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Add DB-R1's layout sets and DB-M5's piles

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eval/db_conditions/db_r1_layouts/ and eval/db_conditions/db_m5_piles/ as RLWRLD/DexBench_datasets 862b71d4 has them: the inputs that DB-R1's and DB-M5's cells read beside the rows (issue 576). benchmark/frozen/inputs.json pins each file; download_datasets.sh --eval-conditions checks them.

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  1. eval/db_conditions/db_m5_piles/README.md +44 -0
  2. eval/db_conditions/db_m5_piles/SHA256SUMS +0 -0
  3. eval/db_conditions/db_m5_piles/automotive_exhaust_90_bend_od63/clutters.json +402 -0
  4. eval/db_conditions/db_m5_piles/automotive_exhaust_90_bend_od63/restores/clutter_20261016-141359_restore_n4_automotive_exhaust_90_bend_od63-10.json +369 -0
  5. eval/db_conditions/db_m5_piles/automotive_exhaust_90_bend_od63/restores/clutter_20261016-141359_restore_n4_automotive_exhaust_90_bend_od63-2.json +372 -0
  6. eval/db_conditions/db_m5_piles/automotive_exhaust_90_bend_od63/restores/clutter_20261016-141359_restore_n4_automotive_exhaust_90_bend_od63-3.json +369 -0
  7. eval/db_conditions/db_m5_piles/automotive_exhaust_90_bend_od63/restores/clutter_20261016-141359_restore_n4_automotive_exhaust_90_bend_od63-4.json +369 -0
  8. eval/db_conditions/db_m5_piles/automotive_exhaust_90_bend_od63/restores/clutter_20261016-141359_restore_n4_automotive_exhaust_90_bend_od63-5.json +369 -0
  9. eval/db_conditions/db_m5_piles/automotive_exhaust_90_bend_od63/restores/clutter_20261016-141359_restore_n4_automotive_exhaust_90_bend_od63-6.json +368 -0
  10. eval/db_conditions/db_m5_piles/automotive_exhaust_90_bend_od63/restores/clutter_20261016-141359_restore_n4_automotive_exhaust_90_bend_od63-7.json +369 -0
  11. eval/db_conditions/db_m5_piles/automotive_exhaust_90_bend_od63/restores/clutter_20261016-141359_restore_n4_automotive_exhaust_90_bend_od63-8.json +368 -0
  12. eval/db_conditions/db_m5_piles/automotive_exhaust_90_bend_od63/restores/clutter_20261016-141359_restore_n4_automotive_exhaust_90_bend_od63-9.json +369 -0
  13. eval/db_conditions/db_m5_piles/automotive_exhaust_90_bend_od63/restores/clutter_20261016-141359_restore_n4_automotive_exhaust_90_bend_od63.json +369 -0
  14. eval/db_conditions/db_m5_piles/automotive_exhaust_90_bend_od63/restores/clutter_20261016-141409_restore_n4_automotive_exhaust_90_bend_od63-10.json +370 -0
  15. eval/db_conditions/db_m5_piles/automotive_exhaust_90_bend_od63/restores/clutter_20261016-141409_restore_n4_automotive_exhaust_90_bend_od63-2.json +370 -0
  16. eval/db_conditions/db_m5_piles/automotive_exhaust_90_bend_od63/restores/clutter_20261016-141409_restore_n4_automotive_exhaust_90_bend_od63-3.json +370 -0
  17. eval/db_conditions/db_m5_piles/automotive_exhaust_90_bend_od63/restores/clutter_20261016-141409_restore_n4_automotive_exhaust_90_bend_od63-4.json +370 -0
  18. eval/db_conditions/db_m5_piles/automotive_exhaust_90_bend_od63/restores/clutter_20261016-141409_restore_n4_automotive_exhaust_90_bend_od63-5.json +370 -0
  19. eval/db_conditions/db_m5_piles/automotive_exhaust_90_bend_od63/restores/clutter_20261016-141409_restore_n4_automotive_exhaust_90_bend_od63-6.json +369 -0
  20. eval/db_conditions/db_m5_piles/automotive_exhaust_90_bend_od63/restores/clutter_20261016-141409_restore_n4_automotive_exhaust_90_bend_od63-7.json +370 -0
  21. eval/db_conditions/db_m5_piles/automotive_exhaust_90_bend_od63/restores/clutter_20261016-141409_restore_n4_automotive_exhaust_90_bend_od63-8.json +369 -0
  22. eval/db_conditions/db_m5_piles/automotive_exhaust_90_bend_od63/restores/clutter_20261016-141409_restore_n4_automotive_exhaust_90_bend_od63-9.json +369 -0
