{
  "passed": true,
  "checks": [
    {
      "check": "one_record_for_each_required_event",
      "passed": true,
      "event_counts": {
        "pre_release_jam_detected": 1,
        "pre_release_recovery_verified": 1,
        "pocket_support_confirmed": 1,
        "first_target_release_command": 1
      }
    },
    {
      "check": "jam_recovery_support_then_first_release",
      "passed": true,
      "events": [
        {
          "event": "pre_release_jam_detected",
          "t_s": 32.77500170934945
        },
        {
          "event": "pre_release_recovery_verified",
          "t_s": 34.57500180322677
        },
        {
          "event": "pocket_support_confirmed",
          "t_s": 37.4500019531697
        },
        {
          "event": "first_target_release_command",
          "t_s": 37.4500019531697
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      ]
    },
    {
      "check": "jam_at_rim_before_seating",
      "passed": true,
      "rim_load_N": 3.4556097984313965,
      "floor_load_N": 0.0
    },
    {
      "check": "left_initial_contact_then_distinct_central_regrasp",
      "passed": true,
      "initial_target_x_mm": -14.0,
      "regrasp_target_x_mm": 4.0,
      "actual_initial_x_mm": -13.679058648571905,
      "actual_regrasp_x_mm": 4.425230733441414
    },
    {
      "check": "complete_slip_regrasp_and_insertion_story",
      "passed": true,
      "events": {
        "image_slip_alarm": 1,
        "grip_recovery_applied": 1,
        "slip_arrested": 1,
        "source_support_reached": 1,
        "recentered_contact": 1,
        "pre_release_jam_detected": 1,
        "pre_release_recovery_verified": 1,
        "pocket_support_confirmed": 1,
        "first_target_release_command": 1
      },
      "max_relative_slip_mm": 12.781389057636261
    },
    {
      "check": "no_post_release_rescan_or_regrasp",
      "passed": true,
      "phases": [
        "OPEN JAWS - RELEASE ON POCKET SUPPORT",
        "RETREAT - PART REMAINS IN POCKET",
        "VERIFY POCKET AND ORIENTATION"
      ]
    },
    {
      "check": "resolved_bilateral_side_forces_recorded",
      "passed": true,
      "sample_count": 4840
    },
    {
      "check": "stripe_comparison_uses_same_physical_state",
      "passed": true,
      "same_state_comparison_count": 111
    },
    {
      "check": "actual_force_stopped_descent_at_physics_boundary",
      "passed": true,
      "last_two_physics_samples": [
        {
          "t_s": 32.7666683755815,
          "rim_load_N": 5.158127307891846,
          "floor_support_N": 0.0,
          "threshold_N": 0.35,
          "consecutive_matches": 1,
          "bilateral_normal_N": [
            5.538749106653323,
            5.1717826958947395
          ],
          "tcp_m": [
            0.5248558446838408,
            -0.24466590821237313,
            0.11418235790358258
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          "closed_joint_max_m": 0.029504677280783653,
          "side_contact": {
            "normal_world_N": [
              [
                -0.10376301407814026,
                5.537775039672852,
                -0.004752327222377062
              ],
              [
                0.09688825905323029,
                -5.170873165130615,
                0.004437464289367199
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            ],
            "friction_world_N": [
              [
                0.9841629266738892,
                0.016665607690811157,
                -2.0683248043060303
              ],
              [
                0.4806755781173706,
                0.0074226753786206245,
                -1.8456724882125854
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            ],
            "friction_sum_world_N": [
              1.4648385047912598,
              0.024088283069431782,
              -3.9139972925186157
            ],
            "imaged_gel_basis_world": [
              [
                0.9998238526178843,
                0.018729377859246443,
                -0.0012141422225734953
              ],
              [
                0.001198758938483124,
                0.0008325503012033389,
                0.9999989349179346
              ],
              [
                -0.018730368745395097,
                0.9998242431872723,
                -0.0008099516405263028
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            ],
            "shear_local_N": [
              [
                0.9868129458893795,
                -2.067128952308399
              ],
              [
                0.4829708393615122,
                -1.8450881285235188
              ]
