-07,
            0.7529444362872891,
            -1.9485471114950535e-06
          ]
        },
        "last_observed_s": 20.00000000000146,
        "observation_origin": "privileged_native_simulator_state",
        "physical_robot_ready": false,
        "probes": [
          {
            "disposition": "interrupted",
            "end_time_s": 11.819999999998888,
            "local_offset_origin_m": [
              0.0022564833883839223,
              0.0003037229696321984,
              0.001917428603517788
            ],
            "object_origin_m": [
              0.30684744057446545,
              -0.036974573016176765,
              0.07991602441503481
            ],
            "observation_origin": "privileged_native_simulator_state",
            "probe_index": 0,
            "reason": "object_not_following",
            "start_time_s": 11.439999999999099,
            "tcp_origin_m": [
              0.30908501251110765,
              -0.03726475407553803,
              0.0818575609599039
            ],
            "tcp_quaternion_wxyz": [
              0.0052759598661171305,
              -0.0024391435788067455,
              0.9999828837660242,
              -0.0006685813932956004
            ]
          },
          {
            "disposition": "invalidated_hold",
            "end_time_s": 14.73999999999727,
            "local_offset_origin_m": [
              -0.0020356487922222996,
              0.00024007166693715374,
              0.0024096684014061655
            ],
            "object_origin_m": [
              0.30878000941820105,
              -0.03710740536734748,
              0.07986122650295552
            ],
            "observation_origin": "privileged_native_simulator_state",
            "probe_index": 1,
            "reason": "retry_budget_exhausted:relative_slip",
            "start_time_s": 14.35999999999748,
            "tcp_origin_m": [
              0.3067658761690966,
              -0.0373494206003285,
              0.08228871452499283
            ],
            "tcp_quaternion_wxyz": [
              -0.004424638607731591,
              -0.0002336972854792446,
              0.9999901626844713,
              0.00020613843491232439
            ]
          }
        ],
        "retention": {
          "hold_reference": null,
          "input_refusals": [],
          "native_joint_control_limits_rad": [
            [
              -2.618,
              2.618
            ],
            [
              0.0,
              3.14
            ],
            [
              -2.697,
              0.0
            ],
            [
              -1.832,
              1.832
            ],
            [
              -1.22,
              1.22
            ],
            [
              -3.14,
              3.14
            ]
          ],
          "variant": "cartesian"
        },
        "retry_count": 1,
        "schema": "dvidia.piper-retention/v2",
        "status": "invalidated_hold",
        "stop_targets_rad": [
          -0.12530893080052677,
          1.7547296609868128,
          -1.1732281959374642,
          -0.0008784348228731107,
          1.076554711647407,
          -0.1253736654713594
        ],
        "variant": "cartesian"
      },
      "scene_id": "m55-f50-p1",
      "timing": {
        "policy_cpu": {
          "maximum_s": 0.00029299999999921056,
          "mean_s": 5.939400000015382e-05,
          "over_20ms": 0,
          "p50_s": 5.800000000988348e-05,
          "p95_s": 0.0001260499999943931,
          "p99_s": 0.00020502000000803376,
          "samples": 1000
        },
        "policy_wall": {
          "maximum_s": 0.0004382496699690819,
          "mean_s": 6.127149565145374e-05,
          "over_20ms": 0,
          "p50_s": 5.8395322412252426e-05,
          "p95_s": 0.0001376249827444553,
          "p99_s": 0.0002479110565036535,
          "samples": 1000
        },
        "step_cpu": {
          "maximum_s": 0.004760000000004538,
          "mean_s": 0.0017933879999999646,
          "over_20ms": 0,
          "p50_s": 0.0016565000000028363,
          "p95_s": 0.003082499999992194,
          "p99_s": 0.003835079999995088,
          "samples": 1000
        },
        "step_wall": {
          "maximum_s": 0.006016499828547239,
          "mean_s": 0.0018297925856895745,
          "over_20ms": 0,
          "p50_s": 0.001687708543613553,
          "p95_s": 0.0031535519286990162,
          "p99_s": 0.004061793405562639,
          "samples": 1000
        }
      },
      "valid": true,
      "variant": "cartesian"
    },
    {
      "error": null,
      "evaluation": {
        "corrections": {
          "bound_refusal_counts": {},
          "flag_counts": {
            "correction_rate_limited": 0
          },
          "hold_record_count": 264,
          "input_refusals": [],
          "maximum_abs_active_correction_rad": null,
          "maximum_abs_desired_correction_rad": null,
          "rate_limited_axis_occurrences": 0,
          "scope": "Includes recorded final diagnostic checks; only command_issued rows represent issued controls."
        },
        "decomposition": null,
        "final": {
          "both_qualified": false,
          "controller_qualified": false,
          "evidence_admissible": false,
          "native_qualified": false
        },
        "first_admission": null,
        "native": {
          "arrays_sha256": "01d7fff72272c20805e5e9cad952f9f38a4ef67fb017883f736c1b0a38afe71d",
          "complete": true,
          "maximum_per_finger_force_n": 0.5719727928953009,
          "rows": 20000,
          "unexpected_contact_native_ticks": 0,
          "valid": true,
          "warnings": []
        },
        "physical_robot_ready": false,
        "primary": {
          "combined_qualified_pause": false,
          "complete_5s": false,
          "controller_retained_at_5s": false,
          "native_pause_success": false,
          "reason": "no_admission",
          "required_s": 5.0,
          "success": false
        },
        "probes": [
          {
            "claims": [],
            "disposition": "interrupted",
            "final_native_qualified_from_origin": false,
            "probe_index": 0,
            "start_time_s": 11.439999999999099
          },
          {
            "claims": [],
            "disposition": "invalidated_hold",
            "final_native_qualified_from_origin": false,
            "probe_index": 1,
            "start_time_s": 14.35999999999748
          }
        ],
        "receipt": {
          "admission": {
            "observation_origin": "privileged_native_simulation_plus_caller_planning_assumptions",
            "physical_robot_ready": false,
            "planning": {
              "computed": {
                "conservative_required_load_n": 0.8172986249999998,
                "gravity_m_s2": 9.80665,
                "pose_specific_payload_limit_force_n": 0.980665,
                "two_finger_friction_capacity_n": 10.0
              },
              "observation_origin": "caller_declared_not_verified",
              "physical_robot_ready": false,
              "reasons": [
                "Run and record a cautious test lift under the same calibrated pose and load conditions before simulated transport planning."
              ],
              "schema": "dvidia.task-feasibility-result/v1",
              "scope": "Planning assessment only. Parallel two-finger vertical-lift approximation; ignores moment, center of mass, deformation, transient impacts and unmodeled contact effects. Unknown values remain unknown; mass is never inferred from images. Probe/test-lift/controller integration is not implemented. No hardware actuation is performed; this is not hardware qualification.",
              "status": "test_lift_required"
            },
            "probe": {
              "admissible": false,
              "historical_qualified": false,
              "latest_qualified": false,
              "physical_robot_ready": false,
              "reasons": [
                "latest_native_window_not_qualified",
                "no_controller_qualification_for_this_probe",
                "latest_controller_not_qualified"
              ],
              "receipt_sha256": "0f6666ad1c54456f6f33db63ca2078bba1c888172326f1c16240eb632a96cb4b",
              "schema": "dvidia.probe-evidence-verification/v1",
              "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.",
              "verified": true
            },
            "schema": "dvidia.task-feasibility-with-probe/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification. Unknown planning values remain unknown. The unchanged approximate vertical-lift planning gate describes declared loads; it supplies no transport path, geospatial-goal contract or actuator permission. This wrapper never issues controls.",
            "status": "test_lift_required"
          },
          "context": {
            "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
            "calibration_id": "synthetic_probe_v01",
            "calibration_scope": "simulation_assumptions_not_hardware",
            "command_sha256": "79df86cd7f07333efd33ca0fcc12a7b7771dc60f8b670c416cffb131001c83b0",
            "feasibility_sha256": "86b8851448d54f6860fd8a3279b1be8d7a45b297a1fd45e2d10d37b5ae6400bb",
            "grasp_id": "m55-f50-p1-issued_joint-probe-1",
            "initial_object_position_m": [
              0.3069999950627209,
              -0.03700017660547428,
              0.07989224451748382
            ],
            "model_sha256": "3b87ebb874b424e6d82e65b45db7ac000cd1a8657d560a7cdd234551a69e3666",
            "native_status": {
              "simulation_time_s": 20.00000000000146,
              "unexpected_contact_native_ticks": 0,
              "valid": true,
              "warnings": []
            },
            "object_id": "task_block",
            "per_finger_force_ceiling_n": 10.0,
            "pose_binding_sha256": "4547ce07ff2cb249d173694c41c4b682ace865396e1c4c637a60055ff5fe701e",
            "probe_index": 1,
            "probe_origin_object_position_m": [
              0.30878000941820105,
              -0.03710740536734748,
              0.07986122650295552
            ],
            "probe_origin_tcp_local_offset_m": [
              -0.0020356487922222996,
              0.00024007166693715374,
              0.0024096684014061655
            ],
            "probe_start_s": 14.35999999999748,
            "robot_profile": "piper",
            "run_id": "m55-f50-p1-issued_joint",
            "schema": "dvidia.probe-context/v1",
            "source_sha256": "cc82eb867d3a927a487317b2e9e470fcb8f53e9da000a1764b7c5a1878883e69"
          },
          "physical_robot_ready": false,
          "planning_input": {
            "allowed_pose_tolerance_m": 0.003,
            "calibration_id": "synthetic_probe_v01",
            "friction_interval": [
              0.5,
              0.5
            ],
            "geometry_known": true,
            "gripper_max_opening_interval_m": [
              0.07,
              0.07
            ],
            "gripper_min_closure_m": 0.0,
            "mass_interval_kg": [
              0.055,
              0.055
            ],
            "object_width_interval_m": [
              0.04,
              0.04
            ],
            "observations_fresh": true,
            "per_finger_normal_force_budget_n": 10.0,
            "planned_upward_accel_m_s2": 0.1,
            "pose_specific_payload_limit_kg": 0.1,
            "pose_uncertainty_m": 0.0,
            "reachability": "reachable",
            "safety_factor": 1.5,
            "schema": "dvidia.task-feasibility-input/v1",
            "slip_detected": false,
            "test_lift_passed": false
          },
          "receipt": {
            "audit": {
              "controller_claim_mismatches": [],
              "controller_claims_checked": 1,
              "controller_conservative_abstention_count": 0,
              "controller_coverage": "Only the supplied claims are checked; omitted decisions are not inferred.",
              "controller_false_qualification_count": 0,
              "controller_positive_claims": 0,
              "force_ceiling_known": true,
              "maximum_observed_per_finger_force_n": 0.5719727928953009,
              "reasons": [],
              "rows": 20000,
              "unexpected_contact_native_ticks": 0,
              "valid": true
            },
            "context": {
              "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
              "calibration_id": "synthetic_probe_v01",
              "calibration_scope": "simulation_assumptions_not_hardware",
              "command_sha256": "79df86cd7f07333efd33ca0fcc12a7b7771dc60f8b670c416cffb131001c83b0",
              "feasibility_sha256": "86b8851448d54f6860fd8a3279b1be8d7a45b297a1fd45e2d10d37b5ae6400bb",
              "grasp_id": "m55-f50-p1-issued_joint-probe-1",
              "initial_object_position_m": [
                0.3069999950627209,
                -0.03700017660547428,
                0.07989224451748382
              ],
              "model_sha256": "3b87ebb874b424e6d82e65b45db7ac000cd1a8657d560a7cdd234551a69e3666",
              "native_status": {
                "simulation_time_s": 20.00000000000146,
                "unexpected_contact_native_ticks": 0,
                "valid": true,
                "warnings": []
              },
              "object_id": "task_block",
              "per_finger_force_ceiling_n": 10.0,
              "pose_binding_sha256": "4547ce07ff2cb249d173694c41c4b682ace865396e1c4c637a60055ff5fe701e",
              "probe_index": 1,
              "probe_origin_object_position_m": [
                0.30878000941820105,
                -0.03710740536734748,
                0.07986122650295552
              ],
              "probe_origin_tcp_local_offset_m": [
                -0.0020356487922222996,
                0.00024007166693715374,
                0.0024096684014061655
              ],
              "probe_start_s": 14.35999999999748,
              "robot_profile": "piper",
              "run_id": "m55-f50-p1-issued_joint",
              "schema": "dvidia.probe-context/v1",
              "source_sha256": "cc82eb867d3a927a487317b2e9e470fcb8f53e9da000a1764b7c5a1878883e69"
            },
            "context_sha256": "fcf3a875fd34c65fdd821b18c17a174e207871e692ac053d3b44e4fde6846ecd",
            "controller_qualifications": [
              {
                "probe_index": 1,
                "qualified": false,
                "t_seconds": 20.00000000000146
              }
            ],
            "criteria": {
              "distance_comparison_epsilon": 1e-12,
              "initial_sample_tolerance_m": 0.001,
              "maximum_tcp_local_drift_m": 0.003,
              "minimum_continuous_dwell_s": 0.1,
              "minimum_per_finger_force_n_exclusive": 0.01,
              "minimum_rise_m": 0.006,
              "native_dt_s": 0.001,
              "origin_tolerance_m": 1e-09,
              "time_tolerance_s": 1e-08
            },
            "history": {
              "ever_qualified": false,
              "first_qualified_s": null,
              "maximum_continuous_qualifying_s": 0.0
            },
            "latest": {
              "condition_valid": false,
              "continuous_qualifying_s": 0.0,
              "controller_claim": {
                "probe_index": 1,
                "qualified": false,
                "t_seconds": 20.00000000000146
              },
              "native_tick": 20000,
              "qualified": false,
              "rise_m": 2.354169181782717e-05,
              "tcp_local_drift_m": 0.003773343638322691,
              "time_s": 20.00000000000146
            },
            "metadata_sha256": "ad8229630cc9f8718829bb8317b1a82480dcf18b9f71bd23666acfe71a003ef7",
            "native_arrays_sha256": "01d7fff72272c20805e5e9cad952f9f38a4ef67fb017883f736c1b0a38afe71d",
            "physical_robot_ready": false,
            "receipt_sha256": "0f6666ad1c54456f6f33db63ca2078bba1c888172326f1c16240eb632a96cb4b",
            "schema": "dvidia.probe-evidence/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification."
          },
          "status": "inspected",
          "verification": {
            "admissible": false,
            "historical_qualified": false,
            "latest_qualified": false,
            "physical_robot_ready": false,
            "reasons": [
              "latest_native_window_not_qualified",
              "no_controller_qualification_for_this_probe",
              "latest_controller_not_qualified"
            ],
            "receipt_sha256": "0f6666ad1c54456f6f33db63ca2078bba1c888172326f1c16240eb632a96cb4b",
            "schema": "dvidia.probe-evidence-verification/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.",
            "verified": true
          }
        },
        "stationarity": {
          "complete_5s": false,
          "grip_retention_and_stationarity": false,
          "tcp_pose_within_bounds": false
        },
        "status": "inspected"
      },
      "files": {
        "episode.json.gz": {
          "bytes": 774200,
          "sha256": "e00766ac4da7398381710bb20a0e07699c978cd631f7c696074cb9d7429b7d10"
        },
        "evaluation.json": {
          "bytes": 11693,
          "sha256": "3d22457e2ab91015df2e34c6147c7161c16b645b20da5f35dbde7e4a32fdc161"
        },
        "native.json": {
          "bytes": 13763,
          "sha256": "19cc1d5998901cbc12da2916add3096763081e9decbfc7193981bfabc4b871e0"
        },
        "native.npz": {
          "bytes": 4099273,
          "sha256": "4fa954167d8de7955630439cdc53a1f02ba7a6aac56648a23b293cb968fd6e49"
        },
        "started.json": {
          "bytes": 149,
          "sha256": "c171002de49b5c3c0833d0b7b5b02e38b5c5c2fb3603572fb529b26864d627b3"
        }
      },
      "friction": 0.5,
      "id": "m55-f50-p1-issued_joint",
      "mass_kg": 0.055,
      "metrics": {
        "carry_complete": false,
        "carry_contact_loss_events": 0,
        "carry_contact_loss_tolerance_seconds": 0.04,
        "dwell_seconds": 0.0,
        "first_success_time_seconds": null,
        "grasp_seen": true,
        "lift_dwell_seconds": 0.0,
        "lift_seen": false,
        "max_carry_contact_loss_seconds": 0.0,
        "max_object_lift_m": 0.00014949661146164417,
        "max_pad_normal_force_n": 0.5719727928953009,
        "physical_robot_ready": false,
        "reason": "timeout",
        "retention_lost": false,
        "simulation_time": 20.00000000000146,
        "steps": 1000,
        "success": false,
        "target_distance_m": 0.1238374390348957,
        "unexpected_contact_native_ticks": 0,
        "valid": true,
        "warnings": []
      },
      "policy": {
        "abort_reason": "retry_budget_exhausted:relative_slip",
        "acquisition_contract": {
          "comparison_scope": "Closed-loop variants may acquire different trajectories through early hold/retry. This is not an isolated classifier ablation.",
          "control_dt_s": 0.02,
          "evidence_admission": "Current bilateral force >0.01 N, no table support, object rise >=6 mm and TCP-local offset drift <=3 mm continuously across sampled boundaries for elapsed >=100 ms.",
          "hold": "Latch measured six arm joints and the last issued jaw target at admission/terminal invalidity. No full lift/transfer, no squeeze escalation, no post-admission retry.",
          "invalidation": "At each subsequent 20 ms observation and final observation, invalidate immediately on lost contact/force, support, insufficient rise, >3 mm local drift or unexpected contact. Never requalify after terminal invalidity.",
          "observation_origin": "privileged_native_simulator_state",
          "parameters": {
            "close_timeout_s": 1.4,
            "consecutive_alarm_samples": 2,
            "max_retries": 1,
            "monitor_min_probe_motion_m": 0.003,
            "probe_height_m": 0.01,
            "probe_min_object_rise_m": 0.006,
            "probe_speed_m_s": 0.02,
            "probe_timeout_s": 1.4,
            "qualification_dwell_s": 0.1,
            "relative_drift_limit_m": 0.003,
            "retry_clearance_m": 0.012,
            "retry_open_timeout_s": 1.2,
            "retry_recenter_timeout_s": 1.5
          },
          "physical_robot_ready": false,
          "prefix": "Original GuardedPiperTaskPolicy approach/close and at most one supported open/recenter/retry; already uses authored native state, not a fully blind baseline.",
          "sampling_limit": "Independent 1 ms evidence may contradict sampled admission; that remains a finding. No sensor or material inference is implemented.",
          "schema": "dvidia.piper-probe-stop/v1",
          "stop_scope": "Holding native position targets is not physical arrest or calibrated force limiting; inertia and existing target rate limits can continue motion.",
          "timer_admission": "Same 10 mm/20 mm/s probe target law, admitted at elapsed >=600 ms from that probe start; no evidence predicate or slip alarm before admission. Unexpected contacts and bounded timeouts still stop.",
          "timer_admission_s": 0.6,
          "variants": [
            "evidence",
            "timer"
          ]
        },
        "acquisition_variant": "evidence",
        "active_probe_index": 1,
        "admission_time_s": null,
        "admitted": false,
        "contract": {
          "acquisition": "Unchanged ProbeStopPolicy evidence acquisition, including its bounded supported retry. All variants share the same prefix through the first admission observation.",
          "cartesian": "Latch measured TCP position/orientation and preceding issued targets. Fixed joint bias equals issued target minus pose_action at the admission pose. First command repeats the exact issued target; later pose_action updates receive that fixed bias.",
          "control_dt_s": 0.02,
          "final_observation": "Repeat force, original eligibility and Cartesian pose-error checks. Do not solve or issue a hypothetical next control at the terminal observation.",
          "invalid_measurements": "Malformed, nonfinite or noncausal observations terminally refuse and raise without issuing a command. No measured-position stop is claimed from invalid measurements.",
          "issued_joint": "Latch the preceding issued six joint targets and the same last issued jaw target at admission.",
          "limits": {
            "initial_joint_bias_ceiling_rad": 0.08,
            "joint_correction_ceiling_rad": 0.03,
            "joint_correction_rate_rad_s": 0.1,
            "native_joint_target_margin_rad": 0.02,
            "per_finger_force_ceiling_n": 10.0,
            "tcp_orientation_error_ceiling_rad": 0.05,
            "tcp_position_error_ceiling_m": 0.004
          },
          "measured_joint": "Original hold: latch measured six joint coordinates and the last issued jaw target at admission.",
          "observation_origin": "privileged_native_simulator_state",
          "physical_robot_ready": false,
          "qualifications": "Engineering limits and the 10 N ceiling are authored synthetic assumptions, not damage limits or calibrated physical telemetry. Position targets are not physical stops or force limiters. No load/friction inference, model training or complete placement is implemented.",
          "rate_scope": "The extra correction slews at at most 0.002 rad per 20 ms per joint. Original native 1 ms target slew, servos, gains and force caps remain unchanged.",
          "refusal": "Original eligibility loss, unexpected contact or observed pad force >10 N terminally requests measured joint hold and the frozen jaw target. Cartesian error, initial-bias, total-correction or native-margin exhaustion also refuses terminally; it never chases an already failed grip.",
          "sampling": "Control checks occur at 20 ms boundaries. Independent saved 1 ms native evidence must judge a continuous 5 s hold; missed between-boundary failures remain findings.",
          "schema": "dvidia.piper-retention/v2",
          "variants": [
            "measured_joint",
            "issued_joint",
            "cartesian"
          ]
        },
        "events": [
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "continue",
              "drift_streak": 0,
              "object_height_delta_m": 0.0,
              "phase": "probe",
              "progress_streak": 0,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0,
              "retry_index": 0,
              "t_seconds": 11.439999999999099,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_probe",
            "probe_index": 0,
            "reason": "slow_load_bearing_check",
            "retention_variant": "issued_joint",
            "retry_index": 0,
            "status": "probing",
            "t_seconds": 11.439999999999099,
            "type": "probe_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm",
              "drift_streak": 2,
              "object_height_delta_m": 0.0001220120477001263,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.003563047923356402,
              "retry_index": 0,
              "t_seconds": 11.819999999998888,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0036670606221099328
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_stop",
            "probe_index": 0,
            "reason": "object_not_following",
            "retention_variant": "issued_joint",
            "retry_index": 0,
            "status": "probing",
            "t_seconds": 11.819999999998888,
            "type": "alarm",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm",
              "drift_streak": 2,
              "object_height_delta_m": 0.0001220120477001263,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.003563047923356402,
              "retry_index": 0,
              "t_seconds": 11.819999999998888,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0036670606221099328
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_stop",
            "probe_index": 0,
            "reason": "supported_object_only",
            "retention_variant": "issued_joint",
            "retry_index": 1,
            "status": "acquiring_retry",
            "t_seconds": 11.819999999998888,
            "type": "retry_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": false,
              "contact_loss_streak": 0,
              "decision": "recenter_with_open_jaw",
              "drift_streak": 2,
              "object_height_delta_m": -2.3779835251133696e-05,
              "phase": "retry_recenter",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.009735064820392745,
              "retry_index": 1,
              "t_seconds": 13.479999999997968,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.00969482953308387
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_retry_recenter",
            "probe_index": 0,
            "reason": "open_recenter_complete",
            "retention_variant": "issued_joint",
            "retry_index": 1,
            "status": "acquiring",
            "t_seconds": 13.479999999997968,
            "type": "retry_completed",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "continue",
              "drift_streak": 0,
              "object_height_delta_m": 0.0,
              "phase": "probe",
              "progress_streak": 0,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0,
              "retry_index": 1,
              "t_seconds": 14.35999999999748,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_probe",
            "probe_index": 1,
            "reason": "slow_load_bearing_check",
            "retention_variant": "issued_joint",
            "retry_index": 1,
            "status": "probing",
            "t_seconds": 14.35999999999748,
            "type": "probe_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm",
              "drift_streak": 2,
              "object_height_delta_m": 0.00012006828311551809,
              "phase": "probe",
              "progress_streak": 1,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.003586543051401373,
              "retry_index": 1,
              "t_seconds": 14.73999999999727,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0036304897429367683
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_stop",
            "probe_index": 1,
            "reason": "relative_slip",
            "retention_variant": "issued_joint",
            "retry_index": 1,
            "status": "probing",
            "t_seconds": 14.73999999999727,
            "type": "alarm",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm_and_freeze_issued_jaw",
              "drift_streak": 2,
              "object_height_delta_m": 0.00012006828311551809,
              "phase": "probe",
              "progress_streak": 1,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.003586543051401373,
              "retry_index": 1,
              "t_seconds": 14.73999999999727,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0036304897429367683
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "probe_stop",
            "probe_index": 1,
            "reason": "retry_budget_exhausted:relative_slip",
            "retention_variant": "issued_joint",
            "retry_index": 1,
            "status": "invalidated_hold",
            "t_seconds": 14.73999999999727,
            "type": "abort",
            "variant": "evidence"
          }
        ],
        "ever_admitted": false,
        "final_observed": true,
        "frozen_jaw_target_m": 0.0,
        "initial_context": {
          "object_position_m": [
            0.3069999950627209,
            -0.03700017660547428,
            0.07989224451748382
          ],
          "observation_origin": "privileged_native_simulator_state",
          "t_seconds": 0.0,
          "tcp_position_m": [
            0.4890696662845219,
            0.0014141975654808877,
            0.3665849431043091
          ],
          "tcp_quaternion_wxyz": [
            0.6580840948238629,
            2.7730466224793136e-07,
            0.7529444362872891,
            -1.9485471114950535e-06
          ]
        },
        "last_observed_s": 20.00000000000146,
        "observation_origin": "privileged_native_simulator_state",
        "physical_robot_ready": false,
        "probes": [
          {
            "disposition": "interrupted",
            "end_time_s": 11.819999999998888,
            "local_offset_origin_m": [
              0.0022564833883839223,
              0.0003037229696321984,
              0.001917428603517788
            ],
            "object_origin_m": [
              0.30684744057446545,
              -0.036974573016176765,
              0.07991602441503481
            ],
            "observation_origin": "privileged_native_simulator_state",
            "probe_index": 0,
            "reason": "object_not_following",
            "start_time_s": 11.439999999999099,
            "tcp_origin_m": [
              0.30908501251110765,
              -0.03726475407553803,
              0.0818575609599039
            ],
            "tcp_quaternion_wxyz": [
              0.0052759598661171305,
              -0.0024391435788067455,
              0.9999828837660242,
              -0.0006685813932956004
            ]
          },
          {
            "disposition": "invalidated_hold",
            "end_time_s": 14.73999999999727,
            "local_offset_origin_m": [
              -0.0020356487922222996,
              0.00024007166693715374,
              0.0024096684014061655
            ],
            "object_origin_m": [
              0.30878000941820105,
              -0.03710740536734748,
              0.07986122650295552
            ],
            "observation_origin": "privileged_native_simulator_state",
            "probe_index": 1,
            "reason": "retry_budget_exhausted:relative_slip",
            "start_time_s": 14.35999999999748,
            "tcp_origin_m": [
              0.3067658761690966,
              -0.0373494206003285,
              0.08228871452499283
            ],
            "tcp_quaternion_wxyz": [
              -0.004424638607731591,
              -0.0002336972854792446,
              0.9999901626844713,
              0.00020613843491232439
            ]
          }
        ],
        "retention": {
          "hold_reference": null,
          "input_refusals": [],
          "native_joint_control_limits_rad": [
            [
              -2.618,
              2.618
            ],
            [
              0.0,
              3.14
            ],
            [
              -2.697,
              0.0
            ],
            [
              -1.832,
              1.832
            ],
            [
              -1.22,
              1.22
            ],
            [
              -3.14,
              3.14
            ]
          ],
          "variant": "issued_joint"
        },
        "retry_count": 1,
        "schema": "dvidia.piper-retention/v2",
        "status": "invalidated_hold",
        "stop_targets_rad": [
          -0.12530893080052677,
          1.7547296609868128,
          -1.1732281959374642,
          -0.0008784348228731107,
          1.076554711647407,
          -0.1253736654713594
        ],
        "variant": "issued_joint"
      },
      "scene_id": "m55-f50-p1",
      "timing": {
        "policy_cpu": {
          "maximum_s": 0.00015899999999646752,
          "mean_s": 4.4662000000030846e-05,
          "over_20ms": 0,
          "p50_s": 4.800000000670934e-05,
          "p95_s": 7.499999999538431e-05,
          "p99_s": 0.00010103999998676724,
          "samples": 1000
        },
        "policy_wall": {
          "maximum_s": 0.00016441615298390388,
          "mean_s": 4.483728529885411e-05,
          "over_20ms": 0,
          "p50_s": 4.8208050429821014e-05,
          "p95_s": 7.537680212408303e-05,
          "p99_s": 0.00010457872878760092,
          "samples": 1000
        },
        "step_cpu": {
          "maximum_s": 0.009829999999993788,
          "mean_s": 0.0016445329999999244,
          "over_20ms": 0,
          "p50_s": 0.0013260000000059335,
          "p95_s": 0.0029109999999974434,
          "p99_s": 0.0038150800000029505,
          "samples": 1000
        },
        "step_wall": {
          "maximum_s": 0.009837333112955093,
          "mean_s": 0.001655098489485681,
          "over_20ms": 0,
          "p50_s": 0.0013300629798322916,
          "p95_s": 0.0029192020418122404,
          "p99_s": 0.003831566288135945,
          "samples": 1000
        }
      },
      "valid": true,
      "variant": "issued_joint"
    },
    {
      "error": null,
      "evaluation": {
        "corrections": {
          "bound_refusal_counts": {},
          "flag_counts": {
            "correction_rate_limited": 0
          },
          "hold_record_count": 264,
          "input_refusals": [],
          "maximum_abs_active_correction_rad": null,
          "maximum_abs_desired_correction_rad": null,
          "rate_limited_axis_occurrences": 0,
          "scope": "Includes recorded final diagnostic checks; only command_issued rows represent issued controls."