  23. eval/db_conditions/db_m5_piles/automotive_exhaust_90_bend_od63/restores/clutter_20261016-141409_restore_n4_automotive_exhaust_90_bend_od63.json +370 -0
  24. eval/db_conditions/db_m5_piles/automotive_exhaust_90_bend_od63/restores/clutter_20261016-141420_restore_n4_automotive_exhaust_90_bend_od63-10.json +368 -0
  25. eval/db_conditions/db_m5_piles/automotive_exhaust_90_bend_od63/restores/clutter_20261016-141420_restore_n4_automotive_exhaust_90_bend_od63-2.json +368 -0
  26. eval/db_conditions/db_m5_piles/automotive_exhaust_90_bend_od63/restores/clutter_20261016-141420_restore_n4_automotive_exhaust_90_bend_od63-3.json +369 -0
  27. eval/db_conditions/db_m5_piles/automotive_exhaust_90_bend_od63/restores/clutter_20261016-141420_restore_n4_automotive_exhaust_90_bend_od63-4.json +368 -0
  28. eval/db_conditions/db_m5_piles/automotive_exhaust_90_bend_od63/restores/clutter_20261016-141420_restore_n4_automotive_exhaust_90_bend_od63-5.json +369 -0
  29. eval/db_conditions/db_m5_piles/automotive_exhaust_90_bend_od63/restores/clutter_20261016-141420_restore_n4_automotive_exhaust_90_bend_od63-6.json +371 -0
  30. eval/db_conditions/db_m5_piles/automotive_exhaust_90_bend_od63/restores/clutter_20261016-141420_restore_n4_automotive_exhaust_90_bend_od63-7.json +370 -0
  31. eval/db_conditions/db_m5_piles/automotive_exhaust_90_bend_od63/restores/clutter_20261016-141420_restore_n4_automotive_exhaust_90_bend_od63-8.json +369 -0
  32. eval/db_conditions/db_m5_piles/automotive_exhaust_90_bend_od63/restores/clutter_20261016-141420_restore_n4_automotive_exhaust_90_bend_od63-9.json +370 -0
  33. eval/db_conditions/db_m5_piles/automotive_exhaust_90_bend_od63/restores/clutter_20261016-141420_restore_n4_automotive_exhaust_90_bend_od63.json +369 -0
  34. eval/db_conditions/db_m5_piles/automotive_exhaust_90_bend_od63/restores/clutter_20261016-141430_restore_n4_automotive_exhaust_90_bend_od63-10.json +370 -0
  35. eval/db_conditions/db_m5_piles/automotive_exhaust_90_bend_od63/restores/clutter_20261016-141430_restore_n4_automotive_exhaust_90_bend_od63-2.json +369 -0
  36. eval/db_conditions/db_m5_piles/automotive_exhaust_90_bend_od63/restores/clutter_20261016-141430_restore_n4_automotive_exhaust_90_bend_od63-3.json +369 -0
  37. eval/db_conditions/db_m5_piles/automotive_exhaust_90_bend_od63/restores/clutter_20261016-141430_restore_n4_automotive_exhaust_90_bend_od63-4.json +369 -0
  38. eval/db_conditions/db_m5_piles/automotive_exhaust_90_bend_od63/restores/clutter_20261016-141430_restore_n4_automotive_exhaust_90_bend_od63-5.json +368 -0
  39. eval/db_conditions/db_m5_piles/automotive_exhaust_90_bend_od63/restores/clutter_20261016-141430_restore_n4_automotive_exhaust_90_bend_od63-6.json +368 -0
  40. eval/db_conditions/db_m5_piles/automotive_exhaust_90_bend_od63/restores/clutter_20261016-141430_restore_n4_automotive_exhaust_90_bend_od63-7.json +369 -0
  41. eval/db_conditions/db_m5_piles/automotive_exhaust_90_bend_od63/restores/clutter_20261016-141430_restore_n4_automotive_exhaust_90_bend_od63-8.json +370 -0
  42. eval/db_conditions/db_m5_piles/automotive_exhaust_90_bend_od63/restores/clutter_20261016-141430_restore_n4_automotive_exhaust_90_bend_od63-9.json +368 -0
  43. eval/db_conditions/db_m5_piles/automotive_exhaust_90_bend_od63/restores/clutter_20261016-141430_restore_n4_automotive_exhaust_90_bend_od63.json +369 -0
  44. eval/db_conditions/db_m5_piles/bearing_6206/clutters.json +402 -0
  45. eval/db_conditions/db_m5_piles/bearing_6206/restores/clutter_20261016-141358_restore_n8_bearing_6206-10.json +520 -0
  46. eval/db_conditions/db_m5_piles/bearing_6206/restores/clutter_20261016-141358_restore_n8_bearing_6206-2.json +520 -0
