{
  "physical_success": true,
  "controller": {
    "stage": "insert_release_withdraw",
    "stage_complete": true,
    "task_success": true,
    "insertion_depth_m": 0.07579230063116776,
    "position": [
      -0.07978270947933197,
      0.4334358870983124,
      0.91849684715271
    ],
    "pickup": {
      "stage": "grasp_lift_pre_alignment",
      "stage_complete": true,
      "position": [
        -0.07987069338560104,
        0.32881850004196167,
        0.9232978820800781
      ],
      "error_m": 0.0002978628588191364,
      "angle_error_deg": 0.037354272740013385,
      "corrections": [
        {
          "position": [
            -0.07987069338560104,
            0.32881850004196167,
            0.9232978820800781
          ],
          "error_m": 0.0002978628588191364,
          "angle_error_deg": 0.037354272740013385
        }
      ],
      "task_success": false,
      "actuation": "Robot joint targets only; no object attachment or pose writes"
    },
    "actuation": "Robot joint targets only; no object attachment or pose writes"
  },
  "validation": {
    "checks": {
      "controller_completed": true,
      "final_hold_recorded": true,
      "no_hand_fixture_collision": true,
      "no_arm_table_collision": true,
      "insertion_force_bounded": true,
      "inserted_at_least_6cm": true,
      "within_aperture": true,
      "released": true,
      "stable_without_hand": true
    },
    "metrics": {
      "duration_s": 50.55,
      "hand_fixture_peak_n": 0.0,
      "peg_fixture_peak_n": 1.7610557079315186,
      "arm_table_peak_n": 0.0,
      "min_depth_m": 0.07579230063116776,
      "min_aperture_margin_m": -4.8993899735838564e-08,
      "final_position_range_m": [
        0.0,
        0.0,
        0.0
      ],
      "released_hand_force_n": 0.0
    },
    "all_pass": true,
    "note": "Measured physics; fixture contact sampled at 480 Hz. 1 mm geometry tolerance for contact solver. Pickup settling accepted by user; no object pose writes during control."
  },
  "control_hz": 60,
  "physics_hz": 480.0,
  "physical_trace_timing": "after corresponding action",
  "observation_timing": "before corresponding action",
  "task_physics": {
    "hand_effort_limit_nm": 0.8,
    "max_depenetration_velocity_m_s": 0.1,
    "silicone_contact_stiffness": 280.0,
    "silicone_contact_damping": 2.0
  },
  "termination_reason": "source_finished"
}