        },
        "decomposition": null,
        "final": {
          "both_qualified": false,
          "controller_qualified": false,
          "evidence_admissible": false,
          "native_qualified": false
        },
        "first_admission": null,
        "native": {
          "arrays_sha256": "01d7fff72272c20805e5e9cad952f9f38a4ef67fb017883f736c1b0a38afe71d",
          "complete": true,
          "maximum_per_finger_force_n": 0.5719727928953009,
          "rows": 20000,
          "unexpected_contact_native_ticks": 0,
          "valid": true,
          "warnings": []
        },
        "physical_robot_ready": false,
        "primary": {
          "combined_qualified_pause": false,
          "complete_5s": false,
          "controller_retained_at_5s": false,
          "native_pause_success": false,
          "reason": "no_admission",
          "required_s": 5.0,
          "success": false
        },
        "probes": [
          {
            "claims": [],
            "disposition": "interrupted",
            "final_native_qualified_from_origin": false,
            "probe_index": 0,
            "start_time_s": 11.439999999999099
          },
          {
            "claims": [],
            "disposition": "invalidated_hold",
            "final_native_qualified_from_origin": false,
            "probe_index": 1,
            "start_time_s": 14.35999999999748
          }
        ],
        "receipt": {
          "admission": {
            "observation_origin": "privileged_native_simulation_plus_caller_planning_assumptions",
            "physical_robot_ready": false,
            "planning": {
              "computed": {
                "conservative_required_load_n": 0.8172986249999998,
                "gravity_m_s2": 9.80665,
                "pose_specific_payload_limit_force_n": 0.980665,
                "two_finger_friction_capacity_n": 10.0
              },
              "observation_origin": "caller_declared_not_verified",
              "physical_robot_ready": false,
              "reasons": [
                "Run and record a cautious test lift under the same calibrated pose and load conditions before simulated transport planning."
              ],
              "schema": "dvidia.task-feasibility-result/v1",
              "scope": "Planning assessment only. Parallel two-finger vertical-lift approximation; ignores moment, center of mass, deformation, transient impacts and unmodeled contact effects. Unknown values remain unknown; mass is never inferred from images. Probe/test-lift/controller integration is not implemented. No hardware actuation is performed; this is not hardware qualification.",
              "status": "test_lift_required"
            },
            "probe": {
              "admissible": false,
              "historical_qualified": false,
              "latest_qualified": false,
              "physical_robot_ready": false,
              "reasons": [
                "latest_native_window_not_qualified",
                "no_controller_qualification_for_this_probe",
                "latest_controller_not_qualified"
              ],
              "receipt_sha256": "13d3fd37d1872f2a6e744f4a993270ae3b6815cffc75d722e48b8edd62c4afaf",
              "schema": "dvidia.probe-evidence-verification/v1",
              "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.",
              "verified": true
            },
            "schema": "dvidia.task-feasibility-with-probe/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification. Unknown planning values remain unknown. The unchanged approximate vertical-lift planning gate describes declared loads; it supplies no transport path, geospatial-goal contract or actuator permission. This wrapper never issues controls.",
            "status": "test_lift_required"
          },
          "context": {
            "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
            "calibration_id": "synthetic_probe_v01",
            "calibration_scope": "simulation_assumptions_not_hardware",
            "command_sha256": "79df86cd7f07333efd33ca0fcc12a7b7771dc60f8b670c416cffb131001c83b0",
            "feasibility_sha256": "86b8851448d54f6860fd8a3279b1be8d7a45b297a1fd45e2d10d37b5ae6400bb",
            "grasp_id": "m55-f50-p1-measured_joint-probe-1",
            "initial_object_position_m": [
              0.3069999950627209,
              -0.03700017660547428,
              0.07989224451748382
            ],
            "model_sha256": "3b87ebb874b424e6d82e65b45db7ac000cd1a8657d560a7cdd234551a69e3666",
            "native_status": {
              "simulation_time_s": 20.00000000000146,
              "unexpected_contact_native_ticks": 0,
              "valid": true,
              "warnings": []
            },
            "object_id": "task_block",
            "per_finger_force_ceiling_n": 10.0,
            "pose_binding_sha256": "4547ce07ff2cb249d173694c41c4b682ace865396e1c4c637a60055ff5fe701e",
            "probe_index": 1,
            "probe_origin_object_position_m": [
              0.30878000941820105,
              -0.03710740536734748,
              0.07986122650295552
            ],
            "probe_origin_tcp_local_offset_m": [
              -0.0020356487922222996,
              0.00024007166693715374,
              0.0024096684014061655
            ],
            "probe_start_s": 14.35999999999748,
            "robot_profile": "piper",
            "run_id": "m55-f50-p1-measured_joint",
            "schema": "dvidia.probe-context/v1",
            "source_sha256": "cc82eb867d3a927a487317b2e9e470fcb8f53e9da000a1764b7c5a1878883e69"
          },
          "physical_robot_ready": false,
          "planning_input": {
            "allowed_pose_tolerance_m": 0.003,
            "calibration_id": "synthetic_probe_v01",
            "friction_interval": [
              0.5,
              0.5
            ],
            "geometry_known": true,
            "gripper_max_opening_interval_m": [
              0.07,
              0.07
            ],
            "gripper_min_closure_m": 0.0,
            "mass_interval_kg": [
              0.055,
              0.055
            ],
            "object_width_interval_m": [
              0.04,
              0.04
            ],
            "observations_fresh": true,
            "per_finger_normal_force_budget_n": 10.0,
            "planned_upward_accel_m_s2": 0.1,
            "pose_specific_payload_limit_kg": 0.1,
            "pose_uncertainty_m": 0.0,
            "reachability": "reachable",
            "safety_factor": 1.5,
            "schema": "dvidia.task-feasibility-input/v1",
            "slip_detected": false,
            "test_lift_passed": false
          },
          "receipt": {
            "audit": {
              "controller_claim_mismatches": [],
              "controller_claims_checked": 1,
              "controller_conservative_abstention_count": 0,
              "controller_coverage": "Only the supplied claims are checked; omitted decisions are not inferred.",
              "controller_false_qualification_count": 0,
              "controller_positive_claims": 0,
              "force_ceiling_known": true,
              "maximum_observed_per_finger_force_n": 0.5719727928953009,
              "reasons": [],
              "rows": 20000,
              "unexpected_contact_native_ticks": 0,
              "valid": true
            },
            "context": {
              "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
              "calibration_id": "synthetic_probe_v01",
              "calibration_scope": "simulation_assumptions_not_hardware",
              "command_sha256": "79df86cd7f07333efd33ca0fcc12a7b7771dc60f8b670c416cffb131001c83b0",
              "feasibility_sha256": "86b8851448d54f6860fd8a3279b1be8d7a45b297a1fd45e2d10d37b5ae6400bb",
              "grasp_id": "m55-f50-p1-measured_joint-probe-1",
              "initial_object_position_m": [
                0.3069999950627209,
                -0.03700017660547428,
                0.07989224451748382
              ],
              "model_sha256": "3b87ebb874b424e6d82e65b45db7ac000cd1a8657d560a7cdd234551a69e3666",
              "native_status": {
                "simulation_time_s": 20.00000000000146,
                "unexpected_contact_native_ticks": 0,
                "valid": true,
                "warnings": []
              },
              "object_id": "task_block",
              "per_finger_force_ceiling_n": 10.0,
              "pose_binding_sha256": "4547ce07ff2cb249d173694c41c4b682ace865396e1c4c637a60055ff5fe701e",
              "probe_index": 1,
              "probe_origin_object_position_m": [
                0.30878000941820105,
                -0.03710740536734748,
                0.07986122650295552
              ],
              "probe_origin_tcp_local_offset_m": [
                -0.0020356487922222996,
                0.00024007166693715374,
                0.0024096684014061655
              ],
              "probe_start_s": 14.35999999999748,
              "robot_profile": "piper",
              "run_id": "m55-f50-p1-measured_joint",
              "schema": "dvidia.probe-context/v1",
              "source_sha256": "cc82eb867d3a927a487317b2e9e470fcb8f53e9da000a1764b7c5a1878883e69"
            },
            "context_sha256": "c2ef681d0b8955de239d57236ebbe129ccbbb8d8ef190ed043294b840e9ae5c8",
            "controller_qualifications": [
              {
                "probe_index": 1,
                "qualified": false,
                "t_seconds": 20.00000000000146
              }
            ],
            "criteria": {
              "distance_comparison_epsilon": 1e-12,
              "initial_sample_tolerance_m": 0.001,
              "maximum_tcp_local_drift_m": 0.003,
              "minimum_continuous_dwell_s": 0.1,
              "minimum_per_finger_force_n_exclusive": 0.01,
              "minimum_rise_m": 0.006,
              "native_dt_s": 0.001,
              "origin_tolerance_m": 1e-09,
              "time_tolerance_s": 1e-08
            },
            "history": {
              "ever_qualified": false,
              "first_qualified_s": null,
              "maximum_continuous_qualifying_s": 0.0
            },
            "latest": {
              "condition_valid": false,
              "continuous_qualifying_s": 0.0,
              "controller_claim": {
                "probe_index": 1,
                "qualified": false,
                "t_seconds": 20.00000000000146
              },
              "native_tick": 20000,
              "qualified": false,
              "rise_m": 2.354169181782717e-05,
              "tcp_local_drift_m": 0.003773343638322691,
              "time_s": 20.00000000000146
            },
            "metadata_sha256": "ad8229630cc9f8718829bb8317b1a82480dcf18b9f71bd23666acfe71a003ef7",
            "native_arrays_sha256": "01d7fff72272c20805e5e9cad952f9f38a4ef67fb017883f736c1b0a38afe71d",
            "physical_robot_ready": false,
            "receipt_sha256": "13d3fd37d1872f2a6e744f4a993270ae3b6815cffc75d722e48b8edd62c4afaf",
            "schema": "dvidia.probe-evidence/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification."
          },
          "status": "inspected",
          "verification": {
            "admissible": false,
            "historical_qualified": false,
            "latest_qualified": false,
            "physical_robot_ready": false,
            "reasons": [
              "latest_native_window_not_qualified",
              "no_controller_qualification_for_this_probe",
              "latest_controller_not_qualified"
            ],
            "receipt_sha256": "13d3fd37d1872f2a6e744f4a993270ae3b6815cffc75d722e48b8edd62c4afaf",
            "schema": "dvidia.probe-evidence-verification/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.",
            "verified": true
          }
        },
        "stationarity": {
          "complete_5s": false,
          "grip_retention_and_stationarity": false,
          "tcp_pose_within_bounds": false
        },
        "status": "inspected"
      },
      "files": {
        "episode.json.gz": {
          "bytes": 774521,
          "sha256": "7c5d2c2500c81d8085066be32663953ec0d23135dd491c68a65712d50e147069"
        },
        "evaluation.json": {
          "bytes": 11701,
          "sha256": "bf884320052d1f2aeec80a870a5c019ed5dba851aa9d6e66a52f02bb7187e807"
        },
        "native.json": {
          "bytes": 13763,
          "sha256": "19cc1d5998901cbc12da2916add3096763081e9decbfc7193981bfabc4b871e0"
        },
        "native.npz": {
          "bytes": 4099273,
          "sha256": "4fa954167d8de7955630439cdc53a1f02ba7a6aac56648a23b293cb968fd6e49"
        },
        "started.json": {
          "bytes": 151,
          "sha256": "1820637a380385bc702dffe92dee2aab4d6fe634d0ffac27c4357d6e4439a0ec"
        }
      },
      "friction": 0.5,
      "id": "m55-f50-p1-measured_joint",
      "mass_kg": 0.055,
      "metrics": {
        "carry_complete": false,
        "carry_contact_loss_events": 0,
        "carry_contact_loss_tolerance_seconds": 0.04,
        "dwell_seconds": 0.0,
        "first_success_time_seconds": null,
        "grasp_seen": true,
        "lift_dwell_seconds": 0.0,
        "lift_seen": false,
        "max_carry_contact_loss_seconds": 0.0,
        "max_object_lift_m": 0.00014949661146164417,
        "max_pad_normal_force_n": 0.5719727928953009,
        "physical_robot_ready": false,
        "reason": "timeout",
        "retention_lost": false,
        "simulation_time": 20.00000000000146,
        "steps": 1000,
        "success": false,
        "target_distance_m": 0.1238374390348957,
        "unexpected_contact_native_ticks": 0,
        "valid": true,
        "warnings": []
      },
      "policy": {
        "abort_reason": "retry_budget_exhausted:relative_slip",
        "acquisition_contract": {
          "comparison_scope": "Closed-loop variants may acquire different trajectories through early hold/retry. This is not an isolated classifier ablation.",
          "control_dt_s": 0.02,
          "evidence_admission": "Current bilateral force >0.01 N, no table support, object rise >=6 mm and TCP-local offset drift <=3 mm continuously across sampled boundaries for elapsed >=100 ms.",
          "hold": "Latch measured six arm joints and the last issued jaw target at admission/terminal invalidity. No full lift/transfer, no squeeze escalation, no post-admission retry.",
          "invalidation": "At each subsequent 20 ms observation and final observation, invalidate immediately on lost contact/force, support, insufficient rise, >3 mm local drift or unexpected contact. Never requalify after terminal invalidity.",
          "observation_origin": "privileged_native_simulator_state",
          "parameters": {
            "close_timeout_s": 1.4,
            "consecutive_alarm_samples": 2,
            "max_retries": 1,
            "monitor_min_probe_motion_m": 0.003,
            "probe_height_m": 0.01,
            "probe_min_object_rise_m": 0.006,
            "probe_speed_m_s": 0.02,
            "probe_timeout_s": 1.4,
            "qualification_dwell_s": 0.1,
            "relative_drift_limit_m": 0.003,
            "retry_clearance_m": 0.012,
            "retry_open_timeout_s": 1.2,
            "retry_recenter_timeout_s": 1.5
          },
          "physical_robot_ready": false,
          "prefix": "Original GuardedPiperTaskPolicy approach/close and at most one supported open/recenter/retry; already uses authored native state, not a fully blind baseline.",
          "sampling_limit": "Independent 1 ms evidence may contradict sampled admission; that remains a finding. No sensor or material inference is implemented.",
          "schema": "dvidia.piper-probe-stop/v1",
          "stop_scope": "Holding native position targets is not physical arrest or calibrated force limiting; inertia and existing target rate limits can continue motion.",
          "timer_admission": "Same 10 mm/20 mm/s probe target law, admitted at elapsed >=600 ms from that probe start; no evidence predicate or slip alarm before admission. Unexpected contacts and bounded timeouts still stop.",
          "timer_admission_s": 0.6,
          "variants": [
            "evidence",
            "timer"
          ]
        },
        "acquisition_variant": "evidence",
        "active_probe_index": 1,
        "admission_time_s": null,
        "admitted": false,
        "contract": {
          "acquisition": "Unchanged ProbeStopPolicy evidence acquisition, including its bounded supported retry. All variants share the same prefix through the first admission observation.",
          "cartesian": "Latch measured TCP position/orientation and preceding issued targets. Fixed joint bias equals issued target minus pose_action at the admission pose. First command repeats the exact issued target; later pose_action updates receive that fixed bias.",
          "control_dt_s": 0.02,
          "final_observation": "Repeat force, original eligibility and Cartesian pose-error checks. Do not solve or issue a hypothetical next control at the terminal observation.",
          "invalid_measurements": "Malformed, nonfinite or noncausal observations terminally refuse and raise without issuing a command. No measured-position stop is claimed from invalid measurements.",
          "issued_joint": "Latch the preceding issued six joint targets and the same last issued jaw target at admission.",
          "limits": {
            "initial_joint_bias_ceiling_rad": 0.08,
            "joint_correction_ceiling_rad": 0.03,
            "joint_correction_rate_rad_s": 0.1,
            "native_joint_target_margin_rad": 0.02,
            "per_finger_force_ceiling_n": 10.0,
            "tcp_orientation_error_ceiling_rad": 0.05,
            "tcp_position_error_ceiling_m": 0.004
          },
          "measured_joint": "Original hold: latch measured six joint coordinates and the last issued jaw target at admission.",
          "observation_origin": "privileged_native_simulator_state",
          "physical_robot_ready": false,
          "qualifications": "Engineering limits and the 10 N ceiling are authored synthetic assumptions, not damage limits or calibrated physical telemetry. Position targets are not physical stops or force limiters. No load/friction inference, model training or complete placement is implemented.",
          "rate_scope": "The extra correction slews at at most 0.002 rad per 20 ms per joint. Original native 1 ms target slew, servos, gains and force caps remain unchanged.",
          "refusal": "Original eligibility loss, unexpected contact or observed pad force >10 N terminally requests measured joint hold and the frozen jaw target. Cartesian error, initial-bias, total-correction or native-margin exhaustion also refuses terminally; it never chases an already failed grip.",
          "sampling": "Control checks occur at 20 ms boundaries. Independent saved 1 ms native evidence must judge a continuous 5 s hold; missed between-boundary failures remain findings.",
          "schema": "dvidia.piper-retention/v2",
          "variants": [
            "measured_joint",
            "issued_joint",
            "cartesian"
          ]
        },
        "events": [
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "continue",
              "drift_streak": 0,
              "object_height_delta_m": 0.0,
              "phase": "probe",
              "progress_streak": 0,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0,
              "retry_index": 0,
              "t_seconds": 11.439999999999099,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_probe",
            "probe_index": 0,
            "reason": "slow_load_bearing_check",
            "retention_variant": "measured_joint",
            "retry_index": 0,
            "status": "probing",
            "t_seconds": 11.439999999999099,
            "type": "probe_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm",
              "drift_streak": 2,
              "object_height_delta_m": 0.0001220120477001263,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.003563047923356402,
              "retry_index": 0,
              "t_seconds": 11.819999999998888,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0036670606221099328
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_stop",
            "probe_index": 0,
            "reason": "object_not_following",
            "retention_variant": "measured_joint",
            "retry_index": 0,
            "status": "probing",
            "t_seconds": 11.819999999998888,
            "type": "alarm",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm",
              "drift_streak": 2,
              "object_height_delta_m": 0.0001220120477001263,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.003563047923356402,
              "retry_index": 0,
              "t_seconds": 11.819999999998888,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0036670606221099328
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_stop",
            "probe_index": 0,
            "reason": "supported_object_only",
            "retention_variant": "measured_joint",
            "retry_index": 1,
            "status": "acquiring_retry",
            "t_seconds": 11.819999999998888,
            "type": "retry_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": false,
              "contact_loss_streak": 0,
              "decision": "recenter_with_open_jaw",
              "drift_streak": 2,
              "object_height_delta_m": -2.3779835251133696e-05,
              "phase": "retry_recenter",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.009735064820392745,
              "retry_index": 1,
              "t_seconds": 13.479999999997968,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.00969482953308387
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_retry_recenter",
            "probe_index": 0,
            "reason": "open_recenter_complete",
            "retention_variant": "measured_joint",
            "retry_index": 1,
            "status": "acquiring",
            "t_seconds": 13.479999999997968,
            "type": "retry_completed",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "continue",
              "drift_streak": 0,
              "object_height_delta_m": 0.0,
              "phase": "probe",
              "progress_streak": 0,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0,
              "retry_index": 1,
              "t_seconds": 14.35999999999748,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_probe",
            "probe_index": 1,
            "reason": "slow_load_bearing_check",
            "retention_variant": "measured_joint",
            "retry_index": 1,
            "status": "probing",
            "t_seconds": 14.35999999999748,
            "type": "probe_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm",
              "drift_streak": 2,
              "object_height_delta_m": 0.00012006828311551809,
              "phase": "probe",
              "progress_streak": 1,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.003586543051401373,
              "retry_index": 1,
              "t_seconds": 14.73999999999727,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0036304897429367683
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_stop",
            "probe_index": 1,
            "reason": "relative_slip",
            "retention_variant": "measured_joint",
            "retry_index": 1,
            "status": "probing",
            "t_seconds": 14.73999999999727,
            "type": "alarm",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm_and_freeze_issued_jaw",
              "drift_streak": 2,
              "object_height_delta_m": 0.00012006828311551809,
              "phase": "probe",
              "progress_streak": 1,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.003586543051401373,
              "retry_index": 1,
              "t_seconds": 14.73999999999727,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0036304897429367683
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "probe_stop",
            "probe_index": 1,
            "reason": "retry_budget_exhausted:relative_slip",
            "retention_variant": "measured_joint",
            "retry_index": 1,
            "status": "invalidated_hold",
            "t_seconds": 14.73999999999727,
            "type": "abort",
            "variant": "evidence"
          }
        ],
        "ever_admitted": false,
        "final_observed": true,
        "frozen_jaw_target_m": 0.0,
        "initial_context": {
          "object_position_m": [
            0.3069999950627209,
            -0.03700017660547428,
            0.07989224451748382
          ],
          "observation_origin": "privileged_native_simulator_state",
          "t_seconds": 0.0,
          "tcp_position_m": [
            0.4890696662845219,
            0.0014141975654808877,
            0.3665849431043091
          ],
          "tcp_quaternion_wxyz": [
            0.6580840948238629,
            2.7730466224793136e-07,
            0.7529444362872891,
            -1.9485471114950535e-06
          ]
        },
        "last_observed_s": 20.00000000000146,
        "observation_origin": "privileged_native_simulator_state",
        "physical_robot_ready": false,
        "probes": [
          {
            "disposition": "interrupted",
            "end_time_s": 11.819999999998888,
            "local_offset_origin_m": [
              0.0022564833883839223,
              0.0003037229696321984,
              0.001917428603517788
            ],
            "object_origin_m": [
              0.30684744057446545,
              -0.036974573016176765,
              0.07991602441503481
            ],
            "observation_origin": "privileged_native_simulator_state",
            "probe_index": 0,
            "reason": "object_not_following",
            "start_time_s": 11.439999999999099,
            "tcp_origin_m": [
              0.30908501251110765,
              -0.03726475407553803,
              0.0818575609599039
            ],
            "tcp_quaternion_wxyz": [
              0.0052759598661171305,
              -0.0024391435788067455,
              0.9999828837660242,
              -0.0006685813932956004
            ]
          },
          {
            "disposition": "invalidated_hold",
            "end_time_s": 14.73999999999727,
            "local_offset_origin_m": [
              -0.0020356487922222996,
              0.00024007166693715374,
              0.0024096684014061655
            ],
            "object_origin_m": [
              0.30878000941820105,
              -0.03710740536734748,
              0.07986122650295552
            ],
            "observation_origin": "privileged_native_simulator_state",
            "probe_index": 1,
            "reason": "retry_budget_exhausted:relative_slip",
            "start_time_s": 14.35999999999748,
            "tcp_origin_m": [
              0.3067658761690966,
              -0.0373494206003285,
              0.08228871452499283
            ],
            "tcp_quaternion_wxyz": [
              -0.004424638607731591,
              -0.0002336972854792446,
              0.9999901626844713,
              0.00020613843491232439
            ]
          }
        ],
        "retention": {
          "hold_reference": null,
          "input_refusals": [],
          "native_joint_control_limits_rad": [
            [
              -2.618,
              2.618
            ],
            [
              0.0,
              3.14
            ],
            [
              -2.697,
              0.0
            ],
            [
              -1.832,
              1.832
            ],
            [
              -1.22,
              1.22
            ],
            [
              -3.14,
              3.14
            ]
          ],
          "variant": "measured_joint"
        },
        "retry_count": 1,
        "schema": "dvidia.piper-retention/v2",
        "status": "invalidated_hold",
        "stop_targets_rad": [
          -0.12530893080052677,
          1.7547296609868128,
          -1.1732281959374642,
          -0.0008784348228731107,
          1.076554711647407,
          -0.1253736654713594
        ],
        "variant": "measured_joint"
      },
      "scene_id": "m55-f50-p1",
      "timing": {
        "policy_cpu": {
          "maximum_s": 0.0004970000000099617,
          "mean_s": 4.789000000008059e-05,
          "over_20ms": 0,
          "p50_s": 5.000000000165983e-05,
          "p95_s": 8.405000000095693e-05,
          "p99_s": 0.00012814000000361134,
          "samples": 1000
        },
        "policy_wall": {
          "maximum_s": 0.0004960419610142708,
          "mean_s": 4.821817018091679e-05,
          "over_20ms": 0,
          "p50_s": 5.024997517466545e-05,
          "p95_s": 8.527080062776802e-05,
          "p99_s": 0.0001400267519056797,
          "samples": 1000
        },
        "step_cpu": {
          "maximum_s": 0.012422999999998297,
          "mean_s": 0.001661343000000187,
          "over_20ms": 0,
          "p50_s": 0.0014079999999978554,
          "p95_s": 0.0030252999999945017,
          "p99_s": 0.0038330300000002635,
          "samples": 1000
        },
        "step_wall": {
          "maximum_s": 0.012437541037797928,
          "mean_s": 0.001684815163258463,
          "over_20ms": 0,
          "p50_s": 0.001426416216418147,
          "p95_s": 0.003123075142502784,
          "p99_s": 0.004017133554443717,
          "samples": 1000
        }
      },
      "valid": true,
      "variant": "measured_joint"
    },
    {
      "error": null,
      "evaluation": {
        "corrections": {
          "bound_refusal_counts": {},
          "flag_counts": {
            "correction_rate_limited": 0
          },
          "hold_record_count": 281,
          "input_refusals": [],
          "maximum_abs_active_correction_rad": null,
          "maximum_abs_desired_correction_rad": null,
          "rate_limited_axis_occurrences": 0,
          "scope": "Includes recorded final diagnostic checks; only command_issued rows represent issued controls."
        },
        "decomposition": null,
        "final": {
          "both_qualified": false,
          "controller_qualified": false,
          "evidence_admissible": false,
          "native_qualified": false
        },
        "first_admission": null,
        "native": {
          "arrays_sha256": "628062d0c4f8b49fe16f99aa17f6847a0c9269aa03c5c5e41d9d913e9bedad53",
          "complete": true,
          "maximum_per_finger_force_n": 0.43074184978217417,
          "rows": 20000,
          "unexpected_contact_native_ticks": 0,
          "valid": true,
          "warnings": []
        },
        "physical_robot_ready": false,
        "primary": {
          "combined_qualified_pause": false,
          "complete_5s": false,
          "controller_retained_at_5s": false,
          "native_pause_success": false,
          "reason": "no_admission",
          "required_s": 5.0,
          "success": false
        },
        "probes": [
          {
            "claims": [],
            "disposition": "interrupted",
            "final_native_qualified_from_origin": false,
            "probe_index": 0,
            "start_time_s": 11.139999999999265
          },
          {
            "claims": [],
            "disposition": "invalidated_hold",
            "final_native_qualified_from_origin": false,
            "probe_index": 1,
            "start_time_s": 14.039999999997658
          }
        ],
        "receipt": {
          "admission": {
            "observation_origin": "privileged_native_simulation_plus_caller_planning_assumptions",
            "physical_robot_ready": false,
            "planning": {
              "computed": {
                "conservative_required_load_n": 0.8172986249999998,
                "gravity_m_s2": 9.80665,
                "pose_specific_payload_limit_force_n": 0.980665,
                "two_finger_friction_capacity_n": 4.0
              },
              "observation_origin": "caller_declared_not_verified",
              "physical_robot_ready": false,
              "reasons": [
                "Run and record a cautious test lift under the same calibrated pose and load conditions before simulated transport planning."