  47. eval/db_conditions/db_m5_piles/bearing_6206/restores/clutter_20261016-141358_restore_n8_bearing_6206-3.json +521 -0
  48. eval/db_conditions/db_m5_piles/bearing_6206/restores/clutter_20261016-141358_restore_n8_bearing_6206-4.json +521 -0
  49. eval/db_conditions/db_m5_piles/bearing_6206/restores/clutter_20261016-141358_restore_n8_bearing_6206-5.json +520 -0
  50. eval/db_conditions/db_m5_piles/bearing_6206/restores/clutter_20261016-141358_restore_n8_bearing_6206-6.json +520 -0
eval/db_conditions/db_m5_piles/README.md ADDED
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+ # DB-M5 parts-bin piles (dbclutter `all_x40`)
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+
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+ The settled piles DB-M5 fills its parts bin with, one folder per part as dbclutter writes them
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+ (`<part>/clutters.json` and `<part>/restores/*.json`), 40 seeds per part. DexBench-Arena reads the folder as
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+ `parts_bin_clutter_dir`; `db_m5_collect.yaml` names it `outputs/clutter/all_x40`, so place it there in the
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+ checkout:
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+
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+ ```bash
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+ hf download RLWRLD/DexBench_datasets --repo-type dataset --include "db_m5/clutter_all_x40/**" --local-dir /tmp/dexbench_m5
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+ mkdir -p outputs/clutter && cp -r /tmp/dexbench_m5/db_m5/clutter_all_x40 outputs/clutter/all_x40
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+ ```
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+
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+ - The 15 parts of DB-M5's part axis (`m5_parts.M5_PARTS`): 5 training and 10 held out
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+ (`m5_splits.M5_PART_SPLIT`). The other 9 parts of the dbclutter set are not used by DB-M5 and are not here.
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+ - Every report is schema 5, dbclutter 0.1.0 on Newton 1.5.0, converged, restored on 2026-10-16 by dbclutter
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+ commit `63cd7878` (593 reports) or `6150e5d0` (7), neither dirty, on the parts' `_prim5` collision
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+ primitives, the colliders DB-M5 selects for its parts.
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+ - The demo start lists and every cell's rows draw among the first 24 seeds of a part by rank
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+ (`m5_splits.M5_PILE_SEED_QUANTILES`, 0.0 to 0.6) and record that subset's hash as
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+ `parts_bin_clutter_set_sha256`: the environment's `resolve_parts_bin_pile_set(...).sha256`, a SHA-256 over
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+ one `seed:report SHA-256` line per seed. The table gives it and the hash of all 40 seeds.
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+ - `SHA256SUMS` lists every file.
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+
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+ Checked on 2026-10-28 at DexBench-Arena `c716a3f78` (PR #398): all 15 sets load with the environment's
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+ loader, and the hashes below match the ones `write_db_m5_eval_conditions.py` wrote into the start lists and
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+ the four cells' rows.
