diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0460_dutch/result.ab4148b023021ed507fe500357d898989bf612d09214ce82112a2aa99d50a597.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0460_dutch/result.ab4148b023021ed507fe500357d898989bf612d09214ce82112a2aa99d50a597.json
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diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0460_dutch/validation.4f79c107aea9da6b903e64be4a7ee8b329d771e903292f7f1c0981077cd85e66.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0460_dutch/validation.4f79c107aea9da6b903e64be4a7ee8b329d771e903292f7f1c0981077cd85e66.json
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diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0461_swing_single/clip.d3feb9f05a6e795a640f7ec6bd49756effb84629bbaebc6803ac8cba989865bd.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0461_swing_single/clip.d3feb9f05a6e795a640f7ec6bd49756effb84629bbaebc6803ac8cba989865bd.json
new file mode 100644
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diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0462_swing_single/result.f6aa470735db345988a801acfdadfbd7b5f2d33c4b614ea11426cf1db5130083.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0462_swing_single/result.f6aa470735db345988a801acfdadfbd7b5f2d33c4b614ea11426cf1db5130083.json
new file mode 100644
index 0000000000000000000000000000000000000000..98dfa98b0e87c29a6a6a0f9f2a3912639c32b63c
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0462_swing_single/result.f6aa470735db345988a801acfdadfbd7b5f2d33c4b614ea11426cf1db5130083.json
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diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0462_swing_single/validation.62bb2ac45edeaaa9e120bfcaf710b9b608e9f359635c8987996296e2faf29469.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0462_swing_single/validation.62bb2ac45edeaaa9e120bfcaf710b9b608e9f359635c8987996296e2faf29469.json
new file mode 100644
index 0000000000000000000000000000000000000000..3648bce63532a2ec3cd77c5adcd042a76f5c3fb8
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+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0462_swing_single/validation.62bb2ac45edeaaa9e120bfcaf710b9b608e9f359635c8987996296e2faf29469.json
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diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0469_cold_storage/result.c542710e78f9c99aecdc24ee3d7931b2581ffb205fc729314e253aeb49b0f3a8.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0469_cold_storage/result.c542710e78f9c99aecdc24ee3d7931b2581ffb205fc729314e253aeb49b0f3a8.json
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required."},"trajectory_sha256":"a5c2289f5f4f53d3c2991862d292e474626949520f424f0554ffd9901de030bf","source_sha256":{"spec.json":"c113fd29d0babb38a0e0a29104dfb89b6e96a0cd41390c90c0ef7e1a5c07550f","model.json":"ca458423de0b3b53d6a104e8ecb3df3c6c052173240dbc6fd2e1c011a57b8443","door.xml":"4b76152a800df363ccff52f21510e52c31b3be694cdc40fb23fd53141d694552"},"native":{"body_names":["world","leaf"],"joint_names":["leaf_hinge"],"qpos_addresses":[0]},"actor":{"body_names":["actor_pelvis","actor_chest","actor_neck","actor_head","actor_shoulder_l","actor_elbow_l","actor_wrist_l","actor_shoulder_r","actor_elbow_r","actor_wrist_r","actor_hip_l","actor_knee_l","actor_ankle_l","actor_hip_r","actor_knee_r","actor_ankle_r"],"joint_names":["actor_root","actor_spine_pitch","actor_spine_roll","actor_spine_yaw","actor_neck_yaw","actor_neck_pitch","actor_shoulder_l_pitch","actor_shoulder_l_roll","actor_shoulder_l_yaw","actor_elbow_l","actor_wrist_l_pitch","actor_wrist_l_roll","actor_wrist_l_yaw","actor_shoulder_r_pitch","actor_shoulder_r_roll","actor_shoulder_r_yaw","actor_elbow_r","actor_wrist_r_pitch","actor_wrist_r_roll","actor_wrist_r_yaw","actor_hip_l_pitch","actor_hip_l_roll","actor_hip_l_yaw","actor_knee_l","actor_ankle_l_pitch","actor_ankle_l_roll","actor_hip_r_pitch","actor_hip_r_roll","actor_hip_r_yaw","actor_knee_r","actor_ankle_r_pitch","actor_ankle_r_roll"],"qpos_addresses":[0,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37],"geometries":[{"name":"actor_geom_pelvis","body_name":"actor_pelvis","type":"capsule","size":[0.105,0.035,0.0],"pos":[0.0,0.0,0.005000000000000001],"quat_wxyz":[6.123233995736766e-17,1.0,0.0,0.0]},{"name":"actor_geom_torso","body_name":"actor_chest","type":"capsule","size":[0.12,0.0825,0.0],"pos":[0.0,0.0,-0.1075],"quat_wxyz":[6.123233995736766e-17,1.0,0.0,0.0]},{"name":"actor_geom_neck","body_name":"actor_neck","type":"capsule","size":[0.04,0.08,0.0],"pos":[0.0,0.0,-0.039999999999999994],"quat_wxyz":[6.123233995736766e-17,1.0,0.0,0.0]},{"name":"actor_geom_head","body_name":"actor_head","type":"sphere","size":[0.1,0.0,0.0],"pos":[0.0,0.0,0.0],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_upper_arm_l","body_name":"actor_shoulder_