reports: pipeline check and controlled fine-tunes

chess-sim/reports/part2/A_dev/eval_report.md

@@ -0,0 +1,150 @@
+# Policy evaluation in simulation
+
+Policy `outputs/arm_A/checkpoints/last/pretrained_model`, 60 closed-loop episodes on the `baseline` settings profile's scene from seeds not used for training.
+
+**Success: 35.0%** (piece within 6 mm of the target square or in the tray, upright, nothing else moved more than 2 mm; 20 s limit).
+
+## Reach
+
+- Median closest approach of the gripper to the marked piece (board plane): 2.4 mm (a square is about 25 mm).
+- Gripper within half a square of the marked piece: 96.7% of episodes.
+- Marked piece lifted more than 8 mm: 65.0%.
+- Gripper's lowest point was over the marked square: 71.7%.
+
+## Grasp precision
+
+Where the jaws are when the policy starts closing (command below 3 of 100), against the grasp the scripted expert would make on the same piece.
+
+- Closed on the piece's square in 100.0% of episodes.
+- Median sideways error at closing: 5.3 mm (successes 2.3, failures 7.0); within 2 mm in 18.3%. Median height error 0.9 mm.
+- Another piece moved more than 2 mm in 20.0% of episodes.
+
+| piece | episodes | success % | lifted % | median closing error mm | disturbed % |
+|---|---|---|---|---|---|
+| knight | 18 | 44.4 | 100.0 | 3.0 | 38.9 |
+| pawn | 42 | 31.0 | 50.0 | 5.8 | 11.9 |
+
+Episodes from seed 1000003: the same seed gives the same episodes for any number of workers.
+
+## By move
+
+| | success % | episodes |
+|---|---|---|
+| b1-c3 | 25.0 | 4 |
+| b8-c6 | 100.0 | 2 |
+| c2-c4 | 33.3 | 9 |
+| c7-c5 | 62.5 | 8 |
+| d2-d4 | 40.0 | 5 |
+| d7-d5 | 0.0 | 5 |
+| e2-e4 | 0.0 | 5 |
+| e7-e5 | 30.0 | 10 |
+| g1-f3 | 33.3 | 6 |
+| g8-f6 | 50.0 | 6 |
+
+## By piece
+
+| | success % | episodes |
+|---|---|---|
+| knight | 44.4 | 18 |
+| pawn | 31.0 | 42 |
+
+## By destination
+
+| | success % | episodes |
+|---|---|---|
+| square | 35.0 | 60 |
+
+## By move kind
+
+| | success % | episodes |
+|---|---|---|
+| fixed | 35.0 | 60 |
+
+## By side the robot plays
+
+| | success % | episodes |
+|---|---|---|
+| black | 35.0 | 60 |
+
+## By arm colour
+
+| | success % | episodes |
+|---|---|---|
+| white | 35.0 | 60 |
+
+## By main light
+
+| | success % | episodes |
+|---|---|---|
+| nominal | 35.0 | 60 |
+
+## By floor
+
+| | success % | episodes |
+|---|---|---|
+| nominal | 35.0 | 60 |
+
+## Episodes
+
+| # | move | success | closest mm | lifted | lowest over | reason |
+|---|---|---|---|---|---|---|
+| 0 | pawn e2-e4 | no | 2.0 | no | e2 | placement error 46.7 mm, tilt 99 deg |
+| 1 | pawn e7-e5 | no | 0.0 | no | e7 | placement error 56.0 mm, tilt 95 deg |
+| 2 | pawn d2-d4 | yes | 2.0 | yes | d2 |  |
+| 3 | pawn e7-e5 | no | 0.7 | no | e5 | placement error 56.1 mm, tilt 0 deg |
+| 4 | pawn d2-d4 | yes | 4.6 | yes | d4 |  |
+| 5 | pawn c7-c5 | yes | 0.6 | yes | c5 |  |
+| 6 | knight b8-c6 | yes | 8.8 | yes | b8 |  |
+| 7 | pawn e7-e5 | no | 0.4 | no | e7 | placement error 41.3 mm, tilt 99 deg |
+| 8 | pawn c2-c4 | no | 5.1 | yes | c2 | placement error 28.1 mm, tilt 99 deg |
+| 9 | pawn c2-c4 | no | 5.5 | no | c2 | placement error 49.9 mm, tilt 0 deg |
+| 10 | pawn d7-d5 | no | 2.8 | yes | d8 | placement error 80.9 mm, tilt 120 deg; disturbed b_queen_d by 18.3 mm |
+| 11 | pawn c2-c4 | no | 10.0 | no | c2 | placement error 55.2 mm, tilt 83 deg |
+| 12 | pawn d2-d4 | no | 14.0 | no | e2 | placement error 40.2 mm, tilt 98 deg |
+| 13 | knight b1-c3 | no | 3.2 | yes | b1 | placement error 6.6 mm, tilt 0 deg |
+| 14 | pawn d7-d5 | no | 0.2 | no | d8 | placement error 53.3 mm, tilt 81 deg; disturbed b_queen_d by 5.5 mm |
+| 15 | knight g8-f6 | yes | 6.6 | yes | f7 |  |
+| 16 | knight g1-f3 | no | 8.5 | yes | g1 | placement error 12.5 mm, tilt 0 deg |
+| 17 | knight g1-f3 | yes | 5.6 | yes | f3 |  |
+| 18 | pawn c7-c5 | no | 3.7 | no | c7 | placement error 53.3 mm, tilt 71 deg |
+| 19 | knight b1-c3 | no | 1.3 | yes | b2 | placement error 40.2 mm, tilt 96 deg; disturbed w_rook_h by 13.8 mm |
+| 20 | pawn c2-c4 | yes | 4.9 | yes | c4 |  |
+| 21 | pawn e2-e4 | no | 0.6 | no | e2 | placement error 42.2 mm, tilt 98 deg |
+| 22 | pawn c7-c5 | yes | 1.5 | yes | c7 |  |
+| 23 | pawn d2-d4 | no | 0.4 | no | d2 | placement error 41.4 mm, tilt 99 deg |
+| 24 | knight g1-f3 | no | 14.1 | yes | f1 | placement error 48.4 mm, tilt 92 deg; disturbed w_bishop_f by 6.9 mm |
+| 25 | pawn e7-e5 | no | 0.7 | no | e7 | placement error 62.7 mm, tilt 23 deg |
+| 26 | pawn e7-e5 | yes | 1.5 | yes | e7 |  |
+| 27 | pawn c2-c4 | yes | 0.8 | yes | c2 |  |
+| 28 | pawn c7-c5 | yes | 1.8 | yes | c5 |  |
+| 29 | pawn d7-d5 | no | 0.4 | no | d7 | placement error 59.5 mm, tilt 90 deg |
+| 30 | pawn c7-c5 | yes | 3.0 | yes | c7 |  |
+| 31 | knight b1-c3 | no | 0.5 | yes | b1 | placement error 56.2 mm, tilt 92 deg; disturbed w_pawn_e by 11.3 mm |
+| 32 | pawn c2-c4 | no | 2.2 | no | c2 | placement error 50.0 mm, tilt 0 deg; disturbed w_bishop_f by 16.5 mm |
+| 33 | pawn c7-c5 | yes | 2.7 | yes | c7 |  |
+| 34 | pawn e2-e4 | no | 9.8 | no | e4 | placement error 50.0 mm, tilt 0 deg |
+| 35 | knight g8-f6 | no | 0.7 | yes | g8 | placement error 58.5 mm, tilt 102 deg; disturbed b_pawn_d by 64.2 mm |
+| 36 | knight b8-c6 | yes | 11.3 | yes | c6 |  |
+| 37 | pawn c7-c5 | no | 0.7 | yes | c7 | placement error 43.9 mm, tilt 0 deg |
+| 38 | pawn e2-e4 | no | 0.7 | yes | e3 | placement error 8.9 mm, tilt 0 deg |
+| 39 | pawn e7-e5 | yes | 0.3 | yes | e7 |  |
+| 40 | knight g1-f3 | no | 5.4 | yes | g1 | placement error 10.6 mm, tilt 0 deg |
+| 41 | knight g1-f3 | yes | 7.1 | yes | g1 |  |
+| 42 | pawn c2-c4 | yes | 0.8 | yes | c2 |  |
+| 43 | knight g1-f3 | no | 3.9 | yes | g1 | placement error 94.0 mm, tilt 101 deg; disturbed w_bishop_c by 10.9 mm |
+| 44 | knight g8-f6 | no | 7.4 | yes | g8 | placement error 9.7 mm, tilt 0 deg; disturbed b_pawn_d by 11.1 mm |
+| 45 | knight b1-c3 | yes | 4.2 | yes | b1 |  |
+| 46 | pawn e2-e4 | no | 9.2 | no | e2 | placement error 55.4 mm, tilt 84 deg |
+| 47 | pawn d7-d5 | no | 0.7 | no | d7 | placement error 64.0 mm, tilt 99 deg |
+| 48 | pawn c2-c4 | no | 3.0 | no | c2 | placement error 56.6 mm, tilt 90 deg |
+| 49 | knight g8-f6 | yes | 3.7 | yes | f6 |  |
+| 50 | pawn e7-e5 | yes | 1.5 | yes | e7 |  |
+| 51 | pawn e7-e5 | no | 0.4 | yes | e7 | placement error 12.1 mm, tilt 99 deg |
+| 52 | pawn d7-d5 | no | 3.7 | yes | d7 | disturbed b_queen_d by 6.6 mm |
+| 53 | pawn e7-e5 | no | 0.5 | no | e7 | placement error 56.6 mm, tilt 87 deg |
+| 54 | pawn d2-d4 | no | 2.6 | no | d2 | placement error 38.5 mm, tilt 99 deg |
+| 55 | knight g8-f6 | no | 1.1 | yes | g8 | placement error 72.6 mm, tilt 110 deg; disturbed b_pawn_d by 17.2 mm |
+| 56 | knight g8-f6 | yes | 1.8 | yes | f6 |  |
+| 57 | pawn c2-c4 | no | 3.2 | no | c2 | placement error 40.5 mm, tilt 99 deg; disturbed w_bishop_f by 13.4 mm |
+| 58 | pawn e7-e5 | no | 2.9 | yes | e7 | placement error 52.0 mm, tilt 99 deg |
+| 59 | pawn c7-c5 | no | 0.1 | yes | c7 | placement error 38.0 mm, tilt 99 deg |