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+
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+ | Part | Split | Parts per pile | Set SHA-256, 24 seeds used | Set SHA-256, all 40 seeds |
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+ | --- | --- | --- | --- | --- |
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+ | `bolt_m24` | train | 8 | `cc5d4e16aa293f0402d6a5f4ed4e74e94d321557b04391f5f0e0cb9b472ab5fa` | `f2191d583076346d912b5398591dda0abb1f4e822d01f39011a1e4e8b36f42f1` |
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+ | `pom_roller` | train | 8 | `2ed776a8ae65c0b8175c63006d7ac837c5276c929250678bd09b7ef2fa7bcec9` | `ac8c9bc7863e77651940b42a080df0a7d85cf03416fa80d27f1c84365bff477f` |
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+ | `elbow_50a` | train | 8 | `6c6f3580113c9523b5a39fd5e0195aaeb463a16e586f1d119a0f608f6ba09fdc` | `2c94bf3bf2048065baa437a24e7f3df25d29da254f4d4556993759cc66b58ece` |
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+ | `bearing_6206` | train | 8 | `86a54d77c04ca294fd8959200c2b5888f60a89c95c6a19b5331fda5d2e811b7e` | `6fb23ebddbb2d46bf9518b3085974d0b417e2a1609c2093fba9e9e00fc38a24c` |
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+ | `rs_pro_stepper_motor_535_0502_nema23_class` | train | 8 | `b175b531622be16061843456f55b33716f6434299910c854a67b285b1a2cee76` | `38cdf644c76e073af4d993c30f55070f232a4e65f89487dfbdf7273a2104d00d` |
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+ | `nema17` | held out | 8 | `5a423fd75cbb1f95bbf2edac4fe63e2a62bfc2f5e9608762053ef7b6a2abb3cd` | `f8da6a3b9e451cde2ec54f6564d54906267085ff1da728e62b99d8a71846f7ec` |
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+ | `automotive_exhaust_90_bend_od63` | held out | 4 | `d269073518226447acef0100a376607ec0e9c81b771d48b3f0103699b5e730ec` | `80f8e7ac133dd80d4f1993c15724640ade5aa935c24f5a2d7d4c26ebb6125116` |
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+ | `deco_ad02_2_station_ng6cetop3_manifold` | held out | 4 | `2316bedcb8ae417198c33f82ea1783cb9710297b1da206641cde023d6add5ec4` | `1c696c09e986b944f4c567530dbbe7324dbb2a8273366f28c78bee18fbfab696` |
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+ | `gy1_rigid_flange_coupling_half_flange` | held out | 8 | `f02c297c024f74140cf9c0e0729c2961fd8d9b8f9e1196eb4c812d42ce5392b3` | `b7cabe8c8d96ac247154bfc35ac04cfa423ed98496ebf16e634d6e20df99c890` |
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+ | `jl_sus304_welded_tee_50a` | held out | 4 | `c5fd68e7aa166056a5c8829cd6c8bbbacf864a555c5d9b294e9161c1eb6aa04b` | `786a4648aa92cc712171ca152875f422d78fdaa2211001c56737d7bf19bd918b` |
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+ | `two_piece_split_shaft_collar_od45_bore2_w12` | held out | 8 | `a043a2b5d8e7c0f11a1b6c8095d97df761db16755360bc59350c1939886856f6` | `2cc2d87126f588ac69d60eb102a7a21d169298fa9befc3ecbde7001b3022c0ab` |
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+ | `tyb_ucp205_pillow_block_bearing_unit` | held out | 4 | `140dac564e8298e0a69253ac11c74e20e9d2943b62867e3b8d85063d51681e3c` | `8457585f131bd8600721b0ddbd17a8a804c698834c601819e5adffc98ec79c41` |
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+ | `v_belt_pulley_1a_70_12_4` | held out | 8 | `7e8d56925eeb904c31902d0b517a5aaedc74aea42c6d7b8a3436468b994b1872` | `234e5af8b17389e7441ca93c11b9cc62b53cc61632a94aada2f9e313e0e4fa3f` |
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+ | `boltkorea_iso4014_class_8_8_hex_bolt_m36x160` | held out | 8 | `dd3e05391464a4122ed32584e63132ba1dfcc5d09db7bd16a0216e2098fd997c` | `fe2663affd248a1eac248583aab1ee384e7247622c8caabb8d2925e7403745b6` |
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+ | `norgren_rt_57232_m_50_roundline_cylinder` | held out | 8 | `127bc8c4e1895d6a344c1ca0550d360b00ffbf83e750c4eaad2b5b777fdce148` | `6d94f6ce8e0bf6d6c63ec8576421038b9bfbf94be73f84ae0f22a9315a8bdef6` |
eval/db_conditions/db_m5_piles/SHA256SUMS ADDED
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eval/db_conditions/db_m5_piles/automotive_exhaust_90_bend_od63/clutters.json ADDED
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+ [
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+ {
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+ "index": 1,
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+ "seed": 0,
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+ "report": "outputs/all_x40/automotive_exhaust_90_bend_od63/restores/clutter_20261016-141359_restore_n4_automotive_exhaust_90_bend_od63.json",
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+ "build_report": "outputs/all_x40/automotive_exhaust_90_bend_od63/builds/clutter_20261016-141358_seed0_n4_automotive_exhaust_90_bend_od63.json",
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+ "max_disp_mm": 0.0369,