              ],
              "schema": "dvidia.task-feasibility-result/v1",
              "scope": "Planning assessment only. Parallel two-finger vertical-lift approximation; ignores moment, center of mass, deformation, transient impacts and unmodeled contact effects. Unknown values remain unknown; mass is never inferred from images. Probe/test-lift/controller integration is not implemented. No hardware actuation is performed; this is not hardware qualification.",
              "status": "test_lift_required"
            },
            "probe": {
              "admissible": false,
              "historical_qualified": false,
              "latest_qualified": false,
              "physical_robot_ready": false,
              "reasons": [
                "latest_native_window_not_qualified",
                "no_controller_qualification_for_this_probe",
                "latest_controller_not_qualified"
              ],
              "receipt_sha256": "b5a42dc9c2d34f216e42b8a367b604f248a82e8c044490dd944aeffe61a39a1b",
              "schema": "dvidia.probe-evidence-verification/v1",
              "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.",
              "verified": true
            },
            "schema": "dvidia.task-feasibility-with-probe/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification. Unknown planning values remain unknown. The unchanged approximate vertical-lift planning gate describes declared loads; it supplies no transport path, geospatial-goal contract or actuator permission. This wrapper never issues controls.",
            "status": "test_lift_required"
          },
          "context": {
            "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
            "calibration_id": "synthetic_probe_v01",
            "calibration_scope": "simulation_assumptions_not_hardware",
            "command_sha256": "60bd66ce6723d4e39a1cbd2f00b20ca2683caa36a1e4a6b01db31e8d3a99999e",
            "feasibility_sha256": "b90ac91b028fd8d4a7010faf3b98fbd441bd101a73c10c00707a18a0890f5aa6",
            "grasp_id": "m55-f20-p0-issued_joint-probe-1",
            "initial_object_position_m": [
              0.3030000461054176,
              -0.025999796476173308,
              0.07989224451748383
            ],
            "model_sha256": "8bdc85103e15f9ce551dc958a251a42bc5144ef63671b9f5611d771bc3aee19f",
            "native_status": {
              "simulation_time_s": 20.00000000000146,
              "unexpected_contact_native_ticks": 0,
              "valid": true,
              "warnings": []
            },
            "object_id": "task_block",
            "per_finger_force_ceiling_n": 10.0,
            "pose_binding_sha256": "dfdca8f53867294130c403e67340a02e04a194b6d03bfe384342e321000e09b7",
            "probe_index": 1,
            "probe_origin_object_position_m": [
              0.30332381241535994,
              -0.02580739666669168,
              0.07988281890356064
            ],
            "probe_origin_tcp_local_offset_m": [
              -0.002022756879098866,
              0.00029030870063708933,
              0.002352618596072997
            ],
            "probe_start_s": 14.039999999997658,
            "robot_profile": "piper",
            "run_id": "m55-f20-p0-issued_joint",
            "schema": "dvidia.probe-context/v1",
            "source_sha256": "cc82eb867d3a927a487317b2e9e470fcb8f53e9da000a1764b7c5a1878883e69"
          },
          "physical_robot_ready": false,
          "planning_input": {
            "allowed_pose_tolerance_m": 0.003,
            "calibration_id": "synthetic_probe_v01",
            "friction_interval": [
              0.2,
              0.2
            ],
            "geometry_known": true,
            "gripper_max_opening_interval_m": [
              0.07,
              0.07
            ],
            "gripper_min_closure_m": 0.0,
            "mass_interval_kg": [
              0.055,
              0.055
            ],
            "object_width_interval_m": [
              0.04,
              0.04
            ],
            "observations_fresh": true,
            "per_finger_normal_force_budget_n": 10.0,
            "planned_upward_accel_m_s2": 0.1,
            "pose_specific_payload_limit_kg": 0.1,
            "pose_uncertainty_m": 0.0,
            "reachability": "reachable",
            "safety_factor": 1.5,
            "schema": "dvidia.task-feasibility-input/v1",
            "slip_detected": false,
            "test_lift_passed": false
          },
          "receipt": {
            "audit": {
              "controller_claim_mismatches": [],
              "controller_claims_checked": 1,
              "controller_conservative_abstention_count": 0,
              "controller_coverage": "Only the supplied claims are checked; omitted decisions are not inferred.",
              "controller_false_qualification_count": 0,
              "controller_positive_claims": 0,
              "force_ceiling_known": true,
              "maximum_observed_per_finger_force_n": 0.43074184978217417,
              "reasons": [],
              "rows": 20000,
              "unexpected_contact_native_ticks": 0,
              "valid": true
            },
            "context": {
              "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
              "calibration_id": "synthetic_probe_v01",
              "calibration_scope": "simulation_assumptions_not_hardware",
              "command_sha256": "60bd66ce6723d4e39a1cbd2f00b20ca2683caa36a1e4a6b01db31e8d3a99999e",
              "feasibility_sha256": "b90ac91b028fd8d4a7010faf3b98fbd441bd101a73c10c00707a18a0890f5aa6",
              "grasp_id": "m55-f20-p0-issued_joint-probe-1",
              "initial_object_position_m": [
                0.3030000461054176,
                -0.025999796476173308,
                0.07989224451748383
              ],
              "model_sha256": "8bdc85103e15f9ce551dc958a251a42bc5144ef63671b9f5611d771bc3aee19f",
              "native_status": {
                "simulation_time_s": 20.00000000000146,
                "unexpected_contact_native_ticks": 0,
                "valid": true,
                "warnings": []
              },
              "object_id": "task_block",
              "per_finger_force_ceiling_n": 10.0,
              "pose_binding_sha256": "dfdca8f53867294130c403e67340a02e04a194b6d03bfe384342e321000e09b7",
              "probe_index": 1,
              "probe_origin_object_position_m": [
                0.30332381241535994,
                -0.02580739666669168,
                0.07988281890356064
              ],
              "probe_origin_tcp_local_offset_m": [
                -0.002022756879098866,
                0.00029030870063708933,
                0.002352618596072997
              ],
              "probe_start_s": 14.039999999997658,
              "robot_profile": "piper",
              "run_id": "m55-f20-p0-issued_joint",
              "schema": "dvidia.probe-context/v1",
              "source_sha256": "cc82eb867d3a927a487317b2e9e470fcb8f53e9da000a1764b7c5a1878883e69"
            },
            "context_sha256": "ae54a122fa6ecb01169e81c8645945d3ddd4ee55580c6a87dcf61a4a3c1363ef",
            "controller_qualifications": [
              {
                "probe_index": 1,
                "qualified": false,
                "t_seconds": 20.00000000000146
              }
            ],
            "criteria": {
              "distance_comparison_epsilon": 1e-12,
              "initial_sample_tolerance_m": 0.001,
              "maximum_tcp_local_drift_m": 0.003,
              "minimum_continuous_dwell_s": 0.1,
              "minimum_per_finger_force_n_exclusive": 0.01,
              "minimum_rise_m": 0.006,
              "native_dt_s": 0.001,
              "origin_tolerance_m": 1e-09,
              "time_tolerance_s": 1e-08
            },
            "history": {
              "ever_qualified": false,
              "first_qualified_s": null,
              "maximum_continuous_qualifying_s": 0.0
            },
            "latest": {
              "condition_valid": false,
              "continuous_qualifying_s": 0.0,
              "controller_claim": {
                "probe_index": 1,
                "qualified": false,
                "t_seconds": 20.00000000000146
              },
              "native_tick": 20000,
              "qualified": false,
              "rise_m": 3.3353820885762e-07,
              "tcp_local_drift_m": 0.004325332609832985,
              "time_s": 20.00000000000146
            },
            "metadata_sha256": "ad8229630cc9f8718829bb8317b1a82480dcf18b9f71bd23666acfe71a003ef7",
            "native_arrays_sha256": "628062d0c4f8b49fe16f99aa17f6847a0c9269aa03c5c5e41d9d913e9bedad53",
            "physical_robot_ready": false,
            "receipt_sha256": "b5a42dc9c2d34f216e42b8a367b604f248a82e8c044490dd944aeffe61a39a1b",
            "schema": "dvidia.probe-evidence/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification."
          },
          "status": "inspected",
          "verification": {
            "admissible": false,
            "historical_qualified": false,
            "latest_qualified": false,
            "physical_robot_ready": false,
            "reasons": [
              "latest_native_window_not_qualified",
              "no_controller_qualification_for_this_probe",
              "latest_controller_not_qualified"
            ],
            "receipt_sha256": "b5a42dc9c2d34f216e42b8a367b604f248a82e8c044490dd944aeffe61a39a1b",
            "schema": "dvidia.probe-evidence-verification/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.",
            "verified": true
          }
        },
        "stationarity": {
          "complete_5s": false,
          "grip_retention_and_stationarity": false,
          "tcp_pose_within_bounds": false
        },
        "status": "inspected"
      },
      "files": {
        "episode.json.gz": {
          "bytes": 773937,
          "sha256": "f127cccd7b265eb0c8fbb1ad1bbe007f6d90f338c6d079ee32db5fd889e85bc8"
        },
        "evaluation.json": {
          "bytes": 11693,
          "sha256": "95961639109870430158183d2b50dba20c567e8b9fbb0b5435e1a2d4582dab8d"
        },
        "native.json": {
          "bytes": 13763,
          "sha256": "19cc1d5998901cbc12da2916add3096763081e9decbfc7193981bfabc4b871e0"
        },
        "native.npz": {
          "bytes": 4101861,
          "sha256": "be6bc427d2a9dc5fec80ff8a9234bc1f95b948ff4c1b72ddc75724bf3915e80c"
        },
        "started.json": {
          "bytes": 149,
          "sha256": "ff1430faa6827e34222ac80691ee49948b860dc95ebf2f14a3be0ab58b17637b"
        }
      },
      "friction": 0.2,
      "id": "m55-f20-p0-issued_joint",
      "mass_kg": 0.055,
      "metrics": {
        "carry_complete": false,
        "carry_contact_loss_events": 0,
        "carry_contact_loss_tolerance_seconds": 0.04,
        "dwell_seconds": 0.0,
        "first_success_time_seconds": null,
        "grasp_seen": true,
        "lift_dwell_seconds": 0.0,
        "lift_seen": false,
        "max_carry_contact_loss_seconds": 0.0,
        "max_object_lift_m": 7.136406519769878e-05,
        "max_pad_normal_force_n": 0.43074184978217417,
        "physical_robot_ready": false,
        "reason": "timeout",
        "retention_lost": false,
        "simulation_time": 20.00000000000146,
        "steps": 1000,
        "success": false,
        "target_distance_m": 0.11565641316277797,
        "unexpected_contact_native_ticks": 0,
        "valid": true,
        "warnings": []
      },
      "policy": {
        "abort_reason": "retry_budget_exhausted:object_not_following",
        "acquisition_contract": {
          "comparison_scope": "Closed-loop variants may acquire different trajectories through early hold/retry. This is not an isolated classifier ablation.",
          "control_dt_s": 0.02,
          "evidence_admission": "Current bilateral force >0.01 N, no table support, object rise >=6 mm and TCP-local offset drift <=3 mm continuously across sampled boundaries for elapsed >=100 ms.",
          "hold": "Latch measured six arm joints and the last issued jaw target at admission/terminal invalidity. No full lift/transfer, no squeeze escalation, no post-admission retry.",
          "invalidation": "At each subsequent 20 ms observation and final observation, invalidate immediately on lost contact/force, support, insufficient rise, >3 mm local drift or unexpected contact. Never requalify after terminal invalidity.",
          "observation_origin": "privileged_native_simulator_state",
          "parameters": {
            "close_timeout_s": 1.4,
            "consecutive_alarm_samples": 2,
            "max_retries": 1,
            "monitor_min_probe_motion_m": 0.003,
            "probe_height_m": 0.01,
            "probe_min_object_rise_m": 0.006,
            "probe_speed_m_s": 0.02,
            "probe_timeout_s": 1.4,
            "qualification_dwell_s": 0.1,
            "relative_drift_limit_m": 0.003,
            "retry_clearance_m": 0.012,
            "retry_open_timeout_s": 1.2,
            "retry_recenter_timeout_s": 1.5
          },
          "physical_robot_ready": false,
          "prefix": "Original GuardedPiperTaskPolicy approach/close and at most one supported open/recenter/retry; already uses authored native state, not a fully blind baseline.",
          "sampling_limit": "Independent 1 ms evidence may contradict sampled admission; that remains a finding. No sensor or material inference is implemented.",
          "schema": "dvidia.piper-probe-stop/v1",
          "stop_scope": "Holding native position targets is not physical arrest or calibrated force limiting; inertia and existing target rate limits can continue motion.",
          "timer_admission": "Same 10 mm/20 mm/s probe target law, admitted at elapsed >=600 ms from that probe start; no evidence predicate or slip alarm before admission. Unexpected contacts and bounded timeouts still stop.",
          "timer_admission_s": 0.6,
          "variants": [
            "evidence",
            "timer"
          ]
        },
        "acquisition_variant": "evidence",
        "active_probe_index": 1,
        "admission_time_s": null,
        "admitted": false,
        "contract": {
          "acquisition": "Unchanged ProbeStopPolicy evidence acquisition, including its bounded supported retry. All variants share the same prefix through the first admission observation.",
          "cartesian": "Latch measured TCP position/orientation and preceding issued targets. Fixed joint bias equals issued target minus pose_action at the admission pose. First command repeats the exact issued target; later pose_action updates receive that fixed bias.",
          "control_dt_s": 0.02,
          "final_observation": "Repeat force, original eligibility and Cartesian pose-error checks. Do not solve or issue a hypothetical next control at the terminal observation.",
          "invalid_measurements": "Malformed, nonfinite or noncausal observations terminally refuse and raise without issuing a command. No measured-position stop is claimed from invalid measurements.",
          "issued_joint": "Latch the preceding issued six joint targets and the same last issued jaw target at admission.",
          "limits": {
            "initial_joint_bias_ceiling_rad": 0.08,
            "joint_correction_ceiling_rad": 0.03,
            "joint_correction_rate_rad_s": 0.1,
            "native_joint_target_margin_rad": 0.02,
            "per_finger_force_ceiling_n": 10.0,
            "tcp_orientation_error_ceiling_rad": 0.05,
            "tcp_position_error_ceiling_m": 0.004
          },
          "measured_joint": "Original hold: latch measured six joint coordinates and the last issued jaw target at admission.",
          "observation_origin": "privileged_native_simulator_state",
          "physical_robot_ready": false,
          "qualifications": "Engineering limits and the 10 N ceiling are authored synthetic assumptions, not damage limits or calibrated physical telemetry. Position targets are not physical stops or force limiters. No load/friction inference, model training or complete placement is implemented.",
          "rate_scope": "The extra correction slews at at most 0.002 rad per 20 ms per joint. Original native 1 ms target slew, servos, gains and force caps remain unchanged.",
          "refusal": "Original eligibility loss, unexpected contact or observed pad force >10 N terminally requests measured joint hold and the frozen jaw target. Cartesian error, initial-bias, total-correction or native-margin exhaustion also refuses terminally; it never chases an already failed grip.",
          "sampling": "Control checks occur at 20 ms boundaries. Independent saved 1 ms native evidence must judge a continuous 5 s hold; missed between-boundary failures remain findings.",
          "schema": "dvidia.piper-retention/v2",
          "variants": [
            "measured_joint",
            "issued_joint",
            "cartesian"
          ]
        },
        "events": [
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "continue",
              "drift_streak": 0,
              "object_height_delta_m": 0.0,
              "phase": "probe",
              "progress_streak": 0,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0,
              "retry_index": 0,
              "t_seconds": 11.139999999999265,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_probe",
            "probe_index": 0,
            "reason": "slow_load_bearing_check",
            "retention_variant": "issued_joint",
            "retry_index": 0,
            "status": "probing",
            "t_seconds": 11.139999999999265,
            "type": "probe_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm",
              "drift_streak": 2,
              "object_height_delta_m": 4.1920220789914975e-05,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.004126271514705922,
              "retry_index": 0,
              "t_seconds": 11.499999999999066,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.003741771807707156
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_stop",
            "probe_index": 0,
            "reason": "object_not_following",
            "retention_variant": "issued_joint",
            "retry_index": 0,
            "status": "probing",
            "t_seconds": 11.499999999999066,
            "type": "alarm",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm",
              "drift_streak": 2,
              "object_height_delta_m": 4.1920220789914975e-05,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.004126271514705922,
              "retry_index": 0,
              "t_seconds": 11.499999999999066,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.003741771807707156
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_stop",
            "probe_index": 0,
            "reason": "supported_object_only",
            "retention_variant": "issued_joint",
            "retry_index": 1,
            "status": "acquiring_retry",
            "t_seconds": 11.499999999999066,
            "type": "retry_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": false,
              "contact_loss_streak": 0,
              "decision": "recenter_with_open_jaw",
              "drift_streak": 2,
              "object_height_delta_m": -1.852067262551882e-05,
              "phase": "retry_recenter",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.009714091925007438,
              "retry_index": 1,
              "t_seconds": 13.159999999998146,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.009682259911843683
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_retry_recenter",
            "probe_index": 0,
            "reason": "open_recenter_complete",
            "retention_variant": "issued_joint",
            "retry_index": 1,
            "status": "acquiring",
            "t_seconds": 13.159999999998146,
            "type": "retry_completed",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "continue",
              "drift_streak": 0,
              "object_height_delta_m": 0.0,
              "phase": "probe",
              "progress_streak": 0,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0,
              "retry_index": 1,
              "t_seconds": 14.039999999997658,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_probe",
            "probe_index": 1,
            "reason": "slow_load_bearing_check",
            "retention_variant": "issued_joint",
            "retry_index": 1,
            "status": "probing",
            "t_seconds": 14.039999999997658,
            "type": "probe_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm",
              "drift_streak": 2,
              "object_height_delta_m": 6.474291220312511e-05,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.004116829336343244,
              "retry_index": 1,
              "t_seconds": 14.399999999997458,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0037094706202930455
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_stop",
            "probe_index": 1,
            "reason": "object_not_following",
            "retention_variant": "issued_joint",
            "retry_index": 1,
            "status": "probing",
            "t_seconds": 14.399999999997458,
            "type": "alarm",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm_and_freeze_issued_jaw",
              "drift_streak": 2,
              "object_height_delta_m": 6.474291220312511e-05,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.004116829336343244,
              "retry_index": 1,
              "t_seconds": 14.399999999997458,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0037094706202930455
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "probe_stop",
            "probe_index": 1,
            "reason": "retry_budget_exhausted:object_not_following",
            "retention_variant": "issued_joint",
            "retry_index": 1,
            "status": "invalidated_hold",
            "t_seconds": 14.399999999997458,
            "type": "abort",
            "variant": "evidence"
          }
        ],
        "ever_admitted": false,
        "final_observed": true,
        "frozen_jaw_target_m": 0.0,
        "initial_context": {
          "object_position_m": [
            0.3030000461054176,
            -0.025999796476173308,
            0.07989224451748383
          ],
          "observation_origin": "privileged_native_simulator_state",
          "t_seconds": 0.0,
          "tcp_position_m": [
            0.4890696662845219,
            0.0014141975654808877,
            0.3665849431043091
          ],
          "tcp_quaternion_wxyz": [
            0.6580840948238629,
            2.7730466224793136e-07,
            0.7529444362872891,
            -1.9485471114950535e-06
          ]
        },
        "last_observed_s": 20.00000000000146,
        "observation_origin": "privileged_native_simulator_state",
        "physical_robot_ready": false,
        "probes": [
          {
            "disposition": "interrupted",
            "end_time_s": 11.499999999999066,
            "local_offset_origin_m": [
              0.0022748600741066293,
              0.0003021820082949555,
              0.0019091245718129836
            ],
            "object_origin_m": [
              0.30268761249608284,
              -0.025958885588963844,
              0.0799107652524092
            ],
            "observation_origin": "privileged_native_simulator_state",
            "probe_index": 0,
            "reason": "object_not_following",
            "start_time_s": 11.139999999999265,
            "tcp_origin_m": [
              0.30494444516735175,
              -0.026250996589516035,
              0.08184271670388289
            ],
            "tcp_quaternion_wxyz": [
              0.004969556646508504,
              -0.0017858123396113845,
              0.9999859244844478,
              -0.0005149893290647066
            ]
          },
          {
            "disposition": "invalidated_hold",
            "end_time_s": 14.399999999997458,
            "local_offset_origin_m": [
              -0.002022756879098866,
              0.00029030870063708933,
              0.002352618596072997
            ],
            "object_origin_m": [
              0.30332381241535994,
              -0.02580739666669168,
              0.07988281890356064
            ],
            "observation_origin": "privileged_native_simulator_state",
            "probe_index": 1,
            "reason": "retry_budget_exhausted:object_not_following",
            "start_time_s": 14.039999999997658,
            "tcp_origin_m": [
              0.30132156070090665,
              -0.026099759273831877,
              0.08225266087510873
            ],
            "tcp_quaternion_wxyz": [
              -0.00432104933541801,
              -0.0001698847299755589,
              0.9999906077057996,
              0.00029012411951983305
            ]
          }
        ],
        "retention": {
          "hold_reference": null,
          "input_refusals": [],
          "native_joint_control_limits_rad": [
            [
              -2.618,
              2.618
            ],
            [
              0.0,
              3.14
            ],
            [
              -2.697,
              0.0
            ],
            [
              -1.832,
              1.832
            ],
            [
              -1.22,
              1.22
            ],
            [
              -3.14,
              3.14
            ]
          ],
          "variant": "issued_joint"
        },
        "retry_count": 1,
        "schema": "dvidia.piper-retention/v2",
        "status": "invalidated_hold",
        "stop_targets_rad": [
          -0.09093338611626012,
          1.7328565189482967,
          -1.1442302543397795,
          -0.0002527337623064685,
          1.068470591549965,
          -0.09117641839988852
        ],
        "variant": "issued_joint"
      },
      "scene_id": "m55-f20-p0",
      "timing": {
        "policy_cpu": {
          "maximum_s": 0.00024100000000260025,
          "mean_s": 4.47340000000338e-05,
          "over_20ms": 0,
          "p50_s": 4.800000000670934e-05,
          "p95_s": 7.600000000707041e-05,
          "p99_s": 0.0001080099999973072,
          "samples": 1000
        },
        "policy_wall": {
          "maximum_s": 0.0002720421180129051,
          "mean_s": 4.4944284483790395e-05,
          "over_20ms": 0,
          "p50_s": 4.8208050429821014e-05,
          "p95_s": 7.687781471759077e-05,
          "p99_s": 0.00011130989529192446,
          "samples": 1000
        },
        "step_cpu": {
          "maximum_s": 0.006649999999993383,
          "mean_s": 0.0016737259999997462,
          "over_20ms": 0,
          "p50_s": 0.0013225000000005593,
          "p95_s": 0.0034040500000031668,
          "p99_s": 0.004621090000000123,
          "samples": 1000
        },
        "step_wall": {
          "maximum_s": 0.008110249880701303,
          "mean_s": 0.001688268984667957,
          "over_20ms": 0,
          "p50_s": 0.0013274785596877337,
          "p95_s": 0.0034297396661713718,
          "p99_s": 0.004815289666876197,
          "samples": 1000
        }
      },
      "valid": true,
      "variant": "issued_joint"
    },
    {
      "error": null,
      "evaluation": {
        "corrections": {
          "bound_refusal_counts": {},
          "flag_counts": {
            "correction_rate_limited": 0
          },
          "hold_record_count": 281,
          "input_refusals": [],
          "maximum_abs_active_correction_rad": null,
          "maximum_abs_desired_correction_rad": null,
          "rate_limited_axis_occurrences": 0,
          "scope": "Includes recorded final diagnostic checks; only command_issued rows represent issued controls."
        },
        "decomposition": null,
        "final": {
          "both_qualified": false,
          "controller_qualified": false,
          "evidence_admissible": false,
          "native_qualified": false
        },
        "first_admission": null,
        "native": {
          "arrays_sha256": "628062d0c4f8b49fe16f99aa17f6847a0c9269aa03c5c5e41d9d913e9bedad53",
          "complete": true,
          "maximum_per_finger_force_n": 0.43074184978217417,
          "rows": 20000,
          "unexpected_contact_native_ticks": 0,
          "valid": true,
          "warnings": []
        },
        "physical_robot_ready": false,
        "primary": {
          "combined_qualified_pause": false,
          "complete_5s": false,
          "controller_retained_at_5s": false,
          "native_pause_success": false,
          "reason": "no_admission",
          "required_s": 5.0,
          "success": false
        },
        "probes": [
          {
            "claims": [],
            "disposition": "interrupted",
            "final_native_qualified_from_origin": false,
            "probe_index": 0,
            "start_time_s": 11.139999999999265
          },
          {
            "claims": [],
            "disposition": "invalidated_hold",
            "final_native_qualified_from_origin": false,
            "probe_index": 1,
            "start_time_s": 14.039999999997658
          }
        ],
        "receipt": {
          "admission": {
            "observation_origin": "privileged_native_simulation_plus_caller_planning_assumptions",
            "physical_robot_ready": false,
            "planning": {
              "computed": {
                "conservative_required_load_n": 0.8172986249999998,
                "gravity_m_s2": 9.80665,
                "pose_specific_payload_limit_force_n": 0.980665,
                "two_finger_friction_capacity_n": 4.0
              },
              "observation_origin": "caller_declared_not_verified",
              "physical_robot_ready": false,
              "reasons": [
                "Run and record a cautious test lift under the same calibrated pose and load conditions before simulated transport planning."