chess-sim/reports/part2/A_dev/eval_results.json

@@ -0,0 +1,2295 @@
+{
+ "summary": {
+  "policy": "outputs/arm_A/checkpoints/last/pretrained_model",
+  "profile": "baseline",
+  "n_action_steps": null,
+  "seed": 1000003,
+  "precision": {
+   "closed_percent": 100.0,
+   "median_close_lateral_mm": 5.3,
+   "median_close_lateral_mm_success": 2.3,
+   "median_close_lateral_mm_failure": 7.0,
+   "close_within_2mm_percent": 18.3,
+   "median_close_height_mm": 0.9,
+   "disturbed_percent": 20.0
+  },
+  "pieces": {
+   "knight": {
+    "episodes": 18,
+    "success_percent": 44.4,
+    "lifted_percent": 100.0,
+    "median_close_lateral_mm": 3.0,
+    "disturbed_percent": 38.9
+   },
+   "pawn": {
+    "episodes": 42,
+    "success_percent": 31.0,
+    "lifted_percent": 50.0,
+    "median_close_lateral_mm": 5.8,
+    "disturbed_percent": 11.9
+   }
+  },
+  "episodes": 60,
+  "success_percent": 35.0,
+  "seconds_limit": 20.0,
+  "minutes": 10.4,
+  "reach": {
+   "median_closest_mm": 2.4,
+   "within_half_square_percent": 96.7,
+   "lifted_percent": 65.0,
+   "lowest_over_source_percent": 71.7
+  },
+  "by": {
+   "piece": {
+    "knight": {
+     "success_percent": 44.4,
+     "episodes": 18
+    },
+    "pawn": {
+     "success_percent": 31.0,
+     "episodes": 42
+    }
+   },
+   "move_kind": {
+    "fixed": {
+     "success_percent": 35.0,
+     "episodes": 60
+    }
+   },
+   "robot_plays": {
+    "black": {
+     "success_percent": 35.0,
+     "episodes": 60
+    }
+   },
+   "arm_colour": {
+    "white": {
+     "success_percent": 35.0,
+     "episodes": 60
+    }
+   },
+   "key_light": {
+    "nominal": {
+     "success_percent": 35.0,
+     "episodes": 60
+    }
+   },
+   "floor": {
+    "nominal": {
+     "success_percent": 35.0,
+     "episodes": 60
+    }
+   },
+   "destination": {
+    "square": {
+     "success_percent": 35.0,
+     "episodes": 60
+    }
+   },
+   "move": {
+    "b1-c3": {
+     "success_percent": 25.0,
+     "episodes": 4
+    },
+    "b8-c6": {
+     "success_percent": 100.0,
+     "episodes": 2
+    },
+    "c2-c4": {
+     "success_percent": 33.3,
+     "episodes": 9
+    },
+    "c7-c5": {
+     "success_percent": 62.5,
+     "episodes": 8
+    },
+    "d2-d4": {
+     "success_percent": 40.0,
+     "episodes": 5
+    },
+    "d7-d5": {
+     "success_percent": 0.0,
+     "episodes": 5
+    },
+    "e2-e4": {
+     "success_percent": 0.0,
+     "episodes": 5
+    },
+    "e7-e5": {
+     "success_percent": 30.0,
+     "episodes": 10
+    },
+    "g1-f3": {
+     "success_percent": 33.3,
+     "episodes": 6
+    },
+    "g8-f6": {
+     "success_percent": 50.0,
+     "episodes": 6
+    }
+   }
+  }
+ },
+ "episodes": [
+  {
+   "index": 0,
+   "success": false,
+   "reason": "placement error 46.7 mm, tilt 99 deg",
+   "frames": 600,
+   "seconds": 56.6,
+   "piece": "pawn",
+   "source": "e2",
+   "destination": "e4",
+   "move_kind": "fixed",
+   "centre_error_mm": 46.69,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.01,
+   "closed": true,
+   "close_t_s": 3.87,
+   "close_lateral_mm": 4.3,
+   "close_along_mm": -2.7,
+   "close_across_mm": -3.4,
+   "close_height_mm": 1.2,
+   "closest_mm": 2.0,
+   "lifted": false,
+   "lowest_mm": 22.5,
+   "lowest_square": "e2"
+  },
+  {
+   "index": 1,
+   "success": false,
+   "reason": "placement error 56.0 mm, tilt 95 deg",
+   "frames": 600,
+   "seconds": 56.8,
+   "piece": "pawn",
+   "source": "e7",
+   "destination": "e5",
+   "move_kind": "fixed",
+   "centre_error_mm": 55.99,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 1.43,
+   "closed": true,
+   "close_t_s": 2.2,
+   "close_lateral_mm": 8.3,
+   "close_along_mm": -2.5,
+   "close_across_mm": 7.9,
+   "close_height_mm": -0.5,
+   "closest_mm": 0.0,
+   "lifted": false,
+   "lowest_mm": 20.9,
+   "lowest_square": "e7"
+  },
+  {
+   "index": 2,
+   "success": true,
+   "reason": "",
+   "frames": 301,
+   "seconds": 28.9,
+   "piece": "pawn",
+   "source": "d2",
+   "destination": "d4",
+   "move_kind": "fixed",
+   "centre_error_mm": 1.86,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 4.07,
+   "close_lateral_mm": 3.0,
+   "close_along_mm": -2.6,
+   "close_across_mm": 1.5,
+   "close_height_mm": 0.9,
+   "closest_mm": 2.0,
+   "lifted": true,
+   "lowest_mm": 21.5,
+   "lowest_square": "d2"
+  },
+  {
+   "index": 3,
+   "success": false,
+   "reason": "placement error 56.1 mm, tilt 0 deg",
+   "frames": 600,
+   "seconds": 55.7,
+   "piece": "pawn",
+   "source": "e7",
+   "destination": "e5",
+   "move_kind": "fixed",
+   "centre_error_mm": 56.13,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.04,
+   "closed": true,
+   "close_t_s": 2.53,
+   "close_lateral_mm": 13.2,
+   "close_along_mm": 8.2,
+   "close_across_mm": -10.3,
+   "close_height_mm": 6.2,
+   "closest_mm": 0.7,
+   "lifted": false,
+   "lowest_mm": 22.8,
+   "lowest_square": "e5"
+  },
+  {
+   "index": 4,
+   "success": true,
+   "reason": "",
+   "frames": 301,
+   "seconds": 28.7,
+   "piece": "pawn",
+   "source": "d2",
+   "destination": "d4",
+   "move_kind": "fixed",
+   "centre_error_mm": 2.84,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 3.93,
+   "close_lateral_mm": 2.2,
+   "close_along_mm": -0.3,
+   "close_across_mm": -2.2,
+   "close_height_mm": 1.1,
+   "closest_mm": 4.6,
+   "lifted": true,
+   "lowest_mm": 20.5,
+   "lowest_square": "d4"
+  },
+  {
+   "index": 5,
+   "success": true,
+   "reason": "",
+   "frames": 526,
+   "seconds": 49.0,
+   "piece": "pawn",
+   "source": "c7",
+   "destination": "c5",
+   "move_kind": "fixed",
+   "centre_error_mm": 3.45,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 2.4,
+   "close_lateral_mm": 5.5,
+   "close_along_mm": 2.5,
+   "close_across_mm": 4.9,
+   "close_height_mm": 1.3,
+   "closest_mm": 0.6,
+   "lifted": true,
+   "lowest_mm": 20.5,
+   "lowest_square": "c5"
+  },
+  {
+   "index": 6,
+   "success": true,
+   "reason": "",
+   "frames": 256,
+   "seconds": 24.1,
+   "piece": "knight",
+   "source": "b8",
+   "destination": "c6",
+   "move_kind": "fixed",
+   "centre_error_mm": 4.83,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 3.13,
+   "close_lateral_mm": 1.7,
+   "close_along_mm": -1.4,
+   "close_across_mm": -0.9,
+   "close_height_mm": 0.3,
+   "closest_mm": 8.8,
+   "lifted": true,
+   "lowest_mm": 20.1,
+   "lowest_square": "b8"
+  },
+  {
+   "index": 7,
+   "success": false,
+   "reason": "placement error 41.3 mm, tilt 99 deg",
+   "frames": 600,
+   "seconds": 55.0,
+   "piece": "pawn",
+   "source": "e7",
+   "destination": "e5",
+   "move_kind": "fixed",
+   "centre_error_mm": 41.27,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 1.9,
+   "close_lateral_mm": 5.0,
+   "close_along_mm": 0.9,
+   "close_across_mm": 4.9,
+   "close_height_mm": 1.0,
+   "closest_mm": 0.4,
+   "lifted": false,
+   "lowest_mm": 21.5,
+   "lowest_square": "e7"
+  },
+  {
+   "index": 8,
+   "success": false,
+   "reason": "placement error 28.1 mm, tilt 99 deg",
+   "frames": 600,
+   "seconds": 55.9,
+   "piece": "pawn",
+   "source": "c2",
+   "destination": "c4",
+   "move_kind": "fixed",
+   "centre_error_mm": 28.06,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 4.1,
+   "close_lateral_mm": 10.8,
+   "close_along_mm": -10.1,
+   "close_across_mm": 3.8,
+   "close_height_mm": 8.2,
+   "closest_mm": 5.1,
+   "lifted": true,
+   "lowest_mm": 19.1,
+   "lowest_square": "c2"
+  },
+  {
+   "index": 9,
+   "success": false,
+   "reason": "placement error 49.9 mm, tilt 0 deg",
+   "frames": 600,
+   "seconds": 55.7,
+   "piece": "pawn",
+   "source": "c2",
+   "destination": "c4",
+   "move_kind": "fixed",
+   "centre_error_mm": 49.91,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 5.0,
+   "close_lateral_mm": 6.1,
+   "close_along_mm": 5.9,
+   "close_across_mm": -1.7,
+   "close_height_mm": 4.1,
+   "closest_mm": 5.5,
+   "lifted": false,
+   "lowest_mm": 18.9,
+   "lowest_square": "c2"
+  },
+  {
+   "index": 10,
+   "success": false,
+   "reason": "placement error 80.9 mm, tilt 120 deg; disturbed b_queen_d by 18.3 mm",
+   "frames": 600,
+   "seconds": 58.2,
+   "piece": "pawn",
+   "source": "d7",
+   "destination": "d5",
+   "move_kind": "fixed",
+   "centre_error_mm": 80.94,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": true,
+   "max_disturbance_mm": 18.31,
+   "closed": true,
+   "close_t_s": 2.4,
+   "close_lateral_mm": 7.0,
+   "close_along_mm": -3.0,
+   "close_across_mm": -6.3,
+   "close_height_mm": -1.4,
+   "closest_mm": 2.8,
+   "lifted": true,
+   "lowest_mm": 20.0,
+   "lowest_square": "d8"
+  },
+  {
+   "index": 11,
+   "success": false,
+   "reason": "placement error 55.2 mm, tilt 83 deg",
+   "frames": 600,
+   "seconds": 56.7,
+   "piece": "pawn",
+   "source": "c2",
+   "destination": "c4",
+   "move_kind": "fixed",
+   "centre_error_mm": 55.22,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.2,
+   "closed": true,
+   "close_t_s": 3.93,
+   "close_lateral_mm": 10.6,
+   "close_along_mm": -6.7,
+   "close_across_mm": 8.2,
+   "close_height_mm": 1.8,
+   "closest_mm": 10.0,
+   "lifted": false,
+   "lowest_mm": 20.1,
+   "lowest_square": "c2"
+  },
+  {
+   "index": 12,
+   "success": false,
+   "reason": "placement error 40.2 mm, tilt 98 deg",
+   "frames": 600,
+   "seconds": 55.7,
+   "piece": "pawn",
+   "source": "d2",
+   "destination": "d4",
+   "move_kind": "fixed",
+   "centre_error_mm": 40.2,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.01,
+   "closed": true,
+   "close_t_s": 4.03,
+   "close_lateral_mm": 11.0,
+   "close_along_mm": -10.9,
+   "close_across_mm": -1.1,
+   "close_height_mm": 0.4,
+   "closest_mm": 14.0,
+   "lifted": false,
+   "lowest_mm": 18.6,
+   "lowest_square": "e2"
+  },
+  {
+   "index": 13,
+   "success": false,
+   "reason": "placement error 6.6 mm, tilt 0 deg",
+   "frames": 600,
+   "seconds": 55.8,
+   "piece": "knight",
+   "source": "b1",
+   "destination": "c3",
+   "move_kind": "fixed",
+   "centre_error_mm": 6.63,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 4.0,
+   "close_lateral_mm": 4.4,
+   "close_along_mm": 1.5,
+   "close_across_mm": 4.2,
+   "close_height_mm": 2.6,
+   "closest_mm": 3.2,
+   "lifted": true,
+   "lowest_mm": 17.2,
+   "lowest_square": "b1"
+  },
+  {
+   "index": 14,
+   "success": false,
+   "reason": "placement error 53.3 mm, tilt 81 deg; disturbed b_queen_d by 5.5 mm",
+   "frames": 600,
+   "seconds": 55.7,
+   "piece": "pawn",
+   "source": "d7",
+   "destination": "d5",
+   "move_kind": "fixed",
+   "centre_error_mm": 53.26,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": true,
+   "max_disturbance_mm": 5.47,
+   "closed": true,
+   "close_t_s": 2.43,
+   "close_lateral_mm": 7.5,
+   "close_along_mm": -4.5,
+   "close_across_mm": -6.0,
+   "close_height_mm": -1.4,
+   "closest_mm": 0.2,
+   "lifted": false,
+   "lowest_mm": 20.2,
+   "lowest_square": "d8"
+  },
+  {
+   "index": 15,
+   "success": true,
+   "reason": "",
+   "frames": 196,
+   "seconds": 18.3,
+   "piece": "knight",
+   "source": "g8",
+   "destination": "f6",
+   "move_kind": "fixed",
+   "centre_error_mm": 3.69,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 2.43,
+   "close_lateral_mm": 2.2,
+   "close_along_mm": -1.9,
+   "close_across_mm": -1.1,
+   "close_height_mm": 2.9,
+   "closest_mm": 6.6,
+   "lifted": true,
+   "lowest_mm": 21.8,
+   "lowest_square": "f7"
+  },
+  {
+   "index": 16,
+   "success": false,
+   "reason": "placement error 12.5 mm, tilt 0 deg",
+   "frames": 600,
+   "seconds": 55.3,
+   "piece": "knight",
+   "source": "g1",
+   "destination": "f3",
+   "move_kind": "fixed",
+   "centre_error_mm": 12.54,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 3.33,
+   "close_lateral_mm": 1.8,
+   "close_along_mm": 0.9,
+   "close_across_mm": 1.5,
+   "close_height_mm": 4.4,
+   "closest_mm": 8.5,
+   "lifted": true,
+   "lowest_mm": 19.4,
+   "lowest_square": "g1"
+  },
+  {
+   "index": 17,
+   "success": true,
+   "reason": "",
+   "frames": 301,
+   "seconds": 28.0,
+   "piece": "knight",
+   "source": "g1",
+   "destination": "f3",
+   "move_kind": "fixed",
+   "centre_error_mm": 4.89,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 3.93,
+   "close_lateral_mm": 0.6,
+   "close_along_mm": -0.2,
+   "close_across_mm": -0.5,
+   "close_height_mm": 1.1,
+   "closest_mm": 5.6,
+   "lifted": true,
+   "lowest_mm": 18.6,
+   "lowest_square": "f3"
+  },
+  {
+   "index": 18,
+   "success": false,
+   "reason": "placement error 53.3 mm, tilt 71 deg",
+   "frames": 600,
+   "seconds": 56.1,
+   "piece": "pawn",
+   "source": "c7",
+   "destination": "c5",
+   "move_kind": "fixed",
+   "centre_error_mm": 53.26,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.16,
+   "closed": true,
+   "close_t_s": 2.27,
+   "close_lateral_mm": 7.0,
+   "close_along_mm": 2.9,
+   "close_across_mm": 6.4,
+   "close_height_mm": 1.8,
+   "closest_mm": 3.7,
+   "lifted": false,
+   "lowest_mm": 21.2,
+   "lowest_square": "c7"
+  },
+  {
+   "index": 19,
+   "success": false,
+   "reason": "placement error 40.2 mm, tilt 96 deg; disturbed w_rook_h by 13.8 mm",
+   "frames": 600,
+   "seconds": 57.3,
+   "piece": "knight",
+   "source": "b1",
+   "destination": "c3",
+   "move_kind": "fixed",
+   "centre_error_mm": 40.23,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": true,
+   "max_disturbance_mm": 13.78,
+   "closed": true,
+   "close_t_s": 3.33,
+   "close_lateral_mm": 4.7,
+   "close_along_mm": -2.6,
+   "close_across_mm": -3.9,
+   "close_height_mm": 19.1,
+   "closest_mm": 1.3,
+   "lifted": true,
+   "lowest_mm": 17.5,
+   "lowest_square": "b2"
+  },
+  {
+   "index": 20,
+   "success": true,
+   "reason": "",
+   "frames": 331,
+   "seconds": 31.8,
+   "piece": "pawn",
+   "source": "c2",
+   "destination": "c4",
+   "move_kind": "fixed",
+   "centre_error_mm": 3.6,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 4.27,
+   "close_lateral_mm": 1.1,
+   "close_along_mm": -1.1,
+   "close_across_mm": 0.2,
+   "close_height_mm": 1.8,
+   "closest_mm": 4.9,
+   "lifted": true,
+   "lowest_mm": 21.3,
+   "lowest_square": "c4"
+  },
+  {
+   "index": 21,
+   "success": false,
+   "reason": "placement error 42.2 mm, tilt 98 deg",
+   "frames": 600,
+   "seconds": 56.7,
+   "piece": "pawn",
+   "source": "e2",
+   "destination": "e4",
+   "move_kind": "fixed",
+   "centre_error_mm": 42.2,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 4.23,
+   "close_lateral_mm": 7.0,
+   "close_along_mm": -3.1,
+   "close_across_mm": 6.2,
+   "close_height_mm": 4.2,
+   "closest_mm": 0.6,
+   "lifted": false,
+   "lowest_mm": 22.1,
+   "lowest_square": "e2"
+  },
+  {
+   "index": 22,
+   "success": true,
+   "reason": "",
+   "frames": 256,
+   "seconds": 23.9,
+   "piece": "pawn",
+   "source": "c7",
+   "destination": "c5",
+   "move_kind": "fixed",
+   "centre_error_mm": 3.35,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 2.5,
+   "close_lateral_mm": 2.6,
+   "close_along_mm": -0.9,
+   "close_across_mm": -2.4,
+   "close_height_mm": 0.3,
+   "closest_mm": 1.5,
+   "lifted": true,
+   "lowest_mm": 21.7,
+   "lowest_square": "c7"
+  },
+  {
+   "index": 23,
+   "success": false,
+   "reason": "placement error 41.4 mm, tilt 99 deg",
+   "frames": 600,
+   "seconds": 56.1,
+   "piece": "pawn",
+   "source": "d2",
+   "destination": "d4",
+   "move_kind": "fixed",
+   "centre_error_mm": 41.38,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 4.17,
+   "close_lateral_mm": 5.8,
+   "close_along_mm": 5.3,
+   "close_across_mm": 2.3,
+   "close_height_mm": 0.9,
+   "closest_mm": 0.4,
+   "lifted": false,
+   "lowest_mm": 21.3,
+   "lowest_square": "d2"
+  },
+  {
+   "index": 24,
+   "success": false,
+   "reason": "placement error 48.4 mm, tilt 92 deg; disturbed w_bishop_f by 6.9 mm",
+   "frames": 600,
+   "seconds": 56.1,
+   "piece": "knight",
+   "source": "g1",
+   "destination": "f3",
+   "move_kind": "fixed",
+   "centre_error_mm": 48.43,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": true,
+   "max_disturbance_mm": 6.91,
+   "closed": true,
+   "close_t_s": 4.1,
+   "close_lateral_mm": 8.6,
+   "close_along_mm": -4.3,
+   "close_across_mm": -7.4,
+   "close_height_mm": 4.0,
+   "closest_mm": 14.1,
+   "lifted": true,
+   "lowest_mm": 21.0,
+   "lowest_square": "f1"
+  },
+  {
+   "index": 25,
+   "success": false,
+   "reason": "placement error 62.7 mm, tilt 23 deg",
+   "frames": 600,
+   "seconds": 54.7,
+   "piece": "pawn",
+   "source": "e7",
+   "destination": "e5",
+   "move_kind": "fixed",
+   "centre_error_mm": 62.74,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 1.67,
+   "closed": true,
+   "close_t_s": 1.73,
+   "close_lateral_mm": 9.4,
+   "close_along_mm": -9.3,
+   "close_across_mm": 1.4,
+   "close_height_mm": -1.0,
+   "closest_mm": 0.7,
+   "lifted": false,
+   "lowest_mm": 20.6,
+   "lowest_square": "e7"
+  },
+  {
+   "index": 26,
+   "success": true,
+   "reason": "",
+   "frames": 466,
+   "seconds": 43.3,
+   "piece": "pawn",
+   "source": "e7",
+   "destination": "e5",
+   "move_kind": "fixed",
+   "centre_error_mm": 4.63,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.22,
+   "closed": true,
+   "close_t_s": 2.13,
+   "close_lateral_mm": 8.7,
+   "close_along_mm": 0.9,
+   "close_across_mm": -8.6,
+   "close_height_mm": -1.9,
+   "closest_mm": 1.5,
+   "lifted": true,
+   "lowest_mm": 19.8,
+   "lowest_square": "e7"
+  },
+  {
+   "index": 27,
+   "success": true,
+   "reason": "",
+   "frames": 301,
+   "seconds": 28.4,
+   "piece": "pawn",
+   "source": "c2",
+   "destination": "c4",
+   "move_kind": "fixed",
+   "centre_error_mm": 4.18,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 4.27,
+   "close_lateral_mm": 2.7,
+   "close_along_mm": -0.5,
+   "close_across_mm": -2.7,
+   "close_height_mm": 0.1,
+   "closest_mm": 0.8,
+   "lifted": true,
+   "lowest_mm": 21.5,
+   "lowest_square": "c2"
+  },
+  {
+   "index": 28,
+   "success": true,
+   "reason": "",
+   "frames": 541,
+   "seconds": 49.8,
+   "piece": "pawn",
+   "source": "c7",
+   "destination": "c5",
+   "move_kind": "fixed",
+   "centre_error_mm": 0.4,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.02,
+   "closed": true,
+   "close_t_s": 1.97,
+   "close_lateral_mm": 2.8,
+   "close_along_mm": 2.2,
+   "close_across_mm": 1.6,
+   "close_height_mm": 0.6,
+   "closest_mm": 1.8,
+   "lifted": true,
+   "lowest_mm": 21.8,
+   "lowest_square": "c5"
+  },
+  {
+   "index": 29,
+   "success": false,
+   "reason": "placement error 59.5 mm, tilt 90 deg",
+   "frames": 600,
+   "seconds": 54.9,
+   "piece": "pawn",
+   "source": "d7",
+   "destination": "d5",
+   "move_kind": "fixed",
+   "centre_error_mm": 59.55,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.95,
+   "closed": true,
+   "close_t_s": 2.33,
+   "close_lateral_mm": 23.0,
+   "close_along_mm": 11.9,
+   "close_across_mm": -19.7,
+   "close_height_mm": 8.3,
+   "closest_mm": 0.4,
+   "lifted": false,
+   "lowest_mm": 21.1,
+   "lowest_square": "d7"
+  },
+  {
+   "index": 30,
+   "success": true,
+   "reason": "",
+   "frames": 241,
+   "seconds": 22.6,
+   "piece": "pawn",
+   "source": "c7",
+   "destination": "c5",
+   "move_kind": "fixed",
+   "centre_error_mm": 4.37,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 2.3,
+   "close_lateral_mm": 4.7,
+   "close_along_mm": -3.0,
+   "close_across_mm": -3.5,
+   "close_height_mm": -1.3,
+   "closest_mm": 3.0,
+   "lifted": true,
+   "lowest_mm": 20.8,
+   "lowest_square": "c7"
+  },
+  {
+   "index": 31,
+   "success": false,
+   "reason": "placement error 56.2 mm, tilt 92 deg; disturbed w_pawn_e by 11.3 mm",
+   "frames": 600,
+   "seconds": 55.3,
+   "piece": "knight",
+   "source": "b1",
+   "destination": "c3",
+   "move_kind": "fixed",
+   "centre_error_mm": 56.23,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": true,
+   "max_disturbance_mm": 11.27,
+   "closed": true,
+   "close_t_s": 4.13,
+   "close_lateral_mm": 3.6,
+   "close_along_mm": 2.8,
+   "close_across_mm": -2.3,
+   "close_height_mm": -1.7,
+   "closest_mm": 0.5,
+   "lifted": true,
+   "lowest_mm": 8.7,
+   "lowest_square": "b1"
+  },
+  {
+   "index": 32,
+   "success": false,
+   "reason": "placement error 50.0 mm, tilt 0 deg; disturbed w_bishop_f by 16.5 mm",
+   "frames": 600,
+   "seconds": 55.1,
+   "piece": "pawn",
+   "source": "c2",
+   "destination": "c4",
+   "move_kind": "fixed",
+   "centre_error_mm": 50.03,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": true,
+   "max_disturbance_mm": 16.5,
+   "closed": true,
+   "close_t_s": 5.03,
+   "close_lateral_mm": 7.3,
+   "close_along_mm": -5.6,
+   "close_across_mm": 4.7,
+   "close_height_mm": -0.6,
+   "closest_mm": 2.2,
+   "lifted": false,
+   "lowest_mm": 20.6,
+   "lowest_square": "c2"
+  },
+  {
+   "index": 33,
+   "success": true,
+   "reason": "",
+   "frames": 226,
+   "seconds": 20.9,
+   "piece": "pawn",
+   "source": "c7",
+   "destination": "c5",
+   "move_kind": "fixed",
+   "centre_error_mm": 1.89,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 2.1,
+   "close_lateral_mm": 1.3,
+   "close_along_mm": 0.7,
+   "close_across_mm": 1.1,
+   "close_height_mm": 0.2,
+   "closest_mm": 2.7,
+   "lifted": true,
+   "lowest_mm": 20.8,
+   "lowest_square": "c7"
+  },
+  {
+   "index": 34,
+   "success": false,
+   "reason": "placement error 50.0 mm, tilt 0 deg",
+   "frames": 600,
+   "seconds": 55.5,
+   "piece": "pawn",
+   "source": "e2",
+   "destination": "e4",
+   "move_kind": "fixed",
+   "centre_error_mm": 50.0,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 4.93,
+   "close_lateral_mm": 10.4,
+   "close_along_mm": 10.1,
+   "close_across_mm": 2.6,
+   "close_height_mm": 2.1,
+   "closest_mm": 9.8,
+   "lifted": false,
+   "lowest_mm": 20.5,
+   "lowest_square": "e4"
+  },
+  {
+   "index": 35,
+   "success": false,
+   "reason": "placement error 58.5 mm, tilt 102 deg; disturbed b_pawn_d by 64.2 mm",
+   "frames": 600,
+   "seconds": 55.9,
+   "piece": "knight",
+   "source": "g8",
+   "destination": "f6",
+   "move_kind": "fixed",
+   "centre_error_mm": 58.53,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": true,
+   "max_disturbance_mm": 64.2,
+   "closed": true,
+   "close_t_s": 2.53,
+   "close_lateral_mm": 7.4,
+   "close_along_mm": 1.9,
+   "close_across_mm": -7.1,
+   "close_height_mm": 2.6,
+   "closest_mm": 0.7,
+   "lifted": true,
+   "lowest_mm": 19.8,
+   "lowest_square": "g8"
+  },
+  {
+   "index": 36,
+   "success": true,
+   "reason": "",
+   "frames": 241,
+   "seconds": 22.7,
+   "piece": "knight",
+   "source": "b8",
+   "destination": "c6",
+   "move_kind": "fixed",
+   "centre_error_mm": 4.11,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 3.0,
+   "close_lateral_mm": 5.4,
+   "close_along_mm": -4.9,
+   "close_across_mm": 2.2,
+   "close_height_mm": 2.2,
+   "closest_mm": 11.3,
+   "lifted": true,
+   "lowest_mm": 19.9,
+   "lowest_square": "c6"
+  },
+  {
+   "index": 37,
+   "success": false,
+   "reason": "placement error 43.9 mm, tilt 0 deg",
+   "frames": 600,
+   "seconds": 54.8,
+   "piece": "pawn",
+   "source": "c7",
+   "destination": "c5",
+   "move_kind": "fixed",
+   "centre_error_mm": 43.89,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 3.53,
+   "close_lateral_mm": 5.4,
+   "close_along_mm": -0.1,
+   "close_across_mm": -5.4,
+   "close_height_mm": -1.3,
+   "closest_mm": 0.7,
+   "lifted": true,
+   "lowest_mm": 20.0,
+   "lowest_square": "c7"
+  },
+  {
+   "index": 38,
+   "success": false,
+   "reason": "placement error 8.9 mm, tilt 0 deg",
+   "frames": 600,
+   "seconds": 55.4,
+   "piece": "pawn",
+   "source": "e2",
+   "destination": "e4",
+   "move_kind": "fixed",
+   "centre_error_mm": 8.91,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 4.03,
+   "close_lateral_mm": 1.8,
+   "close_along_mm": -1.7,
+   "close_across_mm": 0.3,
+   "close_height_mm": 9.1,
+   "closest_mm": 0.7,
+   "lifted": true,
+   "lowest_mm": 17.4,
+   "lowest_square": "e3"
+  },
+  {
+   "index": 39,
+   "success": true,
+   "reason": "",
+   "frames": 526,
+   "seconds": 48.8,
+   "piece": "pawn",
+   "source": "e7",
+   "destination": "e5",
+   "move_kind": "fixed",
+   "centre_error_mm": 2.7,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.03,
+   "closed": true,
+   "close_t_s": 2.7,
+   "close_lateral_mm": 6.3,
+   "close_along_mm": -2.4,
+   "close_across_mm": -5.8,
+   "close_height_mm": 3.1,
+   "closest_mm": 0.3,
+   "lifted": true,
+   "lowest_mm": 20.8,
+   "lowest_square": "e7"
+  },
+  {
+   "index": 40,
+   "success": false,
+   "reason": "placement error 10.6 mm, tilt 0 deg",
+   "frames": 600,
+   "seconds": 56.5,
+   "piece": "knight",
+   "source": "g1",
+   "destination": "f3",
+   "move_kind": "fixed",
+   "centre_error_mm": 10.58,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 3.83,
+   "close_lateral_mm": 1.6,
+   "close_along_mm": -0.1,
+   "close_across_mm": 1.6,
+   "close_height_mm": -3.7,
+   "closest_mm": 5.4,
+   "lifted": true,
+   "lowest_mm": 12.9,
+   "lowest_square": "g1"
+  },
+  {
+   "index": 41,
+   "success": true,
+   "reason": "",
+   "frames": 271,
+   "seconds": 25.4,
+   "piece": "knight",
+   "source": "g1",
+   "destination": "f3",
+   "move_kind": "fixed",
+   "centre_error_mm": 5.71,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 3.57,
+   "close_lateral_mm": 1.8,
+   "close_along_mm": -1.1,
+   "close_across_mm": -1.4,
+   "close_height_mm": -1.0,
+   "closest_mm": 7.1,
+   "lifted": true,
+   "lowest_mm": 13.6,
+   "lowest_square": "g1"
+  },
+  {
+   "index": 42,
+   "success": true,
+   "reason": "",
+   "frames": 316,
+   "seconds": 29.8,
+   "piece": "pawn",
+   "source": "c2",
+   "destination": "c4",
+   "move_kind": "fixed",
+   "centre_error_mm": 2.15,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 4.13,
+   "close_lateral_mm": 3.7,
+   "close_along_mm": -3.4,
+   "close_across_mm": 1.5,
+   "close_height_mm": 0.1,
+   "closest_mm": 0.8,
+   "lifted": true,
+   "lowest_mm": 21.2,
+   "lowest_square": "c2"
+  },
+  {
+   "index": 43,
+   "success": false,
+   "reason": "placement error 94.0 mm, tilt 101 deg; disturbed w_bishop_c by 10.9 mm",
+   "frames": 600,
+   "seconds": 55.8,
+   "piece": "knight",
+   "source": "g1",
+   "destination": "f3",
+   "move_kind": "fixed",
+   "centre_error_mm": 93.99,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": true,
+   "max_disturbance_mm": 10.92,
+   "closed": true,
+   "close_t_s": 3.93,
+   "close_lateral_mm": 7.3,
+   "close_along_mm": 3.8,
+   "close_across_mm": -6.3,
+   "close_height_mm": -0.7,
+   "closest_mm": 3.9,
+   "lifted": true,
+   "lowest_mm": 14.4,
+   "lowest_square": "g1"
+  },
+  {
+   "index": 44,
+   "success": false,
+   "reason": "placement error 9.7 mm, tilt 0 deg; disturbed b_pawn_d by 11.1 mm",
+   "frames": 600,
+   "seconds": 55.7,
+   "piece": "knight",
+   "source": "g8",
+   "destination": "f6",
+   "move_kind": "fixed",
+   "centre_error_mm": 9.7,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": true,
+   "max_disturbance_mm": 11.06,
+   "closed": true,
+   "close_t_s": 2.5,
+   "close_lateral_mm": 6.0,
+   "close_along_mm": -4.1,
+   "close_across_mm": -4.4,
+   "close_height_mm": -1.0,
+   "closest_mm": 7.4,
+   "lifted": true,
+   "lowest_mm": 17.1,
+   "lowest_square": "g8"
+  },
+  {
+   "index": 45,
+   "success": true,
+   "reason": "",
+   "frames": 271,
+   "seconds": 25.2,
+   "piece": "knight",
+   "source": "b1",
+   "destination": "c3",
+   "move_kind": "fixed",
+   "centre_error_mm": 1.26,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 3.97,
+   "close_lateral_mm": 1.5,
+   "close_along_mm": 1.2,
+   "close_across_mm": -0.9,
+   "close_height_mm": -1.1,
+   "closest_mm": 4.2,
+   "lifted": true,
+   "lowest_mm": 17.9,
+   "lowest_square": "b1"
+  },
+  {
+   "index": 46,
+   "success": false,
+   "reason": "placement error 55.4 mm, tilt 84 deg",
+   "frames": 600,
+   "seconds": 56.2,
+   "piece": "pawn",
+   "source": "e2",
+   "destination": "e4",
+   "move_kind": "fixed",
+   "centre_error_mm": 55.38,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.24,
+   "closed": true,
+   "close_t_s": 4.43,
+   "close_lateral_mm": 9.0,
+   "close_along_mm": 3.4,
+   "close_across_mm": 8.3,
+   "close_height_mm": 4.2,
+   "closest_mm": 9.2,
+   "lifted": false,
+   "lowest_mm": 21.3,
+   "lowest_square": "e2"
+  },
+  {
+   "index": 47,
+   "success": false,
+   "reason": "placement error 64.0 mm, tilt 99 deg",
+   "frames": 600,
+   "seconds": 55.6,
+   "piece": "pawn",
+   "source": "d7",
+   "destination": "d5",
+   "move_kind": "fixed",
+   "centre_error_mm": 63.96,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.33,
+   "closed": true,
+   "close_t_s": 2.37,
+   "close_lateral_mm": 6.1,
+   "close_along_mm": 5.6,
+   "close_across_mm": -2.5,
+   "close_height_mm": 2.2,
+   "closest_mm": 0.7,
+   "lifted": false,
+   "lowest_mm": 19.8,
+   "lowest_square": "d7"
+  },
+  {
+   "index": 48,
+   "success": false,
+   "reason": "placement error 56.6 mm, tilt 90 deg",
+   "frames": 600,
+   "seconds": 55.2,
+   "piece": "pawn",
+   "source": "c2",
+   "destination": "c4",
+   "move_kind": "fixed",
+   "centre_error_mm": 56.59,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.1,
+   "closed": true,
+   "close_t_s": 4.07,
+   "close_lateral_mm": 8.5,
+   "close_along_mm": 1.8,
+   "close_across_mm": 8.3,
+   "close_height_mm": 2.6,
+   "closest_mm": 3.0,
+   "lifted": false,
+   "lowest_mm": 19.8,
+   "lowest_square": "c2"
+  },
+  {
+   "index": 49,
+   "success": true,
+   "reason": "",
+   "frames": 196,
+   "seconds": 18.4,
+   "piece": "knight",
+   "source": "g8",
+   "destination": "f6",
+   "move_kind": "fixed",
+   "centre_error_mm": 3.75,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 2.4,
+   "close_lateral_mm": 1.9,
+   "close_along_mm": -1.8,
+   "close_across_mm": -0.4,
+   "close_height_mm": 3.7,
+   "closest_mm": 3.7,
+   "lifted": true,
+   "lowest_mm": 23.3,
+   "lowest_square": "f6"
+  },
+  {
+   "index": 50,
+   "success": true,
+   "reason": "",
+   "frames": 211,
+   "seconds": 20.4,
+   "piece": "pawn",
+   "source": "e7",
+   "destination": "e5",
+   "move_kind": "fixed",
+   "centre_error_mm": 5.07,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 2.53,
+   "close_lateral_mm": 1.2,
+   "close_along_mm": 0.5,
+   "close_across_mm": -1.1,
+   "close_height_mm": -0.5,
+   "closest_mm": 1.5,
+   "lifted": true,
+   "lowest_mm": 21.0,
+   "lowest_square": "e7"
+  },
+  {
+   "index": 51,
+   "success": false,
+   "reason": "placement error 12.1 mm, tilt 99 deg",
+   "frames": 600,
+   "seconds": 55.1,
+   "piece": "pawn",
+   "source": "e7",
+   "destination": "e5",
+   "move_kind": "fixed",
+   "centre_error_mm": 12.09,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.08,
+   "closed": true,
+   "close_t_s": 2.03,
+   "close_lateral_mm": 4.6,
+   "close_along_mm": -3.7,
+   "close_across_mm": 2.8,
+   "close_height_mm": -1.7,
+   "closest_mm": 0.4,
+   "lifted": true,
+   "lowest_mm": 19.9,
+   "lowest_square": "e7"
+  },
+  {
+   "index": 52,
+   "success": false,
+   "reason": "disturbed b_queen_d by 6.6 mm",
+   "frames": 600,
+   "seconds": 54.9,
+   "piece": "pawn",
+   "source": "d7",
+   "destination": "d5",
+   "move_kind": "fixed",
+   "centre_error_mm": 3.42,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": true,
+   "max_disturbance_mm": 6.59,
+   "closed": true,
+   "close_t_s": 2.27,
+   "close_lateral_mm": 4.7,
+   "close_along_mm": -1.7,
+   "close_across_mm": 4.3,
+   "close_height_mm": 0.2,
+   "closest_mm": 3.7,
+   "lifted": true,
+   "lowest_mm": 21.7,
+   "lowest_square": "d7"
+  },
+  {
+   "index": 53,
+   "success": false,
+   "reason": "placement error 56.6 mm, tilt 87 deg",
+   "frames": 600,
+   "seconds": 56.2,
+   "piece": "pawn",
+   "source": "e7",
+   "destination": "e5",
+   "move_kind": "fixed",
+   "centre_error_mm": 56.65,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.3,
+   "closed": true,
+   "close_t_s": 1.97,
+   "close_lateral_mm": 2.7,
+   "close_along_mm": -2.6,
+   "close_across_mm": -0.8,
+   "close_height_mm": -0.9,
+   "closest_mm": 0.5,
+   "lifted": false,
+   "lowest_mm": 20.2,
+   "lowest_square": "e7"
+  },
+  {
+   "index": 54,
+   "success": false,
+   "reason": "placement error 38.5 mm, tilt 99 deg",
+   "frames": 600,
+   "seconds": 55.7,
+   "piece": "pawn",
+   "source": "d2",
+   "destination": "d4",
+   "move_kind": "fixed",
+   "centre_error_mm": 38.51,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.09,
+   "closed": true,
+   "close_t_s": 4.1,
+   "close_lateral_mm": 5.7,
+   "close_along_mm": 2.4,
+   "close_across_mm": -5.2,
+   "close_height_mm": -0.8,
+   "closest_mm": 2.6,
+   "lifted": false,
+   "lowest_mm": 19.3,
+   "lowest_square": "d2"
+  },
+  {
+   "index": 55,
+   "success": false,
+   "reason": "placement error 72.6 mm, tilt 110 deg; disturbed b_pawn_d by 17.2 mm",
+   "frames": 600,
+   "seconds": 56.1,
+   "piece": "knight",
+   "source": "g8",
+   "destination": "f6",
+   "move_kind": "fixed",
+   "centre_error_mm": 72.55,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": true,
+   "max_disturbance_mm": 17.16,
+   "closed": true,
+   "close_t_s": 2.47,
+   "close_lateral_mm": 11.7,
+   "close_along_mm": 7.9,
+   "close_across_mm": -8.6,
+   "close_height_mm": 4.5,
+   "closest_mm": 1.1,
+   "lifted": true,
+   "lowest_mm": 20.0,
+   "lowest_square": "g8"
+  },
+  {
+   "index": 56,
+   "success": true,
+   "reason": "",
+   "frames": 211,
+   "seconds": 19.9,
+   "piece": "knight",
+   "source": "g8",
+   "destination": "f6",
+   "move_kind": "fixed",
+   "centre_error_mm": 1.47,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 2.83,
+   "close_lateral_mm": 2.3,
+   "close_along_mm": -1.1,
+   "close_across_mm": 2.0,
+   "close_height_mm": 6.0,
+   "closest_mm": 1.8,
+   "lifted": true,
+   "lowest_mm": 21.1,
+   "lowest_square": "f6"
+  },
+  {
+   "index": 57,
+   "success": false,
+   "reason": "placement error 40.5 mm, tilt 99 deg; disturbed w_bishop_f by 13.4 mm",
+   "frames": 600,
+   "seconds": 55.5,
+   "piece": "pawn",
+   "source": "c2",
+   "destination": "c4",
+   "move_kind": "fixed",
+   "centre_error_mm": 40.49,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": true,
+   "max_disturbance_mm": 13.43,
+   "closed": true,
+   "close_t_s": 4.4,
+   "close_lateral_mm": 16.4,
+   "close_along_mm": -3.0,
+   "close_across_mm": 16.1,
+   "close_height_mm": -1.4,
+   "closest_mm": 3.2,
+   "lifted": false,
+   "lowest_mm": 18.9,
+   "lowest_square": "c2"
+  },
+  {
+   "index": 58,
+   "success": false,
+   "reason": "placement error 52.0 mm, tilt 99 deg",
+   "frames": 600,
+   "seconds": 55.1,
+   "piece": "pawn",
+   "source": "e7",
+   "destination": "e5",
+   "move_kind": "fixed",
+   "centre_error_mm": 52.01,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.48,
+   "closed": true,
+   "close_t_s": 2.2,
+   "close_lateral_mm": 5.1,
+   "close_along_mm": -2.7,
+   "close_across_mm": 4.3,
+   "close_height_mm": -0.6,
+   "closest_mm": 2.9,
+   "lifted": true,
+   "lowest_mm": 21.3,
+   "lowest_square": "e7"
+  },
+  {
+   "index": 59,
+   "success": false,
+   "reason": "placement error 38.0 mm, tilt 99 deg",
+   "frames": 600,
+   "seconds": 55.2,
+   "piece": "pawn",
+   "source": "c7",
+   "destination": "c5",
+   "move_kind": "fixed",
+   "centre_error_mm": 38.0,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 2.4,
+   "close_lateral_mm": 5.3,
+   "close_along_mm": -2.3,
+   "close_across_mm": -4.8,
+   "close_height_mm": -0.7,
+   "closest_mm": 0.1,
+   "lifted": true,
+   "lowest_mm": 20.9,
+   "lowest_square": "c7"
+  }
+ ]
+}

chess-sim/reports/part2/A_dev/eval_video.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17a56538b060257f2df004cb79d81feb5df1b688932f7eaf7aa1115c768fbf2d
+size 3401356

chess-sim/reports/part2/B_dev/eval_report.md

@@ -0,0 +1,150 @@
+# Policy evaluation in simulation
+
+Policy `outputs/arm_B/checkpoints/last/pretrained_model`, 60 closed-loop episodes on the `baseline` settings profile's scene from seeds not used for training.
+
+**Success: 38.3%** (piece within 6 mm of the target square or in the tray, upright, nothing else moved more than 2 mm; 20 s limit).
+
+## Reach
+
+- Median closest approach of the gripper to the marked piece (board plane): 2.1 mm (a square is about 25 mm).
+- Gripper within half a square of the marked piece: 96.7% of episodes.
+- Marked piece lifted more than 8 mm: 66.7%.
+- Gripper's lowest point was over the marked square: 73.3%.
+
+## Grasp precision
+
+Where the jaws are when the policy starts closing (command below 3 of 100), against the grasp the scripted expert would make on the same piece.
+
+- Closed on the piece's square in 100.0% of episodes.
+- Median sideways error at closing: 4.7 mm (successes 2.8, failures 6.4); within 2 mm in 13.3%. Median height error 1.6 mm.
+- Another piece moved more than 2 mm in 15.0% of episodes.
+
+| piece | episodes | success % | lifted % | median closing error mm | disturbed % |
+|---|---|---|---|---|---|
+| knight | 18 | 50.0 | 83.3 | 3.2 | 22.2 |
+| pawn | 42 | 33.3 | 59.5 | 5.2 | 11.9 |
+
+Episodes from seed 1000003: the same seed gives the same episodes for any number of workers.
+
+## By move
+
+| | success % | episodes |
+|---|---|---|
+| b1-c3 | 25.0 | 4 |
+| b8-c6 | 100.0 | 2 |
+| c2-c4 | 22.2 | 9 |
+| c7-c5 | 50.0 | 8 |
+| d2-d4 | 20.0 | 5 |
+| d7-d5 | 40.0 | 5 |
+| e2-e4 | 20.0 | 5 |
+| e7-e5 | 40.0 | 10 |
+| g1-f3 | 50.0 | 6 |
+| g8-f6 | 50.0 | 6 |
+
+## By piece
+
+| | success % | episodes |
+|---|---|---|
+| knight | 50.0 | 18 |
+| pawn | 33.3 | 42 |
+
+## By destination
+
+| | success % | episodes |
+|---|---|---|
+| square | 38.3 | 60 |
+
+## By move kind
+
+| | success % | episodes |
+|---|---|---|
+| fixed | 38.3 | 60 |
+
+## By side the robot plays
+
+| | success % | episodes |
+|---|---|---|
+| black | 38.3 | 60 |
+
+## By arm colour
+
+| | success % | episodes |
+|---|---|---|
+| white | 38.3 | 60 |
+
+## By main light
+
+| | success % | episodes |
+|---|---|---|
+| nominal | 38.3 | 60 |
+
+## By floor
+
+| | success % | episodes |
+|---|---|---|
+| nominal | 38.3 | 60 |
+
+## Episodes
+
+| # | move | success | closest mm | lifted | lowest over | reason |
+|---|---|---|---|---|---|---|
+| 0 | pawn e2-e4 | yes | 3.8 | yes | e2 |  |
+| 1 | pawn e7-e5 | no | 0.9 | no | e7 | placement error 40.0 mm, tilt 99 deg |
+| 2 | pawn d2-d4 | yes | 0.9 | yes | d2 |  |
+| 3 | pawn e7-e5 | yes | 6.2 | yes | e5 |  |
+| 4 | pawn d2-d4 | no | 1.9 | yes | d2 | placement error 11.5 mm, tilt 0 deg |
+| 5 | pawn c7-c5 | no | 0.4 | yes | c5 | placement error 42.6 mm, tilt 87 deg |
+| 6 | knight b8-c6 | yes | 6.9 | yes | b8 |  |
+| 7 | pawn e7-e5 | no | 0.3 | no | e7 | placement error 41.0 mm, tilt 99 deg |
+| 8 | pawn c2-c4 | no | 0.3 | no | c2 | placement error 43.6 mm, tilt 100 deg |
+| 9 | pawn c2-c4 | no | 1.0 | yes | c2 | placement error 9.8 mm, tilt 0 deg |
+| 10 | pawn d7-d5 | yes | 2.3 | yes | d7 |  |
+| 11 | pawn c2-c4 | no | 3.3 | no | c2 | placement error 41.5 mm, tilt 98 deg |
+| 12 | pawn d2-d4 | no | 4.8 | yes | d2 | placement error 31.0 mm, tilt 99 deg |
+| 13 | knight b1-c3 | yes | 3.2 | yes | b1 |  |
+| 14 | pawn d7-d5 | no | 0.7 | no | d7 | placement error 18.7 mm, tilt 98 deg; disturbed b_queen_d by 5.4 mm |
+| 15 | knight g8-f6 | no | 5.0 | yes | g8 | disturbed b_pawn_e by 11.9 mm |
+| 16 | knight g1-f3 | yes | 10.0 | yes | f4 |  |
+| 17 | knight g1-f3 | yes | 5.2 | yes | f3 |  |
+| 18 | pawn c7-c5 | no | 2.8 | no | c7 | placement error 29.5 mm, tilt 99 deg |
+| 19 | knight b1-c3 | no | 6.5 | yes | b1 | placement error 57.7 mm, tilt 98 deg |
+| 20 | pawn c2-c4 | yes | 4.1 | yes | c4 |  |
+| 21 | pawn e2-e4 | no | 0.7 | yes | e2 | placement error 8.6 mm, tilt 99 deg |
+| 22 | pawn c7-c5 | no | 1.5 | yes | c7 | placement error 4.7 mm, tilt 99 deg |
+| 23 | pawn d2-d4 | no | 5.1 | no | e2 | placement error 40.2 mm, tilt 99 deg; disturbed w_queen_d by 15.1 mm |
+| 24 | knight g1-f3 | no | 15.4 | yes | f1 | placement error 37.4 mm, tilt 92 deg; disturbed w_bishop_f by 15.6 mm |
+| 25 | pawn e7-e5 | yes | 1.1 | yes | e7 |  |
+| 26 | pawn e7-e5 | no | 1.8 | yes | e7 | placement error 26.5 mm, tilt 98 deg |
+| 27 | pawn c2-c4 | no | 0.7 | yes | c2 | placement error 14.0 mm, tilt 0 deg |
+| 28 | pawn c7-c5 | yes | 2.8 | yes | c7 |  |
+| 29 | pawn d7-d5 | no | 0.6 | no | d7 | placement error 41.5 mm, tilt 99 deg |
+| 30 | pawn c7-c5 | yes | 3.5 | yes | c7 |  |
+| 31 | knight b1-c3 | no | 0.8 | yes | b1 | placement error 69.9 mm, tilt 95 deg |
+| 32 | pawn c2-c4 | no | 1.7 | no | c2 | placement error 47.5 mm, tilt 99 deg |
+| 33 | pawn c7-c5 | yes | 3.6 | yes | c7 |  |
+| 34 | pawn e2-e4 | no | 7.5 | yes | e2 | placement error 59.5 mm, tilt 0 deg |
+| 35 | knight g8-f6 | yes | 1.1 | yes | f6 |  |
+| 36 | knight b8-c6 | yes | 12.5 | yes | c6 |  |
+| 37 | pawn c7-c5 | no | 2.4 | no | c7 | placement error 51.7 mm, tilt 100 deg |
+| 38 | pawn e2-e4 | no | 0.4 | no | e3 | placement error 50.7 mm, tilt 0 deg |
+| 39 | pawn e7-e5 | no | 3.1 | yes | e7 | placement error 42.6 mm, tilt 99 deg |
+| 40 | knight g1-f3 | yes | 4.4 | yes | g1 |  |
+| 41 | knight g1-f3 | no | 5.1 | no | g1 | placement error 60.6 mm, tilt 0 deg; disturbed w_rook_a by 6.1 mm |
+| 42 | pawn c2-c4 | yes | 0.5 | yes | c2 |  |
+| 43 | knight g1-f3 | no | 0.1 | no | f5 | placement error 55.9 mm, tilt 0 deg; disturbed w_bishop_c by 13.5 mm |
+| 44 | knight g8-f6 | no | 2.3 | yes | f6 | placement error 63.2 mm, tilt 70 deg |
+| 45 | knight b1-c3 | no | 5.1 | no | b1 | placement error 54.8 mm, tilt 0 deg |
+| 46 | pawn e2-e4 | no | 6.5 | no | e2 | placement error 54.2 mm, tilt 84 deg |
+| 47 | pawn d7-d5 | no | 0.9 | no | d7 | placement error 45.2 mm, tilt 99 deg; disturbed b_queen_d by 5.4 mm |
+| 48 | pawn c2-c4 | no | 6.5 | yes | b2 | placement error 22.7 mm, tilt 99 deg; disturbed w_bishop_c by 24.7 mm |
+| 49 | knight g8-f6 | yes | 1.7 | yes | g8 |  |
+| 50 | pawn e7-e5 | yes | 0.6 | yes | e7 |  |
+| 51 | pawn e7-e5 | yes | 0.5 | yes | e7 |  |
+| 52 | pawn d7-d5 | yes | 3.0 | yes | d5 |  |
+| 53 | pawn e7-e5 | no | 0.2 | no | e7 | placement error 54.5 mm, tilt 83 deg |
+| 54 | pawn d2-d4 | no | 1.6 | no | d2 | placement error 54.4 mm, tilt 97 deg |
+| 55 | knight g8-f6 | no | 0.5 | yes | f5 | placement error 60.2 mm, tilt 98 deg |
+| 56 | knight g8-f6 | yes | 0.7 | yes | g8 |  |
+| 57 | pawn c2-c4 | no | 1.1 | no | c2 | placement error 38.5 mm, tilt 99 deg; disturbed w_bishop_f by 13.1 mm |
+| 58 | pawn e7-e5 | no | 8.1 | no | e5 | placement error 55.4 mm, tilt 91 deg |
+| 59 | pawn c7-c5 | yes | 0.2 | yes | c7 |  |