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+ "check_report": "outputs/all_x40/automotive_exhaust_90_bend_od63/checks/clutter_20261016-150657_restore_n4_automotive_exhaust_90_bend_od63.json",
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+ "check_disp_mm": 0.0358,
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+ "check_limit_mm": 5.0
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+ },
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+ {
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+ "index": 2,
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+ "seed": 1,
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+ "report": "outputs/all_x40/automotive_exhaust_90_bend_od63/restores/clutter_20261016-141359_restore_n4_automotive_exhaust_90_bend_od63-2.json",
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+ "build_report": "outputs/all_x40/automotive_exhaust_90_bend_od63/builds/clutter_20261016-141358_seed1_n4_automotive_exhaust_90_bend_od63.json",
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+ "max_disp_mm": 0.6145,
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+ "check_report": "outputs/all_x40/automotive_exhaust_90_bend_od63/checks/clutter_20261016-150657_restore_n4_automotive_exhaust_90_bend_od63-2.json",
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+ "check_disp_mm": 0.4883,
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+ "check_limit_mm": 5.0
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+ },
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+ {
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+ "index": 3,
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+ "seed": 2,
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+ "report": "outputs/all_x40/automotive_exhaust_90_bend_od63/restores/clutter_20261016-141359_restore_n4_automotive_exhaust_90_bend_od63-3.json",
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+ "build_report": "outputs/all_x40/automotive_exhaust_90_bend_od63/builds/clutter_20261016-141358_seed2_n4_automotive_exhaust_90_bend_od63.json",
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+ "max_disp_mm": 0.0644,
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+ "check_report": "outputs/all_x40/automotive_exhaust_90_bend_od63/checks/clutter_20261016-150657_restore_n4_automotive_exhaust_90_bend_od63-3.json",
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+ "check_disp_mm": 0.0212,
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+ "check_limit_mm": 5.0
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+ },
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+ {
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+ "index": 4,
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+ "seed": 3,
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+ "report": "outputs/all_x40/automotive_exhaust_90_bend_od63/restores/clutter_20261016-141359_restore_n4_automotive_exhaust_90_bend_od63-4.json",
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+ "build_report": "outputs/all_x40/automotive_exhaust_90_bend_od63/builds/clutter_20261016-141358_seed3_n4_automotive_exhaust_90_bend_od63.json",
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+ "max_disp_mm": 0.0459,
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+ "check_report": "outputs/all_x40/automotive_exhaust_90_bend_od63/checks/clutter_20261016-150657_restore_n4_automotive_exhaust_90_bend_od63-4.json",
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+ "check_disp_mm": 0.044,
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+ "check_limit_mm": 5.0
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+ },
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+ {
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+ "index": 5,
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+ "seed": 4,
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+ "report": "outputs/all_x40/automotive_exhaust_90_bend_od63/restores/clutter_20261016-141359_restore_n4_automotive_exhaust_90_bend_od63-5.json",
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+ "build_report": "outputs/all_x40/automotive_exhaust_90_bend_od63/builds/clutter_20261016-141358_seed4_n4_automotive_exhaust_90_bend_od63.json",
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+ "max_disp_mm": 0.1726,
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+ "check_report": "outputs/all_x40/automotive_exhaust_90_bend_od63/checks/clutter_20261016-150657_restore_n4_automotive_exhaust_90_bend_od63-5.json",
49
+ "check_disp_mm": 0.0558,
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+ "check_limit_mm": 5.0
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+ },
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+ {
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+ "index": 6,
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+ "seed": 5,
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