              ],
              "schema": "dvidia.task-feasibility-result/v1",
              "scope": "Planning assessment only. Parallel two-finger vertical-lift approximation; ignores moment, center of mass, deformation, transient impacts and unmodeled contact effects. Unknown values remain unknown; mass is never inferred from images. Probe/test-lift/controller integration is not implemented. No hardware actuation is performed; this is not hardware qualification.",
              "status": "test_lift_required"
            },
            "probe": {
              "admissible": false,
              "historical_qualified": false,
              "latest_qualified": false,
              "physical_robot_ready": false,
              "reasons": [
                "latest_native_window_not_qualified",
                "no_controller_qualification_for_this_probe",
                "latest_controller_not_qualified"
              ],
              "receipt_sha256": "5da0e534d12d3f627178d42b09db004c382e05e4d1ef25c28e431e6bcd084894",
              "schema": "dvidia.probe-evidence-verification/v1",
              "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.",
              "verified": true
            },
            "schema": "dvidia.task-feasibility-with-probe/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification. Unknown planning values remain unknown. The unchanged approximate vertical-lift planning gate describes declared loads; it supplies no transport path, geospatial-goal contract or actuator permission. This wrapper never issues controls.",
            "status": "test_lift_required"
          },
          "context": {
            "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
            "calibration_id": "synthetic_probe_v01",
            "calibration_scope": "simulation_assumptions_not_hardware",
            "command_sha256": "60bd66ce6723d4e39a1cbd2f00b20ca2683caa36a1e4a6b01db31e8d3a99999e",
            "feasibility_sha256": "b90ac91b028fd8d4a7010faf3b98fbd441bd101a73c10c00707a18a0890f5aa6",
            "grasp_id": "m55-f20-p0-measured_joint-probe-1",
            "initial_object_position_m": [
              0.3030000461054176,
              -0.025999796476173308,
              0.07989224451748383
            ],
            "model_sha256": "8bdc85103e15f9ce551dc958a251a42bc5144ef63671b9f5611d771bc3aee19f",
            "native_status": {
              "simulation_time_s": 20.00000000000146,
              "unexpected_contact_native_ticks": 0,
              "valid": true,
              "warnings": []
            },
            "object_id": "task_block",
            "per_finger_force_ceiling_n": 10.0,
            "pose_binding_sha256": "dfdca8f53867294130c403e67340a02e04a194b6d03bfe384342e321000e09b7",
            "probe_index": 1,
            "probe_origin_object_position_m": [
              0.30332381241535994,
              -0.02580739666669168,
              0.07988281890356064
            ],
            "probe_origin_tcp_local_offset_m": [
              -0.002022756879098866,
              0.00029030870063708933,
              0.002352618596072997
            ],
            "probe_start_s": 14.039999999997658,
            "robot_profile": "piper",
            "run_id": "m55-f20-p0-measured_joint",
            "schema": "dvidia.probe-context/v1",
            "source_sha256": "cc82eb867d3a927a487317b2e9e470fcb8f53e9da000a1764b7c5a1878883e69"
          },
          "physical_robot_ready": false,
          "planning_input": {
            "allowed_pose_tolerance_m": 0.003,
            "calibration_id": "synthetic_probe_v01",
            "friction_interval": [
              0.2,
              0.2
            ],
            "geometry_known": true,
            "gripper_max_opening_interval_m": [
              0.07,
              0.07
            ],
            "gripper_min_closure_m": 0.0,
            "mass_interval_kg": [
              0.055,
              0.055
            ],
            "object_width_interval_m": [
              0.04,
              0.04
            ],
            "observations_fresh": true,
            "per_finger_normal_force_budget_n": 10.0,
            "planned_upward_accel_m_s2": 0.1,
            "pose_specific_payload_limit_kg": 0.1,
            "pose_uncertainty_m": 0.0,
            "reachability": "reachable",
            "safety_factor": 1.5,
            "schema": "dvidia.task-feasibility-input/v1",
            "slip_detected": false,
            "test_lift_passed": false
          },
          "receipt": {
            "audit": {
              "controller_claim_mismatches": [],
              "controller_claims_checked": 1,
              "controller_conservative_abstention_count": 0,
              "controller_coverage": "Only the supplied claims are checked; omitted decisions are not inferred.",
              "controller_false_qualification_count": 0,
              "controller_positive_claims": 0,
              "force_ceiling_known": true,
              "maximum_observed_per_finger_force_n": 0.43074184978217417,
              "reasons": [],
              "rows": 20000,
              "unexpected_contact_native_ticks": 0,
              "valid": true
            },
            "context": {
              "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
              "calibration_id": "synthetic_probe_v01",
              "calibration_scope": "simulation_assumptions_not_hardware",
              "command_sha256": "60bd66ce6723d4e39a1cbd2f00b20ca2683caa36a1e4a6b01db31e8d3a99999e",
              "feasibility_sha256": "b90ac91b028fd8d4a7010faf3b98fbd441bd101a73c10c00707a18a0890f5aa6",
              "grasp_id": "m55-f20-p0-measured_joint-probe-1",
              "initial_object_position_m": [
                0.3030000461054176,
                -0.025999796476173308,
                0.07989224451748383
              ],
              "model_sha256": "8bdc85103e15f9ce551dc958a251a42bc5144ef63671b9f5611d771bc3aee19f",
              "native_status": {
                "simulation_time_s": 20.00000000000146,
                "unexpected_contact_native_ticks": 0,
                "valid": true,
                "warnings": []
              },
              "object_id": "task_block",
              "per_finger_force_ceiling_n": 10.0,
              "pose_binding_sha256": "dfdca8f53867294130c403e67340a02e04a194b6d03bfe384342e321000e09b7",
              "probe_index": 1,
              "probe_origin_object_position_m": [
                0.30332381241535994,
                -0.02580739666669168,
                0.07988281890356064
              ],
              "probe_origin_tcp_local_offset_m": [
                -0.002022756879098866,
                0.00029030870063708933,
                0.002352618596072997
              ],
              "probe_start_s": 14.039999999997658,
              "robot_profile": "piper",
              "run_id": "m55-f20-p0-measured_joint",
              "schema": "dvidia.probe-context/v1",
              "source_sha256": "cc82eb867d3a927a487317b2e9e470fcb8f53e9da000a1764b7c5a1878883e69"
            },
            "context_sha256": "c22f23a5b869fd46e4fe30504d9aa5dcf9e2c6cab3df620c46cb18f5382a682d",
            "controller_qualifications": [
              {
                "probe_index": 1,
                "qualified": false,
                "t_seconds": 20.00000000000146
              }
            ],
            "criteria": {
              "distance_comparison_epsilon": 1e-12,
              "initial_sample_tolerance_m": 0.001,
              "maximum_tcp_local_drift_m": 0.003,
              "minimum_continuous_dwell_s": 0.1,
              "minimum_per_finger_force_n_exclusive": 0.01,
              "minimum_rise_m": 0.006,
              "native_dt_s": 0.001,
              "origin_tolerance_m": 1e-09,
              "time_tolerance_s": 1e-08
            },
            "history": {
              "ever_qualified": false,
              "first_qualified_s": null,
              "maximum_continuous_qualifying_s": 0.0
            },
            "latest": {
              "condition_valid": false,
              "continuous_qualifying_s": 0.0,
              "controller_claim": {
                "probe_index": 1,
                "qualified": false,
                "t_seconds": 20.00000000000146
              },
              "native_tick": 20000,
              "qualified": false,
              "rise_m": 3.3353820885762e-07,
              "tcp_local_drift_m": 0.004325332609832985,
              "time_s": 20.00000000000146
            },
            "metadata_sha256": "ad8229630cc9f8718829bb8317b1a82480dcf18b9f71bd23666acfe71a003ef7",
            "native_arrays_sha256": "628062d0c4f8b49fe16f99aa17f6847a0c9269aa03c5c5e41d9d913e9bedad53",
            "physical_robot_ready": false,
            "receipt_sha256": "5da0e534d12d3f627178d42b09db004c382e05e4d1ef25c28e431e6bcd084894",
            "schema": "dvidia.probe-evidence/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification."
          },
          "status": "inspected",
          "verification": {
            "admissible": false,
            "historical_qualified": false,
            "latest_qualified": false,
            "physical_robot_ready": false,
            "reasons": [
              "latest_native_window_not_qualified",
              "no_controller_qualification_for_this_probe",
              "latest_controller_not_qualified"
            ],
            "receipt_sha256": "5da0e534d12d3f627178d42b09db004c382e05e4d1ef25c28e431e6bcd084894",
            "schema": "dvidia.probe-evidence-verification/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.",
            "verified": true
          }
        },
        "stationarity": {
          "complete_5s": false,
          "grip_retention_and_stationarity": false,
          "tcp_pose_within_bounds": false
        },
        "status": "inspected"
      },
      "files": {
        "episode.json.gz": {
          "bytes": 774877,
          "sha256": "265f8d7bff20a5ff0746af473642061cb1bbe122565ee2c7a7070a3852064a30"
        },
        "evaluation.json": {
          "bytes": 11701,
          "sha256": "67773d97ef03173d35731063b983cf357764109d8e0619d24a0bfe072d71f135"
        },
        "native.json": {
          "bytes": 13763,
          "sha256": "19cc1d5998901cbc12da2916add3096763081e9decbfc7193981bfabc4b871e0"
        },
        "native.npz": {
          "bytes": 4101861,
          "sha256": "be6bc427d2a9dc5fec80ff8a9234bc1f95b948ff4c1b72ddc75724bf3915e80c"
        },
        "started.json": {
          "bytes": 151,
          "sha256": "6b22a5f2a54b06451257ffd2439ba63132fcfd221fee830832507c61929682be"
        }
      },
      "friction": 0.2,
      "id": "m55-f20-p0-measured_joint",
      "mass_kg": 0.055,
      "metrics": {
        "carry_complete": false,
        "carry_contact_loss_events": 0,
        "carry_contact_loss_tolerance_seconds": 0.04,
        "dwell_seconds": 0.0,
        "first_success_time_seconds": null,
        "grasp_seen": true,
        "lift_dwell_seconds": 0.0,
        "lift_seen": false,
        "max_carry_contact_loss_seconds": 0.0,
        "max_object_lift_m": 7.136406519769878e-05,
        "max_pad_normal_force_n": 0.43074184978217417,
        "physical_robot_ready": false,
        "reason": "timeout",
        "retention_lost": false,
        "simulation_time": 20.00000000000146,
        "steps": 1000,
        "success": false,
        "target_distance_m": 0.11565641316277797,
        "unexpected_contact_native_ticks": 0,
        "valid": true,
        "warnings": []
      },
      "policy": {
        "abort_reason": "retry_budget_exhausted:object_not_following",
        "acquisition_contract": {
          "comparison_scope": "Closed-loop variants may acquire different trajectories through early hold/retry. This is not an isolated classifier ablation.",
          "control_dt_s": 0.02,
          "evidence_admission": "Current bilateral force >0.01 N, no table support, object rise >=6 mm and TCP-local offset drift <=3 mm continuously across sampled boundaries for elapsed >=100 ms.",
          "hold": "Latch measured six arm joints and the last issued jaw target at admission/terminal invalidity. No full lift/transfer, no squeeze escalation, no post-admission retry.",
          "invalidation": "At each subsequent 20 ms observation and final observation, invalidate immediately on lost contact/force, support, insufficient rise, >3 mm local drift or unexpected contact. Never requalify after terminal invalidity.",
          "observation_origin": "privileged_native_simulator_state",
          "parameters": {
            "close_timeout_s": 1.4,
            "consecutive_alarm_samples": 2,
            "max_retries": 1,
            "monitor_min_probe_motion_m": 0.003,
            "probe_height_m": 0.01,
            "probe_min_object_rise_m": 0.006,
            "probe_speed_m_s": 0.02,
            "probe_timeout_s": 1.4,
            "qualification_dwell_s": 0.1,
            "relative_drift_limit_m": 0.003,
            "retry_clearance_m": 0.012,
            "retry_open_timeout_s": 1.2,
            "retry_recenter_timeout_s": 1.5
          },
          "physical_robot_ready": false,
          "prefix": "Original GuardedPiperTaskPolicy approach/close and at most one supported open/recenter/retry; already uses authored native state, not a fully blind baseline.",
          "sampling_limit": "Independent 1 ms evidence may contradict sampled admission; that remains a finding. No sensor or material inference is implemented.",
          "schema": "dvidia.piper-probe-stop/v1",
          "stop_scope": "Holding native position targets is not physical arrest or calibrated force limiting; inertia and existing target rate limits can continue motion.",
          "timer_admission": "Same 10 mm/20 mm/s probe target law, admitted at elapsed >=600 ms from that probe start; no evidence predicate or slip alarm before admission. Unexpected contacts and bounded timeouts still stop.",
          "timer_admission_s": 0.6,
          "variants": [
            "evidence",
            "timer"
          ]
        },
        "acquisition_variant": "evidence",
        "active_probe_index": 1,
        "admission_time_s": null,
        "admitted": false,
        "contract": {
          "acquisition": "Unchanged ProbeStopPolicy evidence acquisition, including its bounded supported retry. All variants share the same prefix through the first admission observation.",
          "cartesian": "Latch measured TCP position/orientation and preceding issued targets. Fixed joint bias equals issued target minus pose_action at the admission pose. First command repeats the exact issued target; later pose_action updates receive that fixed bias.",
          "control_dt_s": 0.02,
          "final_observation": "Repeat force, original eligibility and Cartesian pose-error checks. Do not solve or issue a hypothetical next control at the terminal observation.",
          "invalid_measurements": "Malformed, nonfinite or noncausal observations terminally refuse and raise without issuing a command. No measured-position stop is claimed from invalid measurements.",
          "issued_joint": "Latch the preceding issued six joint targets and the same last issued jaw target at admission.",
          "limits": {
            "initial_joint_bias_ceiling_rad": 0.08,
            "joint_correction_ceiling_rad": 0.03,
            "joint_correction_rate_rad_s": 0.1,
            "native_joint_target_margin_rad": 0.02,
            "per_finger_force_ceiling_n": 10.0,
            "tcp_orientation_error_ceiling_rad": 0.05,
            "tcp_position_error_ceiling_m": 0.004
          },
          "measured_joint": "Original hold: latch measured six joint coordinates and the last issued jaw target at admission.",
          "observation_origin": "privileged_native_simulator_state",
          "physical_robot_ready": false,
          "qualifications": "Engineering limits and the 10 N ceiling are authored synthetic assumptions, not damage limits or calibrated physical telemetry. Position targets are not physical stops or force limiters. No load/friction inference, model training or complete placement is implemented.",
          "rate_scope": "The extra correction slews at at most 0.002 rad per 20 ms per joint. Original native 1 ms target slew, servos, gains and force caps remain unchanged.",
          "refusal": "Original eligibility loss, unexpected contact or observed pad force >10 N terminally requests measured joint hold and the frozen jaw target. Cartesian error, initial-bias, total-correction or native-margin exhaustion also refuses terminally; it never chases an already failed grip.",
          "sampling": "Control checks occur at 20 ms boundaries. Independent saved 1 ms native evidence must judge a continuous 5 s hold; missed between-boundary failures remain findings.",
          "schema": "dvidia.piper-retention/v2",
          "variants": [
            "measured_joint",
            "issued_joint",
            "cartesian"
          ]
        },
        "events": [
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "continue",
              "drift_streak": 0,
              "object_height_delta_m": 0.0,
              "phase": "probe",
              "progress_streak": 0,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0,
              "retry_index": 0,
              "t_seconds": 11.139999999999265,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_probe",
            "probe_index": 0,
            "reason": "slow_load_bearing_check",
            "retention_variant": "measured_joint",
            "retry_index": 0,
            "status": "probing",
            "t_seconds": 11.139999999999265,
            "type": "probe_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm",
              "drift_streak": 2,
              "object_height_delta_m": 4.1920220789914975e-05,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.004126271514705922,
              "retry_index": 0,
              "t_seconds": 11.499999999999066,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.003741771807707156
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_stop",
            "probe_index": 0,
            "reason": "object_not_following",
            "retention_variant": "measured_joint",
            "retry_index": 0,
            "status": "probing",
            "t_seconds": 11.499999999999066,
            "type": "alarm",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm",
              "drift_streak": 2,
              "object_height_delta_m": 4.1920220789914975e-05,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.004126271514705922,
              "retry_index": 0,
              "t_seconds": 11.499999999999066,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.003741771807707156
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_stop",
            "probe_index": 0,
            "reason": "supported_object_only",
            "retention_variant": "measured_joint",
            "retry_index": 1,
            "status": "acquiring_retry",
            "t_seconds": 11.499999999999066,
            "type": "retry_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": false,
              "contact_loss_streak": 0,
              "decision": "recenter_with_open_jaw",
              "drift_streak": 2,
              "object_height_delta_m": -1.852067262551882e-05,
              "phase": "retry_recenter",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.009714091925007438,
              "retry_index": 1,
              "t_seconds": 13.159999999998146,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.009682259911843683
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_retry_recenter",
            "probe_index": 0,
            "reason": "open_recenter_complete",
            "retention_variant": "measured_joint",
            "retry_index": 1,
            "status": "acquiring",
            "t_seconds": 13.159999999998146,
            "type": "retry_completed",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "continue",
              "drift_streak": 0,
              "object_height_delta_m": 0.0,
              "phase": "probe",
              "progress_streak": 0,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0,
              "retry_index": 1,
              "t_seconds": 14.039999999997658,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_probe",
            "probe_index": 1,
            "reason": "slow_load_bearing_check",
            "retention_variant": "measured_joint",
            "retry_index": 1,
            "status": "probing",
            "t_seconds": 14.039999999997658,
            "type": "probe_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm",
              "drift_streak": 2,
              "object_height_delta_m": 6.474291220312511e-05,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.004116829336343244,
              "retry_index": 1,
              "t_seconds": 14.399999999997458,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0037094706202930455
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_stop",
            "probe_index": 1,
            "reason": "object_not_following",
            "retention_variant": "measured_joint",
            "retry_index": 1,
            "status": "probing",
            "t_seconds": 14.399999999997458,
            "type": "alarm",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm_and_freeze_issued_jaw",
              "drift_streak": 2,
              "object_height_delta_m": 6.474291220312511e-05,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.004116829336343244,
              "retry_index": 1,
              "t_seconds": 14.399999999997458,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0037094706202930455
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "probe_stop",
            "probe_index": 1,
            "reason": "retry_budget_exhausted:object_not_following",
            "retention_variant": "measured_joint",
            "retry_index": 1,
            "status": "invalidated_hold",
            "t_seconds": 14.399999999997458,
            "type": "abort",
            "variant": "evidence"
          }
        ],
        "ever_admitted": false,
        "final_observed": true,
        "frozen_jaw_target_m": 0.0,
        "initial_context": {
          "object_position_m": [
            0.3030000461054176,
            -0.025999796476173308,
            0.07989224451748383
          ],
          "observation_origin": "privileged_native_simulator_state",
          "t_seconds": 0.0,
          "tcp_position_m": [
            0.4890696662845219,
            0.0014141975654808877,
            0.3665849431043091
          ],
          "tcp_quaternion_wxyz": [
            0.6580840948238629,
            2.7730466224793136e-07,
            0.7529444362872891,
            -1.9485471114950535e-06
          ]
        },
        "last_observed_s": 20.00000000000146,
        "observation_origin": "privileged_native_simulator_state",
        "physical_robot_ready": false,
        "probes": [
          {
            "disposition": "interrupted",
            "end_time_s": 11.499999999999066,
            "local_offset_origin_m": [
              0.0022748600741066293,
              0.0003021820082949555,
              0.0019091245718129836
            ],
            "object_origin_m": [
              0.30268761249608284,
              -0.025958885588963844,
              0.0799107652524092
            ],
            "observation_origin": "privileged_native_simulator_state",
            "probe_index": 0,
            "reason": "object_not_following",
            "start_time_s": 11.139999999999265,
            "tcp_origin_m": [
              0.30494444516735175,
              -0.026250996589516035,
              0.08184271670388289
            ],
            "tcp_quaternion_wxyz": [
              0.004969556646508504,
              -0.0017858123396113845,
              0.9999859244844478,
              -0.0005149893290647066
            ]
          },
          {
            "disposition": "invalidated_hold",
            "end_time_s": 14.399999999997458,
            "local_offset_origin_m": [
              -0.002022756879098866,
              0.00029030870063708933,
              0.002352618596072997
            ],
            "object_origin_m": [
              0.30332381241535994,
              -0.02580739666669168,
              0.07988281890356064
            ],
            "observation_origin": "privileged_native_simulator_state",
            "probe_index": 1,
            "reason": "retry_budget_exhausted:object_not_following",
            "start_time_s": 14.039999999997658,
            "tcp_origin_m": [
              0.30132156070090665,
              -0.026099759273831877,
              0.08225266087510873
            ],
            "tcp_quaternion_wxyz": [
              -0.00432104933541801,
              -0.0001698847299755589,
              0.9999906077057996,
              0.00029012411951983305
            ]
          }
        ],
        "retention": {
          "hold_reference": null,
          "input_refusals": [],
          "native_joint_control_limits_rad": [
            [
              -2.618,
              2.618
            ],
            [
              0.0,
              3.14
            ],
            [
              -2.697,
              0.0
            ],
            [
              -1.832,
              1.832
            ],
            [
              -1.22,
              1.22
            ],
            [
              -3.14,
              3.14
            ]
          ],
          "variant": "measured_joint"
        },
        "retry_count": 1,
        "schema": "dvidia.piper-retention/v2",
        "status": "invalidated_hold",
        "stop_targets_rad": [
          -0.09093338611626012,
          1.7328565189482967,
          -1.1442302543397795,
          -0.0002527337623064685,
          1.068470591549965,
          -0.09117641839988852
        ],
        "variant": "measured_joint"
      },
      "scene_id": "m55-f20-p0",
      "timing": {
        "policy_cpu": {
          "maximum_s": 0.0002660000000105356,
          "mean_s": 4.8138000000193414e-05,
          "over_20ms": 0,
          "p50_s": 5.000000000165983e-05,
          "p95_s": 8.705000000759351e-05,
          "p99_s": 0.00015904999999648335,
          "samples": 1000
        },
        "policy_wall": {
          "maximum_s": 0.0002788752317428589,
          "mean_s": 4.881846019998193e-05,
          "over_20ms": 0,
          "p50_s": 4.993705078959465e-05,
          "p95_s": 9.042650926858178e-05,
          "p99_s": 0.00017314438242465251,
          "samples": 1000
        },
        "step_cpu": {
          "maximum_s": 0.006154999999992583,
          "mean_s": 0.0016852859999999055,
          "over_20ms": 0,
          "p50_s": 0.0014514999999946099,
          "p95_s": 0.0032783499999951,
          "p99_s": 0.004002089999999896,
          "samples": 1000
        },
        "step_wall": {
          "maximum_s": 0.006154750008136034,
          "mean_s": 0.0017113214982673525,
          "over_20ms": 0,
          "p50_s": 0.0014729585964232683,
          "p95_s": 0.003326675272546708,
          "p99_s": 0.004017922063358128,
          "samples": 1000
        }
      },
      "valid": true,
      "variant": "measured_joint"
    },
    {
      "error": null,
      "evaluation": {
        "corrections": {
          "bound_refusal_counts": {},
          "flag_counts": {
            "correction_rate_limited": 0
          },
          "hold_record_count": 281,
          "input_refusals": [],
          "maximum_abs_active_correction_rad": null,
          "maximum_abs_desired_correction_rad": null,
          "rate_limited_axis_occurrences": 0,
          "scope": "Includes recorded final diagnostic checks; only command_issued rows represent issued controls."
        },
        "decomposition": null,
        "final": {
          "both_qualified": false,
          "controller_qualified": false,
          "evidence_admissible": false,
          "native_qualified": false
        },
        "first_admission": null,
        "native": {
          "arrays_sha256": "628062d0c4f8b49fe16f99aa17f6847a0c9269aa03c5c5e41d9d913e9bedad53",
          "complete": true,
          "maximum_per_finger_force_n": 0.43074184978217417,
          "rows": 20000,
          "unexpected_contact_native_ticks": 0,
          "valid": true,
          "warnings": []
        },
        "physical_robot_ready": false,
        "primary": {
          "combined_qualified_pause": false,
          "complete_5s": false,
          "controller_retained_at_5s": false,
          "native_pause_success": false,
          "reason": "no_admission",
          "required_s": 5.0,
          "success": false
        },
        "probes": [
          {
            "claims": [],
            "disposition": "interrupted",
            "final_native_qualified_from_origin": false,
            "probe_index": 0,
            "start_time_s": 11.139999999999265
          },
          {
            "claims": [],
            "disposition": "invalidated_hold",
            "final_native_qualified_from_origin": false,
            "probe_index": 1,
            "start_time_s": 14.039999999997658
          }
        ],
        "receipt": {
          "admission": {
            "observation_origin": "privileged_native_simulation_plus_caller_planning_assumptions",
            "physical_robot_ready": false,
            "planning": {
              "computed": {
                "conservative_required_load_n": 0.8172986249999998,
                "gravity_m_s2": 9.80665,
                "pose_specific_payload_limit_force_n": 0.980665,
                "two_finger_friction_capacity_n": 4.0
              },
              "observation_origin": "caller_declared_not_verified",
              "physical_robot_ready": false,
              "reasons": [
                "Run and record a cautious test lift under the same calibrated pose and load conditions before simulated transport planning."
              ],
              "schema": "dvidia.task-feasibility-result/v1",
              "scope": "Planning assessment only. Parallel two-finger vertical-lift approximation; ignores moment, center of mass, deformation, transient impacts and unmodeled contact effects. Unknown values remain unknown; mass is never inferred from images. Probe/test-lift/controller integration is not implemented. No hardware actuation is performed; this is not hardware qualification.",
              "status": "test_lift_required"
            },
            "probe": {
              "admissible": false,
              "historical_qualified": false,
              "latest_qualified": false,
              "physical_robot_ready": false,
              "reasons": [
                "latest_native_window_not_qualified",
                "no_controller_qualification_for_this_probe",
                "latest_controller_not_qualified"
              ],
              "receipt_sha256": "918c89d3ea929ac25d212562219f591028ad73bd605681b491203c2644e02a90",
              "schema": "dvidia.probe-evidence-verification/v1",
              "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.",
              "verified": true
            },
            "schema": "dvidia.task-feasibility-with-probe/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification. Unknown planning values remain unknown. The unchanged approximate vertical-lift planning gate describes declared loads; it supplies no transport path, geospatial-goal contract or actuator permission. This wrapper never issues controls.",
            "status": "test_lift_required"
          },
          "context": {
            "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
            "calibration_id": "synthetic_probe_v01",
            "calibration_scope": "simulation_assumptions_not_hardware",
            "command_sha256": "60bd66ce6723d4e39a1cbd2f00b20ca2683caa36a1e4a6b01db31e8d3a99999e",
            "feasibility_sha256": "b90ac91b028fd8d4a7010faf3b98fbd441bd101a73c10c00707a18a0890f5aa6",
            "grasp_id": "m55-f20-p0-cartesian-probe-1",
            "initial_object_position_m": [
              0.3030000461054176,
              -0.025999796476173308,
              0.07989224451748383
            ],
            "model_sha256": "8bdc85103e15f9ce551dc958a251a42bc5144ef63671b9f5611d771bc3aee19f",
            "native_status": {
              "simulation_time_s": 20.00000000000146,
              "unexpected_contact_native_ticks": 0,
              "valid": true,
              "warnings": []
            },
            "object_id": "task_block",
            "per_finger_force_ceiling_n": 10.0,
            "pose_binding_sha256": "dfdca8f53867294130c403e67340a02e04a194b6d03bfe384342e321000e09b7",
            "probe_index": 1,
            "probe_origin_object_position_m": [
              0.30332381241535994,
              -0.02580739666669168,
              0.07988281890356064
            ],
            "probe_origin_tcp_local_offset_m": [
              -0.002022756879098866,
              0.00029030870063708933,
              0.002352618596072997
            ],
            "probe_start_s": 14.039999999997658,
            "robot_profile": "piper",
            "run_id": "m55-f20-p0-cartesian",
            "schema": "dvidia.probe-context/v1",
            "source_sha256": "cc82eb867d3a927a487317b2e9e470fcb8f53e9da000a1764b7c5a1878883e69"
          },
          "physical_robot_ready": false,
          "planning_input": {
            "allowed_pose_tolerance_m": 0.003,
            "calibration_id": "synthetic_probe_v01",
            "friction_interval": [
              0.2,
              0.2
            ],
            "geometry_known": true,
            "gripper_max_opening_interval_m": [
              0.07,
              0.07
            ],
            "gripper_min_closure_m": 0.0,
            "mass_interval_kg": [
              0.055,
              0.055
            ],
            "object_width_interval_m": [
              0.04,
              0.04
            ],
            "observations_fresh": true,
            "per_finger_normal_force_budget_n": 10.0,
            "planned_upward_accel_m_s2": 0.1,
            "pose_specific_payload_limit_kg": 0.1,
            "pose_uncertainty_m": 0.0,
            "reachability": "reachable",
            "safety_factor": 1.5,
            "schema": "dvidia.task-feasibility-input/v1",
            "slip_detected": false,
            "test_lift_passed": false
          },
          "receipt": {
            "audit": {
              "controller_claim_mismatches": [],
              "controller_claims_checked": 1,
              "controller_conservative_abstention_count": 0,
              "controller_coverage": "Only the supplied claims are checked; omitted decisions are not inferred.",
              "controller_false_qualification_count": 0,
              "controller_positive_claims": 0,
              "force_ceiling_known": true,
              "maximum_observed_per_finger_force_n": 0.43074184978217417,
              "reasons": [],
              "rows": 20000,
              "unexpected_contact_native_ticks": 0,
              "valid": true
            },
            "context": {
              "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
              "calibration_id": "synthetic_probe_v01",
              "calibration_scope": "simulation_assumptions_not_hardware",
              "command_sha256": "60bd66ce6723d4e39a1cbd2f00b20ca2683caa36a1e4a6b01db31e8d3a99999e",
              "feasibility_sha256": "b90ac91b028fd8d4a7010faf3b98fbd441bd101a73c10c00707a18a0890f5aa6",
              "grasp_id": "m55-f20-p0-cartesian-probe-1",
              "initial_object_position_m": [
                0.3030000461054176,
                -0.025999796476173308,
                0.07989224451748383
              ],
              "model_sha256": "8bdc85103e15f9ce551dc958a251a42bc5144ef63671b9f5611d771bc3aee19f",
              "native_status": {
                "simulation_time_s": 20.00000000000146,
                "unexpected_contact_native_ticks": 0,
                "valid": true,
                "warnings": []
              },
              "object_id": "task_block",
              "per_finger_force_ceiling_n": 10.0,
              "pose_binding_sha256": "dfdca8f53867294130c403e67340a02e04a194b6d03bfe384342e321000e09b7",
              "probe_index": 1,
              "probe_origin_object_position_m": [
                0.30332381241535994,
                -0.02580739666669168,
                0.07988281890356064
              ],
              "probe_origin_tcp_local_offset_m": [
                -0.002022756879098866,
                0.00029030870063708933,
                0.002352618596072997
              ],
              "probe_start_s": 14.039999999997658,
              "robot_profile": "piper",
              "run_id": "m55-f20-p0-cartesian",
              "schema": "dvidia.probe-context/v1",
              "source_sha256": "cc82eb867d3a927a487317b2e9e470fcb8f53e9da000a1764b7c5a1878883e69"
            },
            "context_sha256": "a59167dd4a9cdd349df4f1262accbb291584cb31a666219ba5c90b9f4817682b",
            "controller_qualifications": [
              {
                "probe_index": 1,
                "qualified": false,
                "t_seconds": 20.00000000000146
              }
            ],
            "criteria": {
              "distance_comparison_epsilon": 1e-12,
              "initial_sample_tolerance_m": 0.001,
              "maximum_tcp_local_drift_m": 0.003,
              "minimum_continuous_dwell_s": 0.1,
              "minimum_per_finger_force_n_exclusive": 0.01,
              "minimum_rise_m": 0.006,
              "native_dt_s": 0.001,
              "origin_tolerance_m": 1e-09,
              "time_tolerance_s": 1e-08
            },
            "history": {
              "ever_qualified": false,
              "first_qualified_s": null,
              "maximum_continuous_qualifying_s": 0.0
            },
            "latest": {
              "condition_valid": false,
              "continuous_qualifying_s": 0.0,
              "controller_claim": {
                "probe_index": 1,
                "qualified": false,
                "t_seconds": 20.00000000000146
              },
              "native_tick": 20000,
              "qualified": false,
              "rise_m": 3.3353820885762e-07,
              "tcp_local_drift_m": 0.004325332609832985,
              "time_s": 20.00000000000146
            },
            "metadata_sha256": "ad8229630cc9f8718829bb8317b1a82480dcf18b9f71bd23666acfe71a003ef7",
            "native_arrays_sha256": "628062d0c4f8b49fe16f99aa17f6847a0c9269aa03c5c5e41d9d913e9bedad53",
            "physical_robot_ready": false,
            "receipt_sha256": "918c89d3ea929ac25d212562219f591028ad73bd605681b491203c2644e02a90",
            "schema": "dvidia.probe-evidence/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification."