chess-sim/reports/part2/B_dev/eval_results.json

@@ -0,0 +1,2295 @@
+{
+ "summary": {
+  "policy": "outputs/arm_B/checkpoints/last/pretrained_model",
+  "profile": "baseline",
+  "n_action_steps": null,
+  "seed": 1000003,
+  "precision": {
+   "closed_percent": 100.0,
+   "median_close_lateral_mm": 4.7,
+   "median_close_lateral_mm_success": 2.8,
+   "median_close_lateral_mm_failure": 6.4,
+   "close_within_2mm_percent": 13.3,
+   "median_close_height_mm": 1.6,
+   "disturbed_percent": 15.0
+  },
+  "pieces": {
+   "knight": {
+    "episodes": 18,
+    "success_percent": 50.0,
+    "lifted_percent": 83.3,
+    "median_close_lateral_mm": 3.2,
+    "disturbed_percent": 22.2
+   },
+   "pawn": {
+    "episodes": 42,
+    "success_percent": 33.3,
+    "lifted_percent": 59.5,
+    "median_close_lateral_mm": 5.2,
+    "disturbed_percent": 11.9
+   }
+  },
+  "episodes": 60,
+  "success_percent": 38.3,
+  "seconds_limit": 20.0,
+  "minutes": 10.4,
+  "reach": {
+   "median_closest_mm": 2.1,
+   "within_half_square_percent": 96.7,
+   "lifted_percent": 66.7,
+   "lowest_over_source_percent": 73.3
+  },
+  "by": {
+   "piece": {
+    "knight": {
+     "success_percent": 50.0,
+     "episodes": 18
+    },
+    "pawn": {
+     "success_percent": 33.3,
+     "episodes": 42
+    }
+   },
+   "move_kind": {
+    "fixed": {
+     "success_percent": 38.3,
+     "episodes": 60
+    }
+   },
+   "robot_plays": {
+    "black": {
+     "success_percent": 38.3,
+     "episodes": 60
+    }
+   },
+   "arm_colour": {
+    "white": {
+     "success_percent": 38.3,
+     "episodes": 60
+    }
+   },
+   "key_light": {
+    "nominal": {
+     "success_percent": 38.3,
+     "episodes": 60
+    }
+   },
+   "floor": {
+    "nominal": {
+     "success_percent": 38.3,
+     "episodes": 60
+    }
+   },
+   "destination": {
+    "square": {
+     "success_percent": 38.3,
+     "episodes": 60
+    }
+   },
+   "move": {
+    "b1-c3": {
+     "success_percent": 25.0,
+     "episodes": 4
+    },
+    "b8-c6": {
+     "success_percent": 100.0,
+     "episodes": 2
+    },
+    "c2-c4": {
+     "success_percent": 22.2,
+     "episodes": 9
+    },
+    "c7-c5": {
+     "success_percent": 50.0,
+     "episodes": 8
+    },
+    "d2-d4": {
+     "success_percent": 20.0,
+     "episodes": 5
+    },
+    "d7-d5": {
+     "success_percent": 40.0,
+     "episodes": 5
+    },
+    "e2-e4": {
+     "success_percent": 20.0,
+     "episodes": 5
+    },
+    "e7-e5": {
+     "success_percent": 40.0,
+     "episodes": 10
+    },
+    "g1-f3": {
+     "success_percent": 50.0,
+     "episodes": 6
+    },
+    "g8-f6": {
+     "success_percent": 50.0,
+     "episodes": 6
+    }
+   }
+  }
+ },
+ "episodes": [
+  {
+   "index": 0,
+   "success": true,
+   "reason": "",
+   "frames": 316,
+   "seconds": 32.6,
+   "piece": "pawn",
+   "source": "e2",
+   "destination": "e4",
+   "move_kind": "fixed",
+   "centre_error_mm": 4.68,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 4.07,
+   "close_lateral_mm": 3.9,
+   "close_along_mm": -3.2,
+   "close_across_mm": -2.2,
+   "close_height_mm": 2.3,
+   "closest_mm": 3.8,
+   "lifted": true,
+   "lowest_mm": 21.3,
+   "lowest_square": "e2"
+  },
+  {
+   "index": 1,
+   "success": false,
+   "reason": "placement error 40.0 mm, tilt 99 deg",
+   "frames": 600,
+   "seconds": 58.1,
+   "piece": "pawn",
+   "source": "e7",
+   "destination": "e5",
+   "move_kind": "fixed",
+   "centre_error_mm": 40.0,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.19,
+   "closed": true,
+   "close_t_s": 2.27,
+   "close_lateral_mm": 7.5,
+   "close_along_mm": -1.7,
+   "close_across_mm": 7.3,
+   "close_height_mm": 1.6,
+   "closest_mm": 0.9,
+   "lifted": false,
+   "lowest_mm": 21.3,
+   "lowest_square": "e7"
+  },
+  {
+   "index": 2,
+   "success": true,
+   "reason": "",
+   "frames": 316,
+   "seconds": 29.4,
+   "piece": "pawn",
+   "source": "d2",
+   "destination": "d4",
+   "move_kind": "fixed",
+   "centre_error_mm": 4.93,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 4.4,
+   "close_lateral_mm": 3.7,
+   "close_along_mm": -3.1,
+   "close_across_mm": 1.9,
+   "close_height_mm": 1.2,
+   "closest_mm": 0.9,
+   "lifted": true,
+   "lowest_mm": 21.8,
+   "lowest_square": "d2"
+  },
+  {
+   "index": 3,
+   "success": true,
+   "reason": "",
+   "frames": 226,
+   "seconds": 20.5,
+   "piece": "pawn",
+   "source": "e7",
+   "destination": "e5",
+   "move_kind": "fixed",
+   "centre_error_mm": 5.5,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 2.6,
+   "close_lateral_mm": 3.5,
+   "close_along_mm": -2.7,
+   "close_across_mm": -2.2,
+   "close_height_mm": 2.1,
+   "closest_mm": 6.2,
+   "lifted": true,
+   "lowest_mm": 22.9,
+   "lowest_square": "e5"
+  },
+  {
+   "index": 4,
+   "success": false,
+   "reason": "placement error 11.5 mm, tilt 0 deg",
+   "frames": 600,
+   "seconds": 53.8,
+   "piece": "pawn",
+   "source": "d2",
+   "destination": "d4",
+   "move_kind": "fixed",
+   "centre_error_mm": 11.5,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 3.93,
+   "close_lateral_mm": 4.1,
+   "close_along_mm": -4.1,
+   "close_across_mm": -0.3,
+   "close_height_mm": 0.8,
+   "closest_mm": 1.9,
+   "lifted": true,
+   "lowest_mm": 22.1,
+   "lowest_square": "d2"
+  },
+  {
+   "index": 5,
+   "success": false,
+   "reason": "placement error 42.6 mm, tilt 87 deg",
+   "frames": 600,
+   "seconds": 53.5,
+   "piece": "pawn",
+   "source": "c7",
+   "destination": "c5",
+   "move_kind": "fixed",
+   "centre_error_mm": 42.62,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.31,
+   "closed": true,
+   "close_t_s": 2.6,
+   "close_lateral_mm": 6.2,
+   "close_along_mm": 5.7,
+   "close_across_mm": 2.4,
+   "close_height_mm": 3.1,
+   "closest_mm": 0.4,
+   "lifted": true,
+   "lowest_mm": 20.1,
+   "lowest_square": "c5"
+  },
+  {
+   "index": 6,
+   "success": true,
+   "reason": "",
+   "frames": 256,
+   "seconds": 23.0,
+   "piece": "knight",
+   "source": "b8",
+   "destination": "c6",
+   "move_kind": "fixed",
+   "centre_error_mm": 5.18,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 3.17,
+   "close_lateral_mm": 0.9,
+   "close_along_mm": -0.2,
+   "close_across_mm": -0.8,
+   "close_height_mm": 0.2,
+   "closest_mm": 6.9,
+   "lifted": true,
+   "lowest_mm": 19.9,
+   "lowest_square": "b8"
+  },
+  {
+   "index": 7,
+   "success": false,
+   "reason": "placement error 41.0 mm, tilt 99 deg",
+   "frames": 600,
+   "seconds": 53.2,
+   "piece": "pawn",
+   "source": "e7",
+   "destination": "e5",
+   "move_kind": "fixed",
+   "centre_error_mm": 41.01,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.1,
+   "closed": true,
+   "close_t_s": 2.53,
+   "close_lateral_mm": 5.4,
+   "close_along_mm": 5.4,
+   "close_across_mm": -0.0,
+   "close_height_mm": 8.6,
+   "closest_mm": 0.3,
+   "lifted": false,
+   "lowest_mm": 21.5,
+   "lowest_square": "e7"
+  },
+  {
+   "index": 8,
+   "success": false,
+   "reason": "placement error 43.6 mm, tilt 100 deg",
+   "frames": 600,
+   "seconds": 53.7,
+   "piece": "pawn",
+   "source": "c2",
+   "destination": "c4",
+   "move_kind": "fixed",
+   "centre_error_mm": 43.59,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 4.23,
+   "close_lateral_mm": 4.5,
+   "close_along_mm": -4.3,
+   "close_across_mm": 1.2,
+   "close_height_mm": 3.3,
+   "closest_mm": 0.3,
+   "lifted": false,
+   "lowest_mm": 20.4,
+   "lowest_square": "c2"
+  },
+  {
+   "index": 9,
+   "success": false,
+   "reason": "placement error 9.8 mm, tilt 0 deg",
+   "frames": 600,
+   "seconds": 53.7,
+   "piece": "pawn",
+   "source": "c2",
+   "destination": "c4",
+   "move_kind": "fixed",
+   "centre_error_mm": 9.78,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 4.8,
+   "close_lateral_mm": 7.7,
+   "close_along_mm": 7.4,
+   "close_across_mm": -2.1,
+   "close_height_mm": -4.8,
+   "closest_mm": 1.0,
+   "lifted": true,
+   "lowest_mm": 15.7,
+   "lowest_square": "c2"
+  },
+  {
+   "index": 10,
+   "success": true,
+   "reason": "",
+   "frames": 241,
+   "seconds": 24.8,
+   "piece": "pawn",
+   "source": "d7",
+   "destination": "d5",
+   "move_kind": "fixed",
+   "centre_error_mm": 2.85,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.39,
+   "closed": true,
+   "close_t_s": 2.67,
+   "close_lateral_mm": 5.2,
+   "close_along_mm": -0.8,
+   "close_across_mm": -5.1,
+   "close_height_mm": -1.5,
+   "closest_mm": 2.3,
+   "lifted": true,
+   "lowest_mm": 19.6,
+   "lowest_square": "d7"
+  },
+  {
+   "index": 11,
+   "success": false,
+   "reason": "placement error 41.5 mm, tilt 98 deg",
+   "frames": 600,
+   "seconds": 57.2,
+   "piece": "pawn",
+   "source": "c2",
+   "destination": "c4",
+   "move_kind": "fixed",
+   "centre_error_mm": 41.47,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 4.4,
+   "close_lateral_mm": 10.6,
+   "close_along_mm": -7.7,
+   "close_across_mm": 7.4,
+   "close_height_mm": 3.1,
+   "closest_mm": 3.3,
+   "lifted": false,
+   "lowest_mm": 21.7,
+   "lowest_square": "c2"
+  },
+  {
+   "index": 12,
+   "success": false,
+   "reason": "placement error 31.0 mm, tilt 99 deg",
+   "frames": 600,
+   "seconds": 54.3,
+   "piece": "pawn",
+   "source": "d2",
+   "destination": "d4",
+   "move_kind": "fixed",
+   "centre_error_mm": 31.03,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 4.6,
+   "close_lateral_mm": 7.0,
+   "close_along_mm": -6.5,
+   "close_across_mm": -2.6,
+   "close_height_mm": -4.2,
+   "closest_mm": 4.8,
+   "lifted": true,
+   "lowest_mm": 17.9,
+   "lowest_square": "d2"
+  },
+  {
+   "index": 13,
+   "success": true,
+   "reason": "",
+   "frames": 271,
+   "seconds": 24.9,
+   "piece": "knight",
+   "source": "b1",
+   "destination": "c3",
+   "move_kind": "fixed",
+   "centre_error_mm": 2.52,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 3.97,
+   "close_lateral_mm": 3.9,
+   "close_along_mm": 2.9,
+   "close_across_mm": 2.7,
+   "close_height_mm": 2.2,
+   "closest_mm": 3.2,
+   "lifted": true,
+   "lowest_mm": 18.5,
+   "lowest_square": "b1"
+  },
+  {
+   "index": 14,
+   "success": false,
+   "reason": "placement error 18.7 mm, tilt 98 deg; disturbed b_queen_d by 5.4 mm",
+   "frames": 600,
+   "seconds": 53.2,
+   "piece": "pawn",
+   "source": "d7",
+   "destination": "d5",
+   "move_kind": "fixed",
+   "centre_error_mm": 18.69,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": true,
+   "max_disturbance_mm": 5.4,
+   "closed": true,
+   "close_t_s": 2.73,
+   "close_lateral_mm": 5.1,
+   "close_along_mm": -1.7,
+   "close_across_mm": -4.8,
+   "close_height_mm": 0.1,
+   "closest_mm": 0.7,
+   "lifted": false,
+   "lowest_mm": 21.4,
+   "lowest_square": "d7"
+  },
+  {
+   "index": 15,
+   "success": false,
+   "reason": "disturbed b_pawn_e by 11.9 mm",
+   "frames": 600,
+   "seconds": 53.8,
+   "piece": "knight",
+   "source": "g8",
+   "destination": "f6",
+   "move_kind": "fixed",
+   "centre_error_mm": 3.91,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": true,
+   "max_disturbance_mm": 11.88,
+   "closed": true,
+   "close_t_s": 2.47,
+   "close_lateral_mm": 1.8,
+   "close_along_mm": -0.7,
+   "close_across_mm": -1.7,
+   "close_height_mm": 0.2,
+   "closest_mm": 5.0,
+   "lifted": true,
+   "lowest_mm": 18.7,
+   "lowest_square": "g8"
+  },
+  {
+   "index": 16,
+   "success": true,
+   "reason": "",
+   "frames": 256,
+   "seconds": 23.1,
+   "piece": "knight",
+   "source": "g1",
+   "destination": "f3",
+   "move_kind": "fixed",
+   "centre_error_mm": 5.15,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 3.33,
+   "close_lateral_mm": 2.2,
+   "close_along_mm": 0.4,
+   "close_across_mm": 2.2,
+   "close_height_mm": 5.9,
+   "closest_mm": 10.0,
+   "lifted": true,
+   "lowest_mm": 19.0,
+   "lowest_square": "f4"
+  },
+  {
+   "index": 17,
+   "success": true,
+   "reason": "",
+   "frames": 301,
+   "seconds": 27.7,
+   "piece": "knight",
+   "source": "g1",
+   "destination": "f3",
+   "move_kind": "fixed",
+   "centre_error_mm": 3.72,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 3.93,
+   "close_lateral_mm": 0.5,
+   "close_along_mm": -0.0,
+   "close_across_mm": 0.5,
+   "close_height_mm": 4.0,
+   "closest_mm": 5.2,
+   "lifted": true,
+   "lowest_mm": 19.1,
+   "lowest_square": "f3"
+  },
+  {
+   "index": 18,
+   "success": false,
+   "reason": "placement error 29.5 mm, tilt 99 deg",
+   "frames": 600,
+   "seconds": 54.1,
+   "piece": "pawn",
+   "source": "c7",
+   "destination": "c5",
+   "move_kind": "fixed",
+   "centre_error_mm": 29.53,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.07,
+   "closed": true,
+   "close_t_s": 2.4,
+   "close_lateral_mm": 8.8,
+   "close_along_mm": 4.1,
+   "close_across_mm": 7.8,
+   "close_height_mm": 4.5,
+   "closest_mm": 2.8,
+   "lifted": false,
+   "lowest_mm": 21.1,
+   "lowest_square": "c7"
+  },
+  {
+   "index": 19,
+   "success": false,
+   "reason": "placement error 57.7 mm, tilt 98 deg",
+   "frames": 600,
+   "seconds": 54.3,
+   "piece": "knight",
+   "source": "b1",
+   "destination": "c3",
+   "move_kind": "fixed",
+   "centre_error_mm": 57.73,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.04,
+   "closed": true,
+   "close_t_s": 3.6,
+   "close_lateral_mm": 7.2,
+   "close_along_mm": -5.7,
+   "close_across_mm": -4.5,
+   "close_height_mm": 0.7,
+   "closest_mm": 6.5,
+   "lifted": true,
+   "lowest_mm": 20.1,
+   "lowest_square": "b1"
+  },
+  {
+   "index": 20,
+   "success": true,
+   "reason": "",
+   "frames": 316,
+   "seconds": 32.3,
+   "piece": "pawn",
+   "source": "c2",
+   "destination": "c4",
+   "move_kind": "fixed",
+   "centre_error_mm": 2.34,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 4.3,
+   "close_lateral_mm": 1.8,
+   "close_along_mm": -1.3,
+   "close_across_mm": -1.3,
+   "close_height_mm": 2.0,
+   "closest_mm": 4.1,
+   "lifted": true,
+   "lowest_mm": 22.3,
+   "lowest_square": "c4"
+  },
+  {
+   "index": 21,
+   "success": false,
+   "reason": "placement error 8.6 mm, tilt 99 deg",
+   "frames": 600,
+   "seconds": 58.5,
+   "piece": "pawn",
+   "source": "e2",
+   "destination": "e4",
+   "move_kind": "fixed",
+   "centre_error_mm": 8.61,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 5.0,
+   "close_lateral_mm": 4.5,
+   "close_along_mm": -1.3,
+   "close_across_mm": 4.3,
+   "close_height_mm": 3.4,
+   "closest_mm": 0.7,
+   "lifted": true,
+   "lowest_mm": 20.6,
+   "lowest_square": "e2"
+  },
+  {
+   "index": 22,
+   "success": false,
+   "reason": "placement error 4.7 mm, tilt 99 deg",
+   "frames": 600,
+   "seconds": 56.9,
+   "piece": "pawn",
+   "source": "c7",
+   "destination": "c5",
+   "move_kind": "fixed",
+   "centre_error_mm": 4.69,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 2.57,
+   "close_lateral_mm": 4.9,
+   "close_along_mm": -3.2,
+   "close_across_mm": -3.7,
+   "close_height_mm": -0.4,
+   "closest_mm": 1.5,
+   "lifted": true,
+   "lowest_mm": 20.5,
+   "lowest_square": "c7"
+  },
+  {
+   "index": 23,
+   "success": false,
+   "reason": "placement error 40.2 mm, tilt 99 deg; disturbed w_queen_d by 15.1 mm",
+   "frames": 600,
+   "seconds": 55.8,
+   "piece": "pawn",
+   "source": "d2",
+   "destination": "d4",
+   "move_kind": "fixed",
+   "centre_error_mm": 40.2,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": true,
+   "max_disturbance_mm": 15.1,
+   "closed": true,
+   "close_t_s": 4.1,
+   "close_lateral_mm": 7.5,
+   "close_along_mm": 7.4,
+   "close_across_mm": -0.8,
+   "close_height_mm": 1.5,
+   "closest_mm": 5.1,
+   "lifted": false,
+   "lowest_mm": 11.7,
+   "lowest_square": "e2"
+  },
+  {
+   "index": 24,
+   "success": false,
+   "reason": "placement error 37.4 mm, tilt 92 deg; disturbed w_bishop_f by 15.6 mm",
+   "frames": 600,
+   "seconds": 55.3,
+   "piece": "knight",
+   "source": "g1",
+   "destination": "f3",
+   "move_kind": "fixed",
+   "centre_error_mm": 37.4,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": true,
+   "max_disturbance_mm": 15.59,
+   "closed": true,
+   "close_t_s": 3.93,
+   "close_lateral_mm": 11.1,
+   "close_along_mm": -8.1,
+   "close_across_mm": -7.6,
+   "close_height_mm": 2.9,
+   "closest_mm": 15.4,
+   "lifted": true,
+   "lowest_mm": 16.5,
+   "lowest_square": "f1"
+  },
+  {
+   "index": 25,
+   "success": true,
+   "reason": "",
+   "frames": 451,
+   "seconds": 40.5,
+   "piece": "pawn",
+   "source": "e7",
+   "destination": "e5",
+   "move_kind": "fixed",
+   "centre_error_mm": 3.46,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.11,
+   "closed": true,
+   "close_t_s": 2.13,
+   "close_lateral_mm": 7.8,
+   "close_along_mm": -7.6,
+   "close_across_mm": 1.8,
+   "close_height_mm": 0.2,
+   "closest_mm": 1.1,
+   "lifted": true,
+   "lowest_mm": 21.2,
+   "lowest_square": "e7"
+  },
+  {
+   "index": 26,
+   "success": false,
+   "reason": "placement error 26.5 mm, tilt 98 deg",
+   "frames": 600,
+   "seconds": 54.3,
+   "piece": "pawn",
+   "source": "e7",
+   "destination": "e5",
+   "move_kind": "fixed",
+   "centre_error_mm": 26.46,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.11,
+   "closed": true,
+   "close_t_s": 2.3,
+   "close_lateral_mm": 7.8,
+   "close_along_mm": 4.0,
+   "close_across_mm": -6.7,
+   "close_height_mm": 4.0,
+   "closest_mm": 1.8,
+   "lifted": true,
+   "lowest_mm": 21.1,
+   "lowest_square": "e7"
+  },
+  {
+   "index": 27,
+   "success": false,
+   "reason": "placement error 14.0 mm, tilt 0 deg",
+   "frames": 600,
+   "seconds": 55.0,
+   "piece": "pawn",
+   "source": "c2",
+   "destination": "c4",
+   "move_kind": "fixed",
+   "centre_error_mm": 14.01,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 4.4,
+   "close_lateral_mm": 4.1,
+   "close_along_mm": -2.5,
+   "close_across_mm": -3.3,
+   "close_height_mm": -2.3,
+   "closest_mm": 0.7,
+   "lifted": true,
+   "lowest_mm": 19.9,
+   "lowest_square": "c2"
+  },
+  {
+   "index": 28,
+   "success": true,
+   "reason": "",
+   "frames": 211,
+   "seconds": 19.7,
+   "piece": "pawn",
+   "source": "c7",
+   "destination": "c5",
+   "move_kind": "fixed",
+   "centre_error_mm": 4.94,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 2.07,
+   "close_lateral_mm": 1.7,
+   "close_along_mm": 0.8,
+   "close_across_mm": 1.4,
+   "close_height_mm": 0.0,
+   "closest_mm": 2.8,
+   "lifted": true,
+   "lowest_mm": 22.2,
+   "lowest_square": "c7"
+  },
+  {
+   "index": 29,
+   "success": false,
+   "reason": "placement error 41.5 mm, tilt 99 deg",
+   "frames": 600,
+   "seconds": 53.9,
+   "piece": "pawn",
+   "source": "d7",
+   "destination": "d5",
+   "move_kind": "fixed",
+   "centre_error_mm": 41.54,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 2.9,
+   "close_lateral_mm": 8.8,
+   "close_along_mm": 1.5,
+   "close_across_mm": -8.6,
+   "close_height_mm": 4.7,
+   "closest_mm": 0.6,
+   "lifted": false,
+   "lowest_mm": 20.3,
+   "lowest_square": "d7"
+  },
+  {
+   "index": 30,
+   "success": true,
+   "reason": "",
+   "frames": 466,
+   "seconds": 46.2,
+   "piece": "pawn",
+   "source": "c7",
+   "destination": "c5",
+   "move_kind": "fixed",
+   "centre_error_mm": 3.54,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 2.33,
+   "close_lateral_mm": 4.2,
+   "close_along_mm": -2.2,
+   "close_across_mm": -3.6,
+   "close_height_mm": -0.5,
+   "closest_mm": 3.5,
+   "lifted": true,
+   "lowest_mm": 20.8,
+   "lowest_square": "c7"
+  },
+  {
+   "index": 31,
+   "success": false,
+   "reason": "placement error 69.9 mm, tilt 95 deg",
+   "frames": 600,
+   "seconds": 54.6,
+   "piece": "knight",
+   "source": "b1",
+   "destination": "c3",
+   "move_kind": "fixed",
+   "centre_error_mm": 69.95,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.48,
+   "closed": true,
+   "close_t_s": 4.23,
+   "close_lateral_mm": 4.7,
+   "close_along_mm": 4.0,
+   "close_across_mm": -2.5,
+   "close_height_mm": 1.2,
+   "closest_mm": 0.8,
+   "lifted": true,
+   "lowest_mm": 17.3,
+   "lowest_square": "b1"
+  },
+  {
+   "index": 32,
+   "success": false,
+   "reason": "placement error 47.5 mm, tilt 99 deg",
+   "frames": 600,
+   "seconds": 53.3,
+   "piece": "pawn",
+   "source": "c2",
+   "destination": "c4",
+   "move_kind": "fixed",
+   "centre_error_mm": 47.48,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.15,
+   "closed": true,
+   "close_t_s": 5.67,
+   "close_lateral_mm": 10.0,
+   "close_along_mm": -2.4,
+   "close_across_mm": 9.7,
+   "close_height_mm": -3.9,
+   "closest_mm": 1.7,
+   "lifted": false,
+   "lowest_mm": 17.2,
+   "lowest_square": "c2"
+  },
+  {
+   "index": 33,
+   "success": true,
+   "reason": "",
+   "frames": 211,
+   "seconds": 19.2,
+   "piece": "pawn",
+   "source": "c7",
+   "destination": "c5",
+   "move_kind": "fixed",
+   "centre_error_mm": 2.36,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 2.13,
+   "close_lateral_mm": 1.3,
+   "close_along_mm": 0.1,
+   "close_across_mm": 1.3,
+   "close_height_mm": 0.5,
+   "closest_mm": 3.6,
+   "lifted": true,
+   "lowest_mm": 20.8,
+   "lowest_square": "c7"
+  },
+  {
+   "index": 34,
+   "success": false,
+   "reason": "placement error 59.5 mm, tilt 0 deg",
+   "frames": 600,
+   "seconds": 54.3,
+   "piece": "pawn",
+   "source": "e2",
+   "destination": "e4",
+   "move_kind": "fixed",
+   "centre_error_mm": 59.53,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.48,
+   "closed": true,
+   "close_t_s": 4.87,
+   "close_lateral_mm": 11.0,
+   "close_along_mm": 8.6,
+   "close_across_mm": 6.7,
+   "close_height_mm": 2.5,
+   "closest_mm": 7.5,
+   "lifted": true,
+   "lowest_mm": 21.0,
+   "lowest_square": "e2"
+  },
+  {
+   "index": 35,
+   "success": true,
+   "reason": "",
+   "frames": 226,
+   "seconds": 20.0,
+   "piece": "knight",
+   "source": "g8",
+   "destination": "f6",
+   "move_kind": "fixed",
+   "centre_error_mm": 4.83,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 2.7,
+   "close_lateral_mm": 3.7,
+   "close_along_mm": 0.2,
+   "close_across_mm": 3.7,
+   "close_height_mm": 1.2,
+   "closest_mm": 1.1,
+   "lifted": true,
+   "lowest_mm": 19.8,
+   "lowest_square": "f6"
+  },
+  {
+   "index": 36,
+   "success": true,
+   "reason": "",
+   "frames": 271,
+   "seconds": 24.3,
+   "piece": "knight",
+   "source": "b8",
+   "destination": "c6",
+   "move_kind": "fixed",
+   "centre_error_mm": 5.53,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 2.93,
+   "close_lateral_mm": 6.8,
+   "close_along_mm": -5.6,
+   "close_across_mm": 3.9,
+   "close_height_mm": 2.6,
+   "closest_mm": 12.5,
+   "lifted": true,
+   "lowest_mm": 20.2,
+   "lowest_square": "c6"
+  },
+  {
+   "index": 37,
+   "success": false,
+   "reason": "placement error 51.7 mm, tilt 100 deg",
+   "frames": 600,
+   "seconds": 53.6,
+   "piece": "pawn",
+   "source": "c7",
+   "destination": "c5",
+   "move_kind": "fixed",
+   "centre_error_mm": 51.73,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.32,
+   "closed": true,
+   "close_t_s": 3.8,
+   "close_lateral_mm": 4.4,
+   "close_along_mm": -1.7,
+   "close_across_mm": -4.1,
+   "close_height_mm": -2.4,
+   "closest_mm": 2.4,
+   "lifted": false,
+   "lowest_mm": 19.7,
+   "lowest_square": "c7"
+  },
+  {
+   "index": 38,
+   "success": false,
+   "reason": "placement error 50.7 mm, tilt 0 deg",
+   "frames": 600,
+   "seconds": 53.4,
+   "piece": "pawn",
+   "source": "e2",
+   "destination": "e4",
+   "move_kind": "fixed",
+   "centre_error_mm": 50.74,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 4.0,
+   "close_lateral_mm": 4.0,
+   "close_along_mm": -3.9,
+   "close_across_mm": 1.1,
+   "close_height_mm": 9.5,
+   "closest_mm": 0.4,
+   "lifted": false,
+   "lowest_mm": 17.7,
+   "lowest_square": "e3"
+  },
+  {
+   "index": 39,
+   "success": false,
+   "reason": "placement error 42.6 mm, tilt 99 deg",
+   "frames": 600,
+   "seconds": 53.5,
+   "piece": "pawn",
+   "source": "e7",
+   "destination": "e5",
+   "move_kind": "fixed",
+   "centre_error_mm": 42.55,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 3.13,
+   "close_lateral_mm": 6.4,
+   "close_along_mm": -1.2,
+   "close_across_mm": -6.3,
+   "close_height_mm": 2.1,
+   "closest_mm": 3.1,
+   "lifted": true,
+   "lowest_mm": 22.2,
+   "lowest_square": "e7"
+  },
+  {
+   "index": 40,
+   "success": true,
+   "reason": "",
+   "frames": 286,
+   "seconds": 28.9,
+   "piece": "knight",
+   "source": "g1",
+   "destination": "f3",
+   "move_kind": "fixed",
+   "centre_error_mm": 3.23,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 3.8,
+   "close_lateral_mm": 2.0,
+   "close_along_mm": -0.2,
+   "close_across_mm": 2.0,
+   "close_height_mm": -2.5,
+   "closest_mm": 4.4,
+   "lifted": true,
+   "lowest_mm": 14.3,
+   "lowest_square": "g1"
+  },
+  {
+   "index": 41,
+   "success": false,
+   "reason": "placement error 60.6 mm, tilt 0 deg; disturbed w_rook_a by 6.1 mm",
+   "frames": 600,
+   "seconds": 58.3,
+   "piece": "knight",
+   "source": "g1",
+   "destination": "f3",
+   "move_kind": "fixed",
+   "centre_error_mm": 60.63,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": true,
+   "max_disturbance_mm": 6.13,
+   "closed": true,
+   "close_t_s": 3.77,
+   "close_lateral_mm": 2.2,
+   "close_along_mm": 0.1,
+   "close_across_mm": -2.2,
+   "close_height_mm": -1.4,
+   "closest_mm": 5.1,
+   "lifted": false,
+   "lowest_mm": 14.2,
+   "lowest_square": "g1"
+  },
+  {
+   "index": 42,
+   "success": true,
+   "reason": "",
+   "frames": 316,
+   "seconds": 30.0,
+   "piece": "pawn",
+   "source": "c2",
+   "destination": "c4",
+   "move_kind": "fixed",
+   "centre_error_mm": 1.08,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 4.17,
+   "close_lateral_mm": 2.8,
+   "close_along_mm": -2.3,
+   "close_across_mm": 1.7,
+   "close_height_mm": 1.6,
+   "closest_mm": 0.5,
+   "lifted": true,
+   "lowest_mm": 22.4,
+   "lowest_square": "c2"
+  },
+  {
+   "index": 43,
+   "success": false,
+   "reason": "placement error 55.9 mm, tilt 0 deg; disturbed w_bishop_c by 13.5 mm",
+   "frames": 600,
+   "seconds": 54.6,
+   "piece": "knight",
+   "source": "g1",
+   "destination": "f3",
+   "move_kind": "fixed",
+   "centre_error_mm": 55.86,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": true,
+   "max_disturbance_mm": 13.47,
+   "closed": true,
+   "close_t_s": 4.07,
+   "close_lateral_mm": 10.3,
+   "close_along_mm": 10.0,
+   "close_across_mm": 2.4,
+   "close_height_mm": 16.5,
+   "closest_mm": 0.1,
+   "lifted": false,
+   "lowest_mm": 22.9,
+   "lowest_square": "f5"
+  },
+  {
+   "index": 44,
+   "success": false,
+   "reason": "placement error 63.2 mm, tilt 70 deg",
+   "frames": 600,
+   "seconds": 54.0,
+   "piece": "knight",
+   "source": "g8",
+   "destination": "f6",
+   "move_kind": "fixed",
+   "centre_error_mm": 63.24,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.14,
+   "closed": true,
+   "close_t_s": 2.57,
+   "close_lateral_mm": 4.6,
+   "close_along_mm": -3.6,
+   "close_across_mm": -2.9,
+   "close_height_mm": 3.2,
+   "closest_mm": 2.3,
+   "lifted": true,
+   "lowest_mm": 21.7,
+   "lowest_square": "f6"
+  },
+  {
+   "index": 45,
+   "success": false,
+   "reason": "placement error 54.8 mm, tilt 0 deg",
+   "frames": 600,
+   "seconds": 58.2,
+   "piece": "knight",
+   "source": "b1",
+   "destination": "c3",
+   "move_kind": "fixed",
+   "centre_error_mm": 54.84,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.41,
+   "closed": true,
+   "close_t_s": 3.93,
+   "close_lateral_mm": 2.8,
+   "close_along_mm": 1.9,
+   "close_across_mm": -2.0,
+   "close_height_mm": 0.0,
+   "closest_mm": 5.1,
+   "lifted": false,
+   "lowest_mm": 15.5,
+   "lowest_square": "b1"
+  },
+  {
+   "index": 46,
+   "success": false,
+   "reason": "placement error 54.2 mm, tilt 84 deg",
+   "frames": 600,
+   "seconds": 59.9,
+   "piece": "pawn",
+   "source": "e2",
+   "destination": "e4",
+   "move_kind": "fixed",
+   "centre_error_mm": 54.24,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.67,
+   "closed": true,
+   "close_t_s": 4.43,
+   "close_lateral_mm": 10.4,
+   "close_along_mm": 4.2,
+   "close_across_mm": 9.5,
+   "close_height_mm": 5.0,
+   "closest_mm": 6.5,
+   "lifted": false,
+   "lowest_mm": 20.0,
+   "lowest_square": "e2"
+  },
+  {
+   "index": 47,
+   "success": false,
+   "reason": "placement error 45.2 mm, tilt 99 deg; disturbed b_queen_d by 5.4 mm",
+   "frames": 600,
+   "seconds": 59.4,
+   "piece": "pawn",
+   "source": "d7",
+   "destination": "d5",
+   "move_kind": "fixed",
+   "centre_error_mm": 45.24,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": true,
+   "max_disturbance_mm": 5.36,
+   "closed": true,
+   "close_t_s": 2.17,
+   "close_lateral_mm": 4.2,
+   "close_along_mm": -1.2,
+   "close_across_mm": 4.0,
+   "close_height_mm": -0.7,
+   "closest_mm": 0.9,
+   "lifted": false,
+   "lowest_mm": 20.9,
+   "lowest_square": "d7"
+  },
+  {
+   "index": 48,
+   "success": false,
+   "reason": "placement error 22.7 mm, tilt 99 deg; disturbed w_bishop_c by 24.7 mm",
+   "frames": 600,
+   "seconds": 59.9,
+   "piece": "pawn",
+   "source": "c2",
+   "destination": "c4",
+   "move_kind": "fixed",
+   "centre_error_mm": 22.74,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": true,
+   "max_disturbance_mm": 24.65,
+   "closed": true,
+   "close_t_s": 4.07,
+   "close_lateral_mm": 8.1,
+   "close_along_mm": 1.4,
+   "close_across_mm": 8.0,
+   "close_height_mm": 2.2,
+   "closest_mm": 6.5,
+   "lifted": true,
+   "lowest_mm": 15.7,
+   "lowest_square": "b2"
+  },
+  {
+   "index": 49,
+   "success": true,
+   "reason": "",
+   "frames": 226,
+   "seconds": 23.3,
+   "piece": "knight",
+   "source": "g8",
+   "destination": "f6",
+   "move_kind": "fixed",
+   "centre_error_mm": 0.99,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 2.57,
+   "close_lateral_mm": 2.2,
+   "close_along_mm": 1.5,
+   "close_across_mm": -1.6,
+   "close_height_mm": 1.7,
+   "closest_mm": 1.7,
+   "lifted": true,
+   "lowest_mm": 19.9,
+   "lowest_square": "g8"
+  },
+  {
+   "index": 50,
+   "success": true,
+   "reason": "",
+   "frames": 211,
+   "seconds": 21.2,
+   "piece": "pawn",
+   "source": "e7",
+   "destination": "e5",
+   "move_kind": "fixed",
+   "centre_error_mm": 1.93,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 2.67,
+   "close_lateral_mm": 1.4,
+   "close_along_mm": 1.3,
+   "close_across_mm": -0.3,
+   "close_height_mm": 0.1,
+   "closest_mm": 0.6,
+   "lifted": true,
+   "lowest_mm": 21.2,
+   "lowest_square": "e7"
+  },
+  {
+   "index": 51,
+   "success": true,
+   "reason": "",
+   "frames": 466,
+   "seconds": 45.4,
+   "piece": "pawn",
+   "source": "e7",
+   "destination": "e5",
+   "move_kind": "fixed",
+   "centre_error_mm": 2.42,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.07,
+   "closed": true,
+   "close_t_s": 2.3,
+   "close_lateral_mm": 4.8,
+   "close_along_mm": 2.7,
+   "close_across_mm": -3.9,
+   "close_height_mm": 7.8,
+   "closest_mm": 0.5,
+   "lifted": true,
+   "lowest_mm": 21.0,
+   "lowest_square": "e7"
+  },
+  {
+   "index": 52,
+   "success": true,
+   "reason": "",
+   "frames": 226,
+   "seconds": 21.2,
+   "piece": "pawn",
+   "source": "d7",
+   "destination": "d5",
+   "move_kind": "fixed",
+   "centre_error_mm": 2.03,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.14,
+   "closed": true,
+   "close_t_s": 2.4,
+   "close_lateral_mm": 2.5,
+   "close_along_mm": -1.0,
+   "close_across_mm": 2.3,
+   "close_height_mm": 2.6,
+   "closest_mm": 3.0,
+   "lifted": true,
+   "lowest_mm": 22.1,
+   "lowest_square": "d5"
+  },
+  {
+   "index": 53,
+   "success": false,
+   "reason": "placement error 54.5 mm, tilt 83 deg",
+   "frames": 600,
+   "seconds": 54.7,
+   "piece": "pawn",
+   "source": "e7",
+   "destination": "e5",
+   "move_kind": "fixed",
+   "centre_error_mm": 54.47,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.26,
+   "closed": true,
+   "close_t_s": 2.33,
+   "close_lateral_mm": 2.9,
+   "close_along_mm": -1.6,
+   "close_across_mm": -2.5,
+   "close_height_mm": 3.8,
+   "closest_mm": 0.2,
+   "lifted": false,
+   "lowest_mm": 21.5,
+   "lowest_square": "e7"
+  },
+  {
+   "index": 54,
+   "success": false,
+   "reason": "placement error 54.4 mm, tilt 97 deg",
+   "frames": 600,
+   "seconds": 54.1,
+   "piece": "pawn",
+   "source": "d2",
+   "destination": "d4",
+   "move_kind": "fixed",
+   "centre_error_mm": 54.39,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.24,
+   "closed": true,
+   "close_t_s": 4.13,
+   "close_lateral_mm": 5.4,
+   "close_along_mm": 4.4,
+   "close_across_mm": -3.3,
+   "close_height_mm": 1.0,
+   "closest_mm": 1.6,
+   "lifted": false,
+   "lowest_mm": 18.3,
+   "lowest_square": "d2"
+  },
+  {
+   "index": 55,
+   "success": false,
+   "reason": "placement error 60.2 mm, tilt 98 deg",
+   "frames": 600,
+   "seconds": 54.9,
+   "piece": "knight",
+   "source": "g8",
+   "destination": "f6",
+   "move_kind": "fixed",
+   "centre_error_mm": 60.25,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.07,
+   "closed": true,
+   "close_t_s": 3.1,
+   "close_lateral_mm": 32.7,
+   "close_along_mm": 29.4,
+   "close_across_mm": -14.2,
+   "close_height_mm": 15.2,
+   "closest_mm": 0.5,
+   "lifted": true,
+   "lowest_mm": 20.8,
+   "lowest_square": "f5"
+  },
+  {
+   "index": 56,
+   "success": true,
+   "reason": "",
+   "frames": 226,
+   "seconds": 21.0,
+   "piece": "knight",
+   "source": "g8",
+   "destination": "f6",
+   "move_kind": "fixed",
+   "centre_error_mm": 3.07,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 3.13,
+   "close_lateral_mm": 2.4,
+   "close_along_mm": 1.4,
+   "close_across_mm": 1.9,
+   "close_height_mm": 1.2,
+   "closest_mm": 0.7,
+   "lifted": true,
+   "lowest_mm": 21.0,
+   "lowest_square": "g8"
+  },
+  {
+   "index": 57,
+   "success": false,
+   "reason": "placement error 38.5 mm, tilt 99 deg; disturbed w_bishop_f by 13.1 mm",
+   "frames": 600,
+   "seconds": 54.6,
+   "piece": "pawn",
+   "source": "c2",
+   "destination": "c4",
+   "move_kind": "fixed",
+   "centre_error_mm": 38.5,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": true,
+   "max_disturbance_mm": 13.14,
+   "closed": true,
+   "close_t_s": 4.9,
+   "close_lateral_mm": 12.6,
+   "close_along_mm": -1.4,
+   "close_across_mm": 12.6,
+   "close_height_mm": -7.9,
+   "closest_mm": 1.1,
+   "lifted": false,
+   "lowest_mm": 14.4,
+   "lowest_square": "c2"
+  },
+  {
+   "index": 58,
+   "success": false,
+   "reason": "placement error 55.4 mm, tilt 91 deg",
+   "frames": 600,
+   "seconds": 55.1,
+   "piece": "pawn",
+   "source": "e7",
+   "destination": "e5",
+   "move_kind": "fixed",
+   "centre_error_mm": 55.36,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.11,
+   "closed": true,
+   "close_t_s": 2.47,
+   "close_lateral_mm": 7.7,
+   "close_along_mm": -0.9,
+   "close_across_mm": 7.6,
+   "close_height_mm": 3.1,
+   "closest_mm": 8.1,
+   "lifted": false,
+   "lowest_mm": 21.6,
+   "lowest_square": "e5"
+  },
+  {
+   "index": 59,
+   "success": true,
+   "reason": "",
+   "frames": 526,
+   "seconds": 48.5,
+   "piece": "pawn",
+   "source": "c7",
+   "destination": "c5",
+   "move_kind": "fixed",
+   "centre_error_mm": 4.56,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 2.4,
+   "close_lateral_mm": 5.3,
+   "close_along_mm": -2.5,
+   "close_across_mm": -4.7,
+   "close_height_mm": 0.3,
+   "closest_mm": 0.2,
+   "lifted": true,
+   "lowest_mm": 21.2,
+   "lowest_square": "c7"
+  }
+ ]
+}

