{
  "trajectories": 12000,
  "rejected": 0,
  "seconds_each": 30.0,
  "rate_hz": 10.0,
  "scenario": "configs/scenarios/clear_playroom.yaml",
  "hand": "stringman",
  "dG": -0.5146999999999999,
  "random_rooms": true,
  "wall_s": 1126.5340920590024,
  "cpu_s": 4478.613281364007,
  "cpu_s_per_trajectory": 0.3732177734470006,
  "segments": {
    "dwell": 4916,
    "goto": 7996,
    "plan": 14011,
    "pump": 4316,
    "descend": 4575,
    "stop": 4349
  },
  "eta_names": [
    "gantry_mass_scale",
    "gripper_mass_scale",
    "EA_N",
    "line_damping_scale",
    "line_accel_mps2",
    "latency_s",
    "calib_sigma_m",
    "swing_damping_scale",
    "payload_max_kg"
  ],
  "model_state": "states (14): p, v, s, s_dot, wrist, wrist_dot, closure, closure_dot. tensions NOT a model input."
}