          },
          "status": "inspected",
          "verification": {
            "admissible": false,
            "historical_qualified": false,
            "latest_qualified": false,
            "physical_robot_ready": false,
            "reasons": [
              "latest_native_window_not_qualified",
              "no_controller_qualification_for_this_probe",
              "latest_controller_not_qualified"
            ],
            "receipt_sha256": "918c89d3ea929ac25d212562219f591028ad73bd605681b491203c2644e02a90",
            "schema": "dvidia.probe-evidence-verification/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.",
            "verified": true
          }
        },
        "stationarity": {
          "complete_5s": false,
          "grip_retention_and_stationarity": false,
          "tcp_pose_within_bounds": false
        },
        "status": "inspected"
      },
      "files": {
        "episode.json.gz": {
          "bytes": 774985,
          "sha256": "5573519a2bbf181d86ef188f586c81665959cf5de1237e111e15d18122f813d4"
        },
        "evaluation.json": {
          "bytes": 11681,
          "sha256": "198d9b970d687f8a448b1931d19d825e02046bd910c4b05744c1fc50e6253f9d"
        },
        "native.json": {
          "bytes": 13763,
          "sha256": "19cc1d5998901cbc12da2916add3096763081e9decbfc7193981bfabc4b871e0"
        },
        "native.npz": {
          "bytes": 4101861,
          "sha256": "be6bc427d2a9dc5fec80ff8a9234bc1f95b948ff4c1b72ddc75724bf3915e80c"
        },
        "started.json": {
          "bytes": 146,
          "sha256": "8f8d9da4024bc21e9fb2ddc97f76a8f7ac9161d78043f482ae70fc9ec602bf54"
        }
      },
      "friction": 0.2,
      "id": "m55-f20-p0-cartesian",
      "mass_kg": 0.055,
      "metrics": {
        "carry_complete": false,
        "carry_contact_loss_events": 0,
        "carry_contact_loss_tolerance_seconds": 0.04,
        "dwell_seconds": 0.0,
        "first_success_time_seconds": null,
        "grasp_seen": true,
        "lift_dwell_seconds": 0.0,
        "lift_seen": false,
        "max_carry_contact_loss_seconds": 0.0,
        "max_object_lift_m": 7.136406519769878e-05,
        "max_pad_normal_force_n": 0.43074184978217417,
        "physical_robot_ready": false,
        "reason": "timeout",
        "retention_lost": false,
        "simulation_time": 20.00000000000146,
        "steps": 1000,
        "success": false,
        "target_distance_m": 0.11565641316277797,
        "unexpected_contact_native_ticks": 0,
        "valid": true,
        "warnings": []
      },
      "policy": {
        "abort_reason": "retry_budget_exhausted:object_not_following",
        "acquisition_contract": {
          "comparison_scope": "Closed-loop variants may acquire different trajectories through early hold/retry. This is not an isolated classifier ablation.",
          "control_dt_s": 0.02,
          "evidence_admission": "Current bilateral force >0.01 N, no table support, object rise >=6 mm and TCP-local offset drift <=3 mm continuously across sampled boundaries for elapsed >=100 ms.",
          "hold": "Latch measured six arm joints and the last issued jaw target at admission/terminal invalidity. No full lift/transfer, no squeeze escalation, no post-admission retry.",
          "invalidation": "At each subsequent 20 ms observation and final observation, invalidate immediately on lost contact/force, support, insufficient rise, >3 mm local drift or unexpected contact. Never requalify after terminal invalidity.",
          "observation_origin": "privileged_native_simulator_state",
          "parameters": {
            "close_timeout_s": 1.4,
            "consecutive_alarm_samples": 2,
            "max_retries": 1,
            "monitor_min_probe_motion_m": 0.003,
            "probe_height_m": 0.01,
            "probe_min_object_rise_m": 0.006,
            "probe_speed_m_s": 0.02,
            "probe_timeout_s": 1.4,
            "qualification_dwell_s": 0.1,
            "relative_drift_limit_m": 0.003,
            "retry_clearance_m": 0.012,
            "retry_open_timeout_s": 1.2,
            "retry_recenter_timeout_s": 1.5
          },
          "physical_robot_ready": false,
          "prefix": "Original GuardedPiperTaskPolicy approach/close and at most one supported open/recenter/retry; already uses authored native state, not a fully blind baseline.",
          "sampling_limit": "Independent 1 ms evidence may contradict sampled admission; that remains a finding. No sensor or material inference is implemented.",
          "schema": "dvidia.piper-probe-stop/v1",
          "stop_scope": "Holding native position targets is not physical arrest or calibrated force limiting; inertia and existing target rate limits can continue motion.",
          "timer_admission": "Same 10 mm/20 mm/s probe target law, admitted at elapsed >=600 ms from that probe start; no evidence predicate or slip alarm before admission. Unexpected contacts and bounded timeouts still stop.",
          "timer_admission_s": 0.6,
          "variants": [
            "evidence",
            "timer"
          ]
        },
        "acquisition_variant": "evidence",
        "active_probe_index": 1,
        "admission_time_s": null,
        "admitted": false,
        "contract": {
          "acquisition": "Unchanged ProbeStopPolicy evidence acquisition, including its bounded supported retry. All variants share the same prefix through the first admission observation.",
          "cartesian": "Latch measured TCP position/orientation and preceding issued targets. Fixed joint bias equals issued target minus pose_action at the admission pose. First command repeats the exact issued target; later pose_action updates receive that fixed bias.",
          "control_dt_s": 0.02,
          "final_observation": "Repeat force, original eligibility and Cartesian pose-error checks. Do not solve or issue a hypothetical next control at the terminal observation.",
          "invalid_measurements": "Malformed, nonfinite or noncausal observations terminally refuse and raise without issuing a command. No measured-position stop is claimed from invalid measurements.",
          "issued_joint": "Latch the preceding issued six joint targets and the same last issued jaw target at admission.",
          "limits": {
            "initial_joint_bias_ceiling_rad": 0.08,
            "joint_correction_ceiling_rad": 0.03,
            "joint_correction_rate_rad_s": 0.1,
            "native_joint_target_margin_rad": 0.02,
            "per_finger_force_ceiling_n": 10.0,
            "tcp_orientation_error_ceiling_rad": 0.05,
            "tcp_position_error_ceiling_m": 0.004
          },
          "measured_joint": "Original hold: latch measured six joint coordinates and the last issued jaw target at admission.",
          "observation_origin": "privileged_native_simulator_state",
          "physical_robot_ready": false,
          "qualifications": "Engineering limits and the 10 N ceiling are authored synthetic assumptions, not damage limits or calibrated physical telemetry. Position targets are not physical stops or force limiters. No load/friction inference, model training or complete placement is implemented.",
          "rate_scope": "The extra correction slews at at most 0.002 rad per 20 ms per joint. Original native 1 ms target slew, servos, gains and force caps remain unchanged.",
          "refusal": "Original eligibility loss, unexpected contact or observed pad force >10 N terminally requests measured joint hold and the frozen jaw target. Cartesian error, initial-bias, total-correction or native-margin exhaustion also refuses terminally; it never chases an already failed grip.",
          "sampling": "Control checks occur at 20 ms boundaries. Independent saved 1 ms native evidence must judge a continuous 5 s hold; missed between-boundary failures remain findings.",
          "schema": "dvidia.piper-retention/v2",
          "variants": [
            "measured_joint",
            "issued_joint",
            "cartesian"
          ]
        },
        "events": [
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "continue",
              "drift_streak": 0,
              "object_height_delta_m": 0.0,
              "phase": "probe",
              "progress_streak": 0,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0,
              "retry_index": 0,
              "t_seconds": 11.139999999999265,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_probe",
            "probe_index": 0,
            "reason": "slow_load_bearing_check",
            "retention_variant": "cartesian",
            "retry_index": 0,
            "status": "probing",
            "t_seconds": 11.139999999999265,
            "type": "probe_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm",
              "drift_streak": 2,
              "object_height_delta_m": 4.1920220789914975e-05,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.004126271514705922,
              "retry_index": 0,
              "t_seconds": 11.499999999999066,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.003741771807707156
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_stop",
            "probe_index": 0,
            "reason": "object_not_following",
            "retention_variant": "cartesian",
            "retry_index": 0,
            "status": "probing",
            "t_seconds": 11.499999999999066,
            "type": "alarm",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm",
              "drift_streak": 2,
              "object_height_delta_m": 4.1920220789914975e-05,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.004126271514705922,
              "retry_index": 0,
              "t_seconds": 11.499999999999066,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.003741771807707156
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_stop",
            "probe_index": 0,
            "reason": "supported_object_only",
            "retention_variant": "cartesian",
            "retry_index": 1,
            "status": "acquiring_retry",
            "t_seconds": 11.499999999999066,
            "type": "retry_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": false,
              "contact_loss_streak": 0,
              "decision": "recenter_with_open_jaw",
              "drift_streak": 2,
              "object_height_delta_m": -1.852067262551882e-05,
              "phase": "retry_recenter",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.009714091925007438,
              "retry_index": 1,
              "t_seconds": 13.159999999998146,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.009682259911843683
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_retry_recenter",
            "probe_index": 0,
            "reason": "open_recenter_complete",
            "retention_variant": "cartesian",
            "retry_index": 1,
            "status": "acquiring",
            "t_seconds": 13.159999999998146,
            "type": "retry_completed",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "continue",
              "drift_streak": 0,
              "object_height_delta_m": 0.0,
              "phase": "probe",
              "progress_streak": 0,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0,
              "retry_index": 1,
              "t_seconds": 14.039999999997658,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_probe",
            "probe_index": 1,
            "reason": "slow_load_bearing_check",
            "retention_variant": "cartesian",
            "retry_index": 1,
            "status": "probing",
            "t_seconds": 14.039999999997658,
            "type": "probe_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm",
              "drift_streak": 2,
              "object_height_delta_m": 6.474291220312511e-05,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.004116829336343244,
              "retry_index": 1,
              "t_seconds": 14.399999999997458,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0037094706202930455
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_stop",
            "probe_index": 1,
            "reason": "object_not_following",
            "retention_variant": "cartesian",
            "retry_index": 1,
            "status": "probing",
            "t_seconds": 14.399999999997458,
            "type": "alarm",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm_and_freeze_issued_jaw",
              "drift_streak": 2,
              "object_height_delta_m": 6.474291220312511e-05,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.004116829336343244,
              "retry_index": 1,
              "t_seconds": 14.399999999997458,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0037094706202930455
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "probe_stop",
            "probe_index": 1,
            "reason": "retry_budget_exhausted:object_not_following",
            "retention_variant": "cartesian",
            "retry_index": 1,
            "status": "invalidated_hold",
            "t_seconds": 14.399999999997458,
            "type": "abort",
            "variant": "evidence"
          }
        ],
        "ever_admitted": false,
        "final_observed": true,
        "frozen_jaw_target_m": 0.0,
        "initial_context": {
          "object_position_m": [
            0.3030000461054176,
            -0.025999796476173308,
            0.07989224451748383
          ],
          "observation_origin": "privileged_native_simulator_state",
          "t_seconds": 0.0,
          "tcp_position_m": [
            0.4890696662845219,
            0.0014141975654808877,
            0.3665849431043091
          ],
          "tcp_quaternion_wxyz": [
            0.6580840948238629,
            2.7730466224793136e-07,
            0.7529444362872891,
            -1.9485471114950535e-06
          ]
        },
        "last_observed_s": 20.00000000000146,
        "observation_origin": "privileged_native_simulator_state",
        "physical_robot_ready": false,
        "probes": [
          {
            "disposition": "interrupted",
            "end_time_s": 11.499999999999066,
            "local_offset_origin_m": [
              0.0022748600741066293,
              0.0003021820082949555,
              0.0019091245718129836
            ],
            "object_origin_m": [
              0.30268761249608284,
              -0.025958885588963844,
              0.0799107652524092
            ],
            "observation_origin": "privileged_native_simulator_state",
            "probe_index": 0,
            "reason": "object_not_following",
            "start_time_s": 11.139999999999265,
            "tcp_origin_m": [
              0.30494444516735175,
              -0.026250996589516035,
              0.08184271670388289
            ],
            "tcp_quaternion_wxyz": [
              0.004969556646508504,
              -0.0017858123396113845,
              0.9999859244844478,
              -0.0005149893290647066
            ]
          },
          {
            "disposition": "invalidated_hold",
            "end_time_s": 14.399999999997458,
            "local_offset_origin_m": [
              -0.002022756879098866,
              0.00029030870063708933,
              0.002352618596072997
            ],
            "object_origin_m": [
              0.30332381241535994,
              -0.02580739666669168,
              0.07988281890356064
            ],
            "observation_origin": "privileged_native_simulator_state",
            "probe_index": 1,
            "reason": "retry_budget_exhausted:object_not_following",
            "start_time_s": 14.039999999997658,
            "tcp_origin_m": [
              0.30132156070090665,
              -0.026099759273831877,
              0.08225266087510873
            ],
            "tcp_quaternion_wxyz": [
              -0.00432104933541801,
              -0.0001698847299755589,
              0.9999906077057996,
              0.00029012411951983305
            ]
          }
        ],
        "retention": {
          "hold_reference": null,
          "input_refusals": [],
          "native_joint_control_limits_rad": [
            [
              -2.618,
              2.618
            ],
            [
              0.0,
              3.14
            ],
            [
              -2.697,
              0.0
            ],
            [
              -1.832,
              1.832
            ],
            [
              -1.22,
              1.22
            ],
            [
              -3.14,
              3.14
            ]
          ],
          "variant": "cartesian"
        },
        "retry_count": 1,
        "schema": "dvidia.piper-retention/v2",
        "status": "invalidated_hold",
        "stop_targets_rad": [
          -0.09093338611626012,
          1.7328565189482967,
          -1.1442302543397795,
          -0.0002527337623064685,
          1.068470591549965,
          -0.09117641839988852
        ],
        "variant": "cartesian"
      },
      "scene_id": "m55-f20-p0",
      "timing": {
        "policy_cpu": {
          "maximum_s": 0.0005330000000043356,
          "mean_s": 4.816800000007504e-05,
          "over_20ms": 0,
          "p50_s": 4.899999999707916e-05,
          "p95_s": 7.59999999935701e-05,
          "p99_s": 9.70499999966989e-05,
          "samples": 1000
        },
        "policy_wall": {
          "maximum_s": 0.0009214999154210091,
          "mean_s": 5.11698005720973e-05,
          "over_20ms": 0,
          "p50_s": 4.875008016824722e-05,
          "p95_s": 7.773109246045348e-05,
          "p99_s": 0.00013157114386558503,
          "samples": 1000
        },
        "step_cpu": {
          "maximum_s": 0.010762999999997191,
          "mean_s": 0.0018400549999999499,
          "over_20ms": 0,
          "p50_s": 0.0013730000000009568,
          "p95_s": 0.0035582999999981264,
          "p99_s": 0.004710180000002851,
          "samples": 1000
        },
        "step_wall": {
          "maximum_s": 0.045566834043711424,
          "mean_s": 0.0021324401893652975,
          "over_20ms": 4,
          "p50_s": 0.00137983332388103,
          "p95_s": 0.004054808081127703,
          "p99_s": 0.010866723661310963,
          "samples": 1000
        }
      },
      "valid": true,
      "variant": "cartesian"
    },
    {
      "error": null,
      "evaluation": {
        "corrections": {
          "bound_refusal_counts": {},
          "flag_counts": {
            "correction_rate_limited": 0
          },
          "hold_record_count": 267,
          "input_refusals": [],
          "maximum_abs_active_correction_rad": null,
          "maximum_abs_desired_correction_rad": null,
          "rate_limited_axis_occurrences": 0,
          "scope": "Includes recorded final diagnostic checks; only command_issued rows represent issued controls."
        },
        "decomposition": null,
        "final": {
          "both_qualified": false,
          "controller_qualified": false,
          "evidence_admissible": false,
          "native_qualified": false
        },
        "first_admission": null,
        "native": {
          "arrays_sha256": "829da18e8bc720c20f8cf6db26c3e10121febdf0a5b3e0bff25d7b27db6d96e1",
          "complete": true,
          "maximum_per_finger_force_n": 0.43263609514913476,
          "rows": 20000,
          "unexpected_contact_native_ticks": 0,
          "valid": true,
          "warnings": []
        },
        "physical_robot_ready": false,
        "primary": {
          "combined_qualified_pause": false,
          "complete_5s": false,
          "controller_retained_at_5s": false,
          "native_pause_success": false,
          "reason": "no_admission",
          "required_s": 5.0,
          "success": false
        },
        "probes": [
          {
            "claims": [],
            "disposition": "interrupted",
            "final_native_qualified_from_origin": false,
            "probe_index": 0,
            "start_time_s": 11.439999999999099
          },
          {
            "claims": [],
            "disposition": "invalidated_hold",
            "final_native_qualified_from_origin": false,
            "probe_index": 1,
            "start_time_s": 14.319999999997503
          }
        ],
        "receipt": {
          "admission": {
            "observation_origin": "privileged_native_simulation_plus_caller_planning_assumptions",
            "physical_robot_ready": false,
            "planning": {
              "computed": {
                "conservative_required_load_n": 0.8172986249999998,
                "gravity_m_s2": 9.80665,
                "pose_specific_payload_limit_force_n": 0.980665,
                "two_finger_friction_capacity_n": 4.0
              },
              "observation_origin": "caller_declared_not_verified",
              "physical_robot_ready": false,
              "reasons": [
                "Run and record a cautious test lift under the same calibrated pose and load conditions before simulated transport planning."
              ],
              "schema": "dvidia.task-feasibility-result/v1",
              "scope": "Planning assessment only. Parallel two-finger vertical-lift approximation; ignores moment, center of mass, deformation, transient impacts and unmodeled contact effects. Unknown values remain unknown; mass is never inferred from images. Probe/test-lift/controller integration is not implemented. No hardware actuation is performed; this is not hardware qualification.",
              "status": "test_lift_required"
            },
            "probe": {
              "admissible": false,
              "historical_qualified": false,
              "latest_qualified": false,
              "physical_robot_ready": false,
              "reasons": [
                "latest_native_window_not_qualified",
                "no_controller_qualification_for_this_probe",
                "latest_controller_not_qualified"
              ],
              "receipt_sha256": "4f1cba19ea38ae086e1d5615ba3392e9e1175bf9221e9678bbe8be09988644af",
              "schema": "dvidia.probe-evidence-verification/v1",
              "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.",
              "verified": true
            },
            "schema": "dvidia.task-feasibility-with-probe/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification. Unknown planning values remain unknown. The unchanged approximate vertical-lift planning gate describes declared loads; it supplies no transport path, geospatial-goal contract or actuator permission. This wrapper never issues controls.",
            "status": "test_lift_required"
          },
          "context": {
            "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
            "calibration_id": "synthetic_probe_v01",
            "calibration_scope": "simulation_assumptions_not_hardware",
            "command_sha256": "60a30dcfcf89597b1d1977384e4a4467246fcc5a165f2bd0d666ecf42cbac095",
            "feasibility_sha256": "b90ac91b028fd8d4a7010faf3b98fbd441bd101a73c10c00707a18a0890f5aa6",
            "grasp_id": "m55-f20-p1-measured_joint-probe-1",
            "initial_object_position_m": [
              0.30699999506272085,
              -0.03700017660547436,
              0.07989224451748382
            ],
            "model_sha256": "189329a039bb3d57d17781e36715db04cec41b1bec312156df4446784cb18481",
            "native_status": {
              "simulation_time_s": 20.00000000000146,
              "unexpected_contact_native_ticks": 0,
              "valid": true,
              "warnings": []
            },
            "object_id": "task_block",
            "per_finger_force_ceiling_n": 10.0,
            "pose_binding_sha256": "d1edd2d5d578e130aed1aa04974237d58e245e0b019b615c8a1a952cbc695570",
            "probe_index": 1,
            "probe_origin_object_position_m": [
              0.3073691287228304,
              -0.036905084881093383,
              0.07988229338951458
            ],
            "probe_origin_tcp_local_offset_m": [
              -0.001960726315689993,
              0.00029099556125725427,
              0.0023537848522705565
            ],
            "probe_start_s": 14.319999999997503,
            "robot_profile": "piper",
            "run_id": "m55-f20-p1-measured_joint",
            "schema": "dvidia.probe-context/v1",
            "source_sha256": "cc82eb867d3a927a487317b2e9e470fcb8f53e9da000a1764b7c5a1878883e69"
          },
          "physical_robot_ready": false,
          "planning_input": {
            "allowed_pose_tolerance_m": 0.003,
            "calibration_id": "synthetic_probe_v01",
            "friction_interval": [
              0.2,
              0.2
            ],
            "geometry_known": true,
            "gripper_max_opening_interval_m": [
              0.07,
              0.07
            ],
            "gripper_min_closure_m": 0.0,
            "mass_interval_kg": [
              0.055,
              0.055
            ],
            "object_width_interval_m": [
              0.04,
              0.04
            ],
            "observations_fresh": true,
            "per_finger_normal_force_budget_n": 10.0,
            "planned_upward_accel_m_s2": 0.1,
            "pose_specific_payload_limit_kg": 0.1,
            "pose_uncertainty_m": 0.0,
            "reachability": "reachable",
            "safety_factor": 1.5,
            "schema": "dvidia.task-feasibility-input/v1",
            "slip_detected": false,
            "test_lift_passed": false
          },
          "receipt": {
            "audit": {
              "controller_claim_mismatches": [],
              "controller_claims_checked": 1,
              "controller_conservative_abstention_count": 0,
              "controller_coverage": "Only the supplied claims are checked; omitted decisions are not inferred.",
              "controller_false_qualification_count": 0,
              "controller_positive_claims": 0,
              "force_ceiling_known": true,
              "maximum_observed_per_finger_force_n": 0.43263609514913476,
              "reasons": [],
              "rows": 20000,
              "unexpected_contact_native_ticks": 0,
              "valid": true
            },
            "context": {
              "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
              "calibration_id": "synthetic_probe_v01",
              "calibration_scope": "simulation_assumptions_not_hardware",
              "command_sha256": "60a30dcfcf89597b1d1977384e4a4467246fcc5a165f2bd0d666ecf42cbac095",
              "feasibility_sha256": "b90ac91b028fd8d4a7010faf3b98fbd441bd101a73c10c00707a18a0890f5aa6",
              "grasp_id": "m55-f20-p1-measured_joint-probe-1",
              "initial_object_position_m": [
                0.30699999506272085,
                -0.03700017660547436,
                0.07989224451748382
              ],
              "model_sha256": "189329a039bb3d57d17781e36715db04cec41b1bec312156df4446784cb18481",
              "native_status": {
                "simulation_time_s": 20.00000000000146,
                "unexpected_contact_native_ticks": 0,
                "valid": true,
                "warnings": []
              },
              "object_id": "task_block",
              "per_finger_force_ceiling_n": 10.0,
              "pose_binding_sha256": "d1edd2d5d578e130aed1aa04974237d58e245e0b019b615c8a1a952cbc695570",
              "probe_index": 1,
              "probe_origin_object_position_m": [
                0.3073691287228304,
                -0.036905084881093383,
                0.07988229338951458
              ],
              "probe_origin_tcp_local_offset_m": [
                -0.001960726315689993,
                0.00029099556125725427,
                0.0023537848522705565
              ],
              "probe_start_s": 14.319999999997503,
              "robot_profile": "piper",
              "run_id": "m55-f20-p1-measured_joint",
              "schema": "dvidia.probe-context/v1",
              "source_sha256": "cc82eb867d3a927a487317b2e9e470fcb8f53e9da000a1764b7c5a1878883e69"
            },
            "context_sha256": "35daad95442a3d648a5091a47649cc3614bf995cca4fb4e06baba5b7ae76d877",
            "controller_qualifications": [
              {
                "probe_index": 1,
                "qualified": false,
                "t_seconds": 20.00000000000146
              }
            ],
            "criteria": {
              "distance_comparison_epsilon": 1e-12,
              "initial_sample_tolerance_m": 0.001,
              "maximum_tcp_local_drift_m": 0.003,
              "minimum_continuous_dwell_s": 0.1,
              "minimum_per_finger_force_n_exclusive": 0.01,
              "minimum_rise_m": 0.006,
              "native_dt_s": 0.001,
              "origin_tolerance_m": 1e-09,
              "time_tolerance_s": 1e-08
            },
            "history": {
              "ever_qualified": false,
              "first_qualified_s": null,
              "maximum_continuous_qualifying_s": 0.0
            },
            "latest": {
              "condition_valid": false,
              "continuous_qualifying_s": 0.0,
              "controller_claim": {
                "probe_index": 1,
                "qualified": false,
                "t_seconds": 20.00000000000146
              },
              "native_tick": 20000,
              "qualified": false,
              "rise_m": 5.040041389930972e-07,
              "tcp_local_drift_m": 0.004232211082073834,
              "time_s": 20.00000000000146
            },
            "metadata_sha256": "ad8229630cc9f8718829bb8317b1a82480dcf18b9f71bd23666acfe71a003ef7",
            "native_arrays_sha256": "829da18e8bc720c20f8cf6db26c3e10121febdf0a5b3e0bff25d7b27db6d96e1",
            "physical_robot_ready": false,
            "receipt_sha256": "4f1cba19ea38ae086e1d5615ba3392e9e1175bf9221e9678bbe8be09988644af",
            "schema": "dvidia.probe-evidence/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification."