chess-sim/reports/part2/B_dev/eval_video.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0ffc3ef7f86c2a85e8d4f4c4e4cef6ad0775a1addc60f5025ff67bfc5a75243
+size 2811934

chess-sim/reports/part2/norm_check_A/pipeline_check.json

@@ -0,0 +1,197 @@
+{
+ "reference": "models/baseline",
+ "variants": {
+  "A": "outputs/arm_A/checkpoints/last/pretrained_model"
+ },
+ "seed": 1000003,
+ "weights": {
+  "A": {
+   "tensors": 500,
+   "missing": 0,
+   "max_abs": 0.004732638597488403,
+   "differing": 122
+  }
+ },
+ "normalization": {
+  "A": {
+   "policy_postprocessor:action.count": 0.0,
+   "policy_postprocessor:action.max": 0.0,
+   "policy_postprocessor:action.mean": 0.0,
+   "policy_postprocessor:action.min": 0.0,
+   "policy_postprocessor:action.q01": 0.0,
+   "policy_postprocessor:action.q10": 0.0,
+   "policy_postprocessor:action.q50": 0.0,
+   "policy_postprocessor:action.q90": 0.0,
+   "policy_postprocessor:action.q99": 0.0,
+   "policy_postprocessor:action.std": 0.0,
+   "policy_postprocessor:observation.state.count": 0.0,
+   "policy_postprocessor:observation.state.max": 0.0,
+   "policy_postprocessor:observation.state.mean": 0.0,
+   "policy_postprocessor:observation.state.min": 0.0,
+   "policy_postprocessor:observation.state.q01": 0.0,
+   "policy_postprocessor:observation.state.q10": 0.0,
+   "policy_postprocessor:observation.state.q50": 0.0,
+   "policy_postprocessor:observation.state.q90": 0.0,
+   "policy_postprocessor:observation.state.q99": 0.0,
+   "policy_postprocessor:observation.state.std": 0.0,
+   "policy_preprocessor:action.count": 0.0,
+   "policy_preprocessor:action.max": 0.0,
+   "policy_preprocessor:action.mean": 0.0,
+   "policy_preprocessor:action.min": 0.0,
+   "policy_preprocessor:action.q01": 0.0,
+   "policy_preprocessor:action.q10": 0.0,
+   "policy_preprocessor:action.q50": 0.0,
+   "policy_preprocessor:action.q90": 0.0,
+   "policy_preprocessor:action.q99": 0.0,
+   "policy_preprocessor:action.std": 0.0,
+   "policy_preprocessor:observation.state.count": 0.0,
+   "policy_preprocessor:observation.state.max": 0.0,
+   "policy_preprocessor:observation.state.mean": 0.0,
+   "policy_preprocessor:observation.state.min": 0.0,
+   "policy_preprocessor:observation.state.q01": 0.0,
+   "policy_preprocessor:observation.state.q10": 0.0,
+   "policy_preprocessor:observation.state.q50": 0.0,
+   "policy_preprocessor:observation.state.q90": 0.0,
+   "policy_preprocessor:observation.state.q99": 0.0,
+   "policy_preprocessor:observation.state.std": 0.0
+  }
+ },
+ "predictions": {
+  "reference_again": {
+   "joint_deg_max": 0.0,
+   "joint_deg_median": 0.0,
+   "first_action_joint_deg_median": 0.0,
+   "gripper_cmd_max": 0.0,
+   "fingertip_mm_median": 0.0,
+   "fingertip_mm_p95": 0.0,
+   "fingertip_mm_max": 0.0,
+   "per_joint_deg_median": [
+    0.0,
+    0.0,
+    0.0,
+    0.0,
+    0.0,
+    0.0
+   ]
+  },
+  "A": {
+   "joint_deg_max": 10.7637,
+   "joint_deg_median": 0.1255,
+   "first_action_joint_deg_median": 0.0862,
+   "gripper_cmd_max": 2.109,
+   "fingertip_mm_median": 0.754,
+   "fingertip_mm_p95": 2.512,
+   "fingertip_mm_max": 14.283,
+   "per_joint_deg_median": [
+    0.056,
+    0.151,
+    0.18,
+    0.084,
+    0.26,
+    0.05
+   ]
+  }
+ },
+ "observations": [
+  {
+   "scene": 0,
+   "frame": 0,
+   "move": "e2-e4"
+  },
+  {
+   "scene": 0,
+   "frame": 20,
+   "move": "e2-e4"
+  },
+  {
+   "scene": 0,
+   "frame": 40,
+   "move": "e2-e4"
+  },
+  {
+   "scene": 0,
+   "frame": 60,
+   "move": "e2-e4"
+  },
+  {
+   "scene": 0,
+   "frame": 80,
+   "move": "e2-e4"
+  },
+  {
+   "scene": 1,
+   "frame": 0,
+   "move": "e7-e5"
+  },
+  {
+   "scene": 1,
+   "frame": 20,
+   "move": "e7-e5"
+  },
+  {
+   "scene": 1,
+   "frame": 40,
+   "move": "e7-e5"
+  },
+  {
+   "scene": 1,
+   "frame": 60,
+   "move": "e7-e5"
+  },
+  {
+   "scene": 1,
+   "frame": 80,
+   "move": "e7-e5"
+  },
+  {
+   "scene": 2,
+   "frame": 0,
+   "move": "d2-d4"
+  },
+  {
+   "scene": 2,
+   "frame": 20,
+   "move": "d2-d4"
+  },
+  {
+   "scene": 2,
+   "frame": 40,
+   "move": "d2-d4"
+  },
+  {
+   "scene": 2,
+   "frame": 60,
+   "move": "d2-d4"
+  },
+  {
+   "scene": 2,
+   "frame": 80,
+   "move": "d2-d4"
+  },
+  {
+   "scene": 3,
+   "frame": 0,
+   "move": "e7-e5"
+  },
+  {
+   "scene": 3,
+   "frame": 20,
+   "move": "e7-e5"
+  },
+  {
+   "scene": 3,
+   "frame": 40,
+   "move": "e7-e5"
+  },
+  {
+   "scene": 3,
+   "frame": 60,
+   "move": "e7-e5"
+  },
+  {
+   "scene": 3,
+   "frame": 80,
+   "move": "e7-e5"
+  }
+ ]
+}

chess-sim/reports/part2/norm_check_A/pipeline_check.md

@@ -0,0 +1,25 @@
+# Fine-tuning pipeline check (zero updates)
+
+Reference `models/baseline`. Variants: A = `outputs/arm_A/checkpoints/last/pretrained_model`.
+20 observations (4 scenes from seed 1000003, frames 0,20,40,60,80 of the reference policy's own rollout), each with identical sampling noise; the whole 50-step chunk compared.
+
+## Weights
+
+| variant | tensors | differing | max abs difference |
+|---|---|---|---|
+| A | 500 | 122 | 0.004732638597488403 |
+
+## Saved state/action normalization (max abs difference from the reference)
+
+| variant | policy_postprocessor:action.count | policy_postprocessor:action.max | policy_postprocessor:action.mean | policy_postprocessor:action.min | policy_postprocessor:action.q01 | policy_postprocessor:action.q10 | policy_postprocessor:action.q50 | policy_postprocessor:action.q90 | policy_postprocessor:action.q99 | policy_postprocessor:action.std | policy_postprocessor:observation.state.count | policy_postprocessor:observation.state.max | policy_postprocessor:observation.state.mean | policy_postprocessor:observation.state.min | policy_postprocessor:observation.state.q01 | policy_postprocessor:observation.state.q10 | policy_postprocessor:observation.state.q50 | policy_postprocessor:observation.state.q90 | policy_postprocessor:observation.state.q99 | policy_postprocessor:observation.state.std | policy_preprocessor:action.count | policy_preprocessor:action.max | policy_preprocessor:action.mean | policy_preprocessor:action.min | policy_preprocessor:action.q01 | policy_preprocessor:action.q10 | policy_preprocessor:action.q50 | policy_preprocessor:action.q90 | policy_preprocessor:action.q99 | policy_preprocessor:action.std | policy_preprocessor:observation.state.count | policy_preprocessor:observation.state.max | policy_preprocessor:observation.state.mean | policy_preprocessor:observation.state.min | policy_preprocessor:observation.state.q01 | policy_preprocessor:observation.state.q10 | policy_preprocessor:observation.state.q50 | policy_preprocessor:observation.state.q90 | policy_preprocessor:observation.state.q99 | policy_preprocessor:observation.state.std |
+|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
+| A | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 |
+
+## Predictions against the reference
+
+| model | joint deg median | joint deg max | first action deg median | gripper cmd max | fingertip mm median | fingertip mm p95 | fingertip mm max |
+|---|---|---|---|---|---|---|---|
+| reference_again | 0.0 | 0.0 | 0.0 | 0.0 | 0.0 | 0.0 | 0.0 |
+| A | 0.1255 | 10.7637 | 0.0862 | 2.109 | 0.754 | 2.512 | 14.283 |
+
+`reference_again` is the reference model loaded a second time: the numerical floor (GPU non-determinism) any difference must be judged against.

chess-sim/reports/part2/norm_check_B/pipeline_check.json

@@ -0,0 +1,197 @@
+{
+ "reference": "models/baseline",
+ "variants": {
+  "B": "outputs/arm_B/checkpoints/last/pretrained_model"
+ },
+ "seed": 1000003,
+ "weights": {
+  "B": {
+   "tensors": 500,
+   "missing": 0,
+   "max_abs": 0.009565729647874832,
+   "differing": 122
+  }
+ },
+ "normalization": {
+  "B": {
+   "policy_postprocessor:action.count": 0.0,
+   "policy_postprocessor:action.max": 0.0,
+   "policy_postprocessor:action.mean": 0.0,
+   "policy_postprocessor:action.min": 0.0,
+   "policy_postprocessor:action.q01": 0.0,
+   "policy_postprocessor:action.q10": 0.0,
+   "policy_postprocessor:action.q50": 0.0,
+   "policy_postprocessor:action.q90": 0.0,
+   "policy_postprocessor:action.q99": 0.0,
+   "policy_postprocessor:action.std": 0.0,
+   "policy_postprocessor:observation.state.count": 0.0,
+   "policy_postprocessor:observation.state.max": 0.0,
+   "policy_postprocessor:observation.state.mean": 0.0,
+   "policy_postprocessor:observation.state.min": 0.0,
+   "policy_postprocessor:observation.state.q01": 0.0,
+   "policy_postprocessor:observation.state.q10": 0.0,
+   "policy_postprocessor:observation.state.q50": 0.0,
+   "policy_postprocessor:observation.state.q90": 0.0,
+   "policy_postprocessor:observation.state.q99": 0.0,
+   "policy_postprocessor:observation.state.std": 0.0,
+   "policy_preprocessor:action.count": 0.0,
+   "policy_preprocessor:action.max": 0.0,
+   "policy_preprocessor:action.mean": 0.0,
+   "policy_preprocessor:action.min": 0.0,
+   "policy_preprocessor:action.q01": 0.0,
+   "policy_preprocessor:action.q10": 0.0,
+   "policy_preprocessor:action.q50": 0.0,
+   "policy_preprocessor:action.q90": 0.0,
+   "policy_preprocessor:action.q99": 0.0,
+   "policy_preprocessor:action.std": 0.0,
+   "policy_preprocessor:observation.state.count": 0.0,
+   "policy_preprocessor:observation.state.max": 0.0,
+   "policy_preprocessor:observation.state.mean": 0.0,
+   "policy_preprocessor:observation.state.min": 0.0,
+   "policy_preprocessor:observation.state.q01": 0.0,
+   "policy_preprocessor:observation.state.q10": 0.0,
+   "policy_preprocessor:observation.state.q50": 0.0,
+   "policy_preprocessor:observation.state.q90": 0.0,
+   "policy_preprocessor:observation.state.q99": 0.0,
+   "policy_preprocessor:observation.state.std": 0.0
+  }
+ },
+ "predictions": {
+  "reference_again": {
+   "joint_deg_max": 0.0,
+   "joint_deg_median": 0.0,
+   "first_action_joint_deg_median": 0.0,
+   "gripper_cmd_max": 0.0,
+   "fingertip_mm_median": 0.0,
+   "fingertip_mm_p95": 0.0,
+   "fingertip_mm_max": 0.0,
+   "per_joint_deg_median": [
+    0.0,
+    0.0,
+    0.0,
+    0.0,
+    0.0,
+    0.0
+   ]
+  },
+  "B": {
+   "joint_deg_max": 15.3415,
+   "joint_deg_median": 0.2855,
+   "first_action_joint_deg_median": 0.1681,
+   "gripper_cmd_max": 5.669,
+   "fingertip_mm_median": 1.378,
+   "fingertip_mm_p95": 6.977,
+   "fingertip_mm_max": 20.209,
+   "per_joint_deg_median": [
+    0.11,
+    0.379,
+    0.266,
+    0.163,
+    1.407,
+    0.077
+   ]
+  }
+ },
+ "observations": [
+  {
+   "scene": 0,
+   "frame": 0,
+   "move": "e2-e4"
+  },
+  {
+   "scene": 0,
+   "frame": 20,
+   "move": "e2-e4"
+  },
+  {
+   "scene": 0,
+   "frame": 40,
+   "move": "e2-e4"
+  },
+  {
+   "scene": 0,
+   "frame": 60,
+   "move": "e2-e4"
+  },
+  {
+   "scene": 0,
+   "frame": 80,
+   "move": "e2-e4"
+  },
+  {
+   "scene": 1,
+   "frame": 0,
+   "move": "e7-e5"
+  },
+  {
+   "scene": 1,
+   "frame": 20,
+   "move": "e7-e5"
+  },
+  {
+   "scene": 1,
+   "frame": 40,
+   "move": "e7-e5"
+  },
+  {
+   "scene": 1,
+   "frame": 60,
+   "move": "e7-e5"
+  },
+  {
+   "scene": 1,
+   "frame": 80,
+   "move": "e7-e5"
+  },
+  {
+   "scene": 2,
+   "frame": 0,
+   "move": "d2-d4"
+  },
+  {
+   "scene": 2,
+   "frame": 20,
+   "move": "d2-d4"
+  },
+  {
+   "scene": 2,
+   "frame": 40,
+   "move": "d2-d4"
+  },
+  {
+   "scene": 2,
+   "frame": 60,
+   "move": "d2-d4"
+  },
+  {
+   "scene": 2,
+   "frame": 80,
+   "move": "d2-d4"
+  },
+  {
+   "scene": 3,
+   "frame": 0,
+   "move": "e7-e5"
+  },
+  {
+   "scene": 3,
+   "frame": 20,
+   "move": "e7-e5"
+  },
+  {
+   "scene": 3,
+   "frame": 40,
+   "move": "e7-e5"
+  },
+  {
+   "scene": 3,
+   "frame": 60,
+   "move": "e7-e5"
+  },
+  {
+   "scene": 3,
+   "frame": 80,
+   "move": "e7-e5"
+  }
+ ]
+}

chess-sim/reports/part2/norm_check_B/pipeline_check.md

@@ -0,0 +1,25 @@
+# Fine-tuning pipeline check (zero updates)
+
+Reference `models/baseline`. Variants: B = `outputs/arm_B/checkpoints/last/pretrained_model`.
+20 observations (4 scenes from seed 1000003, frames 0,20,40,60,80 of the reference policy's own rollout), each with identical sampling noise; the whole 50-step chunk compared.
+
+## Weights
+
+| variant | tensors | differing | max abs difference |
+|---|---|---|---|
+| B | 500 | 122 | 0.009565729647874832 |
+
+## Saved state/action normalization (max abs difference from the reference)
+
+| variant | policy_postprocessor:action.count | policy_postprocessor:action.max | policy_postprocessor:action.mean | policy_postprocessor:action.min | policy_postprocessor:action.q01 | policy_postprocessor:action.q10 | policy_postprocessor:action.q50 | policy_postprocessor:action.q90 | policy_postprocessor:action.q99 | policy_postprocessor:action.std | policy_postprocessor:observation.state.count | policy_postprocessor:observation.state.max | policy_postprocessor:observation.state.mean | policy_postprocessor:observation.state.min | policy_postprocessor:observation.state.q01 | policy_postprocessor:observation.state.q10 | policy_postprocessor:observation.state.q50 | policy_postprocessor:observation.state.q90 | policy_postprocessor:observation.state.q99 | policy_postprocessor:observation.state.std | policy_preprocessor:action.count | policy_preprocessor:action.max | policy_preprocessor:action.mean | policy_preprocessor:action.min | policy_preprocessor:action.q01 | policy_preprocessor:action.q10 | policy_preprocessor:action.q50 | policy_preprocessor:action.q90 | policy_preprocessor:action.q99 | policy_preprocessor:action.std | policy_preprocessor:observation.state.count | policy_preprocessor:observation.state.max | policy_preprocessor:observation.state.mean | policy_preprocessor:observation.state.min | policy_preprocessor:observation.state.q01 | policy_preprocessor:observation.state.q10 | policy_preprocessor:observation.state.q50 | policy_preprocessor:observation.state.q90 | policy_preprocessor:observation.state.q99 | policy_preprocessor:observation.state.std |
+|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
+| B | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 |
+
+## Predictions against the reference
+
+| model | joint deg median | joint deg max | first action deg median | gripper cmd max | fingertip mm median | fingertip mm p95 | fingertip mm max |
+|---|---|---|---|---|---|---|---|
+| reference_again | 0.0 | 0.0 | 0.0 | 0.0 | 0.0 | 0.0 | 0.0 |
+| B | 0.2855 | 15.3415 | 0.1681 | 5.669 | 1.378 | 6.977 | 20.209 |
+
+`reference_again` is the reference model loaded a second time: the numerical floor (GPU non-determinism) any difference must be judged against.