            ],
            "source": "PhysX payload contact and friction patch impulses divided by physics dt",
            "convention": "vectors returned on tracked payload; opposite reaction acts on the fingers"
          }
        },
        {
          "t_s": 32.77500170934945,
          "rim_load_N": 3.4556097984313965,
          "floor_support_N": 0.0,
          "threshold_N": 0.35,
          "consecutive_matches": 2,
          "bilateral_normal_N": [
            5.583282077044786,
            5.040396668590855
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          "tcp_m": [
            0.524854430550391,
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            0.1141719848083906
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          "closed_joint_max_m": 0.029500523582100868,
          "side_contact": {
            "normal_world_N": [
              [
                -0.10112597048282623,
                5.582368850708008,
                -0.00039117096457630396
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              [
                0.0912930816411972,
                -5.039572238922119,
                0.0003531357797328383
              ]
            ],
            "friction_world_N": [
              [
                -0.24160754680633545,
                -0.004434717819094658,
                -0.8273974061012268
              ],
              [
                0.6711572408676147,
                0.012108349241316319,
                -0.7167406678199768
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            ],
            "friction_sum_world_N": [
              0.4295496940612793,
              0.007673631422221661,
              -1.5441380739212036
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            "imaged_gel_basis_world": [
              [
                0.9998236438428059,
                0.018739856650610343,
                -0.0012243306778635232
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              [
                0.001208750767923632,
                0.00084268261733756,
                0.9999989144032042
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              [
                -0.018740868028862122,
                0.9998240383481087,
                -0.0008198821889522279
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            ],
            "shear_local_N": [
              [
                -0.2406350357769729,
                -0.8276922882486111
              ],
              [
                0.6721433144724845,
                -0.7159184244028778
              ]
            ],
            "source": "PhysX payload contact and friction patch impulses divided by physics dt",
            "convention": "vectors returned on tracked payload; opposite reaction acts on the fingers"
          }
        }
      ],
      "physics_step_s": 0.008333333333333333
    },
    {
      "check": "bilateral_grasp_preserved_at_force_stop",
      "passed": true,
      "bilateral_normal_N": [
        5.583282077044786,
        5.040396668590855
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    },
    {
      "check": "jaws_remained_closed_during_recovery",
      "passed": true,
      "maximum_finger_joint_m": 0.029502062126994133,
      "open_joint_target_m": 0.04,
      "open_phases": []
    },
    {
      "check": "retract_then_reobserve_before_retry",
      "passed": true,
      "maximum_TCP_rise_m": 0.024415992474361367,
      "new_RGB_observations": [
        "after_contact_retreat",
        "after_contact_correction"
      ]
    },
    {
      "check": "support_preceded_release",
      "passed": true,
      "support_N": 1.905913233757019,
      "support_t_s": 37.4500019531697,
      "first_release_t_s": 37.4500019531697
    },
    {
      "check": "recorded_time_never_reset",
      "passed": true,
      "first_t_s": 0.025000001303851604,
      "last_t_s": 40.35000210441649,
      "payload_pose_overwritten": false,
      "payload_attached": false
    },
    {
      "check": "all_views_captured_at_the_same_frozen_state",
      "passed": true,
      "synchronized_frame_count": 111,
      "maximum_payload_delta_m": 0.0,
      "maximum_time_error_s": 0.0
    },
    {
      "check": "part_remained_in_pocket_after_release",
      "passed": true,
      "final_position_m": [
        0.5196635723114014,
        -0.24490727484226227,
        0.04400002583861351
      ],
      "final_yaw_deg": -0.12179407261886044,
      "linear_speed_mps": 8.237460065174673e-07
    }
  ],
  "scope": "one recorded simulation run, not a success-rate estimate",
  "texture_blind_identity_validated": false
}