          },
          "status": "inspected",
          "verification": {
            "admissible": false,
            "historical_qualified": false,
            "latest_qualified": false,
            "physical_robot_ready": false,
            "reasons": [
              "latest_native_window_not_qualified",
              "no_controller_qualification_for_this_probe",
              "latest_controller_not_qualified"
            ],
            "receipt_sha256": "4f1cba19ea38ae086e1d5615ba3392e9e1175bf9221e9678bbe8be09988644af",
            "schema": "dvidia.probe-evidence-verification/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.",
            "verified": true
          }
        },
        "stationarity": {
          "complete_5s": false,
          "grip_retention_and_stationarity": false,
          "tcp_pose_within_bounds": false
        },
        "status": "inspected"
      },
      "files": {
        "episode.json.gz": {
          "bytes": 772318,
          "sha256": "e0948894db1ecd34dce6afa9ff720511a760d76c6e59ad4609bd946e0964760b"
        },
        "evaluation.json": {
          "bytes": 11705,
          "sha256": "2779537f007cf618c75b21c346e68805344eab6694b327c2afc14e9483ceb381"
        },
        "native.json": {
          "bytes": 13763,
          "sha256": "19cc1d5998901cbc12da2916add3096763081e9decbfc7193981bfabc4b871e0"
        },
        "native.npz": {
          "bytes": 4062859,
          "sha256": "9008b89332b855556418f849e61a3dc0b0791a79535f3d1944caf519fad1a097"
        },
        "started.json": {
          "bytes": 151,
          "sha256": "18a491679d04fd30f0d95e826cb0e770918112c85c4024b2b6b4ae82c425440f"
        }
      },
      "friction": 0.2,
      "id": "m55-f20-p1-measured_joint",
      "mass_kg": 0.055,
      "metrics": {
        "carry_complete": false,
        "carry_contact_loss_events": 0,
        "carry_contact_loss_tolerance_seconds": 0.04,
        "dwell_seconds": 0.0,
        "first_success_time_seconds": null,
        "grasp_seen": true,
        "lift_dwell_seconds": 0.0,
        "lift_seen": false,
        "max_carry_contact_loss_seconds": 0.0,
        "max_object_lift_m": 7.71636602886483e-05,
        "max_pad_normal_force_n": 0.43263609514913476,
        "physical_robot_ready": false,
        "reason": "timeout",
        "retention_lost": false,
        "simulation_time": 20.00000000000146,
        "steps": 1000,
        "success": false,
        "target_distance_m": 0.12449912592344718,
        "unexpected_contact_native_ticks": 0,
        "valid": true,
        "warnings": []
      },
      "policy": {
        "abort_reason": "retry_budget_exhausted:object_not_following",
        "acquisition_contract": {
          "comparison_scope": "Closed-loop variants may acquire different trajectories through early hold/retry. This is not an isolated classifier ablation.",
          "control_dt_s": 0.02,
          "evidence_admission": "Current bilateral force >0.01 N, no table support, object rise >=6 mm and TCP-local offset drift <=3 mm continuously across sampled boundaries for elapsed >=100 ms.",
          "hold": "Latch measured six arm joints and the last issued jaw target at admission/terminal invalidity. No full lift/transfer, no squeeze escalation, no post-admission retry.",
          "invalidation": "At each subsequent 20 ms observation and final observation, invalidate immediately on lost contact/force, support, insufficient rise, >3 mm local drift or unexpected contact. Never requalify after terminal invalidity.",
          "observation_origin": "privileged_native_simulator_state",
          "parameters": {
            "close_timeout_s": 1.4,
            "consecutive_alarm_samples": 2,
            "max_retries": 1,
            "monitor_min_probe_motion_m": 0.003,
            "probe_height_m": 0.01,
            "probe_min_object_rise_m": 0.006,
            "probe_speed_m_s": 0.02,
            "probe_timeout_s": 1.4,
            "qualification_dwell_s": 0.1,
            "relative_drift_limit_m": 0.003,
            "retry_clearance_m": 0.012,
            "retry_open_timeout_s": 1.2,
            "retry_recenter_timeout_s": 1.5
          },
          "physical_robot_ready": false,
          "prefix": "Original GuardedPiperTaskPolicy approach/close and at most one supported open/recenter/retry; already uses authored native state, not a fully blind baseline.",
          "sampling_limit": "Independent 1 ms evidence may contradict sampled admission; that remains a finding. No sensor or material inference is implemented.",
          "schema": "dvidia.piper-probe-stop/v1",
          "stop_scope": "Holding native position targets is not physical arrest or calibrated force limiting; inertia and existing target rate limits can continue motion.",
          "timer_admission": "Same 10 mm/20 mm/s probe target law, admitted at elapsed >=600 ms from that probe start; no evidence predicate or slip alarm before admission. Unexpected contacts and bounded timeouts still stop.",
          "timer_admission_s": 0.6,
          "variants": [
            "evidence",
            "timer"
          ]
        },
        "acquisition_variant": "evidence",
        "active_probe_index": 1,
        "admission_time_s": null,
        "admitted": false,
        "contract": {
          "acquisition": "Unchanged ProbeStopPolicy evidence acquisition, including its bounded supported retry. All variants share the same prefix through the first admission observation.",
          "cartesian": "Latch measured TCP position/orientation and preceding issued targets. Fixed joint bias equals issued target minus pose_action at the admission pose. First command repeats the exact issued target; later pose_action updates receive that fixed bias.",
          "control_dt_s": 0.02,
          "final_observation": "Repeat force, original eligibility and Cartesian pose-error checks. Do not solve or issue a hypothetical next control at the terminal observation.",
          "invalid_measurements": "Malformed, nonfinite or noncausal observations terminally refuse and raise without issuing a command. No measured-position stop is claimed from invalid measurements.",
          "issued_joint": "Latch the preceding issued six joint targets and the same last issued jaw target at admission.",
          "limits": {
            "initial_joint_bias_ceiling_rad": 0.08,
            "joint_correction_ceiling_rad": 0.03,
            "joint_correction_rate_rad_s": 0.1,
            "native_joint_target_margin_rad": 0.02,
            "per_finger_force_ceiling_n": 10.0,
            "tcp_orientation_error_ceiling_rad": 0.05,
            "tcp_position_error_ceiling_m": 0.004
          },
          "measured_joint": "Original hold: latch measured six joint coordinates and the last issued jaw target at admission.",
          "observation_origin": "privileged_native_simulator_state",
          "physical_robot_ready": false,
          "qualifications": "Engineering limits and the 10 N ceiling are authored synthetic assumptions, not damage limits or calibrated physical telemetry. Position targets are not physical stops or force limiters. No load/friction inference, model training or complete placement is implemented.",
          "rate_scope": "The extra correction slews at at most 0.002 rad per 20 ms per joint. Original native 1 ms target slew, servos, gains and force caps remain unchanged.",
          "refusal": "Original eligibility loss, unexpected contact or observed pad force >10 N terminally requests measured joint hold and the frozen jaw target. Cartesian error, initial-bias, total-correction or native-margin exhaustion also refuses terminally; it never chases an already failed grip.",
          "sampling": "Control checks occur at 20 ms boundaries. Independent saved 1 ms native evidence must judge a continuous 5 s hold; missed between-boundary failures remain findings.",
          "schema": "dvidia.piper-retention/v2",
          "variants": [
            "measured_joint",
            "issued_joint",
            "cartesian"
          ]
        },
        "events": [
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "continue",
              "drift_streak": 0,
              "object_height_delta_m": 0.0,
              "phase": "probe",
              "progress_streak": 0,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0,
              "retry_index": 0,
              "t_seconds": 11.439999999999099,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_probe",
            "probe_index": 0,
            "reason": "slow_load_bearing_check",
            "retention_variant": "measured_joint",
            "retry_index": 0,
            "status": "probing",
            "t_seconds": 11.439999999999099,
            "type": "probe_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm",
              "drift_streak": 2,
              "object_height_delta_m": 3.6966802752391725e-05,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.004058773820687014,
              "retry_index": 0,
              "t_seconds": 11.7999999999989,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0037043685220967265
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_stop",
            "probe_index": 0,
            "reason": "object_not_following",
            "retention_variant": "measured_joint",
            "retry_index": 0,
            "status": "probing",
            "t_seconds": 11.7999999999989,
            "type": "alarm",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm",
              "drift_streak": 2,
              "object_height_delta_m": 3.6966802752391725e-05,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.004058773820687014,
              "retry_index": 0,
              "t_seconds": 11.7999999999989,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0037043685220967265
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_stop",
            "probe_index": 0,
            "reason": "supported_object_only",
            "retention_variant": "measured_joint",
            "retry_index": 1,
            "status": "acquiring_retry",
            "t_seconds": 11.7999999999989,
            "type": "retry_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": false,
              "contact_loss_streak": 0,
              "decision": "recenter_with_open_jaw",
              "drift_streak": 2,
              "object_height_delta_m": -1.860133177335188e-05,
              "phase": "retry_recenter",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.009708468525029912,
              "retry_index": 1,
              "t_seconds": 13.43999999999799,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.009672537833201794
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_retry_recenter",
            "probe_index": 0,
            "reason": "open_recenter_complete",
            "retention_variant": "measured_joint",
            "retry_index": 1,
            "status": "acquiring",
            "t_seconds": 13.43999999999799,
            "type": "retry_completed",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "continue",
              "drift_streak": 0,
              "object_height_delta_m": 0.0,
              "phase": "probe",
              "progress_streak": 0,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0,
              "retry_index": 1,
              "t_seconds": 14.319999999997503,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_probe",
            "probe_index": 1,
            "reason": "slow_load_bearing_check",
            "retention_variant": "measured_joint",
            "retry_index": 1,
            "status": "probing",
            "t_seconds": 14.319999999997503,
            "type": "probe_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm",
              "drift_streak": 2,
              "object_height_delta_m": 7.295759615090491e-05,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0040204446885814815,
              "retry_index": 1,
              "t_seconds": 14.679999999997303,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0036749439489060787
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_stop",
            "probe_index": 1,
            "reason": "object_not_following",
            "retention_variant": "measured_joint",
            "retry_index": 1,
            "status": "probing",
            "t_seconds": 14.679999999997303,
            "type": "alarm",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm_and_freeze_issued_jaw",
              "drift_streak": 2,
              "object_height_delta_m": 7.295759615090491e-05,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0040204446885814815,
              "retry_index": 1,
              "t_seconds": 14.679999999997303,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0036749439489060787
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "probe_stop",
            "probe_index": 1,
            "reason": "retry_budget_exhausted:object_not_following",
            "retention_variant": "measured_joint",
            "retry_index": 1,
            "status": "invalidated_hold",
            "t_seconds": 14.679999999997303,
            "type": "abort",
            "variant": "evidence"
          }
        ],
        "ever_admitted": false,
        "final_observed": true,
        "frozen_jaw_target_m": 0.0,
        "initial_context": {
          "object_position_m": [
            0.30699999506272085,
            -0.03700017660547436,
            0.07989224451748382
          ],
          "observation_origin": "privileged_native_simulator_state",
          "t_seconds": 0.0,
          "tcp_position_m": [
            0.4890696662845219,
            0.0014141975654808877,
            0.3665849431043091
          ],
          "tcp_quaternion_wxyz": [
            0.6580840948238629,
            2.7730466224793136e-07,
            0.7529444362872891,
            -1.9485471114950535e-06
          ]
        },
        "last_observed_s": 20.00000000000146,
        "observation_origin": "privileged_native_simulator_state",
        "physical_robot_ready": false,
        "probes": [
          {
            "disposition": "interrupted",
            "end_time_s": 11.7999999999989,
            "local_offset_origin_m": [
              0.002260228677663499,
              0.0003039325746832893,
              0.0019063328967486672
            ],
            "object_origin_m": [
              0.30669924831359247,
              -0.037008205170062876,
              0.07991084591155705
            ],
            "observation_origin": "privileged_native_simulator_state",
            "probe_index": 0,
            "reason": "object_not_following",
            "start_time_s": 11.439999999999099,
            "tcp_origin_m": [
              0.3089418730034355,
              -0.03729835318311504,
              0.08183998106222445
            ],
            "tcp_quaternion_wxyz": [
              0.00497253413425339,
              -0.002471522589631371,
              0.9999843429513522,
              -0.0006923384466124257
            ]
          },
          {
            "disposition": "invalidated_hold",
            "end_time_s": 14.679999999997303,
            "local_offset_origin_m": [
              -0.001960726315689993,
              0.00029099556125725427,
              0.0023537848522705565
            ],
            "object_origin_m": [
              0.3073691287228304,
              -0.036905084881093383,
              0.07988229338951458
            ],
            "observation_origin": "privileged_native_simulator_state",
            "probe_index": 1,
            "reason": "retry_budget_exhausted:object_not_following",
            "start_time_s": 14.319999999997503,
            "tcp_origin_m": [
              0.3054283427596418,
              -0.037198990937251035,
              0.08225218754490064
            ],
            "tcp_quaternion_wxyz": [
              -0.004192833137042042,
              -0.00023008487631858988,
              0.9999910927826025,
              0.00042610643157222033
            ]
          }
        ],
        "retention": {
          "hold_reference": null,
          "input_refusals": [],
          "native_joint_control_limits_rad": [
            [
              -2.618,
              2.618
            ],
            [
              0.0,
              3.14
            ],
            [
              -2.697,
              0.0
            ],
            [
              -1.832,
              1.832
            ],
            [
              -1.22,
              1.22
            ],
            [
              -3.14,
              3.14
            ]
          ],
          "variant": "measured_joint"
        },
        "retry_count": 1,
        "schema": "dvidia.piper-retention/v2",
        "status": "invalidated_hold",
        "stop_targets_rad": [
          -0.1256337946128927,
          1.7497802386012402,
          -1.166608130921211,
          -0.00022524383965888764,
          1.073867507754142,
          -0.1260157579240826
        ],
        "variant": "measured_joint"
      },
      "scene_id": "m55-f20-p1",
      "timing": {
        "policy_cpu": {
          "maximum_s": 0.00023900000000764976,
          "mean_s": 4.42319999998233e-05,
          "over_20ms": 0,
          "p50_s": 4.899999998997373e-05,
          "p95_s": 6.905000000969603e-05,
          "p99_s": 0.00010202999999819437,
          "samples": 1000
        },
        "policy_wall": {
          "maximum_s": 0.00024008424952626228,
          "mean_s": 4.436515178531408e-05,
          "over_20ms": 0,
          "p50_s": 4.850002005696297e-05,
          "p95_s": 6.976251024752854e-05,
          "p99_s": 0.00011141733266413212,
          "samples": 1000
        },
        "step_cpu": {
          "maximum_s": 0.014188999999987573,
          "mean_s": 0.0016773679999998307,
          "over_20ms": 0,
          "p50_s": 0.0013614999999944644,
          "p95_s": 0.003298300000000864,
          "p99_s": 0.003841159999994232,
          "samples": 1000
        },
        "step_wall": {
          "maximum_s": 0.018471041228622198,
          "mean_s": 0.001691820001229644,
          "over_20ms": 0,
          "p50_s": 0.0013774374965578318,
          "p95_s": 0.0033039664151147006,
          "p99_s": 0.003910038643516599,
          "samples": 1000
        }
      },
      "valid": true,
      "variant": "measured_joint"
    },
    {
      "error": null,
      "evaluation": {
        "corrections": {
          "bound_refusal_counts": {},
          "flag_counts": {
            "correction_rate_limited": 0
          },
          "hold_record_count": 267,
          "input_refusals": [],
          "maximum_abs_active_correction_rad": null,
          "maximum_abs_desired_correction_rad": null,
          "rate_limited_axis_occurrences": 0,
          "scope": "Includes recorded final diagnostic checks; only command_issued rows represent issued controls."
        },
        "decomposition": null,
        "final": {
          "both_qualified": false,
          "controller_qualified": false,
          "evidence_admissible": false,
          "native_qualified": false
        },
        "first_admission": null,
        "native": {
          "arrays_sha256": "829da18e8bc720c20f8cf6db26c3e10121febdf0a5b3e0bff25d7b27db6d96e1",
          "complete": true,
          "maximum_per_finger_force_n": 0.43263609514913476,
          "rows": 20000,
          "unexpected_contact_native_ticks": 0,
          "valid": true,
          "warnings": []
        },
        "physical_robot_ready": false,
        "primary": {
          "combined_qualified_pause": false,
          "complete_5s": false,
          "controller_retained_at_5s": false,
          "native_pause_success": false,
          "reason": "no_admission",
          "required_s": 5.0,
          "success": false
        },
        "probes": [
          {
            "claims": [],
            "disposition": "interrupted",
            "final_native_qualified_from_origin": false,
            "probe_index": 0,
            "start_time_s": 11.439999999999099
          },
          {
            "claims": [],
            "disposition": "invalidated_hold",
            "final_native_qualified_from_origin": false,
            "probe_index": 1,
            "start_time_s": 14.319999999997503
          }
        ],
        "receipt": {
          "admission": {
            "observation_origin": "privileged_native_simulation_plus_caller_planning_assumptions",
            "physical_robot_ready": false,
            "planning": {
              "computed": {
                "conservative_required_load_n": 0.8172986249999998,
                "gravity_m_s2": 9.80665,
                "pose_specific_payload_limit_force_n": 0.980665,
                "two_finger_friction_capacity_n": 4.0
              },
              "observation_origin": "caller_declared_not_verified",
              "physical_robot_ready": false,
              "reasons": [
                "Run and record a cautious test lift under the same calibrated pose and load conditions before simulated transport planning."
              ],
              "schema": "dvidia.task-feasibility-result/v1",
              "scope": "Planning assessment only. Parallel two-finger vertical-lift approximation; ignores moment, center of mass, deformation, transient impacts and unmodeled contact effects. Unknown values remain unknown; mass is never inferred from images. Probe/test-lift/controller integration is not implemented. No hardware actuation is performed; this is not hardware qualification.",
              "status": "test_lift_required"
            },
            "probe": {
              "admissible": false,
              "historical_qualified": false,
              "latest_qualified": false,
              "physical_robot_ready": false,
              "reasons": [
                "latest_native_window_not_qualified",
                "no_controller_qualification_for_this_probe",
                "latest_controller_not_qualified"
              ],
              "receipt_sha256": "4a87763ae85f56a56d62f43d55a1de4de06bf8eca9d5020b4a7763cde93996a3",
              "schema": "dvidia.probe-evidence-verification/v1",
              "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.",
              "verified": true
            },
            "schema": "dvidia.task-feasibility-with-probe/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification. Unknown planning values remain unknown. The unchanged approximate vertical-lift planning gate describes declared loads; it supplies no transport path, geospatial-goal contract or actuator permission. This wrapper never issues controls.",
            "status": "test_lift_required"
          },
          "context": {
            "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
            "calibration_id": "synthetic_probe_v01",
            "calibration_scope": "simulation_assumptions_not_hardware",
            "command_sha256": "60a30dcfcf89597b1d1977384e4a4467246fcc5a165f2bd0d666ecf42cbac095",
            "feasibility_sha256": "b90ac91b028fd8d4a7010faf3b98fbd441bd101a73c10c00707a18a0890f5aa6",
            "grasp_id": "m55-f20-p1-cartesian-probe-1",
            "initial_object_position_m": [
              0.30699999506272085,
              -0.03700017660547436,
              0.07989224451748382
            ],
            "model_sha256": "189329a039bb3d57d17781e36715db04cec41b1bec312156df4446784cb18481",
            "native_status": {
              "simulation_time_s": 20.00000000000146,
              "unexpected_contact_native_ticks": 0,
              "valid": true,
              "warnings": []
            },
            "object_id": "task_block",
            "per_finger_force_ceiling_n": 10.0,
            "pose_binding_sha256": "d1edd2d5d578e130aed1aa04974237d58e245e0b019b615c8a1a952cbc695570",
            "probe_index": 1,
            "probe_origin_object_position_m": [
              0.3073691287228304,
              -0.036905084881093383,
              0.07988229338951458
            ],
            "probe_origin_tcp_local_offset_m": [
              -0.001960726315689993,
              0.00029099556125725427,
              0.0023537848522705565
            ],
            "probe_start_s": 14.319999999997503,
            "robot_profile": "piper",
            "run_id": "m55-f20-p1-cartesian",
            "schema": "dvidia.probe-context/v1",
            "source_sha256": "cc82eb867d3a927a487317b2e9e470fcb8f53e9da000a1764b7c5a1878883e69"
          },
          "physical_robot_ready": false,
          "planning_input": {
            "allowed_pose_tolerance_m": 0.003,
            "calibration_id": "synthetic_probe_v01",
            "friction_interval": [
              0.2,
              0.2
            ],
            "geometry_known": true,
            "gripper_max_opening_interval_m": [
              0.07,
              0.07
            ],
            "gripper_min_closure_m": 0.0,
            "mass_interval_kg": [
              0.055,
              0.055
            ],
            "object_width_interval_m": [
              0.04,
              0.04
            ],
            "observations_fresh": true,
            "per_finger_normal_force_budget_n": 10.0,
            "planned_upward_accel_m_s2": 0.1,
            "pose_specific_payload_limit_kg": 0.1,
            "pose_uncertainty_m": 0.0,
            "reachability": "reachable",
            "safety_factor": 1.5,
            "schema": "dvidia.task-feasibility-input/v1",
            "slip_detected": false,
            "test_lift_passed": false
          },
          "receipt": {
            "audit": {
              "controller_claim_mismatches": [],
              "controller_claims_checked": 1,
              "controller_conservative_abstention_count": 0,
              "controller_coverage": "Only the supplied claims are checked; omitted decisions are not inferred.",
              "controller_false_qualification_count": 0,
              "controller_positive_claims": 0,
              "force_ceiling_known": true,
              "maximum_observed_per_finger_force_n": 0.43263609514913476,
              "reasons": [],
              "rows": 20000,
              "unexpected_contact_native_ticks": 0,
              "valid": true
            },
            "context": {
              "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
              "calibration_id": "synthetic_probe_v01",
              "calibration_scope": "simulation_assumptions_not_hardware",
              "command_sha256": "60a30dcfcf89597b1d1977384e4a4467246fcc5a165f2bd0d666ecf42cbac095",
              "feasibility_sha256": "b90ac91b028fd8d4a7010faf3b98fbd441bd101a73c10c00707a18a0890f5aa6",
              "grasp_id": "m55-f20-p1-cartesian-probe-1",
              "initial_object_position_m": [
                0.30699999506272085,
                -0.03700017660547436,
                0.07989224451748382
              ],
              "model_sha256": "189329a039bb3d57d17781e36715db04cec41b1bec312156df4446784cb18481",
              "native_status": {
                "simulation_time_s": 20.00000000000146,
                "unexpected_contact_native_ticks": 0,
                "valid": true,
                "warnings": []
              },
              "object_id": "task_block",
              "per_finger_force_ceiling_n": 10.0,
              "pose_binding_sha256": "d1edd2d5d578e130aed1aa04974237d58e245e0b019b615c8a1a952cbc695570",
              "probe_index": 1,
              "probe_origin_object_position_m": [
                0.3073691287228304,
                -0.036905084881093383,
                0.07988229338951458
              ],
              "probe_origin_tcp_local_offset_m": [
                -0.001960726315689993,
                0.00029099556125725427,
                0.0023537848522705565
              ],
              "probe_start_s": 14.319999999997503,
              "robot_profile": "piper",
              "run_id": "m55-f20-p1-cartesian",
              "schema": "dvidia.probe-context/v1",
              "source_sha256": "cc82eb867d3a927a487317b2e9e470fcb8f53e9da000a1764b7c5a1878883e69"
            },
            "context_sha256": "03ce1bcab56807736372d009b5967835a8d114580bdced07c91faeb0ed4ee114",
            "controller_qualifications": [
              {
                "probe_index": 1,
                "qualified": false,
                "t_seconds": 20.00000000000146
              }
            ],
            "criteria": {
              "distance_comparison_epsilon": 1e-12,
              "initial_sample_tolerance_m": 0.001,
              "maximum_tcp_local_drift_m": 0.003,
              "minimum_continuous_dwell_s": 0.1,
              "minimum_per_finger_force_n_exclusive": 0.01,
              "minimum_rise_m": 0.006,
              "native_dt_s": 0.001,
              "origin_tolerance_m": 1e-09,
              "time_tolerance_s": 1e-08
            },
            "history": {
              "ever_qualified": false,
              "first_qualified_s": null,
              "maximum_continuous_qualifying_s": 0.0
            },
            "latest": {
              "condition_valid": false,
              "continuous_qualifying_s": 0.0,
              "controller_claim": {
                "probe_index": 1,
                "qualified": false,
                "t_seconds": 20.00000000000146
              },
              "native_tick": 20000,
              "qualified": false,
              "rise_m": 5.040041389930972e-07,
              "tcp_local_drift_m": 0.004232211082073834,
              "time_s": 20.00000000000146
            },
            "metadata_sha256": "ad8229630cc9f8718829bb8317b1a82480dcf18b9f71bd23666acfe71a003ef7",
            "native_arrays_sha256": "829da18e8bc720c20f8cf6db26c3e10121febdf0a5b3e0bff25d7b27db6d96e1",
            "physical_robot_ready": false,
            "receipt_sha256": "4a87763ae85f56a56d62f43d55a1de4de06bf8eca9d5020b4a7763cde93996a3",
            "schema": "dvidia.probe-evidence/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification."