chess-sim/reports/part2/summary.md

@@ -0,0 +1,76 @@
+# Pipeline check and controlled fine-tunes (2026-09-24)
+
+All models tested on the same 60 development episodes (baseline scene, seed 1000003). Each
+episode, including the policy's sampling noise, comes from (seed, episode index).
+
+## Part 1: zero-training check of the fine-tuning pipeline
+
+The baseline (`Machanize/chess_phase_smolvla_baseline`) was run through `lerobot-train` for
+1 step at learning rate 0. Its weights were identical to the baseline's (500 of 500 tensors,
+max difference 0).
+
+| | normalization | fingertip command shift vs baseline, median / p95 |
+|---|---|---|
+| baseline loaded again | saved | 0 / 0 mm |
+| P0 (pipeline, `baseline_v1`) | identical to saved | 0 / 0 mm |
+| M0 (pipeline, `baseline_v1` + `recovery_v2` merged) | merged statistics | 2.1 / 4.8 mm |
+
+- **The loading pipeline reproduces the baseline exactly.**
+- **The merged normalization alone moves the commands by millimetres.** In closed loop it drops
+  success from 28-31 to 10 of 60.
+- The cause: when fine-tuning from a checkpoint, `lerobot-train` replaces the saved
+  state/action normalization with the training dataset's statistics.
+
+## Part 2: controlled fine-tunes with the baseline's normalization kept
+
+- **Setup:** both arms started from the baseline. The baseline's saved statistics were written
+  into each training dataset (`sim/set_norm_stats.py`), so LeRobot's override hands the model
+  its own normalization back. Both runs' saved normalization was checked to equal the
+  baseline's (difference 0).
+- **Identical explicit optimizer:** AdamW with betas 0.9/0.95, eps 1e-8, weight decay 1e-10,
+  gradient clip 10; peak learning rate 2.5e-5 after 200 warm-up steps, cosine decay to 2.5e-6;
+  4,000 steps at batch 64, seed 1000.
+- **Arm A:** `baseline_v1` only.
+- **Arm B:** `baseline_v1` plus `baseline_recovery_v2`.
+
+| model | success | pawns | knights | toppled | not lifted | lifted, not placed | median closing error | closing within 2 mm |
+|---|---|---|---|---|---|---|---|---|
+| baseline, run 1 | 31 | 20/42 | 11/18 | 26 | 2 | 1 | 5.2 mm | 9 |
+| baseline, run 2 (identical) | 28 | 20/42 | 8/18 | 27 | 3 | 2 | 4.9 mm | 12 |
+| M0 (merged normalization, no training) | 10 | 7 | 3 | 35 | 5 | 10 | 6.2 mm | 6 |
+| round 2 (merged normalization + corrections) | 18 | 12 | 6 | 37 | 2 | 3 | 4.6 mm | 9 |
+| A (original data, normalization kept) | 21 | 13 | 8 | 27 | 5 | 7 | 5.4 mm | 11 |
+| B (original + corrections, normalization kept) | 23 | 14 | 9 | 28 | 4 | 5 | 4.7 mm | 8 |
+
+Paired comparisons (exact McNemar, episodes only one model completed):
+
+| comparison | only first | only second | p |
+|---|---|---|---|
+| baseline run 1 vs run 2 (identical model) | 8 | 5 | 0.58 |
+| baseline run 2 vs M0 | 21 | 3 | < 0.001 |
+| baseline run 2 vs A | 12 | 5 | 0.14 |
+| baseline run 2 vs B | 12 | 7 | 0.36 |
+| A vs B | 9 | 11 | 0.82 |
+| round 2 vs B | 5 | 10 | 0.30 |
+
+## Conclusions
+
+1. **The normalization override was a real, large harm.** It is now controlled: keep the
+   baseline's normalization in every fine-tune.
+2. **The correction data makes no detectable difference** once normalization is kept (A vs B).
+3. **Neither fine-tune measurably changes the baseline.** Both scored a few episodes lower,
+   within noise.
+4. **The failure is unchanged.** The target is knocked over while grasping in 26-28 of 60 for
+   every model, and closing errors stay at 4.7-5.4 mm. Fine-tuning on this data does not improve
+   grasp precision.
+5. **Closed-loop tests are noisy.** Two runs of the same model on the same seeds differ in 13
+   of 60 episodes, from tiny GPU numeric differences amplified over a 20 s rollout. Sixty
+   episodes can only detect large effects (about 15 points).
+
+## Saved
+
+`Machanize/playful`, `chess-sim/experiments/`:
+- `pipeline_check/`: P0 and M0 processors and configs, a weight-identity note, the comparison
+  and closed-loop reports.
+- `part2/arm_A/` and `part2/arm_B/`: full checkpoints (weights, config, normalization),
+  training logs and reports.

chess-sim/reports/pipeline_check/M0_dev/eval_report.md

@@ -0,0 +1,150 @@
+# Policy evaluation in simulation
+
+Policy `outputs/M0/checkpoints/last/pretrained_model`, 60 closed-loop episodes on the `baseline` settings profile's scene from seeds not used for training.
+
+**Success: 16.7%** (piece within 6 mm of the target square or in the tray, upright, nothing else moved more than 2 mm; 20 s limit).
+
+## Reach
+
+- Median closest approach of the gripper to the marked piece (board plane): 2.0 mm (a square is about 25 mm).
+- Gripper within half a square of the marked piece: 98.3% of episodes.
+- Marked piece lifted more than 8 mm: 55.0%.
+- Gripper's lowest point was over the marked square: 60.0%.
+
+## Grasp precision
+
+Where the jaws are when the policy starts closing (command below 3 of 100), against the grasp the scripted expert would make on the same piece.
+
+- Closed on the piece's square in 100.0% of episodes.
+- Median sideways error at closing: 6.1 mm (successes 3.4, failures 6.7); within 2 mm in 10.0%. Median height error -1.1 mm.
+- Another piece moved more than 2 mm in 18.3% of episodes.
+
+| piece | episodes | success % | lifted % | median closing error mm | disturbed % |
+|---|---|---|---|---|---|
+| knight | 18 | 16.7 | 94.4 | 4.1 | 27.8 |
+| pawn | 42 | 16.7 | 38.1 | 6.7 | 14.3 |
+
+Episodes from seed 1000003: the same seed gives the same episodes for any number of workers.
+
+## By move
+
+| | success % | episodes |
+|---|---|---|
+| b1-c3 | 0.0 | 4 |
+| b8-c6 | 50.0 | 2 |
+| c2-c4 | 11.1 | 9 |
+| c7-c5 | 37.5 | 8 |
+| d2-d4 | 20.0 | 5 |
+| d7-d5 | 0.0 | 5 |
+| e2-e4 | 0.0 | 5 |
+| e7-e5 | 20.0 | 10 |
+| g1-f3 | 0.0 | 6 |
+| g8-f6 | 33.3 | 6 |
+
+## By piece
+
+| | success % | episodes |
+|---|---|---|
+| knight | 16.7 | 18 |
+| pawn | 16.7 | 42 |
+
+## By destination
+
+| | success % | episodes |
+|---|---|---|
+| square | 16.7 | 60 |
+
+## By move kind
+
+| | success % | episodes |
+|---|---|---|
+| fixed | 16.7 | 60 |
+
+## By side the robot plays
+
+| | success % | episodes |
+|---|---|---|
+| black | 16.7 | 60 |
+
+## By arm colour
+
+| | success % | episodes |
+|---|---|---|
+| white | 16.7 | 60 |
+
+## By main light
+
+| | success % | episodes |
+|---|---|---|
+| nominal | 16.7 | 60 |
+
+## By floor
+
+| | success % | episodes |
+|---|---|---|
+| nominal | 16.7 | 60 |
+
+## Episodes
+
+| # | move | success | closest mm | lifted | lowest over | reason |
+|---|---|---|---|---|---|---|
+| 0 | pawn e2-e4 | no | 3.6 | no | e2 | placement error 43.7 mm, tilt 99 deg |
+| 1 | pawn e7-e5 | no | 1.6 | yes | e5 | placement error 47.1 mm, tilt 99 deg; disturbed b_king_e by 4.8 mm |
+| 2 | pawn d2-d4 | no | 0.6 | no | d2 | placement error 43.4 mm, tilt 99 deg |
+| 3 | pawn e7-e5 | yes | 4.9 | yes | e5 |  |
+| 4 | pawn d2-d4 | no | 2.2 | no | d2 | placement error 54.7 mm, tilt 93 deg |
+| 5 | pawn c7-c5 | yes | 0.6 | yes | c5 |  |
+| 6 | knight b8-c6 | no | 8.2 | yes | c6 | placement error 7.3 mm, tilt 4 deg |
+| 7 | pawn e7-e5 | no | 1.5 | no | e5 | placement error 55.8 mm, tilt 80 deg |
+| 8 | pawn c2-c4 | no | 1.0 | yes | c2 | placement error 20.2 mm, tilt 99 deg |
+| 9 | pawn c2-c4 | no | 5.5 | no | c2 | placement error 40.9 mm, tilt 99 deg |
+| 10 | pawn d7-d5 | no | 2.4 | no | d8 | placement error 54.0 mm, tilt 80 deg |
+| 11 | pawn c2-c4 | no | 9.3 | no | c2 | placement error 41.4 mm, tilt 98 deg |
+| 12 | pawn d2-d4 | yes | 7.0 | yes | d2 |  |
+| 13 | knight b1-c3 | no | 1.4 | yes | b1 | placement error 41.6 mm, tilt 91 deg |
+| 14 | pawn d7-d5 | no | 0.8 | no | d8 | placement error 52.9 mm, tilt 99 deg |
+| 15 | knight g8-f6 | yes | 4.2 | yes | f7 |  |
+| 16 | knight g1-f3 | no | 11.6 | yes | f4 | placement error 7.7 mm, tilt 0 deg |
+| 17 | knight g1-f3 | no | 2.1 | yes | g1 | placement error 109.5 mm, tilt 102 deg |
+| 18 | pawn c7-c5 | no | 2.6 | no | c5 | placement error 55.2 mm, tilt 90 deg |
+| 19 | knight b1-c3 | no | 1.3 | yes | c5 | placement error 59.2 mm, tilt 95 deg |
+| 20 | pawn c2-c4 | yes | 2.8 | yes | c4 |  |
+| 21 | pawn e2-e4 | no | 1.0 | no | e4 | placement error 42.8 mm, tilt 99 deg |
+| 22 | pawn c7-c5 | no | 0.4 | yes | c5 | placement error 39.5 mm, tilt 0 deg |
+| 23 | pawn d2-d4 | no | 2.4 | yes | d2 | placement error 7.3 mm, tilt 0 deg |
+| 24 | knight g1-f3 | no | 14.4 | yes | f1 | placement error 89.9 mm, tilt 95 deg; disturbed w_bishop_f by 12.8 mm |
+| 25 | pawn e7-e5 | no | 0.6 | yes | e7 | placement error 19.5 mm, tilt 2 deg; disturbed b_king_e by 20.3 mm |
+| 26 | pawn e7-e5 | no | 2.5 | no | e7 | placement error 50.8 mm, tilt 0 deg |
+| 27 | pawn c2-c4 | no | 1.0 | yes | c4 | placement error 14.1 mm, tilt 0 deg |
+| 28 | pawn c7-c5 | yes | 2.0 | yes | c5 |  |
+| 29 | pawn d7-d5 | no | 0.6 | no | d5 | placement error 55.8 mm, tilt 0 deg |
+| 30 | pawn c7-c5 | yes | 3.2 | yes | c7 |  |
+| 31 | knight b1-c3 | no | 1.0 | no | b1 | placement error 61.7 mm, tilt 0 deg |
+| 32 | pawn c2-c4 | no | 0.3 | no | c2 | placement error 43.2 mm, tilt 99 deg |
+| 33 | pawn c7-c5 | no | 0.5 | no | c7 | placement error 43.2 mm, tilt 99 deg |
+| 34 | pawn e2-e4 | no | 3.8 | no | e2 | placement error 55.0 mm, tilt 98 deg |
+| 35 | knight g8-f6 | no | 1.3 | yes | g8 | placement error 12.4 mm, tilt 102 deg |
+| 36 | knight b8-c6 | yes | 10.7 | yes | c6 |  |
+| 37 | pawn c7-c5 | no | 1.5 | yes | c7 | placement error 27.5 mm, tilt 99 deg |
+| 38 | pawn e2-e4 | no | 0.2 | no | e2 | placement error 53.3 mm, tilt 0 deg |
+| 39 | pawn e7-e5 | no | 3.0 | no | e5 | placement error 46.1 mm, tilt 99 deg |
+| 40 | knight g1-f3 | no | 5.4 | yes | g1 | placement error 6.2 mm, tilt 0 deg |
+| 41 | knight g1-f3 | no | 8.6 | yes | g1 | placement error 12.3 mm, tilt 0 deg |
+| 42 | pawn c2-c4 | no | 2.6 | no | c2 | placement error 41.1 mm, tilt 99 deg |
+| 43 | knight g1-f3 | no | 1.4 | yes | g1 | placement error 77.5 mm, tilt 114 deg; disturbed w_bishop_c by 26.9 mm |
+| 44 | knight g8-f6 | yes | 6.2 | yes | f6 |  |
+| 45 | knight b1-c3 | no | 2.0 | yes | b1 | placement error 64.2 mm, tilt 101 deg |
+| 46 | pawn e2-e4 | no | 7.9 | no | e2 | placement error 55.3 mm, tilt 95 deg |
+| 47 | pawn d7-d5 | no | 0.3 | no | d7 | placement error 46.8 mm, tilt 100 deg |
+| 48 | pawn c2-c4 | no | 4.4 | no | c2 | placement error 44.9 mm, tilt 99 deg |
+| 49 | knight g8-f6 | no | 3.4 | yes | f6 | disturbed b_pawn_e by 8.7 mm |
+| 50 | pawn e7-e5 | yes | 1.4 | yes | e7 |  |
+| 51 | pawn e7-e5 | no | 0.7 | no | e7 | placement error 46.0 mm, tilt 81 deg; disturbed b_king_e by 26.9 mm |
+| 52 | pawn d7-d5 | no | 1.7 | yes | d7 | placement error 15.7 mm, tilt 0 deg; disturbed b_queen_d by 5.8 mm |
+| 53 | pawn e7-e5 | no | 1.0 | no | e7 | placement error 56.8 mm, tilt 99 deg; disturbed b_king_e by 5.2 mm |
+| 54 | pawn d2-d4 | no | 0.5 | no | d2 | placement error 42.8 mm, tilt 99 deg |
+| 55 | knight g8-f6 | no | 0.7 | yes | g8 | placement error 66.6 mm, tilt 102 deg; disturbed b_pawn_d by 17.7 mm |
+| 56 | knight g8-f6 | no | 1.7 | yes | f7 | placement error 56.2 mm, tilt 68 deg; disturbed b_pawn_e by 7.7 mm |
+| 57 | pawn c2-c4 | no | 5.1 | no | c2 | placement error 53.8 mm, tilt 11 deg; disturbed w_bishop_f by 4.3 mm |
+| 58 | pawn e7-e5 | no | 3.6 | yes | e5 | placement error 59.5 mm, tilt 91 deg |
+| 59 | pawn c7-c5 | no | 0.5 | no | c7 | placement error 42.3 mm, tilt 99 deg |

chess-sim/reports/pipeline_check/M0_dev/eval_results.json

@@ -0,0 +1,2295 @@
+{
+ "summary": {
+  "policy": "outputs/M0/checkpoints/last/pretrained_model",
+  "profile": "baseline",
+  "n_action_steps": null,
+  "seed": 1000003,
+  "precision": {
+   "closed_percent": 100.0,
+   "median_close_lateral_mm": 6.1,
+   "median_close_lateral_mm_success": 3.4,
+   "median_close_lateral_mm_failure": 6.7,
+   "close_within_2mm_percent": 10.0,
+   "median_close_height_mm": -1.1,
+   "disturbed_percent": 18.3
+  },
+  "pieces": {
+   "knight": {
+    "episodes": 18,
+    "success_percent": 16.7,
+    "lifted_percent": 94.4,
+    "median_close_lateral_mm": 4.1,
+    "disturbed_percent": 27.8
+   },
+   "pawn": {
+    "episodes": 42,
+    "success_percent": 16.7,
+    "lifted_percent": 38.1,
+    "median_close_lateral_mm": 6.7,
+    "disturbed_percent": 14.3
+   }
+  },
+  "episodes": 60,
+  "success_percent": 16.7,
+  "seconds_limit": 20.0,
+  "minutes": 21.5,
+  "reach": {
+   "median_closest_mm": 2.0,
+   "within_half_square_percent": 98.3,
+   "lifted_percent": 55.0,
+   "lowest_over_source_percent": 60.0
+  },
+  "by": {
+   "piece": {
+    "knight": {
+     "success_percent": 16.7,
+     "episodes": 18
+    },
+    "pawn": {
+     "success_percent": 16.7,
+     "episodes": 42
+    }
+   },
+   "move_kind": {
+    "fixed": {
+     "success_percent": 16.7,
+     "episodes": 60
+    }
+   },
+   "robot_plays": {
+    "black": {
+     "success_percent": 16.7,
+     "episodes": 60
+    }
+   },
+   "arm_colour": {
+    "white": {
+     "success_percent": 16.7,
+     "episodes": 60
+    }
+   },
+   "key_light": {
+    "nominal": {
+     "success_percent": 16.7,
+     "episodes": 60
+    }
+   },
+   "floor": {
+    "nominal": {
+     "success_percent": 16.7,
+     "episodes": 60
+    }
+   },
+   "destination": {
+    "square": {
+     "success_percent": 16.7,
+     "episodes": 60
+    }
+   },
+   "move": {
+    "b1-c3": {
+     "success_percent": 0.0,
+     "episodes": 4
+    },
+    "b8-c6": {
+     "success_percent": 50.0,
+     "episodes": 2
+    },
+    "c2-c4": {
+     "success_percent": 11.1,
+     "episodes": 9
+    },
+    "c7-c5": {
+     "success_percent": 37.5,
+     "episodes": 8
+    },
+    "d2-d4": {
+     "success_percent": 20.0,
+     "episodes": 5
+    },
+    "d7-d5": {
+     "success_percent": 0.0,
+     "episodes": 5
+    },
+    "e2-e4": {
+     "success_percent": 0.0,
+     "episodes": 5
+    },
+    "e7-e5": {
+     "success_percent": 20.0,
+     "episodes": 10
+    },
+    "g1-f3": {
+     "success_percent": 0.0,
+     "episodes": 6
+    },
+    "g8-f6": {
+     "success_percent": 33.3,
+     "episodes": 6
+    }
+   }
+  }
+ },
+ "episodes": [
+  {
+   "index": 0,
+   "success": false,
+   "reason": "placement error 43.7 mm, tilt 99 deg",
+   "frames": 600,
+   "seconds": 57.6,
+   "piece": "pawn",
+   "source": "e2",
+   "destination": "e4",
+   "move_kind": "fixed",
+   "centre_error_mm": 43.71,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.13,
+   "closed": true,
+   "close_t_s": 4.03,
+   "close_lateral_mm": 8.0,
+   "close_along_mm": -3.9,
+   "close_across_mm": -7.0,
+   "close_height_mm": -0.4,
+   "closest_mm": 3.6,
+   "lifted": false,
+   "lowest_mm": 18.4,
+   "lowest_square": "e2"
+  },
+  {
+   "index": 1,
+   "success": false,
+   "reason": "placement error 47.1 mm, tilt 99 deg; disturbed b_king_e by 4.8 mm",
+   "frames": 600,
+   "seconds": 56.2,
+   "piece": "pawn",
+   "source": "e7",
+   "destination": "e5",
+   "move_kind": "fixed",
+   "centre_error_mm": 47.12,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": true,
+   "max_disturbance_mm": 4.79,
+   "closed": true,
+   "close_t_s": 2.23,
+   "close_lateral_mm": 6.6,
+   "close_along_mm": -0.7,
+   "close_across_mm": 6.5,
+   "close_height_mm": -1.1,
+   "closest_mm": 1.6,
+   "lifted": true,
+   "lowest_mm": 17.8,
+   "lowest_square": "e5"
+  },
+  {
+   "index": 2,
+   "success": false,
+   "reason": "placement error 43.4 mm, tilt 99 deg",
+   "frames": 600,
+   "seconds": 55.0,
+   "piece": "pawn",
+   "source": "d2",
+   "destination": "d4",
+   "move_kind": "fixed",
+   "centre_error_mm": 43.39,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 4.1,
+   "close_lateral_mm": 4.6,
+   "close_along_mm": -4.1,
+   "close_across_mm": 2.1,
+   "close_height_mm": -0.1,
+   "closest_mm": 0.6,
+   "lifted": false,
+   "lowest_mm": 19.0,
+   "lowest_square": "d2"
+  },
+  {
+   "index": 3,
+   "success": true,
+   "reason": "",
+   "frames": 226,
+   "seconds": 21.0,
+   "piece": "pawn",
+   "source": "e7",
+   "destination": "e5",
+   "move_kind": "fixed",
+   "centre_error_mm": 5.92,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 2.57,
+   "close_lateral_mm": 3.1,
+   "close_along_mm": -2.8,
+   "close_across_mm": -1.3,
+   "close_height_mm": -0.1,
+   "closest_mm": 4.9,
+   "lifted": true,
+   "lowest_mm": 20.0,
+   "lowest_square": "e5"
+  },
+  {
+   "index": 4,
+   "success": false,
+   "reason": "placement error 54.7 mm, tilt 93 deg",
+   "frames": 600,
+   "seconds": 55.7,
+   "piece": "pawn",
+   "source": "d2",
+   "destination": "d4",
+   "move_kind": "fixed",
+   "centre_error_mm": 54.66,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.11,
+   "closed": true,
+   "close_t_s": 3.9,
+   "close_lateral_mm": 5.5,
+   "close_along_mm": -5.5,
+   "close_across_mm": 0.1,
+   "close_height_mm": -0.6,
+   "closest_mm": 2.2,
+   "lifted": false,
+   "lowest_mm": 17.0,
+   "lowest_square": "d2"
+  },
+  {
+   "index": 5,
+   "success": true,
+   "reason": "",
+   "frames": 526,
+   "seconds": 48.7,
+   "piece": "pawn",
+   "source": "c7",
+   "destination": "c5",
+   "move_kind": "fixed",
+   "centre_error_mm": 3.12,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 2.47,
+   "close_lateral_mm": 5.6,
+   "close_along_mm": 2.7,
+   "close_across_mm": 4.9,
+   "close_height_mm": -0.5,
+   "closest_mm": 0.6,
+   "lifted": true,
+   "lowest_mm": 19.1,
+   "lowest_square": "c5"
+  },
+  {
+   "index": 6,
+   "success": false,
+   "reason": "placement error 7.3 mm, tilt 4 deg",
+   "frames": 600,
+   "seconds": 55.4,
+   "piece": "knight",
+   "source": "b8",
+   "destination": "c6",
+   "move_kind": "fixed",
+   "centre_error_mm": 7.28,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.1,
+   "closed": true,
+   "close_t_s": 3.27,
+   "close_lateral_mm": 2.8,
+   "close_along_mm": -0.4,
+   "close_across_mm": -2.8,
+   "close_height_mm": -1.8,
+   "closest_mm": 8.2,
+   "lifted": true,
+   "lowest_mm": 17.4,
+   "lowest_square": "c6"
+  },
+  {
+   "index": 7,
+   "success": false,
+   "reason": "placement error 55.8 mm, tilt 80 deg",
+   "frames": 600,
+   "seconds": 55.2,
+   "piece": "pawn",
+   "source": "e7",
+   "destination": "e5",
+   "move_kind": "fixed",
+   "centre_error_mm": 55.79,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 1.07,
+   "closed": true,
+   "close_t_s": 2.07,
+   "close_lateral_mm": 24.2,
+   "close_along_mm": 22.9,
+   "close_across_mm": -7.8,
+   "close_height_mm": 7.9,
+   "closest_mm": 1.5,
+   "lifted": false,
+   "lowest_mm": 20.3,
+   "lowest_square": "e5"
+  },
+  {
+   "index": 8,
+   "success": false,
+   "reason": "placement error 20.2 mm, tilt 99 deg",
+   "frames": 600,
+   "seconds": 59.5,
+   "piece": "pawn",
+   "source": "c2",
+   "destination": "c4",
+   "move_kind": "fixed",
+   "centre_error_mm": 20.21,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 4.1,
+   "close_lateral_mm": 6.4,
+   "close_along_mm": -6.2,
+   "close_across_mm": 1.4,
+   "close_height_mm": -0.4,
+   "closest_mm": 1.0,
+   "lifted": true,
+   "lowest_mm": 17.3,
+   "lowest_square": "c2"
+  },
+  {
+   "index": 9,
+   "success": false,
+   "reason": "placement error 40.9 mm, tilt 99 deg",
+   "frames": 600,
+   "seconds": 60.5,
+   "piece": "pawn",
+   "source": "c2",
+   "destination": "c4",
+   "move_kind": "fixed",
+   "centre_error_mm": 40.86,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.05,
+   "closed": true,
+   "close_t_s": 4.93,
+   "close_lateral_mm": 7.6,
+   "close_along_mm": 7.4,
+   "close_across_mm": -1.9,
+   "close_height_mm": -5.7,
+   "closest_mm": 5.5,
+   "lifted": false,
+   "lowest_mm": 15.1,
+   "lowest_square": "c2"
+  },
+  {
+   "index": 10,
+   "success": false,
+   "reason": "placement error 54.0 mm, tilt 80 deg",
+   "frames": 600,
+   "seconds": 59.5,
+   "piece": "pawn",
+   "source": "d7",
+   "destination": "d5",
+   "move_kind": "fixed",
+   "centre_error_mm": 54.04,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.7,
+   "closed": true,
+   "close_t_s": 2.47,
+   "close_lateral_mm": 7.6,
+   "close_along_mm": -2.7,
+   "close_across_mm": -7.1,
+   "close_height_mm": -2.6,
+   "closest_mm": 2.4,
+   "lifted": false,
+   "lowest_mm": 18.2,
+   "lowest_square": "d8"
+  },
+  {
+   "index": 11,
+   "success": false,
+   "reason": "placement error 41.4 mm, tilt 98 deg",
+   "frames": 600,
+   "seconds": 57.4,
+   "piece": "pawn",
+   "source": "c2",
+   "destination": "c4",
+   "move_kind": "fixed",
+   "centre_error_mm": 41.43,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 3.93,
+   "close_lateral_mm": 7.8,
+   "close_along_mm": -5.8,
+   "close_across_mm": 5.2,
+   "close_height_mm": 0.1,
+   "closest_mm": 9.3,
+   "lifted": false,
+   "lowest_mm": 20.2,
+   "lowest_square": "c2"
+  },
+  {
+   "index": 12,
+   "success": true,
+   "reason": "",
+   "frames": 600,
+   "seconds": 57.3,
+   "piece": "pawn",
+   "source": "d2",
+   "destination": "d4",
+   "move_kind": "fixed",
+   "centre_error_mm": 2.89,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 3.9,
+   "close_lateral_mm": 14.8,
+   "close_along_mm": -14.0,
+   "close_across_mm": 4.8,
+   "close_height_mm": 8.6,
+   "closest_mm": 7.0,
+   "lifted": true,
+   "lowest_mm": 17.0,
+   "lowest_square": "d2"
+  },
+  {
+   "index": 13,
+   "success": false,
+   "reason": "placement error 41.6 mm, tilt 91 deg",
+   "frames": 600,
+   "seconds": 58.2,
+   "piece": "knight",
+   "source": "b1",
+   "destination": "c3",
+   "move_kind": "fixed",
+   "centre_error_mm": 41.64,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 1.54,
+   "closed": true,
+   "close_t_s": 4.13,
+   "close_lateral_mm": 6.2,
+   "close_along_mm": 4.6,
+   "close_across_mm": 4.1,
+   "close_height_mm": -3.2,
+   "closest_mm": 1.4,
+   "lifted": true,
+   "lowest_mm": 14.7,
+   "lowest_square": "b1"
+  },
+  {
+   "index": 14,
+   "success": false,
+   "reason": "placement error 52.9 mm, tilt 99 deg",
+   "frames": 600,
+   "seconds": 58.6,
+   "piece": "pawn",
+   "source": "d7",
+   "destination": "d5",
+   "move_kind": "fixed",
+   "centre_error_mm": 52.91,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.5,
+   "closed": true,
+   "close_t_s": 2.43,
+   "close_lateral_mm": 8.2,
+   "close_along_mm": -4.9,
+   "close_across_mm": -6.5,
+   "close_height_mm": -3.1,
+   "closest_mm": 0.8,
+   "lifted": false,
+   "lowest_mm": 18.7,
+   "lowest_square": "d8"
+  },
+  {
+   "index": 15,
+   "success": true,
+   "reason": "",
+   "frames": 196,
+   "seconds": 19.5,
+   "piece": "knight",
+   "source": "g8",
+   "destination": "f6",
+   "move_kind": "fixed",
+   "centre_error_mm": 4.05,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.14,
+   "closed": true,
+   "close_t_s": 2.47,
+   "close_lateral_mm": 1.8,
+   "close_along_mm": 1.1,
+   "close_across_mm": 1.4,
+   "close_height_mm": 4.2,
+   "closest_mm": 4.2,
+   "lifted": true,
+   "lowest_mm": 19.9,
+   "lowest_square": "f7"
+  },
+  {
+   "index": 16,
+   "success": false,
+   "reason": "placement error 7.7 mm, tilt 0 deg",
+   "frames": 600,
+   "seconds": 58.0,
+   "piece": "knight",
+   "source": "g1",
+   "destination": "f3",
+   "move_kind": "fixed",
+   "centre_error_mm": 7.69,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 3.33,
+   "close_lateral_mm": 3.9,
+   "close_along_mm": 2.0,
+   "close_across_mm": 3.4,
+   "close_height_mm": 2.0,
+   "closest_mm": 11.6,
+   "lifted": true,
+   "lowest_mm": 14.8,
+   "lowest_square": "f4"
+  },
+  {
+   "index": 17,
+   "success": false,
+   "reason": "placement error 109.5 mm, tilt 102 deg",
+   "frames": 600,
+   "seconds": 58.5,
+   "piece": "knight",
+   "source": "g1",
+   "destination": "f3",
+   "move_kind": "fixed",
+   "centre_error_mm": 109.52,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.67,
+   "closed": true,
+   "close_t_s": 4.07,
+   "close_lateral_mm": 5.2,
+   "close_along_mm": -1.9,
+   "close_across_mm": 4.8,
+   "close_height_mm": -1.1,
+   "closest_mm": 2.1,
+   "lifted": true,
+   "lowest_mm": 14.5,
+   "lowest_square": "g1"
+  },
+  {
+   "index": 18,
+   "success": false,
+   "reason": "placement error 55.2 mm, tilt 90 deg",
+   "frames": 600,
+   "seconds": 59.6,
+   "piece": "pawn",
+   "source": "c7",
+   "destination": "c5",
+   "move_kind": "fixed",
+   "centre_error_mm": 55.18,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.12,
+   "closed": true,
+   "close_t_s": 2.37,
+   "close_lateral_mm": 8.1,
+   "close_along_mm": 5.7,
+   "close_across_mm": 5.8,
+   "close_height_mm": 1.2,
+   "closest_mm": 2.6,
+   "lifted": false,
+   "lowest_mm": 18.8,
+   "lowest_square": "c5"
+  },
+  {
+   "index": 19,
+   "success": false,
+   "reason": "placement error 59.2 mm, tilt 95 deg",
+   "frames": 600,
+   "seconds": 58.9,
+   "piece": "knight",
+   "source": "b1",
+   "destination": "c3",
+   "move_kind": "fixed",
+   "centre_error_mm": 59.19,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.01,
+   "closed": true,
+   "close_t_s": 3.33,
+   "close_lateral_mm": 10.1,
+   "close_along_mm": -1.6,
+   "close_across_mm": -9.9,
+   "close_height_mm": 16.9,
+   "closest_mm": 1.3,
+   "lifted": true,
+   "lowest_mm": 16.8,
+   "lowest_square": "c5"
+  },
+  {
+   "index": 20,
+   "success": true,
+   "reason": "",
+   "frames": 316,
+   "seconds": 30.9,
+   "piece": "pawn",
+   "source": "c2",
+   "destination": "c4",
+   "move_kind": "fixed",
+   "centre_error_mm": 0.61,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 4.27,
+   "close_lateral_mm": 2.1,
+   "close_along_mm": 2.0,
+   "close_across_mm": -0.7,
+   "close_height_mm": -1.1,
+   "closest_mm": 2.8,
+   "lifted": true,
+   "lowest_mm": 19.5,
+   "lowest_square": "c4"
+  },
+  {
+   "index": 21,
+   "success": false,
+   "reason": "placement error 42.8 mm, tilt 99 deg",
+   "frames": 600,
+   "seconds": 55.3,
+   "piece": "pawn",
+   "source": "e2",
+   "destination": "e4",
+   "move_kind": "fixed",
+   "centre_error_mm": 42.83,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.61,
+   "closed": true,
+   "close_t_s": 4.37,
+   "close_lateral_mm": 9.0,
+   "close_along_mm": -5.7,
+   "close_across_mm": 6.9,
+   "close_height_mm": 1.3,
+   "closest_mm": 1.0,
+   "lifted": false,
+   "lowest_mm": 19.6,
+   "lowest_square": "e4"
+  },
+  {
+   "index": 22,
+   "success": false,
+   "reason": "placement error 39.5 mm, tilt 0 deg",
+   "frames": 600,
+   "seconds": 54.8,
+   "piece": "pawn",
+   "source": "c7",
+   "destination": "c5",
+   "move_kind": "fixed",
+   "centre_error_mm": 39.52,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 2.53,
+   "close_lateral_mm": 5.5,
+   "close_along_mm": -1.0,
+   "close_across_mm": -5.4,
+   "close_height_mm": -2.1,
+   "closest_mm": 0.4,
+   "lifted": true,
+   "lowest_mm": 19.0,
+   "lowest_square": "c5"
+  },
+  {
+   "index": 23,
+   "success": false,
+   "reason": "placement error 7.3 mm, tilt 0 deg",
+   "frames": 600,
+   "seconds": 55.8,
+   "piece": "pawn",
+   "source": "d2",
+   "destination": "d4",
+   "move_kind": "fixed",
+   "centre_error_mm": 7.3,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 4.07,
+   "close_lateral_mm": 7.9,
+   "close_along_mm": 7.7,
+   "close_across_mm": 1.7,
+   "close_height_mm": -1.4,
+   "closest_mm": 2.4,
+   "lifted": true,
+   "lowest_mm": 18.3,
+   "lowest_square": "d2"
+  },
+  {
+   "index": 24,
+   "success": false,
+   "reason": "placement error 89.9 mm, tilt 95 deg; disturbed w_bishop_f by 12.8 mm",
+   "frames": 600,
+   "seconds": 55.7,
+   "piece": "knight",
+   "source": "g1",
+   "destination": "f3",
+   "move_kind": "fixed",
+   "centre_error_mm": 89.94,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": true,
+   "max_disturbance_mm": 12.81,
+   "closed": true,
+   "close_t_s": 4.0,
+   "close_lateral_mm": 8.9,
+   "close_along_mm": -7.5,
+   "close_across_mm": -4.8,
+   "close_height_mm": -4.4,
+   "closest_mm": 14.4,
+   "lifted": true,
+   "lowest_mm": 13.0,
+   "lowest_square": "f1"
+  },
+  {
+   "index": 25,
+   "success": false,
+   "reason": "placement error 19.5 mm, tilt 2 deg; disturbed b_king_e by 20.3 mm",
+   "frames": 600,
+   "seconds": 55.0,
+   "piece": "pawn",
+   "source": "e7",
+   "destination": "e5",
+   "move_kind": "fixed",
+   "centre_error_mm": 19.49,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": true,
+   "max_disturbance_mm": 20.34,
+   "closed": true,
+   "close_t_s": 1.9,
+   "close_lateral_mm": 8.6,
+   "close_along_mm": -8.4,
+   "close_across_mm": 2.1,
+   "close_height_mm": -2.6,
+   "closest_mm": 0.6,
+   "lifted": true,
+   "lowest_mm": 19.1,
+   "lowest_square": "e7"
+  },
+  {
+   "index": 26,
+   "success": false,
+   "reason": "placement error 50.8 mm, tilt 0 deg",
+   "frames": 600,
+   "seconds": 55.1,
+   "piece": "pawn",
+   "source": "e7",
+   "destination": "e5",
+   "move_kind": "fixed",
+   "centre_error_mm": 50.78,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.18,
+   "closed": true,
+   "close_t_s": 2.17,
+   "close_lateral_mm": 8.5,
+   "close_along_mm": 1.9,
+   "close_across_mm": -8.3,
+   "close_height_mm": -2.9,
+   "closest_mm": 2.5,
+   "lifted": false,
+   "lowest_mm": 18.4,
+   "lowest_square": "e7"
+  },
+  {
+   "index": 27,
+   "success": false,
+   "reason": "placement error 14.1 mm, tilt 0 deg",
+   "frames": 600,
+   "seconds": 55.1,
+   "piece": "pawn",
+   "source": "c2",
+   "destination": "c4",
+   "move_kind": "fixed",
+   "centre_error_mm": 14.06,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 4.27,
+   "close_lateral_mm": 2.3,
+   "close_along_mm": -1.2,
+   "close_across_mm": -2.0,
+   "close_height_mm": -2.8,
+   "closest_mm": 1.0,
+   "lifted": true,
+   "lowest_mm": 17.8,
+   "lowest_square": "c4"
+  },
+  {
+   "index": 28,
+   "success": true,
+   "reason": "",
+   "frames": 241,
+   "seconds": 24.2,
+   "piece": "pawn",
+   "source": "c7",
+   "destination": "c5",
+   "move_kind": "fixed",
+   "centre_error_mm": 1.8,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 2.17,
+   "close_lateral_mm": 2.0,
+   "close_along_mm": 1.3,
+   "close_across_mm": -1.5,
+   "close_height_mm": -1.6,
+   "closest_mm": 2.0,
+   "lifted": true,
+   "lowest_mm": 19.6,
+   "lowest_square": "c5"
+  },
+  {
+   "index": 29,
+   "success": false,
+   "reason": "placement error 55.8 mm, tilt 0 deg",
+   "frames": 600,
+   "seconds": 59.0,
+   "piece": "pawn",
+   "source": "d7",
+   "destination": "d5",
+   "move_kind": "fixed",
+   "centre_error_mm": 55.84,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.03,
+   "closed": true,
+   "close_t_s": 2.3,
+   "close_lateral_mm": 24.3,
+   "close_along_mm": 12.0,
+   "close_across_mm": -21.2,
+   "close_height_mm": 7.8,
+   "closest_mm": 0.6,
+   "lifted": false,
+   "lowest_mm": 19.4,
+   "lowest_square": "d5"
+  },
+  {
+   "index": 30,
+   "success": true,
+   "reason": "",
+   "frames": 526,
+   "seconds": 51.4,
+   "piece": "pawn",
+   "source": "c7",
+   "destination": "c5",
+   "move_kind": "fixed",
+   "centre_error_mm": 4.77,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 2.33,
+   "close_lateral_mm": 5.9,
+   "close_along_mm": -1.8,
+   "close_across_mm": -5.6,
+   "close_height_mm": -2.8,
+   "closest_mm": 3.2,
+   "lifted": true,
+   "lowest_mm": 18.5,
+   "lowest_square": "c7"
+  },
+  {
+   "index": 31,
+   "success": false,
+   "reason": "placement error 61.7 mm, tilt 0 deg",
+   "frames": 600,
+   "seconds": 56.8,
+   "piece": "knight",
+   "source": "b1",
+   "destination": "c3",
+   "move_kind": "fixed",
+   "centre_error_mm": 61.75,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.45,
+   "closed": true,
+   "close_t_s": 4.13,
+   "close_lateral_mm": 17.5,
+   "close_along_mm": 9.0,
+   "close_across_mm": -15.0,
+   "close_height_mm": 18.5,
+   "closest_mm": 1.0,
+   "lifted": false,
+   "lowest_mm": 11.3,
+   "lowest_square": "b1"
+  },
+  {
+   "index": 32,
+   "success": false,
+   "reason": "placement error 43.2 mm, tilt 99 deg",
+   "frames": 600,
+   "seconds": 56.9,
+   "piece": "pawn",
+   "source": "c2",
+   "destination": "c4",
+   "move_kind": "fixed",
+   "centre_error_mm": 43.17,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.45,
+   "closed": true,
+   "close_t_s": 5.57,
+   "close_lateral_mm": 17.8,
+   "close_along_mm": -5.6,
+   "close_across_mm": 16.9,
+   "close_height_mm": -3.2,
+   "closest_mm": 0.3,
+   "lifted": false,
+   "lowest_mm": 16.2,
+   "lowest_square": "c2"
+  },
+  {
+   "index": 33,
+   "success": false,
+   "reason": "placement error 43.2 mm, tilt 99 deg",
+   "frames": 600,
+   "seconds": 57.9,
+   "piece": "pawn",
+   "source": "c7",
+   "destination": "c5",
+   "move_kind": "fixed",
+   "centre_error_mm": 43.18,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 2.33,
+   "close_lateral_mm": 5.2,
+   "close_along_mm": 5.1,
+   "close_across_mm": 0.9,
+   "close_height_mm": 0.7,
+   "closest_mm": 0.5,
+   "lifted": false,
+   "lowest_mm": 18.9,
+   "lowest_square": "c7"
+  },
+  {
+   "index": 34,
+   "success": false,
+   "reason": "placement error 55.0 mm, tilt 98 deg",
+   "frames": 600,
+   "seconds": 58.4,
+   "piece": "pawn",
+   "source": "e2",
+   "destination": "e4",
+   "move_kind": "fixed",
+   "centre_error_mm": 55.02,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 1.72,
+   "closed": true,
+   "close_t_s": 4.87,
+   "close_lateral_mm": 8.1,
+   "close_along_mm": 6.7,
+   "close_across_mm": 4.6,
+   "close_height_mm": -2.2,
+   "closest_mm": 3.8,
+   "lifted": false,
+   "lowest_mm": 17.4,
+   "lowest_square": "e2"
+  },
+  {
+   "index": 35,
+   "success": false,
+   "reason": "placement error 12.4 mm, tilt 102 deg",
+   "frames": 600,
+   "seconds": 58.7,
+   "piece": "knight",
+   "source": "g8",
+   "destination": "f6",
+   "move_kind": "fixed",
+   "centre_error_mm": 12.37,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.33,
+   "closed": true,
+   "close_t_s": 2.53,
+   "close_lateral_mm": 2.7,
+   "close_along_mm": 0.6,
+   "close_across_mm": 2.6,
+   "close_height_mm": -0.4,
+   "closest_mm": 1.3,
+   "lifted": true,
+   "lowest_mm": 18.1,
+   "lowest_square": "g8"
+  },
+  {
+   "index": 36,
+   "success": true,
+   "reason": "",
+   "frames": 256,
+   "seconds": 24.9,
+   "piece": "knight",
+   "source": "b8",
+   "destination": "c6",
+   "move_kind": "fixed",
+   "centre_error_mm": 3.29,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 2.97,
+   "close_lateral_mm": 3.8,
+   "close_along_mm": -3.1,
+   "close_across_mm": 2.2,
+   "close_height_mm": 0.5,
+   "closest_mm": 10.7,
+   "lifted": true,
+   "lowest_mm": 18.7,
+   "lowest_square": "c6"
+  },
+  {
+   "index": 37,
+   "success": false,
+   "reason": "placement error 27.5 mm, tilt 99 deg",
+   "frames": 600,
+   "seconds": 57.9,
+   "piece": "pawn",
+   "source": "c7",
+   "destination": "c5",
+   "move_kind": "fixed",
+   "centre_error_mm": 27.5,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.04,
+   "closed": true,
+   "close_t_s": 3.9,
+   "close_lateral_mm": 1.4,
+   "close_along_mm": -0.2,
+   "close_across_mm": -1.4,
+   "close_height_mm": -2.8,
+   "closest_mm": 1.5,
+   "lifted": true,
+   "lowest_mm": 16.7,
+   "lowest_square": "c7"
+  },
+  {
+   "index": 38,
+   "success": false,
+   "reason": "placement error 53.3 mm, tilt 0 deg",
+   "frames": 600,
+   "seconds": 59.0,
+   "piece": "pawn",
+   "source": "e2",
+   "destination": "e4",
+   "move_kind": "fixed",
+   "centre_error_mm": 53.32,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 4.0,
+   "close_lateral_mm": 7.3,
+   "close_along_mm": -6.8,
+   "close_across_mm": -2.8,
+   "close_height_mm": 9.2,
+   "closest_mm": 0.2,
+   "lifted": false,
+   "lowest_mm": 17.3,
+   "lowest_square": "e2"
+  },
+  {
+   "index": 39,
+   "success": false,
+   "reason": "placement error 46.1 mm, tilt 99 deg",
+   "frames": 600,
+   "seconds": 58.7,
+   "piece": "pawn",
+   "source": "e7",
+   "destination": "e5",
+   "move_kind": "fixed",
+   "centre_error_mm": 46.11,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.64,
+   "closed": true,
+   "close_t_s": 3.27,
+   "close_lateral_mm": 6.8,
+   "close_along_mm": -1.9,
+   "close_across_mm": -6.5,
+   "close_height_mm": -0.6,
+   "closest_mm": 3.0,
+   "lifted": false,
+   "lowest_mm": 18.7,
+   "lowest_square": "e5"
+  },
+  {
+   "index": 40,
+   "success": false,
+   "reason": "placement error 6.2 mm, tilt 0 deg",
+   "frames": 600,
+   "seconds": 55.9,
+   "piece": "knight",
+   "source": "g1",
+   "destination": "f3",
+   "move_kind": "fixed",
+   "centre_error_mm": 6.22,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 3.83,
+   "close_lateral_mm": 4.3,
+   "close_along_mm": 3.2,
+   "close_across_mm": 3.0,
+   "close_height_mm": -5.7,
+   "closest_mm": 5.4,
+   "lifted": true,
+   "lowest_mm": 12.3,
+   "lowest_square": "g1"
+  },
+  {
+   "index": 41,
+   "success": false,
+   "reason": "placement error 12.3 mm, tilt 0 deg",
+   "frames": 600,
+   "seconds": 55.7,
+   "piece": "knight",
+   "source": "g1",
+   "destination": "f3",
+   "move_kind": "fixed",
+   "centre_error_mm": 12.3,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 3.8,
+   "close_lateral_mm": 3.0,
+   "close_along_mm": -3.0,
+   "close_across_mm": 0.3,
+   "close_height_mm": -2.4,
+   "closest_mm": 8.6,
+   "lifted": true,
+   "lowest_mm": 12.9,
+   "lowest_square": "g1"
+  },
+  {
+   "index": 42,
+   "success": false,
+   "reason": "placement error 41.1 mm, tilt 99 deg",
+   "frames": 600,
+   "seconds": 55.5,
+   "piece": "pawn",
+   "source": "c2",
+   "destination": "c4",
+   "move_kind": "fixed",
+   "centre_error_mm": 41.06,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 4.13,
+   "close_lateral_mm": 5.4,
+   "close_along_mm": -0.4,
+   "close_across_mm": 5.4,
+   "close_height_mm": -1.9,
+   "closest_mm": 2.6,
+   "lifted": false,
+   "lowest_mm": 18.1,
+   "lowest_square": "c2"
+  },
+  {
+   "index": 43,
+   "success": false,
+   "reason": "placement error 77.5 mm, tilt 114 deg; disturbed w_bishop_c by 26.9 mm",
+   "frames": 600,
+   "seconds": 56.1,
+   "piece": "knight",
+   "source": "g1",
+   "destination": "f3",
+   "move_kind": "fixed",
+   "centre_error_mm": 77.52,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": true,
+   "max_disturbance_mm": 26.87,
+   "closed": true,
+   "close_t_s": 4.0,
+   "close_lateral_mm": 8.6,
+   "close_along_mm": 4.0,
+   "close_across_mm": -7.7,
+   "close_height_mm": -5.5,
+   "closest_mm": 1.4,
+   "lifted": true,
+   "lowest_mm": 8.8,
+   "lowest_square": "g1"
+  },
+  {
+   "index": 44,
+   "success": true,
+   "reason": "",
+   "frames": 211,
+   "seconds": 19.7,
+   "piece": "knight",
+   "source": "g8",
+   "destination": "f6",
+   "move_kind": "fixed",
+   "centre_error_mm": 2.91,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.11,
+   "closed": true,
+   "close_t_s": 2.47,
+   "close_lateral_mm": 3.7,
+   "close_along_mm": -1.1,
+   "close_across_mm": -3.6,
+   "close_height_mm": -1.3,
+   "closest_mm": 6.2,
+   "lifted": true,
+   "lowest_mm": 16.8,
+   "lowest_square": "f6"
+  },
+  {
+   "index": 45,
+   "success": false,
+   "reason": "placement error 64.2 mm, tilt 101 deg",
+   "frames": 600,
+   "seconds": 55.9,
+   "piece": "knight",
+   "source": "b1",
+   "destination": "c3",
+   "move_kind": "fixed",
+   "centre_error_mm": 64.18,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 1.31,
+   "closed": true,
+   "close_t_s": 3.9,
+   "close_lateral_mm": 1.2,
+   "close_along_mm": 1.2,
+   "close_across_mm": 0.3,
+   "close_height_mm": -4.9,
+   "closest_mm": 2.0,
+   "lifted": true,
+   "lowest_mm": 11.8,
+   "lowest_square": "b1"
+  },
+  {
+   "index": 46,
+   "success": false,
+   "reason": "placement error 55.3 mm, tilt 95 deg",
+   "frames": 600,
+   "seconds": 56.0,
+   "piece": "pawn",
+   "source": "e2",
+   "destination": "e4",
+   "move_kind": "fixed",
+   "centre_error_mm": 55.33,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.21,
+   "closed": true,
+   "close_t_s": 4.4,
+   "close_lateral_mm": 13.7,
+   "close_along_mm": 5.5,
+   "close_across_mm": 12.5,
+   "close_height_mm": 1.4,
+   "closest_mm": 7.9,
+   "lifted": false,
+   "lowest_mm": 17.0,
+   "lowest_square": "e2"
+  },
+  {
+   "index": 47,
+   "success": false,
+   "reason": "placement error 46.8 mm, tilt 100 deg",
+   "frames": 600,
+   "seconds": 56.9,
+   "piece": "pawn",
+   "source": "d7",
+   "destination": "d5",
+   "move_kind": "fixed",
+   "centre_error_mm": 46.77,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.21,
+   "closed": true,
+   "close_t_s": 2.2,
+   "close_lateral_mm": 3.3,
+   "close_along_mm": -0.9,
+   "close_across_mm": 3.1,
+   "close_height_mm": -2.5,
+   "closest_mm": 0.3,
+   "lifted": false,
+   "lowest_mm": 19.4,
+   "lowest_square": "d7"
+  },
+  {
+   "index": 48,
+   "success": false,
+   "reason": "placement error 44.9 mm, tilt 99 deg",
+   "frames": 600,
+   "seconds": 58.4,
+   "piece": "pawn",
+   "source": "c2",
+   "destination": "c4",
+   "move_kind": "fixed",
+   "centre_error_mm": 44.92,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 4.13,
+   "close_lateral_mm": 16.7,
+   "close_along_mm": -2.9,
+   "close_across_mm": 16.4,
+   "close_height_mm": 8.8,
+   "closest_mm": 4.4,
+   "lifted": false,
+   "lowest_mm": 18.6,
+   "lowest_square": "c2"
+  },
+  {
+   "index": 49,
+   "success": false,
+   "reason": "disturbed b_pawn_e by 8.7 mm",
+   "frames": 600,
+   "seconds": 57.9,
+   "piece": "knight",
+   "source": "g8",
+   "destination": "f6",
+   "move_kind": "fixed",
+   "centre_error_mm": 3.75,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": true,
+   "max_disturbance_mm": 8.72,
+   "closed": true,
+   "close_t_s": 2.33,
+   "close_lateral_mm": 0.3,
+   "close_along_mm": -0.3,
+   "close_across_mm": 0.1,
+   "close_height_mm": 3.0,
+   "closest_mm": 3.4,
+   "lifted": true,
+   "lowest_mm": 18.3,
+   "lowest_square": "f6"
+  },
+  {
+   "index": 50,
+   "success": true,
+   "reason": "",
+   "frames": 226,
+   "seconds": 21.8,
+   "piece": "pawn",
+   "source": "e7",
+   "destination": "e5",
+   "move_kind": "fixed",
+   "centre_error_mm": 3.07,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 2.6,
+   "close_lateral_mm": 1.2,
+   "close_along_mm": 1.2,
+   "close_across_mm": -0.1,
+   "close_height_mm": -1.6,
+   "closest_mm": 1.4,
+   "lifted": true,
+   "lowest_mm": 20.0,
+   "lowest_square": "e7"
+  },
+  {
+   "index": 51,
+   "success": false,
+   "reason": "placement error 46.0 mm, tilt 81 deg; disturbed b_king_e by 26.9 mm",
+   "frames": 600,
+   "seconds": 56.1,
+   "piece": "pawn",
+   "source": "e7",
+   "destination": "e5",
+   "move_kind": "fixed",
+   "centre_error_mm": 45.96,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": true,
+   "max_disturbance_mm": 26.92,
+   "closed": true,
+   "close_t_s": 2.2,
+   "close_lateral_mm": 4.0,
+   "close_along_mm": -2.1,
+   "close_across_mm": 3.4,
+   "close_height_mm": -0.8,
+   "closest_mm": 0.7,
+   "lifted": false,
+   "lowest_mm": 18.7,
+   "lowest_square": "e7"
+  },
+  {
+   "index": 52,
+   "success": false,
+   "reason": "placement error 15.7 mm, tilt 0 deg; disturbed b_queen_d by 5.8 mm",
+   "frames": 600,
+   "seconds": 56.4,
+   "piece": "pawn",
+   "source": "d7",
+   "destination": "d5",
+   "move_kind": "fixed",
+   "centre_error_mm": 15.75,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": true,
+   "max_disturbance_mm": 5.76,
+   "closed": true,
+   "close_t_s": 2.3,
+   "close_lateral_mm": 2.4,
+   "close_along_mm": -1.0,
+   "close_across_mm": 2.1,
+   "close_height_mm": -0.1,
+   "closest_mm": 1.7,
+   "lifted": true,
+   "lowest_mm": 19.7,
+   "lowest_square": "d7"
+  },
+  {
+   "index": 53,
+   "success": false,
+   "reason": "placement error 56.8 mm, tilt 99 deg; disturbed b_king_e by 5.2 mm",
+   "frames": 600,
+   "seconds": 57.2,
+   "piece": "pawn",
+   "source": "e7",
+   "destination": "e5",
+   "move_kind": "fixed",
+   "centre_error_mm": 56.75,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": true,
+   "max_disturbance_mm": 5.23,
+   "closed": true,
+   "close_t_s": 2.13,
+   "close_lateral_mm": 2.2,
+   "close_along_mm": -1.8,
+   "close_across_mm": -1.3,
+   "close_height_mm": -1.5,
+   "closest_mm": 1.0,
+   "lifted": false,
+   "lowest_mm": 19.3,
+   "lowest_square": "e7"
+  },
+  {
+   "index": 54,
+   "success": false,
+   "reason": "placement error 42.8 mm, tilt 99 deg",
+   "frames": 600,
+   "seconds": 57.4,
+   "piece": "pawn",
+   "source": "d2",
+   "destination": "d4",
+   "move_kind": "fixed",
+   "centre_error_mm": 42.78,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 4.1,
+   "close_lateral_mm": 3.9,
+   "close_along_mm": 2.9,
+   "close_across_mm": -2.6,
+   "close_height_mm": -3.9,
+   "closest_mm": 0.5,
+   "lifted": false,
+   "lowest_mm": 15.8,
+   "lowest_square": "d2"
+  },
+  {
+   "index": 55,
+   "success": false,
+   "reason": "placement error 66.6 mm, tilt 102 deg; disturbed b_pawn_d by 17.7 mm",
+   "frames": 600,
+   "seconds": 58.1,
+   "piece": "knight",
+   "source": "g8",
+   "destination": "f6",
+   "move_kind": "fixed",
+   "centre_error_mm": 66.61,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": true,
+   "max_disturbance_mm": 17.68,
+   "closed": true,
+   "close_t_s": 2.4,
+   "close_lateral_mm": 12.3,
+   "close_along_mm": 9.4,
+   "close_across_mm": -7.9,
+   "close_height_mm": 3.3,
+   "closest_mm": 0.7,
+   "lifted": true,
+   "lowest_mm": 17.2,
+   "lowest_square": "g8"
+  },
+  {
+   "index": 56,
+   "success": false,
+   "reason": "placement error 56.2 mm, tilt 68 deg; disturbed b_pawn_e by 7.7 mm",
+   "frames": 600,
+   "seconds": 56.8,
+   "piece": "knight",
+   "source": "g8",
+   "destination": "f6",
+   "move_kind": "fixed",
+   "centre_error_mm": 56.19,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": true,
+   "max_disturbance_mm": 7.69,
+   "closed": true,
+   "close_t_s": 2.83,
+   "close_lateral_mm": 6.4,
+   "close_along_mm": 5.2,
+   "close_across_mm": 3.7,
+   "close_height_mm": 1.6,
+   "closest_mm": 1.7,
+   "lifted": true,
+   "lowest_mm": 18.6,
+   "lowest_square": "f7"
+  },
+  {
+   "index": 57,
+   "success": false,
+   "reason": "placement error 53.8 mm, tilt 11 deg; disturbed w_bishop_f by 4.3 mm",
+   "frames": 600,
+   "seconds": 57.6,
+   "piece": "pawn",
+   "source": "c2",
+   "destination": "c4",
+   "move_kind": "fixed",
+   "centre_error_mm": 53.78,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": true,
+   "max_disturbance_mm": 4.28,
+   "closed": true,
+   "close_t_s": 4.07,
+   "close_lateral_mm": 19.4,
+   "close_along_mm": -9.1,
+   "close_across_mm": 17.1,
+   "close_height_mm": 3.9,
+   "closest_mm": 5.1,
+   "lifted": false,
+   "lowest_mm": 18.2,
+   "lowest_square": "c2"
+  },
+  {
+   "index": 58,
+   "success": false,
+   "reason": "placement error 59.5 mm, tilt 91 deg",
+   "frames": 600,
+   "seconds": 57.5,
+   "piece": "pawn",
+   "source": "e7",
+   "destination": "e5",
+   "move_kind": "fixed",
+   "centre_error_mm": 59.51,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.33,
+   "closed": true,
+   "close_t_s": 2.17,
+   "close_lateral_mm": 5.9,
+   "close_along_mm": -2.9,
+   "close_across_mm": 5.2,
+   "close_height_mm": -2.1,
+   "closest_mm": 3.6,
+   "lifted": true,
+   "lowest_mm": 18.5,
+   "lowest_square": "e5"
+  },
+  {
+   "index": 59,
+   "success": false,
+   "reason": "placement error 42.3 mm, tilt 99 deg",
+   "frames": 600,
+   "seconds": 57.4,
+   "piece": "pawn",
+   "source": "c7",
+   "destination": "c5",
+   "move_kind": "fixed",
+   "centre_error_mm": 42.29,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.01,
+   "closed": true,
+   "close_t_s": 2.4,
+   "close_lateral_mm": 8.4,
+   "close_along_mm": -3.4,
+   "close_across_mm": -7.7,
+   "close_height_mm": -3.3,
+   "closest_mm": 0.5,
+   "lifted": false,
+   "lowest_mm": 18.2,
+   "lowest_square": "c7"
+  }
+ ]
+}

chess-sim/reports/pipeline_check/M0_dev/eval_video.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1b2388dac85b2cf93958a2ca8c4b9bb98f0c07978ab7da2597f8e8dcd430ce0
+size 3514608

chess-sim/reports/pipeline_check/O_dev/eval_report.md

@@ -0,0 +1,150 @@
+# Policy evaluation in simulation
+
+Policy `models/baseline`, 60 closed-loop episodes on the `baseline` settings profile's scene from seeds not used for training.
+
+**Success: 46.7%** (piece within 6 mm of the target square or in the tray, upright, nothing else moved more than 2 mm; 20 s limit).
+
+## Reach
+
+- Median closest approach of the gripper to the marked piece (board plane): 2.2 mm (a square is about 25 mm).
+- Gripper within half a square of the marked piece: 100.0% of episodes.
+- Marked piece lifted more than 8 mm: 75.0%.
+- Gripper's lowest point was over the marked square: 73.3%.
+
+## Grasp precision
+
+Where the jaws are when the policy starts closing (command below 3 of 100), against the grasp the scripted expert would make on the same piece.
+
+- Closed on the piece's square in 100.0% of episodes.
+- Median sideways error at closing: 4.8 mm (successes 2.8, failures 6.0); within 2 mm in 20.0%. Median height error 0.3 mm.
+- Another piece moved more than 2 mm in 18.3% of episodes.
+
+| piece | episodes | success % | lifted % | median closing error mm | disturbed % |
+|---|---|---|---|---|---|
+| knight | 18 | 44.4 | 100.0 | 3.6 | 38.9 |
+| pawn | 42 | 47.6 | 64.3 | 5.1 | 9.5 |
+
+Episodes from seed 1000003: the same seed gives the same episodes for any number of workers.
+
+## By move
+
+| | success % | episodes |
+|---|---|---|
+| b1-c3 | 25.0 | 4 |
+| b8-c6 | 50.0 | 2 |
+| c2-c4 | 33.3 | 9 |
+| c7-c5 | 75.0 | 8 |
+| d2-d4 | 20.0 | 5 |
+| d7-d5 | 40.0 | 5 |
+| e2-e4 | 20.0 | 5 |
+| e7-e5 | 70.0 | 10 |
+| g1-f3 | 66.7 | 6 |
+| g8-f6 | 33.3 | 6 |
+
+## By piece
+
+| | success % | episodes |
+|---|---|---|
+| knight | 44.4 | 18 |
+| pawn | 47.6 | 42 |
+
+## By destination
+
+| | success % | episodes |
+|---|---|---|
+| square | 46.7 | 60 |
+
+## By move kind
+
+| | success % | episodes |
+|---|---|---|
+| fixed | 46.7 | 60 |
+
+## By side the robot plays
+
+| | success % | episodes |
+|---|---|---|
+| black | 46.7 | 60 |
+
+## By arm colour
+
+| | success % | episodes |
+|---|---|---|
+| white | 46.7 | 60 |
+
+## By main light
+
+| | success % | episodes |
+|---|---|---|
+| nominal | 46.7 | 60 |
+
+## By floor
+
+| | success % | episodes |
+|---|---|---|
+| nominal | 46.7 | 60 |
+
+## Episodes
+
+| # | move | success | closest mm | lifted | lowest over | reason |
+|---|---|---|---|---|---|---|
+| 0 | pawn e2-e4 | no | 0.9 | no | e2 | placement error 42.8 mm, tilt 99 deg |
+| 1 | pawn e7-e5 | yes | 0.5 | yes | e7 |  |
+| 2 | pawn d2-d4 | yes | 1.1 | yes | d2 |  |
+| 3 | pawn e7-e5 | yes | 5.6 | yes | e5 |  |
+| 4 | pawn d2-d4 | no | 2.0 | no | d4 | placement error 44.0 mm, tilt 0 deg |
+| 5 | pawn c7-c5 | yes | 5.0 | yes | c7 |  |
+| 6 | knight b8-c6 | yes | 8.6 | yes | b8 |  |
+| 7 | pawn e7-e5 | no | 1.3 | no | e7 | placement error 40.8 mm, tilt 98 deg |
+| 8 | pawn c2-c4 | no | 1.9 | no | c2 | placement error 40.7 mm, tilt 99 deg |
+| 9 | pawn c2-c4 | no | 5.8 | yes | c2 | placement error 50.7 mm, tilt 0 deg |
+| 10 | pawn d7-d5 | yes | 2.5 | yes | d7 |  |
+| 11 | pawn c2-c4 | no | 7.6 | no | c2 | placement error 50.1 mm, tilt 0 deg |
+| 12 | pawn d2-d4 | no | 1.8 | no | d2 | placement error 40.6 mm, tilt 98 deg |
+| 13 | knight b1-c3 | no | 2.2 | yes | b1 | placement error 53.1 mm, tilt 96 deg; disturbed w_bishop_c by 2.6 mm |
+| 14 | pawn d7-d5 | no | 0.4 | yes | d5 | placement error 64.4 mm, tilt 99 deg |
+| 15 | knight g8-f6 | yes | 4.7 | yes | g8 |  |
+| 16 | knight g1-f3 | yes | 11.4 | yes | g1 |  |
+| 17 | knight g1-f3 | yes | 5.7 | yes | f3 |  |
+| 18 | pawn c7-c5 | no | 4.9 | no | c5 | placement error 51.6 mm, tilt 90 deg |
+| 19 | knight b1-c3 | no | 1.6 | yes | b1 | placement error 34.9 mm, tilt 95 deg; disturbed w_pawn_c by 7.5 mm |
+| 20 | pawn c2-c4 | yes | 2.4 | yes | c4 |  |
+| 21 | pawn e2-e4 | yes | 0.1 | yes | e2 |  |
+| 22 | pawn c7-c5 | yes | 1.4 | yes | c7 |  |
+| 23 | pawn d2-d4 | no | 1.1 | yes | d2 | placement error 40.5 mm, tilt 99 deg |
+| 24 | knight g1-f3 | no | 9.1 | yes | f1 | placement error 31.1 mm, tilt 90 deg; disturbed w_bishop_f by 14.8 mm |
+| 25 | pawn e7-e5 | yes | 1.2 | yes | e7 |  |
+| 26 | pawn e7-e5 | yes | 1.1 | yes | e7 |  |
+| 27 | pawn c2-c4 | yes | 0.5 | yes | c2 |  |
+| 28 | pawn c7-c5 | yes | 2.2 | yes | c5 |  |
+| 29 | pawn d7-d5 | no | 0.5 | yes | d8 | placement error 52.9 mm, tilt 77 deg; disturbed b_king_e by 2.1 mm |
+| 30 | pawn c7-c5 | yes | 3.0 | yes | c7 |  |
+| 31 | knight b1-c3 | no | 1.7 | yes | b1 | placement error 72.9 mm, tilt 114 deg; disturbed w_bishop_c by 5.1 mm |
+| 32 | pawn c2-c4 | no | 2.0 | no | c2 | placement error 47.7 mm, tilt 66 deg; disturbed w_bishop_f by 15.0 mm |
+| 33 | pawn c7-c5 | yes | 3.0 | yes | c7 |  |
+| 34 | pawn e2-e4 | no | 5.9 | no | e2 | placement error 52.7 mm, tilt 48 deg |
+| 35 | knight g8-f6 | yes | 2.2 | yes | g8 |  |
+| 36 | knight b8-c6 | no | 11.0 | yes | b8 | placement error 38.6 mm, tilt 86 deg; disturbed b_bishop_c by 10.3 mm |
+| 37 | pawn c7-c5 | yes | 4.0 | yes | c7 |  |
+| 38 | pawn e2-e4 | no | 2.3 | yes | e3 | placement error 38.6 mm, tilt 99 deg |
+| 39 | pawn e7-e5 | no | 3.3 | no | e5 | placement error 38.5 mm, tilt 99 deg |
+| 40 | knight g1-f3 | yes | 5.4 | yes | g1 |  |
+| 41 | knight g1-f3 | yes | 7.0 | yes | g1 |  |
+| 42 | pawn c2-c4 | yes | 0.2 | yes | c2 |  |
+| 43 | knight g1-f3 | no | 4.1 | yes | g1 | placement error 96.6 mm, tilt 102 deg; disturbed w_bishop_c by 15.5 mm |
+| 44 | knight g8-f6 | no | 2.5 | yes | g8 | placement error 64.5 mm, tilt 97 deg |
+| 45 | knight b1-c3 | yes | 4.9 | yes | b1 |  |
+| 46 | pawn e2-e4 | no | 7.3 | no | d2 | placement error 53.2 mm, tilt 93 deg |
+| 47 | pawn d7-d5 | no | 1.7 | yes | d7 | placement error 43.3 mm, tilt 99 deg |
+| 48 | pawn c2-c4 | no | 0.8 | no | c2 | placement error 55.8 mm, tilt 89 deg |
+| 49 | knight g8-f6 | no | 3.7 | yes | g8 | placement error 63.6 mm, tilt 101 deg; disturbed b_rook_a by 3.0 mm |
+| 50 | pawn e7-e5 | yes | 1.3 | yes | e7 |  |
+| 51 | pawn e7-e5 | no | 0.2 | yes | e7 | placement error 77.6 mm, tilt 99 deg; disturbed b_king_e by 17.0 mm |
+| 52 | pawn d7-d5 | yes | 3.0 | yes | d7 |  |
+| 53 | pawn e7-e5 | yes | 1.0 | yes | e7 |  |
+| 54 | pawn d2-d4 | no | 3.3 | no | d2 | placement error 57.5 mm, tilt 99 deg |
+| 55 | knight g8-f6 | no | 0.3 | yes | e5 | placement error 53.3 mm, tilt 94 deg |
+| 56 | knight g8-f6 | no | 1.7 | yes | f6 | placement error 7.6 mm, tilt 0 deg |
+| 57 | pawn c2-c4 | no | 4.0 | no | b2 | placement error 50.0 mm, tilt 0 deg; disturbed w_bishop_f by 13.6 mm |
+| 58 | pawn e7-e5 | yes | 0.1 | yes | e5 |  |
+| 59 | pawn c7-c5 | no | 0.3 | no | c7 | placement error 47.9 mm, tilt 99 deg |