          },
          "status": "inspected",
          "verification": {
            "admissible": false,
            "historical_qualified": false,
            "latest_qualified": false,
            "physical_robot_ready": false,
            "reasons": [
              "latest_native_window_not_qualified",
              "no_controller_qualification_for_this_probe",
              "latest_controller_not_qualified"
            ],
            "receipt_sha256": "4a87763ae85f56a56d62f43d55a1de4de06bf8eca9d5020b4a7763cde93996a3",
            "schema": "dvidia.probe-evidence-verification/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.",
            "verified": true
          }
        },
        "stationarity": {
          "complete_5s": false,
          "grip_retention_and_stationarity": false,
          "tcp_pose_within_bounds": false
        },
        "status": "inspected"
      },
      "files": {
        "episode.json.gz": {
          "bytes": 772766,
          "sha256": "3fe17e170fd2816cb51b341f5e70e1312a4fa751134e10a1540bd675e4fe9cce"
        },
        "evaluation.json": {
          "bytes": 11685,
          "sha256": "3f322c31cdfc7a32ccfaa54afce2a0010034b37011034ab79913d768a0beb97e"
        },
        "native.json": {
          "bytes": 13763,
          "sha256": "19cc1d5998901cbc12da2916add3096763081e9decbfc7193981bfabc4b871e0"
        },
        "native.npz": {
          "bytes": 4062859,
          "sha256": "9008b89332b855556418f849e61a3dc0b0791a79535f3d1944caf519fad1a097"
        },
        "started.json": {
          "bytes": 146,
          "sha256": "8cb3993c2dc2bcbb9e146655605a202f139ea53c60a6bca54f4785a193e0cf3c"
        }
      },
      "friction": 0.2,
      "id": "m55-f20-p1-cartesian",
      "mass_kg": 0.055,
      "metrics": {
        "carry_complete": false,
        "carry_contact_loss_events": 0,
        "carry_contact_loss_tolerance_seconds": 0.04,
        "dwell_seconds": 0.0,
        "first_success_time_seconds": null,
        "grasp_seen": true,
        "lift_dwell_seconds": 0.0,
        "lift_seen": false,
        "max_carry_contact_loss_seconds": 0.0,
        "max_object_lift_m": 7.71636602886483e-05,
        "max_pad_normal_force_n": 0.43263609514913476,
        "physical_robot_ready": false,
        "reason": "timeout",
        "retention_lost": false,
        "simulation_time": 20.00000000000146,
        "steps": 1000,
        "success": false,
        "target_distance_m": 0.12449912592344718,
        "unexpected_contact_native_ticks": 0,
        "valid": true,
        "warnings": []
      },
      "policy": {
        "abort_reason": "retry_budget_exhausted:object_not_following",
        "acquisition_contract": {
          "comparison_scope": "Closed-loop variants may acquire different trajectories through early hold/retry. This is not an isolated classifier ablation.",
          "control_dt_s": 0.02,
          "evidence_admission": "Current bilateral force >0.01 N, no table support, object rise >=6 mm and TCP-local offset drift <=3 mm continuously across sampled boundaries for elapsed >=100 ms.",
          "hold": "Latch measured six arm joints and the last issued jaw target at admission/terminal invalidity. No full lift/transfer, no squeeze escalation, no post-admission retry.",
          "invalidation": "At each subsequent 20 ms observation and final observation, invalidate immediately on lost contact/force, support, insufficient rise, >3 mm local drift or unexpected contact. Never requalify after terminal invalidity.",
          "observation_origin": "privileged_native_simulator_state",
          "parameters": {
            "close_timeout_s": 1.4,
            "consecutive_alarm_samples": 2,
            "max_retries": 1,
            "monitor_min_probe_motion_m": 0.003,
            "probe_height_m": 0.01,
            "probe_min_object_rise_m": 0.006,
            "probe_speed_m_s": 0.02,
            "probe_timeout_s": 1.4,
            "qualification_dwell_s": 0.1,
            "relative_drift_limit_m": 0.003,
            "retry_clearance_m": 0.012,
            "retry_open_timeout_s": 1.2,
            "retry_recenter_timeout_s": 1.5
          },
          "physical_robot_ready": false,
          "prefix": "Original GuardedPiperTaskPolicy approach/close and at most one supported open/recenter/retry; already uses authored native state, not a fully blind baseline.",
          "sampling_limit": "Independent 1 ms evidence may contradict sampled admission; that remains a finding. No sensor or material inference is implemented.",
          "schema": "dvidia.piper-probe-stop/v1",
          "stop_scope": "Holding native position targets is not physical arrest or calibrated force limiting; inertia and existing target rate limits can continue motion.",
          "timer_admission": "Same 10 mm/20 mm/s probe target law, admitted at elapsed >=600 ms from that probe start; no evidence predicate or slip alarm before admission. Unexpected contacts and bounded timeouts still stop.",
          "timer_admission_s": 0.6,
          "variants": [
            "evidence",
            "timer"
          ]
        },
        "acquisition_variant": "evidence",
        "active_probe_index": 1,
        "admission_time_s": null,
        "admitted": false,
        "contract": {
          "acquisition": "Unchanged ProbeStopPolicy evidence acquisition, including its bounded supported retry. All variants share the same prefix through the first admission observation.",
          "cartesian": "Latch measured TCP position/orientation and preceding issued targets. Fixed joint bias equals issued target minus pose_action at the admission pose. First command repeats the exact issued target; later pose_action updates receive that fixed bias.",
          "control_dt_s": 0.02,
          "final_observation": "Repeat force, original eligibility and Cartesian pose-error checks. Do not solve or issue a hypothetical next control at the terminal observation.",
          "invalid_measurements": "Malformed, nonfinite or noncausal observations terminally refuse and raise without issuing a command. No measured-position stop is claimed from invalid measurements.",
          "issued_joint": "Latch the preceding issued six joint targets and the same last issued jaw target at admission.",
          "limits": {
            "initial_joint_bias_ceiling_rad": 0.08,
            "joint_correction_ceiling_rad": 0.03,
            "joint_correction_rate_rad_s": 0.1,
            "native_joint_target_margin_rad": 0.02,
            "per_finger_force_ceiling_n": 10.0,
            "tcp_orientation_error_ceiling_rad": 0.05,
            "tcp_position_error_ceiling_m": 0.004
          },
          "measured_joint": "Original hold: latch measured six joint coordinates and the last issued jaw target at admission.",
          "observation_origin": "privileged_native_simulator_state",
          "physical_robot_ready": false,
          "qualifications": "Engineering limits and the 10 N ceiling are authored synthetic assumptions, not damage limits or calibrated physical telemetry. Position targets are not physical stops or force limiters. No load/friction inference, model training or complete placement is implemented.",
          "rate_scope": "The extra correction slews at at most 0.002 rad per 20 ms per joint. Original native 1 ms target slew, servos, gains and force caps remain unchanged.",
          "refusal": "Original eligibility loss, unexpected contact or observed pad force >10 N terminally requests measured joint hold and the frozen jaw target. Cartesian error, initial-bias, total-correction or native-margin exhaustion also refuses terminally; it never chases an already failed grip.",
          "sampling": "Control checks occur at 20 ms boundaries. Independent saved 1 ms native evidence must judge a continuous 5 s hold; missed between-boundary failures remain findings.",
          "schema": "dvidia.piper-retention/v2",
          "variants": [
            "measured_joint",
            "issued_joint",
            "cartesian"
          ]
        },
        "events": [
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "continue",
              "drift_streak": 0,
              "object_height_delta_m": 0.0,
              "phase": "probe",
              "progress_streak": 0,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0,
              "retry_index": 0,
              "t_seconds": 11.439999999999099,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_probe",
            "probe_index": 0,
            "reason": "slow_load_bearing_check",
            "retention_variant": "cartesian",
            "retry_index": 0,
            "status": "probing",
            "t_seconds": 11.439999999999099,
            "type": "probe_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm",
              "drift_streak": 2,
              "object_height_delta_m": 3.6966802752391725e-05,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.004058773820687014,
              "retry_index": 0,
              "t_seconds": 11.7999999999989,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0037043685220967265
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_stop",
            "probe_index": 0,
            "reason": "object_not_following",
            "retention_variant": "cartesian",
            "retry_index": 0,
            "status": "probing",
            "t_seconds": 11.7999999999989,
            "type": "alarm",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm",
              "drift_streak": 2,
              "object_height_delta_m": 3.6966802752391725e-05,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.004058773820687014,
              "retry_index": 0,
              "t_seconds": 11.7999999999989,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0037043685220967265
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_stop",
            "probe_index": 0,
            "reason": "supported_object_only",
            "retention_variant": "cartesian",
            "retry_index": 1,
            "status": "acquiring_retry",
            "t_seconds": 11.7999999999989,
            "type": "retry_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": false,
              "contact_loss_streak": 0,
              "decision": "recenter_with_open_jaw",
              "drift_streak": 2,
              "object_height_delta_m": -1.860133177335188e-05,
              "phase": "retry_recenter",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.009708468525029912,
              "retry_index": 1,
              "t_seconds": 13.43999999999799,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.009672537833201794
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_retry_recenter",
            "probe_index": 0,
            "reason": "open_recenter_complete",
            "retention_variant": "cartesian",
            "retry_index": 1,
            "status": "acquiring",
            "t_seconds": 13.43999999999799,
            "type": "retry_completed",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "continue",
              "drift_streak": 0,
              "object_height_delta_m": 0.0,
              "phase": "probe",
              "progress_streak": 0,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0,
              "retry_index": 1,
              "t_seconds": 14.319999999997503,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_probe",
            "probe_index": 1,
            "reason": "slow_load_bearing_check",
            "retention_variant": "cartesian",
            "retry_index": 1,
            "status": "probing",
            "t_seconds": 14.319999999997503,
            "type": "probe_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm",
              "drift_streak": 2,
              "object_height_delta_m": 7.295759615090491e-05,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0040204446885814815,
              "retry_index": 1,
              "t_seconds": 14.679999999997303,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0036749439489060787
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_stop",
            "probe_index": 1,
            "reason": "object_not_following",
            "retention_variant": "cartesian",
            "retry_index": 1,
            "status": "probing",
            "t_seconds": 14.679999999997303,
            "type": "alarm",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm_and_freeze_issued_jaw",
              "drift_streak": 2,
              "object_height_delta_m": 7.295759615090491e-05,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0040204446885814815,
              "retry_index": 1,
              "t_seconds": 14.679999999997303,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0036749439489060787
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "probe_stop",
            "probe_index": 1,
            "reason": "retry_budget_exhausted:object_not_following",
            "retention_variant": "cartesian",
            "retry_index": 1,
            "status": "invalidated_hold",
            "t_seconds": 14.679999999997303,
            "type": "abort",
            "variant": "evidence"
          }
        ],
        "ever_admitted": false,
        "final_observed": true,
        "frozen_jaw_target_m": 0.0,
        "initial_context": {
          "object_position_m": [
            0.30699999506272085,
            -0.03700017660547436,
            0.07989224451748382
          ],
          "observation_origin": "privileged_native_simulator_state",
          "t_seconds": 0.0,
          "tcp_position_m": [
            0.4890696662845219,
            0.0014141975654808877,
            0.3665849431043091
          ],
          "tcp_quaternion_wxyz": [
            0.6580840948238629,
            2.7730466224793136e-07,
            0.7529444362872891,
            -1.9485471114950535e-06
          ]
        },
        "last_observed_s": 20.00000000000146,
        "observation_origin": "privileged_native_simulator_state",
        "physical_robot_ready": false,
        "probes": [
          {
            "disposition": "interrupted",
            "end_time_s": 11.7999999999989,
            "local_offset_origin_m": [
              0.002260228677663499,
              0.0003039325746832893,
              0.0019063328967486672
            ],
            "object_origin_m": [
              0.30669924831359247,
              -0.037008205170062876,
              0.07991084591155705
            ],
            "observation_origin": "privileged_native_simulator_state",
            "probe_index": 0,
            "reason": "object_not_following",
            "start_time_s": 11.439999999999099,
            "tcp_origin_m": [
              0.3089418730034355,
              -0.03729835318311504,
              0.08183998106222445
            ],
            "tcp_quaternion_wxyz": [
              0.00497253413425339,
              -0.002471522589631371,
              0.9999843429513522,
              -0.0006923384466124257
            ]
          },
          {
            "disposition": "invalidated_hold",
            "end_time_s": 14.679999999997303,
            "local_offset_origin_m": [
              -0.001960726315689993,
              0.00029099556125725427,
              0.0023537848522705565
            ],
            "object_origin_m": [
              0.3073691287228304,
              -0.036905084881093383,
              0.07988229338951458
            ],
            "observation_origin": "privileged_native_simulator_state",
            "probe_index": 1,
            "reason": "retry_budget_exhausted:object_not_following",
            "start_time_s": 14.319999999997503,
            "tcp_origin_m": [
              0.3054283427596418,
              -0.037198990937251035,
              0.08225218754490064
            ],
            "tcp_quaternion_wxyz": [
              -0.004192833137042042,
              -0.00023008487631858988,
              0.9999910927826025,
              0.00042610643157222033
            ]
          }
        ],
        "retention": {
          "hold_reference": null,
          "input_refusals": [],
          "native_joint_control_limits_rad": [
            [
              -2.618,
              2.618
            ],
            [
              0.0,
              3.14
            ],
            [
              -2.697,
              0.0
            ],
            [
              -1.832,
              1.832
            ],
            [
              -1.22,
              1.22
            ],
            [
              -3.14,
              3.14
            ]
          ],
          "variant": "cartesian"
        },
        "retry_count": 1,
        "schema": "dvidia.piper-retention/v2",
        "status": "invalidated_hold",
        "stop_targets_rad": [
          -0.1256337946128927,
          1.7497802386012402,
          -1.166608130921211,
          -0.00022524383965888764,
          1.073867507754142,
          -0.1260157579240826
        ],
        "variant": "cartesian"
      },
      "scene_id": "m55-f20-p1",
      "timing": {
        "policy_cpu": {
          "maximum_s": 0.0001850000000018781,
          "mean_s": 4.5804999999887744e-05,
          "over_20ms": 0,
          "p50_s": 5.000000000165983e-05,
          "p95_s": 7.300000000043383e-05,
          "p99_s": 0.0001090100000089933,
          "samples": 1000
        },
        "policy_wall": {
          "maximum_s": 0.00022841710597276688,
          "mean_s": 4.593185428529978e-05,
          "over_20ms": 0,
          "p50_s": 4.981248639523983e-05,
          "p95_s": 7.36643327400088e-05,
          "p99_s": 0.00011684936471283435,
          "samples": 1000
        },
        "step_cpu": {
          "maximum_s": 0.00460099999999386,
          "mean_s": 0.0016552380000001818,
          "over_20ms": 0,
          "p50_s": 0.001422500000003879,
          "p95_s": 0.0032964499999920344,
          "p99_s": 0.003934040000000891,
          "samples": 1000
        },
        "step_wall": {
          "maximum_s": 0.0076522077433764935,
          "mean_s": 0.0017009645379148423,
          "over_20ms": 0,
          "p50_s": 0.0014775418676435947,
          "p95_s": 0.0033451709663495414,
          "p99_s": 0.00399955506902188,
          "samples": 1000
        }
      },
      "valid": true,
      "variant": "cartesian"
    },
    {
      "error": null,
      "evaluation": {
        "corrections": {
          "bound_refusal_counts": {},
          "flag_counts": {
            "correction_rate_limited": 0
          },
          "hold_record_count": 267,
          "input_refusals": [],
          "maximum_abs_active_correction_rad": null,
          "maximum_abs_desired_correction_rad": null,
          "rate_limited_axis_occurrences": 0,
          "scope": "Includes recorded final diagnostic checks; only command_issued rows represent issued controls."
        },
        "decomposition": null,
        "final": {
          "both_qualified": false,
          "controller_qualified": false,
          "evidence_admissible": false,
          "native_qualified": false
        },
        "first_admission": null,
        "native": {
          "arrays_sha256": "829da18e8bc720c20f8cf6db26c3e10121febdf0a5b3e0bff25d7b27db6d96e1",
          "complete": true,
          "maximum_per_finger_force_n": 0.43263609514913476,
          "rows": 20000,
          "unexpected_contact_native_ticks": 0,
          "valid": true,
          "warnings": []
        },
        "physical_robot_ready": false,
        "primary": {
          "combined_qualified_pause": false,
          "complete_5s": false,
          "controller_retained_at_5s": false,
          "native_pause_success": false,
          "reason": "no_admission",
          "required_s": 5.0,
          "success": false
        },
        "probes": [
          {
            "claims": [],
            "disposition": "interrupted",
            "final_native_qualified_from_origin": false,
            "probe_index": 0,
            "start_time_s": 11.439999999999099
          },
          {
            "claims": [],
            "disposition": "invalidated_hold",
            "final_native_qualified_from_origin": false,
            "probe_index": 1,
            "start_time_s": 14.319999999997503
          }
        ],
        "receipt": {
          "admission": {
            "observation_origin": "privileged_native_simulation_plus_caller_planning_assumptions",
            "physical_robot_ready": false,
            "planning": {
              "computed": {
                "conservative_required_load_n": 0.8172986249999998,
                "gravity_m_s2": 9.80665,
                "pose_specific_payload_limit_force_n": 0.980665,
                "two_finger_friction_capacity_n": 4.0
              },
              "observation_origin": "caller_declared_not_verified",
              "physical_robot_ready": false,
              "reasons": [
                "Run and record a cautious test lift under the same calibrated pose and load conditions before simulated transport planning."
              ],
              "schema": "dvidia.task-feasibility-result/v1",
              "scope": "Planning assessment only. Parallel two-finger vertical-lift approximation; ignores moment, center of mass, deformation, transient impacts and unmodeled contact effects. Unknown values remain unknown; mass is never inferred from images. Probe/test-lift/controller integration is not implemented. No hardware actuation is performed; this is not hardware qualification.",
              "status": "test_lift_required"
            },
            "probe": {
              "admissible": false,
              "historical_qualified": false,
              "latest_qualified": false,
              "physical_robot_ready": false,
              "reasons": [
                "latest_native_window_not_qualified",
                "no_controller_qualification_for_this_probe",
                "latest_controller_not_qualified"
              ],
              "receipt_sha256": "d3e09107f8592ee7609d2e038cc952eff020eb93aa151b5b8e30713938bed320",
              "schema": "dvidia.probe-evidence-verification/v1",
              "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.",
              "verified": true
            },
            "schema": "dvidia.task-feasibility-with-probe/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification. Unknown planning values remain unknown. The unchanged approximate vertical-lift planning gate describes declared loads; it supplies no transport path, geospatial-goal contract or actuator permission. This wrapper never issues controls.",
            "status": "test_lift_required"
          },
          "context": {
            "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
            "calibration_id": "synthetic_probe_v01",
            "calibration_scope": "simulation_assumptions_not_hardware",
            "command_sha256": "60a30dcfcf89597b1d1977384e4a4467246fcc5a165f2bd0d666ecf42cbac095",
            "feasibility_sha256": "b90ac91b028fd8d4a7010faf3b98fbd441bd101a73c10c00707a18a0890f5aa6",
            "grasp_id": "m55-f20-p1-issued_joint-probe-1",
            "initial_object_position_m": [
              0.30699999506272085,
              -0.03700017660547436,
              0.07989224451748382
            ],
            "model_sha256": "189329a039bb3d57d17781e36715db04cec41b1bec312156df4446784cb18481",
            "native_status": {
              "simulation_time_s": 20.00000000000146,
              "unexpected_contact_native_ticks": 0,
              "valid": true,
              "warnings": []
            },
            "object_id": "task_block",
            "per_finger_force_ceiling_n": 10.0,
            "pose_binding_sha256": "d1edd2d5d578e130aed1aa04974237d58e245e0b019b615c8a1a952cbc695570",
            "probe_index": 1,
            "probe_origin_object_position_m": [
              0.3073691287228304,
              -0.036905084881093383,
              0.07988229338951458
            ],
            "probe_origin_tcp_local_offset_m": [
              -0.001960726315689993,
              0.00029099556125725427,
              0.0023537848522705565
            ],
            "probe_start_s": 14.319999999997503,
            "robot_profile": "piper",
            "run_id": "m55-f20-p1-issued_joint",
            "schema": "dvidia.probe-context/v1",
            "source_sha256": "cc82eb867d3a927a487317b2e9e470fcb8f53e9da000a1764b7c5a1878883e69"
          },
          "physical_robot_ready": false,
          "planning_input": {
            "allowed_pose_tolerance_m": 0.003,
            "calibration_id": "synthetic_probe_v01",
            "friction_interval": [
              0.2,
              0.2
            ],
            "geometry_known": true,
            "gripper_max_opening_interval_m": [
              0.07,
              0.07
            ],
            "gripper_min_closure_m": 0.0,
            "mass_interval_kg": [
              0.055,
              0.055
            ],
            "object_width_interval_m": [
              0.04,
              0.04
            ],
            "observations_fresh": true,
            "per_finger_normal_force_budget_n": 10.0,
            "planned_upward_accel_m_s2": 0.1,
            "pose_specific_payload_limit_kg": 0.1,
            "pose_uncertainty_m": 0.0,
            "reachability": "reachable",
            "safety_factor": 1.5,
            "schema": "dvidia.task-feasibility-input/v1",
            "slip_detected": false,
            "test_lift_passed": false
          },
          "receipt": {
            "audit": {
              "controller_claim_mismatches": [],
              "controller_claims_checked": 1,
              "controller_conservative_abstention_count": 0,
              "controller_coverage": "Only the supplied claims are checked; omitted decisions are not inferred.",
              "controller_false_qualification_count": 0,
              "controller_positive_claims": 0,
              "force_ceiling_known": true,
              "maximum_observed_per_finger_force_n": 0.43263609514913476,
              "reasons": [],
              "rows": 20000,
              "unexpected_contact_native_ticks": 0,
              "valid": true
            },
            "context": {
              "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
              "calibration_id": "synthetic_probe_v01",
              "calibration_scope": "simulation_assumptions_not_hardware",
              "command_sha256": "60a30dcfcf89597b1d1977384e4a4467246fcc5a165f2bd0d666ecf42cbac095",
              "feasibility_sha256": "b90ac91b028fd8d4a7010faf3b98fbd441bd101a73c10c00707a18a0890f5aa6",
              "grasp_id": "m55-f20-p1-issued_joint-probe-1",
              "initial_object_position_m": [
                0.30699999506272085,
                -0.03700017660547436,
                0.07989224451748382
              ],
              "model_sha256": "189329a039bb3d57d17781e36715db04cec41b1bec312156df4446784cb18481",
              "native_status": {
                "simulation_time_s": 20.00000000000146,
                "unexpected_contact_native_ticks": 0,
                "valid": true,
                "warnings": []
              },
              "object_id": "task_block",
              "per_finger_force_ceiling_n": 10.0,
              "pose_binding_sha256": "d1edd2d5d578e130aed1aa04974237d58e245e0b019b615c8a1a952cbc695570",
              "probe_index": 1,
              "probe_origin_object_position_m": [
                0.3073691287228304,
                -0.036905084881093383,
                0.07988229338951458
              ],
              "probe_origin_tcp_local_offset_m": [
                -0.001960726315689993,
                0.00029099556125725427,
                0.0023537848522705565
              ],
              "probe_start_s": 14.319999999997503,
              "robot_profile": "piper",
              "run_id": "m55-f20-p1-issued_joint",
              "schema": "dvidia.probe-context/v1",
              "source_sha256": "cc82eb867d3a927a487317b2e9e470fcb8f53e9da000a1764b7c5a1878883e69"
            },
            "context_sha256": "cde17a931ec77b21ec1a652cd8071124eec4a225948144d0be947ceb5574684c",
            "controller_qualifications": [
              {
                "probe_index": 1,
                "qualified": false,
                "t_seconds": 20.00000000000146
              }
            ],
            "criteria": {
              "distance_comparison_epsilon": 1e-12,
              "initial_sample_tolerance_m": 0.001,
              "maximum_tcp_local_drift_m": 0.003,
              "minimum_continuous_dwell_s": 0.1,
              "minimum_per_finger_force_n_exclusive": 0.01,
              "minimum_rise_m": 0.006,
              "native_dt_s": 0.001,
              "origin_tolerance_m": 1e-09,
              "time_tolerance_s": 1e-08
            },
            "history": {
              "ever_qualified": false,
              "first_qualified_s": null,
              "maximum_continuous_qualifying_s": 0.0
            },
            "latest": {
              "condition_valid": false,
              "continuous_qualifying_s": 0.0,
              "controller_claim": {
                "probe_index": 1,
                "qualified": false,
                "t_seconds": 20.00000000000146
              },
              "native_tick": 20000,
              "qualified": false,
              "rise_m": 5.040041389930972e-07,
              "tcp_local_drift_m": 0.004232211082073834,
              "time_s": 20.00000000000146
            },
            "metadata_sha256": "ad8229630cc9f8718829bb8317b1a82480dcf18b9f71bd23666acfe71a003ef7",
            "native_arrays_sha256": "829da18e8bc720c20f8cf6db26c3e10121febdf0a5b3e0bff25d7b27db6d96e1",
            "physical_robot_ready": false,
            "receipt_sha256": "d3e09107f8592ee7609d2e038cc952eff020eb93aa151b5b8e30713938bed320",
            "schema": "dvidia.probe-evidence/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification."
          },
          "status": "inspected",
          "verification": {
            "admissible": false,
            "historical_qualified": false,
            "latest_qualified": false,
            "physical_robot_ready": false,
            "reasons": [
              "latest_native_window_not_qualified",
              "no_controller_qualification_for_this_probe",
              "latest_controller_not_qualified"
            ],
            "receipt_sha256": "d3e09107f8592ee7609d2e038cc952eff020eb93aa151b5b8e30713938bed320",
            "schema": "dvidia.probe-evidence-verification/v1",
            "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.",
            "verified": true
          }
        },
        "stationarity": {
          "complete_5s": false,
          "grip_retention_and_stationarity": false,
          "tcp_pose_within_bounds": false
        },
        "status": "inspected"
      },
      "files": {
        "episode.json.gz": {
          "bytes": 774917,
          "sha256": "dcc85b363e48a184ea48a24e4bae1594234fedcbbcd5dfeca541f378604620a4"
        },
        "evaluation.json": {
          "bytes": 11697,
          "sha256": "f332df33183c11464e51eae8610f224b5c6bb8a2fadec87a3e4cf507367ef1f4"
        },
        "native.json": {
          "bytes": 13763,
          "sha256": "19cc1d5998901cbc12da2916add3096763081e9decbfc7193981bfabc4b871e0"
        },
        "native.npz": {
          "bytes": 4062859,
          "sha256": "9008b89332b855556418f849e61a3dc0b0791a79535f3d1944caf519fad1a097"
        },
        "started.json": {
          "bytes": 149,
          "sha256": "81b0b148e2d9023b0f2faf1678459d9f0500978ebbb85f1b7724a45dcc514b4d"
        }
      },
      "friction": 0.2,
      "id": "m55-f20-p1-issued_joint",
      "mass_kg": 0.055,
      "metrics": {
        "carry_complete": false,
        "carry_contact_loss_events": 0,