chess-sim/reports/pipeline_check/O_dev/eval_results.json

@@ -0,0 +1,2295 @@
+{
+ "summary": {
+  "policy": "models/baseline",
+  "profile": "baseline",
+  "n_action_steps": null,
+  "seed": 1000003,
+  "precision": {
+   "closed_percent": 100.0,
+   "median_close_lateral_mm": 4.8,
+   "median_close_lateral_mm_success": 2.8,
+   "median_close_lateral_mm_failure": 6.0,
+   "close_within_2mm_percent": 20.0,
+   "median_close_height_mm": 0.3,
+   "disturbed_percent": 18.3
+  },
+  "pieces": {
+   "knight": {
+    "episodes": 18,
+    "success_percent": 44.4,
+    "lifted_percent": 100.0,
+    "median_close_lateral_mm": 3.6,
+    "disturbed_percent": 38.9
+   },
+   "pawn": {
+    "episodes": 42,
+    "success_percent": 47.6,
+    "lifted_percent": 64.3,
+    "median_close_lateral_mm": 5.1,
+    "disturbed_percent": 9.5
+   }
+  },
+  "episodes": 60,
+  "success_percent": 46.7,
+  "seconds_limit": 20.0,
+  "minutes": 23.6,
+  "reach": {
+   "median_closest_mm": 2.2,
+   "within_half_square_percent": 100.0,
+   "lifted_percent": 75.0,
+   "lowest_over_source_percent": 73.3
+  },
+  "by": {
+   "piece": {
+    "knight": {
+     "success_percent": 44.4,
+     "episodes": 18
+    },
+    "pawn": {
+     "success_percent": 47.6,
+     "episodes": 42
+    }
+   },
+   "move_kind": {
+    "fixed": {
+     "success_percent": 46.7,
+     "episodes": 60
+    }
+   },
+   "robot_plays": {
+    "black": {
+     "success_percent": 46.7,
+     "episodes": 60
+    }
+   },
+   "arm_colour": {
+    "white": {
+     "success_percent": 46.7,
+     "episodes": 60
+    }
+   },
+   "key_light": {
+    "nominal": {
+     "success_percent": 46.7,
+     "episodes": 60
+    }
+   },
+   "floor": {
+    "nominal": {
+     "success_percent": 46.7,
+     "episodes": 60
+    }
+   },
+   "destination": {
+    "square": {
+     "success_percent": 46.7,
+     "episodes": 60
+    }
+   },
+   "move": {
+    "b1-c3": {
+     "success_percent": 25.0,
+     "episodes": 4
+    },
+    "b8-c6": {
+     "success_percent": 50.0,
+     "episodes": 2
+    },
+    "c2-c4": {
+     "success_percent": 33.3,
+     "episodes": 9
+    },
+    "c7-c5": {
+     "success_percent": 75.0,
+     "episodes": 8
+    },
+    "d2-d4": {
+     "success_percent": 20.0,
+     "episodes": 5
+    },
+    "d7-d5": {
+     "success_percent": 40.0,
+     "episodes": 5
+    },
+    "e2-e4": {
+     "success_percent": 20.0,
+     "episodes": 5
+    },
+    "e7-e5": {
+     "success_percent": 70.0,
+     "episodes": 10
+    },
+    "g1-f3": {
+     "success_percent": 66.7,
+     "episodes": 6
+    },
+    "g8-f6": {
+     "success_percent": 33.3,
+     "episodes": 6
+    }
+   }
+  }
+ },
+ "episodes": [
+  {
+   "index": 0,
+   "success": false,
+   "reason": "placement error 42.8 mm, tilt 99 deg",
+   "frames": 600,
+   "seconds": 65.4,
+   "piece": "pawn",
+   "source": "e2",
+   "destination": "e4",
+   "move_kind": "fixed",
+   "centre_error_mm": 42.76,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 4.07,
+   "close_lateral_mm": 5.9,
+   "close_along_mm": -3.4,
+   "close_across_mm": -4.9,
+   "close_height_mm": -0.1,
+   "closest_mm": 0.9,
+   "lifted": false,
+   "lowest_mm": 21.3,
+   "lowest_square": "e2"
+  },
+  {
+   "index": 1,
+   "success": true,
+   "reason": "",
+   "frames": 226,
+   "seconds": 32.5,
+   "piece": "pawn",
+   "source": "e7",
+   "destination": "e5",
+   "move_kind": "fixed",
+   "centre_error_mm": 2.71,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.35,
+   "closed": true,
+   "close_t_s": 2.2,
+   "close_lateral_mm": 6.9,
+   "close_along_mm": -1.4,
+   "close_across_mm": 6.8,
+   "close_height_mm": 0.1,
+   "closest_mm": 0.5,
+   "lifted": true,
+   "lowest_mm": 21.8,
+   "lowest_square": "e7"
+  },
+  {
+   "index": 2,
+   "success": true,
+   "reason": "",
+   "frames": 301,
+   "seconds": 31.4,
+   "piece": "pawn",
+   "source": "d2",
+   "destination": "d4",
+   "move_kind": "fixed",
+   "centre_error_mm": 1.64,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 4.03,
+   "close_lateral_mm": 2.0,
+   "close_along_mm": -2.0,
+   "close_across_mm": 0.4,
+   "close_height_mm": 0.3,
+   "closest_mm": 1.1,
+   "lifted": true,
+   "lowest_mm": 21.3,
+   "lowest_square": "d2"
+  },
+  {
+   "index": 3,
+   "success": true,
+   "reason": "",
+   "frames": 226,
+   "seconds": 24.1,
+   "piece": "pawn",
+   "source": "e7",
+   "destination": "e5",
+   "move_kind": "fixed",
+   "centre_error_mm": 3.2,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 2.57,
+   "close_lateral_mm": 3.0,
+   "close_along_mm": -2.4,
+   "close_across_mm": -1.9,
+   "close_height_mm": 1.8,
+   "closest_mm": 5.6,
+   "lifted": true,
+   "lowest_mm": 23.0,
+   "lowest_square": "e5"
+  },
+  {
+   "index": 4,
+   "success": false,
+   "reason": "placement error 44.0 mm, tilt 0 deg",
+   "frames": 600,
+   "seconds": 192.5,
+   "piece": "pawn",
+   "source": "d2",
+   "destination": "d4",
+   "move_kind": "fixed",
+   "centre_error_mm": 43.98,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 3.83,
+   "close_lateral_mm": 4.1,
+   "close_along_mm": -3.6,
+   "close_across_mm": -1.8,
+   "close_height_mm": 2.9,
+   "closest_mm": 2.0,
+   "lifted": false,
+   "lowest_mm": 21.0,
+   "lowest_square": "d4"
+  },
+  {
+   "index": 5,
+   "success": true,
+   "reason": "",
+   "frames": 526,
+   "seconds": 141.1,
+   "piece": "pawn",
+   "source": "c7",
+   "destination": "c5",
+   "move_kind": "fixed",
+   "centre_error_mm": 1.03,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 2.43,
+   "close_lateral_mm": 7.2,
+   "close_along_mm": 3.9,
+   "close_across_mm": 6.1,
+   "close_height_mm": 1.9,
+   "closest_mm": 5.0,
+   "lifted": true,
+   "lowest_mm": 22.0,
+   "lowest_square": "c7"
+  },
+  {
+   "index": 6,
+   "success": true,
+   "reason": "",
+   "frames": 256,
+   "seconds": 23.9,
+   "piece": "knight",
+   "source": "b8",
+   "destination": "c6",
+   "move_kind": "fixed",
+   "centre_error_mm": 5.78,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 3.13,
+   "close_lateral_mm": 1.2,
+   "close_along_mm": -1.2,
+   "close_across_mm": -0.0,
+   "close_height_mm": 0.7,
+   "closest_mm": 8.6,
+   "lifted": true,
+   "lowest_mm": 20.4,
+   "lowest_square": "b8"
+  },
+  {
+   "index": 7,
+   "success": false,
+   "reason": "placement error 40.8 mm, tilt 98 deg",
+   "frames": 600,
+   "seconds": 56.4,
+   "piece": "pawn",
+   "source": "e7",
+   "destination": "e5",
+   "move_kind": "fixed",
+   "centre_error_mm": 40.8,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.01,
+   "closed": true,
+   "close_t_s": 2.13,
+   "close_lateral_mm": 5.3,
+   "close_along_mm": 1.9,
+   "close_across_mm": 4.9,
+   "close_height_mm": 0.1,
+   "closest_mm": 1.3,
+   "lifted": false,
+   "lowest_mm": 21.2,
+   "lowest_square": "e7"
+  },
+  {
+   "index": 8,
+   "success": false,
+   "reason": "placement error 40.7 mm, tilt 99 deg",
+   "frames": 600,
+   "seconds": 57.0,
+   "piece": "pawn",
+   "source": "c2",
+   "destination": "c4",
+   "move_kind": "fixed",
+   "centre_error_mm": 40.7,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 4.0,
+   "close_lateral_mm": 8.0,
+   "close_along_mm": -7.9,
+   "close_across_mm": 1.1,
+   "close_height_mm": 1.4,
+   "closest_mm": 1.9,
+   "lifted": false,
+   "lowest_mm": 19.3,
+   "lowest_square": "c2"
+  },
+  {
+   "index": 9,
+   "success": false,
+   "reason": "placement error 50.7 mm, tilt 0 deg",
+   "frames": 600,
+   "seconds": 56.7,
+   "piece": "pawn",
+   "source": "c2",
+   "destination": "c4",
+   "move_kind": "fixed",
+   "centre_error_mm": 50.74,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 5.0,
+   "close_lateral_mm": 4.7,
+   "close_along_mm": 4.6,
+   "close_across_mm": 0.8,
+   "close_height_mm": 2.6,
+   "closest_mm": 5.8,
+   "lifted": true,
+   "lowest_mm": 18.1,
+   "lowest_square": "c2"
+  },
+  {
+   "index": 10,
+   "success": true,
+   "reason": "",
+   "frames": 226,
+   "seconds": 21.4,
+   "piece": "pawn",
+   "source": "d7",
+   "destination": "d5",
+   "move_kind": "fixed",
+   "centre_error_mm": 1.61,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.54,
+   "closed": true,
+   "close_t_s": 2.43,
+   "close_lateral_mm": 3.9,
+   "close_along_mm": 0.1,
+   "close_across_mm": -3.9,
+   "close_height_mm": 0.1,
+   "closest_mm": 2.5,
+   "lifted": true,
+   "lowest_mm": 21.5,
+   "lowest_square": "d7"
+  },
+  {
+   "index": 11,
+   "success": false,
+   "reason": "placement error 50.1 mm, tilt 0 deg",
+   "frames": 600,
+   "seconds": 56.5,
+   "piece": "pawn",
+   "source": "c2",
+   "destination": "c4",
+   "move_kind": "fixed",
+   "centre_error_mm": 50.11,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 3.97,
+   "close_lateral_mm": 9.8,
+   "close_along_mm": -8.4,
+   "close_across_mm": 5.0,
+   "close_height_mm": 1.3,
+   "closest_mm": 7.6,
+   "lifted": false,
+   "lowest_mm": 21.2,
+   "lowest_square": "c2"
+  },
+  {
+   "index": 12,
+   "success": false,
+   "reason": "placement error 40.6 mm, tilt 98 deg",
+   "frames": 600,
+   "seconds": 56.6,
+   "piece": "pawn",
+   "source": "d2",
+   "destination": "d4",
+   "move_kind": "fixed",
+   "centre_error_mm": 40.63,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 4.1,
+   "close_lateral_mm": 14.1,
+   "close_along_mm": -13.4,
+   "close_across_mm": 4.5,
+   "close_height_mm": 7.3,
+   "closest_mm": 1.8,
+   "lifted": false,
+   "lowest_mm": 18.9,
+   "lowest_square": "d2"
+  },
+  {
+   "index": 13,
+   "success": false,
+   "reason": "placement error 53.1 mm, tilt 96 deg; disturbed w_bishop_c by 2.6 mm",
+   "frames": 600,
+   "seconds": 57.6,
+   "piece": "knight",
+   "source": "b1",
+   "destination": "c3",
+   "move_kind": "fixed",
+   "centre_error_mm": 53.11,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": true,
+   "max_disturbance_mm": 2.56,
+   "closed": true,
+   "close_t_s": 4.0,
+   "close_lateral_mm": 6.4,
+   "close_along_mm": 3.4,
+   "close_across_mm": 5.5,
+   "close_height_mm": 1.7,
+   "closest_mm": 2.2,
+   "lifted": true,
+   "lowest_mm": 16.6,
+   "lowest_square": "b1"
+  },
+  {
+   "index": 14,
+   "success": false,
+   "reason": "placement error 64.4 mm, tilt 99 deg",
+   "frames": 600,
+   "seconds": 58.8,
+   "piece": "pawn",
+   "source": "d7",
+   "destination": "d5",
+   "move_kind": "fixed",
+   "centre_error_mm": 64.37,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.33,
+   "closed": true,
+   "close_t_s": 2.4,
+   "close_lateral_mm": 13.3,
+   "close_along_mm": 11.5,
+   "close_across_mm": 6.7,
+   "close_height_mm": 6.2,
+   "closest_mm": 0.4,
+   "lifted": true,
+   "lowest_mm": 22.0,
+   "lowest_square": "d5"
+  },
+  {
+   "index": 15,
+   "success": true,
+   "reason": "",
+   "frames": 211,
+   "seconds": 21.7,
+   "piece": "knight",
+   "source": "g8",
+   "destination": "f6",
+   "move_kind": "fixed",
+   "centre_error_mm": 4.55,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.01,
+   "closed": true,
+   "close_t_s": 2.47,
+   "close_lateral_mm": 1.1,
+   "close_along_mm": 1.0,
+   "close_across_mm": -0.3,
+   "close_height_mm": 0.0,
+   "closest_mm": 4.7,
+   "lifted": true,
+   "lowest_mm": 17.7,
+   "lowest_square": "g8"
+  },
+  {
+   "index": 16,
+   "success": true,
+   "reason": "",
+   "frames": 256,
+   "seconds": 26.1,
+   "piece": "knight",
+   "source": "g1",
+   "destination": "f3",
+   "move_kind": "fixed",
+   "centre_error_mm": 5.5,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 3.33,
+   "close_lateral_mm": 3.9,
+   "close_along_mm": 2.2,
+   "close_across_mm": 3.3,
+   "close_height_mm": 5.3,
+   "closest_mm": 11.4,
+   "lifted": true,
+   "lowest_mm": 17.5,
+   "lowest_square": "g1"
+  },
+  {
+   "index": 17,
+   "success": true,
+   "reason": "",
+   "frames": 301,
+   "seconds": 30.1,
+   "piece": "knight",
+   "source": "g1",
+   "destination": "f3",
+   "move_kind": "fixed",
+   "centre_error_mm": 1.92,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 3.93,
+   "close_lateral_mm": 0.4,
+   "close_along_mm": -0.4,
+   "close_across_mm": 0.1,
+   "close_height_mm": 1.3,
+   "closest_mm": 5.7,
+   "lifted": true,
+   "lowest_mm": 18.4,
+   "lowest_square": "f3"
+  },
+  {
+   "index": 18,
+   "success": false,
+   "reason": "placement error 51.6 mm, tilt 90 deg",
+   "frames": 600,
+   "seconds": 59.9,
+   "piece": "pawn",
+   "source": "c7",
+   "destination": "c5",
+   "move_kind": "fixed",
+   "centre_error_mm": 51.62,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.26,
+   "closed": true,
+   "close_t_s": 2.33,
+   "close_lateral_mm": 8.6,
+   "close_along_mm": 4.2,
+   "close_across_mm": 7.5,
+   "close_height_mm": 2.3,
+   "closest_mm": 4.9,
+   "lifted": false,
+   "lowest_mm": 21.7,
+   "lowest_square": "c5"
+  },
+  {
+   "index": 19,
+   "success": false,
+   "reason": "placement error 34.9 mm, tilt 95 deg; disturbed w_pawn_c by 7.5 mm",
+   "frames": 600,
+   "seconds": 58.0,
+   "piece": "knight",
+   "source": "b1",
+   "destination": "c3",
+   "move_kind": "fixed",
+   "centre_error_mm": 34.94,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": true,
+   "max_disturbance_mm": 7.49,
+   "closed": true,
+   "close_t_s": 3.33,
+   "close_lateral_mm": 5.0,
+   "close_along_mm": -2.9,
+   "close_across_mm": -4.1,
+   "close_height_mm": 18.6,
+   "closest_mm": 1.6,
+   "lifted": true,
+   "lowest_mm": 16.9,
+   "lowest_square": "b1"
+  },
+  {
+   "index": 20,
+   "success": true,
+   "reason": "",
+   "frames": 331,
+   "seconds": 33.9,
+   "piece": "pawn",
+   "source": "c2",
+   "destination": "c4",
+   "move_kind": "fixed",
+   "centre_error_mm": 3.61,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 4.27,
+   "close_lateral_mm": 1.6,
+   "close_along_mm": 0.1,
+   "close_across_mm": 1.6,
+   "close_height_mm": 3.0,
+   "closest_mm": 2.4,
+   "lifted": true,
+   "lowest_mm": 21.5,
+   "lowest_square": "c4"
+  },
+  {
+   "index": 21,
+   "success": true,
+   "reason": "",
+   "frames": 600,
+   "seconds": 71.7,
+   "piece": "pawn",
+   "source": "e2",
+   "destination": "e4",
+   "move_kind": "fixed",
+   "centre_error_mm": 2.13,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.12,
+   "closed": true,
+   "close_t_s": 4.23,
+   "close_lateral_mm": 8.5,
+   "close_along_mm": -5.4,
+   "close_across_mm": 6.6,
+   "close_height_mm": 5.5,
+   "closest_mm": 0.1,
+   "lifted": true,
+   "lowest_mm": 22.0,
+   "lowest_square": "e2"
+  },
+  {
+   "index": 22,
+   "success": true,
+   "reason": "",
+   "frames": 241,
+   "seconds": 25.2,
+   "piece": "pawn",
+   "source": "c7",
+   "destination": "c5",
+   "move_kind": "fixed",
+   "centre_error_mm": 3.05,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 2.5,
+   "close_lateral_mm": 2.2,
+   "close_along_mm": 0.2,
+   "close_across_mm": -2.2,
+   "close_height_mm": 0.8,
+   "closest_mm": 1.4,
+   "lifted": true,
+   "lowest_mm": 21.7,
+   "lowest_square": "c7"
+  },
+  {
+   "index": 23,
+   "success": false,
+   "reason": "placement error 40.5 mm, tilt 99 deg",
+   "frames": 600,
+   "seconds": 150.8,
+   "piece": "pawn",
+   "source": "d2",
+   "destination": "d4",
+   "move_kind": "fixed",
+   "centre_error_mm": 40.52,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 4.17,
+   "close_lateral_mm": 5.7,
+   "close_along_mm": 4.7,
+   "close_across_mm": 3.2,
+   "close_height_mm": 1.5,
+   "closest_mm": 1.1,
+   "lifted": true,
+   "lowest_mm": 20.3,
+   "lowest_square": "d2"
+  },
+  {
+   "index": 24,
+   "success": false,
+   "reason": "placement error 31.1 mm, tilt 90 deg; disturbed w_bishop_f by 14.8 mm",
+   "frames": 600,
+   "seconds": 187.6,
+   "piece": "knight",
+   "source": "g1",
+   "destination": "f3",
+   "move_kind": "fixed",
+   "centre_error_mm": 31.07,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": true,
+   "max_disturbance_mm": 14.82,
+   "closed": true,
+   "close_t_s": 3.9,
+   "close_lateral_mm": 9.4,
+   "close_along_mm": -7.3,
+   "close_across_mm": -5.9,
+   "close_height_mm": -0.5,
+   "closest_mm": 9.1,
+   "lifted": true,
+   "lowest_mm": 15.8,
+   "lowest_square": "f1"
+  },
+  {
+   "index": 25,
+   "success": true,
+   "reason": "",
+   "frames": 451,
+   "seconds": 42.4,
+   "piece": "pawn",
+   "source": "e7",
+   "destination": "e5",
+   "move_kind": "fixed",
+   "centre_error_mm": 3.39,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.1,
+   "closed": true,
+   "close_t_s": 1.83,
+   "close_lateral_mm": 8.2,
+   "close_along_mm": -7.6,
+   "close_across_mm": 3.0,
+   "close_height_mm": -0.8,
+   "closest_mm": 1.2,
+   "lifted": true,
+   "lowest_mm": 20.9,
+   "lowest_square": "e7"
+  },
+  {
+   "index": 26,
+   "success": true,
+   "reason": "",
+   "frames": 451,
+   "seconds": 42.2,
+   "piece": "pawn",
+   "source": "e7",
+   "destination": "e5",
+   "move_kind": "fixed",
+   "centre_error_mm": 5.8,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.18,
+   "closed": true,
+   "close_t_s": 2.1,
+   "close_lateral_mm": 7.4,
+   "close_along_mm": 2.2,
+   "close_across_mm": -7.1,
+   "close_height_mm": -0.9,
+   "closest_mm": 1.1,
+   "lifted": true,
+   "lowest_mm": 20.7,
+   "lowest_square": "e7"
+  },
+  {
+   "index": 27,
+   "success": true,
+   "reason": "",
+   "frames": 316,
+   "seconds": 30.2,
+   "piece": "pawn",
+   "source": "c2",
+   "destination": "c4",
+   "move_kind": "fixed",
+   "centre_error_mm": 2.21,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 4.23,
+   "close_lateral_mm": 1.9,
+   "close_along_mm": -1.9,
+   "close_across_mm": -0.1,
+   "close_height_mm": -0.1,
+   "closest_mm": 0.5,
+   "lifted": true,
+   "lowest_mm": 21.3,
+   "lowest_square": "c2"
+  },
+  {
+   "index": 28,
+   "success": true,
+   "reason": "",
+   "frames": 226,
+   "seconds": 21.7,
+   "piece": "pawn",
+   "source": "c7",
+   "destination": "c5",
+   "move_kind": "fixed",
+   "centre_error_mm": 2.27,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 2.07,
+   "close_lateral_mm": 2.0,
+   "close_along_mm": 1.6,
+   "close_across_mm": 1.3,
+   "close_height_mm": 0.0,
+   "closest_mm": 2.2,
+   "lifted": true,
+   "lowest_mm": 21.8,
+   "lowest_square": "c5"
+  },
+  {
+   "index": 29,
+   "success": false,
+   "reason": "placement error 52.9 mm, tilt 77 deg; disturbed b_king_e by 2.1 mm",
+   "frames": 600,
+   "seconds": 56.3,
+   "piece": "pawn",
+   "source": "d7",
+   "destination": "d5",
+   "move_kind": "fixed",
+   "centre_error_mm": 52.93,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": true,
+   "max_disturbance_mm": 2.12,
+   "closed": true,
+   "close_t_s": 2.33,
+   "close_lateral_mm": 4.5,
+   "close_along_mm": 0.2,
+   "close_across_mm": -4.5,
+   "close_height_mm": 1.0,
+   "closest_mm": 0.5,
+   "lifted": true,
+   "lowest_mm": 20.0,
+   "lowest_square": "d8"
+  },
+  {
+   "index": 30,
+   "success": true,
+   "reason": "",
+   "frames": 241,
+   "seconds": 22.8,
+   "piece": "pawn",
+   "source": "c7",
+   "destination": "c5",
+   "move_kind": "fixed",
+   "centre_error_mm": 4.88,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 2.3,
+   "close_lateral_mm": 4.4,
+   "close_along_mm": -2.8,
+   "close_across_mm": -3.4,
+   "close_height_mm": -0.6,
+   "closest_mm": 3.0,
+   "lifted": true,
+   "lowest_mm": 21.6,
+   "lowest_square": "c7"
+  },
+  {
+   "index": 31,
+   "success": false,
+   "reason": "placement error 72.9 mm, tilt 114 deg; disturbed w_bishop_c by 5.1 mm",
+   "frames": 600,
+   "seconds": 55.7,
+   "piece": "knight",
+   "source": "b1",
+   "destination": "c3",
+   "move_kind": "fixed",
+   "centre_error_mm": 72.88,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": true,
+   "max_disturbance_mm": 5.07,
+   "closed": true,
+   "close_t_s": 4.1,
+   "close_lateral_mm": 6.0,
+   "close_along_mm": 5.5,
+   "close_across_mm": -2.3,
+   "close_height_mm": 0.0,
+   "closest_mm": 1.7,
+   "lifted": true,
+   "lowest_mm": 13.6,
+   "lowest_square": "b1"
+  },
+  {
+   "index": 32,
+   "success": false,
+   "reason": "placement error 47.7 mm, tilt 66 deg; disturbed w_bishop_f by 15.0 mm",
+   "frames": 600,
+   "seconds": 55.5,
+   "piece": "pawn",
+   "source": "c2",
+   "destination": "c4",
+   "move_kind": "fixed",
+   "centre_error_mm": 47.69,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": true,
+   "max_disturbance_mm": 15.03,
+   "closed": true,
+   "close_t_s": 5.43,
+   "close_lateral_mm": 16.3,
+   "close_along_mm": -7.3,
+   "close_across_mm": 14.6,
+   "close_height_mm": -0.7,
+   "closest_mm": 2.0,
+   "lifted": false,
+   "lowest_mm": 19.5,
+   "lowest_square": "c2"
+  },
+  {
+   "index": 33,
+   "success": true,
+   "reason": "",
+   "frames": 226,
+   "seconds": 21.1,
+   "piece": "pawn",
+   "source": "c7",
+   "destination": "c5",
+   "move_kind": "fixed",
+   "centre_error_mm": 1.84,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 2.2,
+   "close_lateral_mm": 2.3,
+   "close_along_mm": 1.4,
+   "close_across_mm": 1.7,
+   "close_height_mm": 0.3,
+   "closest_mm": 3.0,
+   "lifted": true,
+   "lowest_mm": 21.1,
+   "lowest_square": "c7"
+  },
+  {
+   "index": 34,
+   "success": false,
+   "reason": "placement error 52.7 mm, tilt 48 deg",
+   "frames": 600,
+   "seconds": 55.8,
+   "piece": "pawn",
+   "source": "e2",
+   "destination": "e4",
+   "move_kind": "fixed",
+   "centre_error_mm": 52.72,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.05,
+   "closed": true,
+   "close_t_s": 4.83,
+   "close_lateral_mm": 7.7,
+   "close_along_mm": 6.8,
+   "close_across_mm": 3.6,
+   "close_height_mm": 1.9,
+   "closest_mm": 5.9,
+   "lifted": false,
+   "lowest_mm": 17.4,
+   "lowest_square": "e2"
+  },
+  {
+   "index": 35,
+   "success": true,
+   "reason": "",
+   "frames": 226,
+   "seconds": 22.5,
+   "piece": "knight",
+   "source": "g8",
+   "destination": "f6",
+   "move_kind": "fixed",
+   "centre_error_mm": 5.96,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 2.53,
+   "close_lateral_mm": 2.8,
+   "close_along_mm": 1.7,
+   "close_across_mm": 2.3,
+   "close_height_mm": 0.4,
+   "closest_mm": 2.2,
+   "lifted": true,
+   "lowest_mm": 18.9,
+   "lowest_square": "g8"
+  },
+  {
+   "index": 36,
+   "success": false,
+   "reason": "placement error 38.6 mm, tilt 86 deg; disturbed b_bishop_c by 10.3 mm",
+   "frames": 600,
+   "seconds": 59.3,
+   "piece": "knight",
+   "source": "b8",
+   "destination": "c6",
+   "move_kind": "fixed",
+   "centre_error_mm": 38.62,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": true,
+   "max_disturbance_mm": 10.26,
+   "closed": true,
+   "close_t_s": 2.97,
+   "close_lateral_mm": 5.9,
+   "close_along_mm": -4.9,
+   "close_across_mm": 3.2,
+   "close_height_mm": 1.9,
+   "closest_mm": 11.0,
+   "lifted": true,
+   "lowest_mm": 20.1,
+   "lowest_square": "b8"
+  },
+  {
+   "index": 37,
+   "success": true,
+   "reason": "",
+   "frames": 271,
+   "seconds": 27.3,
+   "piece": "pawn",
+   "source": "c7",
+   "destination": "c5",
+   "move_kind": "fixed",
+   "centre_error_mm": 3.98,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 3.6,
+   "close_lateral_mm": 3.5,
+   "close_along_mm": -0.3,
+   "close_across_mm": 3.5,
+   "close_height_mm": 0.1,
+   "closest_mm": 4.0,
+   "lifted": true,
+   "lowest_mm": 20.8,
+   "lowest_square": "c7"
+  },
+  {
+   "index": 38,
+   "success": false,
+   "reason": "placement error 38.6 mm, tilt 99 deg",
+   "frames": 600,
+   "seconds": 58.1,
+   "piece": "pawn",
+   "source": "e2",
+   "destination": "e4",
+   "move_kind": "fixed",
+   "centre_error_mm": 38.6,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 4.0,
+   "close_lateral_mm": 3.5,
+   "close_along_mm": 2.7,
+   "close_across_mm": 2.3,
+   "close_height_mm": 0.0,
+   "closest_mm": 2.3,
+   "lifted": true,
+   "lowest_mm": 13.7,
+   "lowest_square": "e3"
+  },
+  {
+   "index": 39,
+   "success": false,
+   "reason": "placement error 38.5 mm, tilt 99 deg",
+   "frames": 600,
+   "seconds": 56.6,
+   "piece": "pawn",
+   "source": "e7",
+   "destination": "e5",
+   "move_kind": "fixed",
+   "centre_error_mm": 38.55,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.04,
+   "closed": true,
+   "close_t_s": 3.07,
+   "close_lateral_mm": 6.7,
+   "close_along_mm": -1.9,
+   "close_across_mm": -6.5,
+   "close_height_mm": 1.7,
+   "closest_mm": 3.3,
+   "lifted": false,
+   "lowest_mm": 21.7,
+   "lowest_square": "e5"
+  },
+  {
+   "index": 40,
+   "success": true,
+   "reason": "",
+   "frames": 286,
+   "seconds": 29.5,
+   "piece": "knight",
+   "source": "g1",
+   "destination": "f3",
+   "move_kind": "fixed",
+   "centre_error_mm": 0.23,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 3.8,
+   "close_lateral_mm": 2.9,
+   "close_along_mm": 1.4,
+   "close_across_mm": 2.5,
+   "close_height_mm": -2.3,
+   "closest_mm": 5.4,
+   "lifted": true,
+   "lowest_mm": 13.4,
+   "lowest_square": "g1"
+  },
+  {
+   "index": 41,
+   "success": true,
+   "reason": "",
+   "frames": 286,
+   "seconds": 35.3,
+   "piece": "knight",
+   "source": "g1",
+   "destination": "f3",
+   "move_kind": "fixed",
+   "centre_error_mm": 4.8,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 3.7,
+   "close_lateral_mm": 1.2,
+   "close_along_mm": -0.8,
+   "close_across_mm": -0.9,
+   "close_height_mm": -1.1,
+   "closest_mm": 7.0,
+   "lifted": true,
+   "lowest_mm": 14.4,
+   "lowest_square": "g1"
+  },
+  {
+   "index": 42,
+   "success": true,
+   "reason": "",
+   "frames": 316,
+   "seconds": 32.9,
+   "piece": "pawn",
+   "source": "c2",
+   "destination": "c4",
+   "move_kind": "fixed",
+   "centre_error_mm": 4.34,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 4.13,
+   "close_lateral_mm": 3.5,
+   "close_along_mm": -2.8,
+   "close_across_mm": 2.1,
+   "close_height_mm": -0.0,
+   "closest_mm": 0.2,
+   "lifted": true,
+   "lowest_mm": 21.0,
+   "lowest_square": "c2"
+  },
+  {
+   "index": 43,
+   "success": false,
+   "reason": "placement error 96.6 mm, tilt 102 deg; disturbed w_bishop_c by 15.5 mm",
+   "frames": 600,
+   "seconds": 126.8,
+   "piece": "knight",
+   "source": "g1",
+   "destination": "f3",
+   "move_kind": "fixed",
+   "centre_error_mm": 96.64,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": true,
+   "max_disturbance_mm": 15.54,
+   "closed": true,
+   "close_t_s": 3.93,
+   "close_lateral_mm": 7.3,
+   "close_along_mm": 3.8,
+   "close_across_mm": -6.2,
+   "close_height_mm": -1.3,
+   "closest_mm": 4.1,
+   "lifted": true,
+   "lowest_mm": 13.6,
+   "lowest_square": "g1"
+  },
+  {
+   "index": 44,
+   "success": false,
+   "reason": "placement error 64.5 mm, tilt 97 deg",
+   "frames": 600,
+   "seconds": 194.0,
+   "piece": "knight",
+   "source": "g8",
+   "destination": "f6",
+   "move_kind": "fixed",
+   "centre_error_mm": 64.51,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.09,
+   "closed": true,
+   "close_t_s": 2.5,
+   "close_lateral_mm": 5.6,
+   "close_along_mm": -3.7,
+   "close_across_mm": -4.2,
+   "close_height_mm": -0.8,
+   "closest_mm": 2.5,
+   "lifted": true,
+   "lowest_mm": 18.2,
+   "lowest_square": "g8"
+  },
+  {
+   "index": 45,
+   "success": true,
+   "reason": "",
+   "frames": 271,
+   "seconds": 25.8,
+   "piece": "knight",
+   "source": "b1",
+   "destination": "c3",
+   "move_kind": "fixed",
+   "centre_error_mm": 5.81,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 3.9,
+   "close_lateral_mm": 0.9,
+   "close_along_mm": 0.8,
+   "close_across_mm": 0.4,
+   "close_height_mm": -1.7,
+   "closest_mm": 4.9,
+   "lifted": true,
+   "lowest_mm": 16.3,
+   "lowest_square": "b1"
+  },
+  {
+   "index": 46,
+   "success": false,
+   "reason": "placement error 53.2 mm, tilt 93 deg",
+   "frames": 600,
+   "seconds": 56.2,
+   "piece": "pawn",
+   "source": "e2",
+   "destination": "e4",
+   "move_kind": "fixed",
+   "centre_error_mm": 53.18,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.27,
+   "closed": true,
+   "close_t_s": 4.3,
+   "close_lateral_mm": 13.2,
+   "close_along_mm": 6.9,
+   "close_across_mm": 11.2,
+   "close_height_mm": 2.6,
+   "closest_mm": 7.3,
+   "lifted": false,
+   "lowest_mm": 21.3,
+   "lowest_square": "d2"
+  },
+  {
+   "index": 47,
+   "success": false,
+   "reason": "placement error 43.3 mm, tilt 99 deg",
+   "frames": 600,
+   "seconds": 56.1,
+   "piece": "pawn",
+   "source": "d7",
+   "destination": "d5",
+   "move_kind": "fixed",
+   "centre_error_mm": 43.33,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.34,
+   "closed": true,
+   "close_t_s": 2.3,
+   "close_lateral_mm": 4.9,
+   "close_along_mm": 4.7,
+   "close_across_mm": -1.4,
+   "close_height_mm": 1.7,
+   "closest_mm": 1.7,
+   "lifted": true,
+   "lowest_mm": 20.7,
+   "lowest_square": "d7"
+  },
+  {
+   "index": 48,
+   "success": false,
+   "reason": "placement error 55.8 mm, tilt 89 deg",
+   "frames": 600,
+   "seconds": 56.7,
+   "piece": "pawn",
+   "source": "c2",
+   "destination": "c4",
+   "move_kind": "fixed",
+   "centre_error_mm": 55.75,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.09,
+   "closed": true,
+   "close_t_s": 4.13,
+   "close_lateral_mm": 14.1,
+   "close_along_mm": -1.9,
+   "close_across_mm": 14.0,
+   "close_height_mm": 8.5,
+   "closest_mm": 0.8,
+   "lifted": false,
+   "lowest_mm": 21.6,
+   "lowest_square": "c2"
+  },
+  {
+   "index": 49,
+   "success": false,
+   "reason": "placement error 63.6 mm, tilt 101 deg; disturbed b_rook_a by 3.0 mm",
+   "frames": 600,
+   "seconds": 56.3,
+   "piece": "knight",
+   "source": "g8",
+   "destination": "f6",
+   "move_kind": "fixed",
+   "centre_error_mm": 63.59,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": true,
+   "max_disturbance_mm": 2.97,
+   "closed": true,
+   "close_t_s": 2.33,
+   "close_lateral_mm": 1.3,
+   "close_along_mm": 0.0,
+   "close_across_mm": -1.3,
+   "close_height_mm": -0.1,
+   "closest_mm": 3.7,
+   "lifted": true,
+   "lowest_mm": 20.0,
+   "lowest_square": "g8"
+  },
+  {
+   "index": 50,
+   "success": true,
+   "reason": "",
+   "frames": 211,
+   "seconds": 20.2,
+   "piece": "pawn",
+   "source": "e7",
+   "destination": "e5",
+   "move_kind": "fixed",
+   "centre_error_mm": 5.82,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 2.53,
+   "close_lateral_mm": 1.1,
+   "close_along_mm": 0.9,
+   "close_across_mm": -0.6,
+   "close_height_mm": -0.1,
+   "closest_mm": 1.3,
+   "lifted": true,
+   "lowest_mm": 21.3,
+   "lowest_square": "e7"
+  },
+  {
+   "index": 51,
+   "success": false,
+   "reason": "placement error 77.6 mm, tilt 99 deg; disturbed b_king_e by 17.0 mm",
+   "frames": 600,
+   "seconds": 55.3,
+   "piece": "pawn",
+   "source": "e7",
+   "destination": "e5",
+   "move_kind": "fixed",
+   "centre_error_mm": 77.59,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": true,
+   "max_disturbance_mm": 16.96,
+   "closed": true,
+   "close_t_s": 1.97,
+   "close_lateral_mm": 5.4,
+   "close_along_mm": -3.6,
+   "close_across_mm": 3.9,
+   "close_height_mm": -1.7,
+   "closest_mm": 0.2,
+   "lifted": true,
+   "lowest_mm": 19.3,
+   "lowest_square": "e7"
+  },
+  {
+   "index": 52,
+   "success": true,
+   "reason": "",
+   "frames": 226,
+   "seconds": 21.0,
+   "piece": "pawn",
+   "source": "d7",
+   "destination": "d5",
+   "move_kind": "fixed",
+   "centre_error_mm": 2.2,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.37,
+   "closed": true,
+   "close_t_s": 2.27,
+   "close_lateral_mm": 2.7,
+   "close_along_mm": -0.7,
+   "close_across_mm": 2.7,
+   "close_height_mm": 0.6,
+   "closest_mm": 3.0,
+   "lifted": true,
+   "lowest_mm": 21.7,
+   "lowest_square": "d7"
+  },
+  {
+   "index": 53,
+   "success": true,
+   "reason": "",
+   "frames": 196,
+   "seconds": 18.8,
+   "piece": "pawn",
+   "source": "e7",
+   "destination": "e5",
+   "move_kind": "fixed",
+   "centre_error_mm": 4.79,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.25,
+   "closed": true,
+   "close_t_s": 1.97,
+   "close_lateral_mm": 2.7,
+   "close_along_mm": -1.8,
+   "close_across_mm": -2.0,
+   "close_height_mm": -0.0,
+   "closest_mm": 1.0,
+   "lifted": true,
+   "lowest_mm": 21.8,
+   "lowest_square": "e7"
+  },
+  {
+   "index": 54,
+   "success": false,
+   "reason": "placement error 57.5 mm, tilt 99 deg",
+   "frames": 600,
+   "seconds": 57.5,
+   "piece": "pawn",
+   "source": "d2",
+   "destination": "d4",
+   "move_kind": "fixed",
+   "centre_error_mm": 57.5,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.19,
+   "closed": true,
+   "close_t_s": 4.03,
+   "close_lateral_mm": 1.8,
+   "close_along_mm": -0.0,
+   "close_across_mm": -1.8,
+   "close_height_mm": 1.3,
+   "closest_mm": 3.3,
+   "lifted": false,
+   "lowest_mm": 20.3,
+   "lowest_square": "d2"
+  },
+  {
+   "index": 55,
+   "success": false,
+   "reason": "placement error 53.3 mm, tilt 94 deg",
+   "frames": 600,
+   "seconds": 63.6,
+   "piece": "knight",
+   "source": "g8",
+   "destination": "f6",
+   "move_kind": "fixed",
+   "centre_error_mm": 53.28,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.29,
+   "closed": true,
+   "close_t_s": 2.43,
+   "close_lateral_mm": 13.3,
+   "close_along_mm": 9.1,
+   "close_across_mm": -9.7,
+   "close_height_mm": 4.9,
+   "closest_mm": 0.3,
+   "lifted": true,
+   "lowest_mm": 22.5,
+   "lowest_square": "e5"
+  },
+  {
+   "index": 56,
+   "success": false,
+   "reason": "placement error 7.6 mm, tilt 0 deg",
+   "frames": 600,
+   "seconds": 59.5,
+   "piece": "knight",
+   "source": "g8",
+   "destination": "f6",
+   "move_kind": "fixed",
+   "centre_error_mm": 7.55,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 2.77,
+   "close_lateral_mm": 3.4,
+   "close_along_mm": 3.1,
+   "close_across_mm": 1.6,
+   "close_height_mm": 2.1,
+   "closest_mm": 1.7,
+   "lifted": true,
+   "lowest_mm": 20.8,
+   "lowest_square": "f6"
+  },
+  {
+   "index": 57,
+   "success": false,
+   "reason": "placement error 50.0 mm, tilt 0 deg; disturbed w_bishop_f by 13.6 mm",
+   "frames": 600,
+   "seconds": 56.0,
+   "piece": "pawn",
+   "source": "c2",
+   "destination": "c4",
+   "move_kind": "fixed",
+   "centre_error_mm": 50.0,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": true,
+   "max_disturbance_mm": 13.63,
+   "closed": true,
+   "close_t_s": 4.5,
+   "close_lateral_mm": 20.1,
+   "close_along_mm": -3.7,
+   "close_across_mm": 19.8,
+   "close_height_mm": -2.0,
+   "closest_mm": 4.0,
+   "lifted": false,
+   "lowest_mm": 17.6,
+   "lowest_square": "b2"
+  },
+  {
+   "index": 58,
+   "success": true,
+   "reason": "",
+   "frames": 511,
+   "seconds": 49.0,
+   "piece": "pawn",
+   "source": "e7",
+   "destination": "e5",
+   "move_kind": "fixed",
+   "centre_error_mm": 1.53,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 2.27,
+   "close_lateral_mm": 7.3,
+   "close_along_mm": -2.2,
+   "close_across_mm": 7.0,
+   "close_height_mm": 0.0,
+   "closest_mm": 0.1,
+   "lifted": true,
+   "lowest_mm": 20.8,
+   "lowest_square": "e5"
+  },
+  {
+   "index": 59,
+   "success": false,
+   "reason": "placement error 47.9 mm, tilt 99 deg",
+   "frames": 600,
+   "seconds": 58.4,
+   "piece": "pawn",
+   "source": "c7",
+   "destination": "c5",
+   "move_kind": "fixed",
+   "centre_error_mm": 47.92,
+   "robot_plays": "black",
+   "arm_colour": "white",
+   "key_light": "nominal",
+   "floor": "nominal",
+   "overhead": {
+    "height_m": 0.65,
+    "tilt_deg": 0.0,
+    "azimuth_deg": 0.0,
+    "roll_deg": 0.0,
+    "fovy_deg": 44.0
+   },
+   "square_mm": 25.0,
+   "disturbed": false,
+   "max_disturbance_mm": 0.0,
+   "closed": true,
+   "close_t_s": 2.4,
+   "close_lateral_mm": 4.6,
+   "close_along_mm": -1.1,
+   "close_across_mm": -4.5,
+   "close_height_mm": -0.3,
+   "closest_mm": 0.3,
+   "lifted": false,
+   "lowest_mm": 21.0,
+   "lowest_square": "c7"
+  }
+ ]
+}