        "carry_contact_loss_tolerance_seconds": 0.04,
        "dwell_seconds": 0.0,
        "first_success_time_seconds": null,
        "grasp_seen": true,
        "lift_dwell_seconds": 0.0,
        "lift_seen": false,
        "max_carry_contact_loss_seconds": 0.0,
        "max_object_lift_m": 7.71636602886483e-05,
        "max_pad_normal_force_n": 0.43263609514913476,
        "physical_robot_ready": false,
        "reason": "timeout",
        "retention_lost": false,
        "simulation_time": 20.00000000000146,
        "steps": 1000,
        "success": false,
        "target_distance_m": 0.12449912592344718,
        "unexpected_contact_native_ticks": 0,
        "valid": true,
        "warnings": []
      },
      "policy": {
        "abort_reason": "retry_budget_exhausted:object_not_following",
        "acquisition_contract": {
          "comparison_scope": "Closed-loop variants may acquire different trajectories through early hold/retry. This is not an isolated classifier ablation.",
          "control_dt_s": 0.02,
          "evidence_admission": "Current bilateral force >0.01 N, no table support, object rise >=6 mm and TCP-local offset drift <=3 mm continuously across sampled boundaries for elapsed >=100 ms.",
          "hold": "Latch measured six arm joints and the last issued jaw target at admission/terminal invalidity. No full lift/transfer, no squeeze escalation, no post-admission retry.",
          "invalidation": "At each subsequent 20 ms observation and final observation, invalidate immediately on lost contact/force, support, insufficient rise, >3 mm local drift or unexpected contact. Never requalify after terminal invalidity.",
          "observation_origin": "privileged_native_simulator_state",
          "parameters": {
            "close_timeout_s": 1.4,
            "consecutive_alarm_samples": 2,
            "max_retries": 1,
            "monitor_min_probe_motion_m": 0.003,
            "probe_height_m": 0.01,
            "probe_min_object_rise_m": 0.006,
            "probe_speed_m_s": 0.02,
            "probe_timeout_s": 1.4,
            "qualification_dwell_s": 0.1,
            "relative_drift_limit_m": 0.003,
            "retry_clearance_m": 0.012,
            "retry_open_timeout_s": 1.2,
            "retry_recenter_timeout_s": 1.5
          },
          "physical_robot_ready": false,
          "prefix": "Original GuardedPiperTaskPolicy approach/close and at most one supported open/recenter/retry; already uses authored native state, not a fully blind baseline.",
          "sampling_limit": "Independent 1 ms evidence may contradict sampled admission; that remains a finding. No sensor or material inference is implemented.",
          "schema": "dvidia.piper-probe-stop/v1",
          "stop_scope": "Holding native position targets is not physical arrest or calibrated force limiting; inertia and existing target rate limits can continue motion.",
          "timer_admission": "Same 10 mm/20 mm/s probe target law, admitted at elapsed >=600 ms from that probe start; no evidence predicate or slip alarm before admission. Unexpected contacts and bounded timeouts still stop.",
          "timer_admission_s": 0.6,
          "variants": [
            "evidence",
            "timer"
          ]
        },
        "acquisition_variant": "evidence",
        "active_probe_index": 1,
        "admission_time_s": null,
        "admitted": false,
        "contract": {
          "acquisition": "Unchanged ProbeStopPolicy evidence acquisition, including its bounded supported retry. All variants share the same prefix through the first admission observation.",
          "cartesian": "Latch measured TCP position/orientation and preceding issued targets. Fixed joint bias equals issued target minus pose_action at the admission pose. First command repeats the exact issued target; later pose_action updates receive that fixed bias.",
          "control_dt_s": 0.02,
          "final_observation": "Repeat force, original eligibility and Cartesian pose-error checks. Do not solve or issue a hypothetical next control at the terminal observation.",
          "invalid_measurements": "Malformed, nonfinite or noncausal observations terminally refuse and raise without issuing a command. No measured-position stop is claimed from invalid measurements.",
          "issued_joint": "Latch the preceding issued six joint targets and the same last issued jaw target at admission.",
          "limits": {
            "initial_joint_bias_ceiling_rad": 0.08,
            "joint_correction_ceiling_rad": 0.03,
            "joint_correction_rate_rad_s": 0.1,
            "native_joint_target_margin_rad": 0.02,
            "per_finger_force_ceiling_n": 10.0,
            "tcp_orientation_error_ceiling_rad": 0.05,
            "tcp_position_error_ceiling_m": 0.004
          },
          "measured_joint": "Original hold: latch measured six joint coordinates and the last issued jaw target at admission.",
          "observation_origin": "privileged_native_simulator_state",
          "physical_robot_ready": false,
          "qualifications": "Engineering limits and the 10 N ceiling are authored synthetic assumptions, not damage limits or calibrated physical telemetry. Position targets are not physical stops or force limiters. No load/friction inference, model training or complete placement is implemented.",
          "rate_scope": "The extra correction slews at at most 0.002 rad per 20 ms per joint. Original native 1 ms target slew, servos, gains and force caps remain unchanged.",
          "refusal": "Original eligibility loss, unexpected contact or observed pad force >10 N terminally requests measured joint hold and the frozen jaw target. Cartesian error, initial-bias, total-correction or native-margin exhaustion also refuses terminally; it never chases an already failed grip.",
          "sampling": "Control checks occur at 20 ms boundaries. Independent saved 1 ms native evidence must judge a continuous 5 s hold; missed between-boundary failures remain findings.",
          "schema": "dvidia.piper-retention/v2",
          "variants": [
            "measured_joint",
            "issued_joint",
            "cartesian"
          ]
        },
        "events": [
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "continue",
              "drift_streak": 0,
              "object_height_delta_m": 0.0,
              "phase": "probe",
              "progress_streak": 0,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0,
              "retry_index": 0,
              "t_seconds": 11.439999999999099,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_probe",
            "probe_index": 0,
            "reason": "slow_load_bearing_check",
            "retention_variant": "issued_joint",
            "retry_index": 0,
            "status": "probing",
            "t_seconds": 11.439999999999099,
            "type": "probe_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm",
              "drift_streak": 2,
              "object_height_delta_m": 3.6966802752391725e-05,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.004058773820687014,
              "retry_index": 0,
              "t_seconds": 11.7999999999989,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0037043685220967265
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_stop",
            "probe_index": 0,
            "reason": "object_not_following",
            "retention_variant": "issued_joint",
            "retry_index": 0,
            "status": "probing",
            "t_seconds": 11.7999999999989,
            "type": "alarm",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm",
              "drift_streak": 2,
              "object_height_delta_m": 3.6966802752391725e-05,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.004058773820687014,
              "retry_index": 0,
              "t_seconds": 11.7999999999989,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0037043685220967265
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_stop",
            "probe_index": 0,
            "reason": "supported_object_only",
            "retention_variant": "issued_joint",
            "retry_index": 1,
            "status": "acquiring_retry",
            "t_seconds": 11.7999999999989,
            "type": "retry_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": false,
              "contact_loss_streak": 0,
              "decision": "recenter_with_open_jaw",
              "drift_streak": 2,
              "object_height_delta_m": -1.860133177335188e-05,
              "phase": "retry_recenter",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.009708468525029912,
              "retry_index": 1,
              "t_seconds": 13.43999999999799,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.009672537833201794
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_retry_recenter",
            "probe_index": 0,
            "reason": "open_recenter_complete",
            "retention_variant": "issued_joint",
            "retry_index": 1,
            "status": "acquiring",
            "t_seconds": 13.43999999999799,
            "type": "retry_completed",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "continue",
              "drift_streak": 0,
              "object_height_delta_m": 0.0,
              "phase": "probe",
              "progress_streak": 0,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0,
              "retry_index": 1,
              "t_seconds": 14.319999999997503,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_probe",
            "probe_index": 1,
            "reason": "slow_load_bearing_check",
            "retention_variant": "issued_joint",
            "retry_index": 1,
            "status": "probing",
            "t_seconds": 14.319999999997503,
            "type": "probe_started",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm",
              "drift_streak": 2,
              "object_height_delta_m": 7.295759615090491e-05,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0040204446885814815,
              "retry_index": 1,
              "t_seconds": 14.679999999997303,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0036749439489060787
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "guard_stop",
            "probe_index": 1,
            "reason": "object_not_following",
            "retention_variant": "issued_joint",
            "retry_index": 1,
            "status": "probing",
            "t_seconds": 14.679999999997303,
            "type": "alarm",
            "variant": "evidence"
          },
          {
            "diagnostic": {
              "bilateral_contact": true,
              "contact_loss_streak": 0,
              "decision": "hold_measured_arm_and_freeze_issued_jaw",
              "drift_streak": 2,
              "object_height_delta_m": 7.295759615090491e-05,
              "phase": "probe",
              "progress_streak": 2,
              "qualification_dwell_seconds": 0.0,
              "qualified": false,
              "relative_offset_error_m": 0.0040204446885814815,
              "retry_index": 1,
              "t_seconds": 14.679999999997303,
              "table_supported": true,
              "tcp_probe_height_delta_m": 0.0036749439489060787
            },
            "observation_origin": "privileged_native_simulator_state",
            "phase": "probe_stop",
            "probe_index": 1,
            "reason": "retry_budget_exhausted:object_not_following",
            "retention_variant": "issued_joint",
            "retry_index": 1,
            "status": "invalidated_hold",
            "t_seconds": 14.679999999997303,
            "type": "abort",
            "variant": "evidence"
          }
        ],
        "ever_admitted": false,
        "final_observed": true,
        "frozen_jaw_target_m": 0.0,
        "initial_context": {
          "object_position_m": [
            0.30699999506272085,
            -0.03700017660547436,
            0.07989224451748382
          ],
          "observation_origin": "privileged_native_simulator_state",
          "t_seconds": 0.0,
          "tcp_position_m": [
            0.4890696662845219,
            0.0014141975654808877,
            0.3665849431043091
          ],
          "tcp_quaternion_wxyz": [
            0.6580840948238629,
            2.7730466224793136e-07,
            0.7529444362872891,
            -1.9485471114950535e-06
          ]
        },
        "last_observed_s": 20.00000000000146,
        "observation_origin": "privileged_native_simulator_state",
        "physical_robot_ready": false,
        "probes": [
          {
            "disposition": "interrupted",
            "end_time_s": 11.7999999999989,
            "local_offset_origin_m": [
              0.002260228677663499,
              0.0003039325746832893,
              0.0019063328967486672
            ],
            "object_origin_m": [
              0.30669924831359247,
              -0.037008205170062876,
              0.07991084591155705
            ],
            "observation_origin": "privileged_native_simulator_state",
            "probe_index": 0,
            "reason": "object_not_following",
            "start_time_s": 11.439999999999099,
            "tcp_origin_m": [
              0.3089418730034355,
              -0.03729835318311504,
              0.08183998106222445
            ],
            "tcp_quaternion_wxyz": [
              0.00497253413425339,
              -0.002471522589631371,
              0.9999843429513522,
              -0.0006923384466124257
            ]
          },
          {
            "disposition": "invalidated_hold",
            "end_time_s": 14.679999999997303,
            "local_offset_origin_m": [
              -0.001960726315689993,
              0.00029099556125725427,
              0.0023537848522705565
            ],
            "object_origin_m": [
              0.3073691287228304,
              -0.036905084881093383,
              0.07988229338951458
            ],
            "observation_origin": "privileged_native_simulator_state",
            "probe_index": 1,
            "reason": "retry_budget_exhausted:object_not_following",
            "start_time_s": 14.319999999997503,
            "tcp_origin_m": [
              0.3054283427596418,
              -0.037198990937251035,
              0.08225218754490064
            ],
            "tcp_quaternion_wxyz": [
              -0.004192833137042042,
              -0.00023008487631858988,
              0.9999910927826025,
              0.00042610643157222033
            ]
          }
        ],
        "retention": {
          "hold_reference": null,
          "input_refusals": [],
          "native_joint_control_limits_rad": [
            [
              -2.618,
              2.618
            ],
            [
              0.0,
              3.14
            ],
            [
              -2.697,
              0.0
            ],
            [
              -1.832,
              1.832
            ],
            [
              -1.22,
              1.22
            ],
            [
              -3.14,
              3.14
            ]
          ],
          "variant": "issued_joint"
        },
        "retry_count": 1,
        "schema": "dvidia.piper-retention/v2",
        "status": "invalidated_hold",
        "stop_targets_rad": [
          -0.1256337946128927,
          1.7497802386012402,
          -1.166608130921211,
          -0.00022524383965888764,
          1.073867507754142,
          -0.1260157579240826
        ],
        "variant": "issued_joint"
      },
      "scene_id": "m55-f20-p1",
      "timing": {
        "policy_cpu": {
          "maximum_s": 0.00026400000000137425,
          "mean_s": 5.8636000000177544e-05,
          "over_20ms": 0,
          "p50_s": 5.5000000003246896e-05,
          "p95_s": 0.00011005000000636751,
          "p99_s": 0.00022303999999138564,
          "samples": 1000
        },
        "policy_wall": {
          "maximum_s": 0.0005016252398490906,
          "mean_s": 5.985445948317647e-05,
          "over_20ms": 0,
          "p50_s": 5.5104028433561325e-05,
          "p95_s": 0.00011474525090306994,
          "p99_s": 0.0002230735449120402,
          "samples": 1000
        },
        "step_cpu": {
          "maximum_s": 0.006161999999989121,
          "mean_s": 0.0019288109999998396,
          "over_20ms": 0,
          "p50_s": 0.0015564999999995166,
          "p95_s": 0.0037644999999905332,
          "p99_s": 0.004542380000000747,
          "samples": 1000
        },
        "step_wall": {
          "maximum_s": 0.021189541090279818,
          "mean_s": 0.002055097754113376,
          "over_20ms": 1,
          "p50_s": 0.001602125121280551,
          "p95_s": 0.004219749639742075,
          "p99_s": 0.0062643867265433075,
          "samples": 1000
        }
      },
      "valid": true,
      "variant": "issued_joint"
    }
  ],
  "schema": "dvidia.piper-retention-study/v1",
  "scope": "Authored synthetic PiPER probe and short-pause controls with privileged simulator state. Fresh finite development cells; no learning, full placement, physical sensing or hardware qualification.",
  "source_sha256": {
    "__init__.py": "4c0db7cec4588f99f061f7783bbfba210e246205654a1dcb6c8c03c252254dcb",
    "__main__.py": "78bb668b0d74bf68d7ff0fa4cf72353b4681394e975c8b0d7989a779aa6d0ac8",
    "action_demonstration.py": "439c7cce558571221660cd51e7dba1675203237706ea8ea0f97f2fcf9a6a24c5",
    "arm_benchmark.py": "b45bce3072d6a3c0c5b67307b31c184907cd0c8f08f910c004fea79a4cb44412",
    "arm_distill.py": "14640f91ec9c91d10a405fa56eb21bda8b55b285854ce2b5859a71d1ffd06ea1",
    "arm_entrypoints.py": "c6b6400ad7aa8bf415277961dbca641ef9061871634b0127231b0990a820e4d2",
    "arm_env.py": "e4af9b75364a568284b1e6d96469deacf498dd87a60b067fa5e310fe15c54c00",
    "arm_interface_benchmark.py": "2b70e624264bed0c003d4836fee192f9b16d22dc59a91dd9dd54180abf4ed857",
    "arm_interface_cli.py": "75baae1e7ecbc7d33cf3d2a1d0a29f5dfc8b96bcd5f0503cb6e642ea8add7874",
    "arm_interfaces.py": "f5fd3952b194bc7d12dfefad25aa4bb6057a1bade90d593242b2c5099fb3570d",
    "arm_native_offline_check.py": "d71c194941688e76845907c31e139d58eecc3951ebe73f51dd796467da02edb0",
    "arm_pack.py": "acf1987de08f205cd3bf36b2b9154481f1e5e6f8948960e4da39790d820dc845",
    "arm_policy.py": "d6d53d87703fb8608390092309285afb6a2c8fd3103a7abd77668be85469eab3",
    "arm_qualify.py": "e89dffc46994a5b9c41c30f76d295910ef3e15a361bdd67ec8fcbfeb02d5382f",
    "arm_runner.py": "affb5812b6a395f6cca9cb4e900af2ef28162e7ff1e52a51bd29b789daa98df1",
    "arm_skill_install.py": "105fff2f7d220e106243dc9cdd0bf71c411a0ca40648a985c0425ad403398507",
    "asset_benchmark.py": "922cce190521b2b6a404bcece90e0f9f84b007d4987011d25ff5c8f6f914c40e",
    "asset_cli.py": "1d2780937df6c633674999208ee05ea821028b0c418d56c0269b8b4f3490e860",
    "asset_library.py": "347bfdeb61e22eb3f65e317c18f94d3b2076d05def77630ebbb6e7dde427c2a7",
    "asset_preview.py": "12f4806162504a3c8773b10b516d6b7abb05f670a1f5817be144ea98fc1d25d8",
    "capsule_installer.py": "60bb1652cae830fd03ae6eaa5e10150c957be13e1dc630a5631c1a2692ae37ec",
    "cli.py": "192ec6a0852c7fd5dd3ae912815dae2fc7c9cfb93b97c85d528060e00a975b17",
    "continuous_grip.py": "c9a3e2ed8f0beb9974e346899ca36ce3c7a0957a09dc234c47ba97a6d6e097da",
    "coverage.py": "d7d742ff9750d044f5c4d11f9c3bf9499f48c8852a3cef22de192b42eb384fbf",
    "doctor.py": "23b56b20626c02fe88d1aae89b9e7c701cd7acb800eadbe5002695f4f9fdb6c0",
    "embodiment_calibration.py": "0531be511b3bc549576a33930394d33b673c146d5e52c29198096632ea7478c5",
    "embodiment_cli.py": "cd8aa0f8bc1ffc15509b1a0f155ef9ac2056d96425f803ce034b365931daf6e1",
    "env.py": "929c1d8c3c4cafe0054c633ee5f3e51c551dd6b26ae014ab1ea9219b58eca8e4",
    "episode_tape.py": "abae9a4bd0080c7f638c5c82c050fb1364a20769998c054354b918233669f5d2",
    "footage_benchmark.py": "a2c08b4836b92ee8c98c56dd5d56a788d7b71e591be63a8181584693312418bd",
    "footage_data.py": "c54828b712afb1c7e89dc764b34dec1fe1ab28517c3ec589ba0977a2146c450d",
    "footage_example.py": "4a7ea616c3b0ae6a79cf97e162ea1488b4ed2853cccbcf6da52a4fe4a120ee38",
    "footage_pipeline.py": "195278556a2b40dc628dbe528ec653c8b705a4ff45fa8d1074bf5341daec4dfd",
    "footage_train.py": "2457a37a10016df6f359433f224c006b8c67f920b671383cbcfd5cfa78fc626b",
    "graspability.py": "735239a7071cbfd3258d09f260bb2bd82b7a0a4577013cae594bfb8542ea03ee",
    "graspability_benchmark.py": "47687b0a214140d16cb29611b7f933945398cf4ba82064dfa58b30cbef4f2308",
    "graspability_protocol.py": "6df01c6b7441859573052510d2b7e95d207d93f9a02a383771a9174bfb6b43e5",
    "grip_benchmark.py": "236ebcd0df1547bf0146675289d57c535d67a3aa2c051456bc9e8b4542bf59ac",
    "grip_protocol.py": "762c5011cb242ded7355dd3d9b97dd465c0e14e7ef3977ed12e0037017fd0532",
    "hinged_shoebox.py": "9e9189b28bb0f97d699039168e8c5022df3afb34aadb0d9f8a04dc4592aaf2e9",
    "image_goal_benchmark.py": "38fa1de5da6ee9f8e0ab60bc77d2561e82de0dad17dcc1d067b5816d8633996a",
    "image_goal_report.py": "7823e510a8cbcd6a521a5a65bd652e2acd01893c6dfe7d899db2a1427ccb979e",
    "image_goal_scenes.py": "1fe41c3fe4d372b068681caf3f63766285b9238976043a9e15fe4dbadb40b79a",
    "installer.py": "d3a2c5a4913920c52beef89df9954494b89fd0becb08bb4847264dae48d3761c",
    "jev_client.py": "f5dad86c692144a1cf85bfeecf68b99318ea8d9df08e0fe5d47d144f80a380ee",
    "local_goal_benchmark.py": "d1cf4990ba0239418855ea851416e37d3f3fd5c5e38bc0fb6183e432ba4e3ecf",
    "local_goal_scenes.py": "58e8a01aae646a4e9078ebb1b2e629a23c93ce42198b027696a6e77dea0858b0",
    "local_goal_verifier.py": "234d6374ae01cfdfd56fbfe1a4e1f27fc58baf8df88f47b02a30ca64bc238da5",
    "local_goal_verifier_report.py": "71b884f9aec766a1ccbb7aa65cb893709a2a98d29451e027ca9e245114daf8b5",
    "material_appearance.py": "e7bd6c4a6b7ad7961dbc09f9be9f12483d90c7af5920b80261e4094ced62cb5a",
    "material_appearance_benchmark.py": "96dff1233131162ba9ad497e790798bfdc02336a1e821d46db7fa487c8acc5fe",
    "motion.py": "5ffa58aba23f7379c4be311c89acc0bf312ba7c0505a86d7e708988ef457083c",
    "motion_benchmark.py": "d371dcabd905948670e9d9e49bdb4c2c7abb3f8a761d4daf33b68ca73e72919d",
    "motion_cli.py": "fbdb97be70c94dd07d899c6baa38cf9b821b4b29e1e8afb529e1a5f7f63c1823",
    "motion_studio.py": "21ee0bea8ef04221f3bb229eac4b2873d0171c3ecf318cb4c169e74fb324358b",
    "motion_video.py": "16f09081c79891b32aa6c907d8f511ac98cce7d87280e2f75c992ff6f7f15f9d",
    "motor_benchmark.py": "535ee01df0a60ade43f845cd55119f0eac061f8fe16b136f8fb0b1d2565ba976",
    "motor_memory.py": "acb836c4b139ccd0a58b1e7e438638e390feeca793abe61570840b111d780806",
    "motor_metrics.py": "a981953181472fc735dc9b6722b598dab1a5457d77b93270691543c7d19e4c1b",
    "native_offline_check.py": "f550f650a1e7fdaeff38c0aec07782df7cf456e20663c7fba6cede8510e9120e",
    "observation_models.py": "9f0af51577ed060728de4dea6f6004d640376fca365b8d747d93f7c0a66bf01a",
    "observation_pipeline.py": "d202417692c04078e7800476393bb9381b36a4cedfa78cbd937e558e3e7a27b2",
    "observation_studio.py": "256c6eef1baa909abd7adb000ee021a6512fdca9ed14d76223486efedcf1a707",
    "observations.py": "77324107aa8e7cf1c5dac217881ae83710627e81ade2b6b1a41c604b1b34253c",
    "pack.py": "885e973907499a505fef4d28ac6bb5eb2b2dbba498efc94d9e6c8125b9bd52f9",
    "piper_action_capture.py": "ee20549f9bd239a2314c28947a0c69dd7c2b11150475685747a2c7dc0f8b399e",
    "piper_contact_benchmark.py": "6ebd44c3704cda8679335f988df0dcc7817b3f8da314b7a4fe8b3939215728bb",
    "piper_contact_memory.py": "f608d6647046f6fa02d8ad5e87fad10853837520a6a0fae2043c7ad260a06c4c",
    "piper_contact_recovery.py": "81058659b332f4d1233fb88d9e3d84fd935f5a9fe9d418b040a4a536b5291f6c",
    "piper_feedback_benchmark.py": "76fd214eb5033019b42c034e7c504c1610cca7e9a924edeb9f84d52ad29aa264",
    "piper_feedback_env.py": "0dbae423231968a81bdeed52226d8dffaf8df622013ed3a360d7217148f1bcac",
    "piper_feedback_model.py": "b0cdaa4e9adc302649eab9365f619a8825f05f2d752688245a6b7b7f8a665845",
    "piper_feedback_score.py": "863a272828208c631de4cf57647e973eb3e4f5e99eb7a1eacb4eaa68dc42eb0e",
    "piper_feedback_skill.py": "1824dbb7a2f47a01051419020b15393c841b2e7ec3aa5ed2801943495a5e729e",
    "piper_feedback_viewer.py": "0e2a20f94bf67057db7664b1fa7ea96145c8cedb01ae147b8ca18fd0b9c1e3e5",
    "piper_grasp_strategy.py": "a2cbf9f954f6428894bd11cb42f228fe86f2ae88ba62e431f78bc33c7f3db36b",
    "piper_grip_adapter.py": "e9c480ca6ebd21d4e00b4f4136f623dd9b7cda402dc8ec9669fb4982267e0aa7",
    "piper_grip_benchmark.py": "7ab72a8cbe77d4db96d3fa45087571e3e1d64f40fe92b6f37032936701f318e1",
    "piper_grip_clock.py": "0ae71aab4d5a5a74c10820f729fd0a1f2ffc938ce9ab0507f4d1bc0077ce592c",
    "piper_grip_clock_benchmark.py": "1dc5733a75689479d11a67f4e69a1c6c2da29be8eb3d54cea6a3b8bea4685193",
    "piper_grip_clock_cli.py": "bffb4a8b1fc2259f8a0126c5435ae2eff80f7e630c3cf1c43509fbafdfb2494b",
    "piper_grip_clock_env.py": "4fea7289c1aeea209e6c4ab2090d88271ba1663e836b24a77fb3f39749858c99",
    "piper_grip_clock_model.py": "4ef0464b0e4f1339156f4531dff76c85826594af60f2fbc5d949363744c34ba9",
    "piper_grip_clock_skill.py": "4044ba290b525a915200e69db727c3b62cdf4204be0b2de565f68fe0844a5de3",
    "piper_grip_clock_viewer.py": "133bffbb0857ca6e3e6440d39d2f389d94550c4e3aae8c1741da9f1fac9407d2",
    "piper_grip_guard.py": "90895566cad8d5a3c158a14d3165fa1866cb3d7a4a3eecac3ca0ca8ab3e88dfb",
    "piper_grip_wait_v04.py": "41889e7c88d8d95441ba212442778b7e235e1e7ec42d941219a93d6e4762b6d6",
    "piper_grip_wait_v04_benchmark.py": "8a84270289e08802ec690079cdccf775252460f2e97202c1696e2ee6900ff460",
    "piper_imitation.py": "849f66512c58441a240cd20230fcc58691234ddd254c5bbcbfd76abc21b14868",
    "piper_imitation_benchmark.py": "0ef4649f8e84fc74166fa1acc4d7348aae885ffec238e4b4d714ccf2ca54993f",
    "piper_imitation_driver.py": "b739dc1d75ed5140b0c07fca406a15d861e00208ea58f3113641b3b7256bd699",
    "piper_imitation_release.py": "63c7c036bfdd08275a3b6b9664e34f23b2bd2e36153289e5a47e3b2f1e56fff4",
    "piper_imitation_score.py": "0cd4663abfdd7f14f2f33d93e9a2bd45122b998d6160d45b8afcc880512cba2b",
    "piper_imitation_viewer.py": "1258610a0ea11dbafc6437de79cf73561f3420e3914ce80a9c330b0c3744e0d6",
    "piper_learned_grip_benchmark.py": "fc2fb376507bb0036aa1ed300f9f07f4a4bcdc55eacf7e7e1798fdce1af8db9b",
    "piper_learned_skill.py": "8d5ab88ff6819920c8fdf8caf1cbf5f6eb2d5e5a597db8da01119a815800d960",
    "piper_motor_primitive.py": "02a45b88913db6f223e4d9975eac64d4942a92739c5817c6ede4cc9fa332ed1c",
    "piper_probe.py": "82b47a1d5ce0e6d13bd0b8d97f49809c13dda6d202529b44e69cdf70c547442c",
    "piper_probe_benchmark.py": "3450c4663a4b5b59cc5117d0db86c4d549253f114030e90036fa3adaa0e49e7e",
    "piper_reacquisition.py": "b1eaffd7f9d80f21d3b9371e1adbe8b9c730a834745d8160c558937d35691e21",
    "piper_recovery_benchmark.py": "081ec18d90c91fe910c957ab3485444cfe2376ef7277be92823806c7c0e290bd",
    "piper_reliability_benchmark.py": "07672ae3f791c15df364580d7f9dc1758c23e5744374a6580720c4883b69aba9",
    "piper_retention.py": "9b762280e89287382bf56d22d26957ccdb7f1194f82ee5cbc70248559d4e5c9c",
    "piper_retention_benchmark.py": "5ee6441e309e4bf556a12a1ec70af0753b4d90caa1dfbf1fb581e74de46319d5",
    "piper_task.py": "e66a44a8df4e7a8ee42e4f3866f889f8797cdfb8e2688a146e09b75d2c76664f",
    "piper_task_benchmark.py": "d1294fac93bb42a26a654c6fd0950718e528cbf3cd96ffcd53118da0a1646776",
    "policies.py": "f52071d8af4ffa215c0c5ac57a7591e12e9e17b834b4bfb2a1705e7e0a7f5154",
    "prerequisite_benchmark.py": "c78efb24263300c56f50413aa65333e4fbf1b99403aa816de9bf4cb5656a3811",
    "probe_evidence.py": "c00114752dd5da475762660fefdfd1e77e64ce07661e0d23221fe2b6ac9a3431",
    "qualify.py": "2f9566f9c550723cbf96342e075e68dc291446c4fbd3935cec9d333371ab1457",
    "reaction.py": "46ac1fd0e603bb6a500037fccf41b393bb2165ee2da7819895b0cc497f216e6e",
    "reaction_benchmark.py": "54d22a9e2d457fc7c248f4515788659b5e24a44e967659405e75e2f25880af13",
    "reaction_convergence.py": "efaa222d7a4b0102b0f8f14dfbca1d100abf7ee1a15a37bd4f8d8bedaac83b62",
    "reaction_metrics.py": "7cae6fd429ca63bad5d2323f6cc022f9c735c775821ed6f16809f2b339dc52ee",
    "reaction_native.py": "4fa13b7446fcacfa6333b9904e6b9e34fb0f95bf3a8681e68a15be48e74984e4",
    "reference_assets.lock.json": "941eb6f9fd474635a590b82c66b59a9d5124d8e0d9ddc203006f5b921d8d2861",
    "reference_replay.py": "f73731434d55bac150db16c7205d341a70b95ce13e582e7a23d11dee31b27a19",
    "reference_sim.py": "c1201d22eb13dd07a236ee63cc4ba68e129f6067e8db61ed41af2d820eb5e3b8",
    "reference_task.py": "bbc768ccc202b8dd41cbd235b206e6478806ce47c1f30ae15dc662c0c1edcc3e",
    "reference_task_benchmark.py": "a04ab0918b1931601cc3861ab3b9b55ddac52a29c23d2e61ee8e467a87d461cf",
    "reference_task_replay.py": "8a95050a384a080f66ff7cbbbfa1b8de8a389ec4fbfa4207149098f89ef3cdd3",
    "robot_profiles.lock.json": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
    "robot_profiles.py": "fb90782a6a9979e282182118ae0e3e29d00f101255cc57378dd3f692672bb13d",
    "sensor_goal_benchmark.py": "d676f67cdf9ea5ead8a118c88bb8e3cdc3ef085d35505055a29d6fc05b6bd917",
    "sensor_goal_observers.py": "53e96c99ffae058c701c9ccc0b5339317262909637acc14b351bec9e6cca99f7",
    "sensor_goal_scenes.py": "9aac1531180364a380d01fcbb52375cd1f1e4aea18fa6f93d581a316b14f5af1",
    "sensor_goal_verifier.py": "7d54a444e4a4a79c0b5a554fc0883ad88f091deb43ad0759d3a70e2e4a9dd90e",
    "sensor_goal_verifier_report.py": "960469041ce3928056292d6881e50f5b5591a1fdc5ffdaf17d3448d94a7b04cc",
    "skill_capsule.py": "ecb7dbd60d3a11f40bf65c4520f024b449c0d63f9ae27c601c9c9fe17b32e6a0",
    "skill_release.py": "f08f0d9405c73534bf75881e5f55db1fe4ff36bc086d9b04d11a7a9c479f07d2",
    "skillspace.py": "34b651609358ae9a58b9a610545ce7b85b83fb3d6c699613414ff8e0ea457b3c",
    "skillspace_video.py": "cdd21bce67fbb5059c9b8338c1d16b68b4fc9e4943151453a4607159402c61f1",
    "studio.py": "48813b43c14e93d7de72890428455f13ac6a7080105d28bb50c1ff04496414d4",
    "task_feasibility.py": "d08c3d279e031aa87426938a8dfd86ebcd4dac83c100cbd6a5c36c07c9741510",
    "task_scene.py": "17034a12980fd69960adbb7b4be427bdde89222d6c69b75ddd51f90f99d48ba9",
    "task_scene_audit.py": "d1640bc14164c179d90baa44e8777dce2dce13d81edde17fa39e6519ba74ddfc",
    "task_scene_benchmark.py": "6c6a3db8edec4ab95d17aa7a58d5dfff668fe72783c036ec55f251c5315eb4d5",
    "task_scene_studio.py": "6dcf0f42e05f5749c66d9d7e08b3ec7437edddee43382d1ba7bf7e421e5791c1",
    "tool_reach.py": "812072388b518fb11999dafddd15655f3c750fa84fe09047c55a78c2b509e68f",
    "training_studio.py": "c42cf037abd60a2cb14b0cbb8edb7b6d262e524f62cc17018cb653b2214760ad",
    "transition_cli.py": "b21e3b44fb84577c7da95bc3844e61417a214882bf045b07f2e3984aaa1c96f4",
    "transition_model.py": "5315c65f547d0876bca190f68b17548fbdbc10819b44d28405d4de8a76ac4ef7",
    "transition_pilot.py": "cafb5e31bd9a07f224339e1f636abccc5f8aecd1efce0ecb4413bbb79441217c",
    "usd_scene.py": "8b6891deb214f2397249181390350336593a89adbc73cf0c30bcdfe885171470",
    "usd_scene_benchmark.py": "b64d739362079635f89b9f448359565f09711d74a95aeeebaba0ea7bb3f79f39",
    "video_goal_analysis.py": "9f3c696a20813312f065e8458421d0ab3282d87ba17e0b3bb5d7db12f44cee58",
    "video_goal_benchmark.py": "69ecc7d9512abe04cc815dbb77c126cb671dd88b5c51a2643c1d8794fd3703ec",
    "video_goal_bridge.py": "c7794ff3fd18876774e8aaad425ba93ff798a84355b27216d9d51c33f610441a",
    "video_goal_install.py": "dbdb70f85f494f05e30b58ec3a53bf7c834b9cf8696fea0a26b3caffb718bef4",
    "video_goal_install_benchmark.py": "fe8833f924fd1d06058033fcd1a39d2677fe6f159c2c0bf1c78d14c74036dab7",
    "video_goal_studio.py": "6a7731eb60c8d018b9f2d1760f7f990eeaef4917899ae58b4967c6fd6a9146b4",
    "viewer.py": "2fc396aaace350c0fa795fdd907dff96179fcb919116d3d5f1a7b3fa9392376d",
    "workstation.py": "2a6aa6686b5b273efcfb21156952df8ceca88d991674cd17df92f2dccc11b701",
    "workstation_benchmark.py": "9468ad25ca2e173fef9966bfd0f7cb291e81e69ec0d876be8ede23ea5ec45090"
  },
  "valid_attempts": 36
}