chess-sim/reports/pipeline_check/O_dev/eval_video.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2bdd0a2b235d8eea42d45b1720a44d2c92180f31bde50e40b90a0c4314195df5
+size 2508908

chess-sim/reports/pipeline_check/pipeline_check.json

@@ -0,0 +1,363 @@
+{
+ "reference": "models/baseline",
+ "variants": {
+  "P0": "outputs/P0/checkpoints/last/pretrained_model",
+  "M0": "outputs/M0/checkpoints/last/pretrained_model"
+ },
+ "seed": 1000003,
+ "weights": {
+  "P0": {
+   "tensors": 500,
+   "missing": 0,
+   "max_abs": 0.0,
+   "differing": 0
+  },
+  "M0": {
+   "tensors": 500,
+   "missing": 0,
+   "max_abs": 0.0,
+   "differing": 0
+  }
+ },
+ "normalization": {
+  "P0": {
+   "policy_postprocessor:action.count": 0.0,
+   "policy_postprocessor:action.max": 0.0,
+   "policy_postprocessor:action.mean": 0.0,
+   "policy_postprocessor:action.min": 0.0,
+   "policy_postprocessor:action.q01": 0.0,
+   "policy_postprocessor:action.q10": 0.0,
+   "policy_postprocessor:action.q50": 0.0,
+   "policy_postprocessor:action.q90": 0.0,
+   "policy_postprocessor:action.q99": 0.0,
+   "policy_postprocessor:action.std": 0.0,
+   "policy_postprocessor:observation.state.count": 0.0,
+   "policy_postprocessor:observation.state.max": 0.0,
+   "policy_postprocessor:observation.state.mean": 0.0,
+   "policy_postprocessor:observation.state.min": 0.0,
+   "policy_postprocessor:observation.state.q01": 0.0,
+   "policy_postprocessor:observation.state.q10": 0.0,
+   "policy_postprocessor:observation.state.q50": 0.0,
+   "policy_postprocessor:observation.state.q90": 0.0,
+   "policy_postprocessor:observation.state.q99": 0.0,
+   "policy_postprocessor:observation.state.std": 0.0,
+   "policy_preprocessor:action.count": 0.0,
+   "policy_preprocessor:action.max": 0.0,
+   "policy_preprocessor:action.mean": 0.0,
+   "policy_preprocessor:action.min": 0.0,
+   "policy_preprocessor:action.q01": 0.0,
+   "policy_preprocessor:action.q10": 0.0,
+   "policy_preprocessor:action.q50": 0.0,
+   "policy_preprocessor:action.q90": 0.0,
+   "policy_preprocessor:action.q99": 0.0,
+   "policy_preprocessor:action.std": 0.0,
+   "policy_preprocessor:observation.state.count": 0.0,
+   "policy_preprocessor:observation.state.max": 0.0,
+   "policy_preprocessor:observation.state.mean": 0.0,
+   "policy_preprocessor:observation.state.min": 0.0,
+   "policy_preprocessor:observation.state.q01": 0.0,
+   "policy_preprocessor:observation.state.q10": 0.0,
+   "policy_preprocessor:observation.state.q50": 0.0,
+   "policy_preprocessor:observation.state.q90": 0.0,
+   "policy_preprocessor:observation.state.q99": 0.0,
+   "policy_preprocessor:observation.state.std": 0.0
+  },
+  "M0": {
+   "policy_postprocessor:action.count": 29044.0,
+   "policy_postprocessor:action.max": 3.523895263671875,
+   "policy_postprocessor:action.mean": 1.1404361724853516,
+   "policy_postprocessor:action.min": 7.763446807861328,
+   "policy_postprocessor:action.q01": 1.2555580139160156,
+   "policy_postprocessor:action.q10": 0.9746341705322266,
+   "policy_postprocessor:action.q50": 1.2549924850463867,
+   "policy_postprocessor:action.q90": 0.5003643035888672,
+   "policy_postprocessor:action.q99": 1.3747940063476562,
+   "policy_postprocessor:action.std": 0.3862495422363281,
+   "policy_postprocessor:observation.state.count": 29044.0,
+   "policy_postprocessor:observation.state.max": 4.254169464111328,
+   "policy_postprocessor:observation.state.mean": 1.1982555389404297,
+   "policy_postprocessor:observation.state.min": 8.401844024658203,
+   "policy_postprocessor:observation.state.q01": 1.3045692443847656,
+   "policy_postprocessor:observation.state.q10": 0.9627208709716797,
+   "policy_postprocessor:observation.state.q50": 1.254465103149414,
+   "policy_postprocessor:observation.state.q90": 0.5028533935546875,
+   "policy_postprocessor:observation.state.q99": 1.3867149353027344,
+   "policy_postprocessor:observation.state.std": 0.40966796875,
+   "policy_preprocessor:action.count": 29044.0,
+   "policy_preprocessor:action.max": 3.523895263671875,
+   "policy_preprocessor:action.mean": 1.1404361724853516,
+   "policy_preprocessor:action.min": 7.763446807861328,
+   "policy_preprocessor:action.q01": 1.2555580139160156,
+   "policy_preprocessor:action.q10": 0.9746341705322266,
+   "policy_preprocessor:action.q50": 1.2549924850463867,
+   "policy_preprocessor:action.q90": 0.5003643035888672,
+   "policy_preprocessor:action.q99": 1.3747940063476562,
+   "policy_preprocessor:action.std": 0.3862495422363281,
+   "policy_preprocessor:observation.state.count": 29044.0,
+   "policy_preprocessor:observation.state.max": 4.254169464111328,
+   "policy_preprocessor:observation.state.mean": 1.1982555389404297,
+   "policy_preprocessor:observation.state.min": 8.401844024658203,
+   "policy_preprocessor:observation.state.q01": 1.3045692443847656,
+   "policy_preprocessor:observation.state.q10": 0.9627208709716797,
+   "policy_preprocessor:observation.state.q50": 1.254465103149414,
+   "policy_preprocessor:observation.state.q90": 0.5028533935546875,
+   "policy_preprocessor:observation.state.q99": 1.3867149353027344,
+   "policy_preprocessor:observation.state.std": 0.40966796875
+  }
+ },
+ "predictions": {
+  "reference_again": {
+   "joint_deg_max": 0.0,
+   "joint_deg_median": 0.0,
+   "first_action_joint_deg_median": 0.0,
+   "gripper_cmd_max": 0.0,
+   "fingertip_mm_median": 0.0,
+   "fingertip_mm_p95": 0.0,
+   "fingertip_mm_max": 0.0,
+   "per_joint_deg_median": [
+    0.0,
+    0.0,
+    0.0,
+    0.0,
+    0.0,
+    0.0
+   ]
+  },
+  "P0": {
+   "joint_deg_max": 0.0,
+   "joint_deg_median": 0.0,
+   "first_action_joint_deg_median": 0.0,
+   "gripper_cmd_max": 0.0,
+   "fingertip_mm_median": 0.0,
+   "fingertip_mm_p95": 0.0,
+   "fingertip_mm_max": 0.0,
+   "per_joint_deg_median": [
+    0.0,
+    0.0,
+    0.0,
+    0.0,
+    0.0,
+    0.0
+   ]
+  },
+  "M0": {
+   "joint_deg_max": 17.2787,
+   "joint_deg_median": 0.3931,
+   "first_action_joint_deg_median": 0.0938,
+   "gripper_cmd_max": 4.104,
+   "fingertip_mm_median": 2.098,
+   "fingertip_mm_p95": 4.805,
+   "fingertip_mm_max": 26.345,
+   "per_joint_deg_median": [
+    0.079,
+    0.766,
+    0.34,
+    0.601,
+    0.457,
+    0.173
+   ]
+  }
+ },
+ "observations": [
+  {
+   "scene": 0,
+   "frame": 0,
+   "move": "e2-e4"
+  },
+  {
+   "scene": 0,
+   "frame": 20,
+   "move": "e2-e4"
+  },
+  {
+   "scene": 0,
+   "frame": 40,
+   "move": "e2-e4"
+  },
+  {
+   "scene": 0,
+   "frame": 60,
+   "move": "e2-e4"
+  },
+  {
+   "scene": 0,
+   "frame": 80,
+   "move": "e2-e4"
+  },
+  {
+   "scene": 1,
+   "frame": 0,
+   "move": "e7-e5"
+  },
+  {
+   "scene": 1,
+   "frame": 20,
+   "move": "e7-e5"
+  },
+  {
+   "scene": 1,
+   "frame": 40,
+   "move": "e7-e5"
+  },
+  {
+   "scene": 1,
+   "frame": 60,
+   "move": "e7-e5"
+  },
+  {
+   "scene": 1,
+   "frame": 80,
+   "move": "e7-e5"
+  },
+  {
+   "scene": 2,
+   "frame": 0,
+   "move": "d2-d4"
+  },
+  {
+   "scene": 2,
+   "frame": 20,
+   "move": "d2-d4"
+  },
+  {
+   "scene": 2,
+   "frame": 40,
+   "move": "d2-d4"
+  },
+  {
+   "scene": 2,
+   "frame": 60,
+   "move": "d2-d4"
+  },
+  {
+   "scene": 2,
+   "frame": 80,
+   "move": "d2-d4"
+  },
+  {
+   "scene": 3,
+   "frame": 0,
+   "move": "e7-e5"
+  },
+  {
+   "scene": 3,
+   "frame": 20,
+   "move": "e7-e5"
+  },
+  {
+   "scene": 3,
+   "frame": 40,
+   "move": "e7-e5"
+  },
+  {
+   "scene": 3,
+   "frame": 60,
+   "move": "e7-e5"
+  },
+  {
+   "scene": 3,
+   "frame": 80,
+   "move": "e7-e5"
+  },
+  {
+   "scene": 4,
+   "frame": 0,
+   "move": "d2-d4"
+  },
+  {
+   "scene": 4,
+   "frame": 20,
+   "move": "d2-d4"
+  },
+  {
+   "scene": 4,
+   "frame": 40,
+   "move": "d2-d4"
+  },
+  {
+   "scene": 4,
+   "frame": 60,
+   "move": "d2-d4"
+  },
+  {
+   "scene": 4,
+   "frame": 80,
+   "move": "d2-d4"
+  },
+  {
+   "scene": 5,
+   "frame": 0,
+   "move": "c7-c5"
+  },
+  {
+   "scene": 5,
+   "frame": 20,
+   "move": "c7-c5"
+  },
+  {
+   "scene": 5,
+   "frame": 40,
+   "move": "c7-c5"
+  },
+  {
+   "scene": 5,
+   "frame": 60,
+   "move": "c7-c5"
+  },
+  {
+   "scene": 5,
+   "frame": 80,
+   "move": "c7-c5"
+  },
+  {
+   "scene": 6,
+   "frame": 0,
+   "move": "b8-c6"
+  },
+  {
+   "scene": 6,
+   "frame": 20,
+   "move": "b8-c6"
+  },
+  {
+   "scene": 6,
+   "frame": 40,
+   "move": "b8-c6"
+  },
+  {
+   "scene": 6,
+   "frame": 60,
+   "move": "b8-c6"
+  },
+  {
+   "scene": 6,
+   "frame": 80,
+   "move": "b8-c6"
+  },
+  {
+   "scene": 7,
+   "frame": 0,
+   "move": "e7-e5"
+  },
+  {
+   "scene": 7,
+   "frame": 20,
+   "move": "e7-e5"
+  },
+  {
+   "scene": 7,
+   "frame": 40,
+   "move": "e7-e5"
+  },
+  {
+   "scene": 7,
+   "frame": 60,
+   "move": "e7-e5"
+  },
+  {
+   "scene": 7,
+   "frame": 80,
+   "move": "e7-e5"
+  }
+ ]
+}

chess-sim/reports/pipeline_check/pipeline_check.md

@@ -0,0 +1,28 @@
+# Fine-tuning pipeline check (zero updates)
+
+Reference `models/baseline`. Variants: P0 = `outputs/P0/checkpoints/last/pretrained_model`, M0 = `outputs/M0/checkpoints/last/pretrained_model`.
+40 observations (8 scenes from seed 1000003, frames 0,20,40,60,80 of the reference policy's own rollout), each with identical sampling noise; the whole 50-step chunk compared.
+
+## Weights
+
+| variant | tensors | differing | max abs difference |
+|---|---|---|---|
+| P0 | 500 | 0 | 0.0 |
+| M0 | 500 | 0 | 0.0 |
+
+## Saved state/action normalization (max abs difference from the reference)
+
+| variant | policy_postprocessor:action.count | policy_postprocessor:action.max | policy_postprocessor:action.mean | policy_postprocessor:action.min | policy_postprocessor:action.q01 | policy_postprocessor:action.q10 | policy_postprocessor:action.q50 | policy_postprocessor:action.q90 | policy_postprocessor:action.q99 | policy_postprocessor:action.std | policy_postprocessor:observation.state.count | policy_postprocessor:observation.state.max | policy_postprocessor:observation.state.mean | policy_postprocessor:observation.state.min | policy_postprocessor:observation.state.q01 | policy_postprocessor:observation.state.q10 | policy_postprocessor:observation.state.q50 | policy_postprocessor:observation.state.q90 | policy_postprocessor:observation.state.q99 | policy_postprocessor:observation.state.std | policy_preprocessor:action.count | policy_preprocessor:action.max | policy_preprocessor:action.mean | policy_preprocessor:action.min | policy_preprocessor:action.q01 | policy_preprocessor:action.q10 | policy_preprocessor:action.q50 | policy_preprocessor:action.q90 | policy_preprocessor:action.q99 | policy_preprocessor:action.std | policy_preprocessor:observation.state.count | policy_preprocessor:observation.state.max | policy_preprocessor:observation.state.mean | policy_preprocessor:observation.state.min | policy_preprocessor:observation.state.q01 | policy_preprocessor:observation.state.q10 | policy_preprocessor:observation.state.q50 | policy_preprocessor:observation.state.q90 | policy_preprocessor:observation.state.q99 | policy_preprocessor:observation.state.std |
+|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
+| P0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 |
+| M0 | 2.9e+04 | 3.52 | 1.14 | 7.76 | 1.26 | 0.975 | 1.25 | 0.5 | 1.37 | 0.386 | 2.9e+04 | 4.25 | 1.2 | 8.4 | 1.3 | 0.963 | 1.25 | 0.503 | 1.39 | 0.41 | 2.9e+04 | 3.52 | 1.14 | 7.76 | 1.26 | 0.975 | 1.25 | 0.5 | 1.37 | 0.386 | 2.9e+04 | 4.25 | 1.2 | 8.4 | 1.3 | 0.963 | 1.25 | 0.503 | 1.39 | 0.41 |
+
+## Predictions against the reference
+
+| model | joint deg median | joint deg max | first action deg median | gripper cmd max | fingertip mm median | fingertip mm p95 | fingertip mm max |
+|---|---|---|---|---|---|---|---|
+| reference_again | 0.0 | 0.0 | 0.0 | 0.0 | 0.0 | 0.0 | 0.0 |
+| P0 | 0.0 | 0.0 | 0.0 | 0.0 | 0.0 | 0.0 | 0.0 |
+| M0 | 0.3931 | 17.2787 | 0.0938 | 4.104 | 2.098 | 4.805 | 26.345 |
+
+`reference_again` is the reference model loaded a second time: the numerical floor (GPU non-determinism) any difference must be judged against.