l","type":"capsule","size":[0.043,0.125,0.0],"pos":[0.0,0.0,-0.15000000000000002],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_forearm_l","body_name":"actor_elbow_l","type":"capsule","size":[0.036,0.12000000000000001,0.0],"pos":[0.0,0.0,-0.14],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_hand_l","body_name":"actor_wrist_l","type":"sphere","size":[0.035,0.0,0.0],"pos":[0.0,0.0,0.0],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_upper_arm_r","body_name":"actor_shoulder_r","type":"capsule","size":[0.043,0.125,0.0],"pos":[0.0,0.0,-0.15000000000000002],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_forearm_r","body_name":"actor_elbow_r","type":"capsule","size":[0.036,0.12000000000000001,0.0],"pos":[0.0,0.0,-0.14],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_hand_r","body_name":"actor_wrist_r","type":"sphere","size":[0.035,0.0,0.0],"pos":[0.0,0.0,0.0],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_thigh_l","body_name":"actor_hip_l","type":"capsule","size":[0.065,0.17500000000000002,0.0],"pos":[0.0,0.0,-0.215],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_shin_l","body_name":"actor_knee_l","type":"capsule","size":[0.047,0.18,0.0],"pos":[0.0,0.0,-0.21500000000000002],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_foot_l","body_name":"actor_ankle_l","type":"box","size":[0.05,0.13,0.0275],"pos":[0.0,0.04,-0.0275],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_thigh_r","body_name":"actor_hip_r","type":"capsule","size":[0.065,0.17500000000000002,0.0],"pos":[0.0,0.0,-0.215],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_shin_r","body_name":"actor_knee_r","type":"capsule","size":[0.047,0.18,0.0],"pos":[0.0,0.0,-0.21500000000000002],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_foot_r","body_name":"actor_ankle_r","type":"box","size":[0.05,0.13,0.0275],"pos":[0.0,0.04,-0.0275],"quat_wxyz":[1.0,0.0,0.0,0.0]}],"mjcf_xml":"<mujoco model=\"doorbench_original_adult\"><compiler angle=\"radian\" autolimits=\"true\" /><worldbody><body name=\"actor_pelvis\" pos=\"-0.114431054864 -1.59374184777 0.940521645285\" quat=\"0.999999977485 0 0 0.00021220319904\"><inertial pos=\"0 0 0\" mass=\"9.0\" diaginertia=\"0.108 0.108 0.108\" /><freejoint name=\"actor_root\" /><geom name=\"actor_geom_pelvis\" type=\"capsule\" size=\"0.105\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.03 0 0 0.04\" /><site name=\"actor_site_pelvis\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_chest\" pos=\"0 0 0.35\"><inertial pos=\"0 0 -0.12\" mass=\"20.0\" diaginertia=\"0.24 0.24 0.24\" /><joint name=\"actor_spine_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-0.65 0.65\" limited=\"true\" damping=\"1\" pos=\"0 0 -.30\" /><joint name=\"actor_spine_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-0.4 0.4\" limited=\"true\" damping=\"1\" pos=\"0 0 -.30\" /><joint name=\"actor_spine_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-0.8 0.8\" limited=\"true\" damping=\"1\" pos=\"0 0 -.30\" /><geom name=\"actor_geom_torso\" type=\"capsule\" size=\"0.12\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.19 0 0 -0.025\" /><site name=\"actor_site_chest\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_neck\" pos=\"0 0 0.16\"><inertial pos=\"0 0 0\" mass=\"1.0\" diaginertia=\"0.012 0.012 0.012\" /><joint name=\"actor_neck_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-1 1\" limited=\"true\" damping=\"1\" /><joint name=\"actor_neck_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-0.5 0.5\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_neck\" type=\"capsule\" size=\"0.04\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.12 0 0 0.04\" /><site name=\"actor_site_neck\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_head\" pos=\"0 0 0.13\"><inertial pos=\"0 0 0\" mass=\"4.5\" diaginertia=\"0.054 0.054 0.054\" /><geom name=\"actor_geom_head\" type=\"sphere\" size=\"0.1\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" /><site name=\"actor_site_head\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /></body></body><body name=\"actor_shoulder_l\" pos=\"-0.18 0 0.06\"><inertial pos=\"0 0 -0.15\" mass=\"2.0\" diaginertia=\"0.024 0.024 0.024\" /><joint name=\"actor_shoulder_l_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-1.2 2.7\" limited=\"true\" damping=\"1\" /><joint name=\"actor_shoulder_l_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-2.3 2.3\" limited=\"true\" damping=\"1\" /><joint name=\"actor_shoulder_l_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-1.6 1.6\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_upper_arm_l\" type=\"capsule\" size=\"0.043\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.025 0 0 -0.275\" /><site name=\"actor_site_shoulder_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_elbow_l\" pos=\"0 0 -0.3\"><inertial pos=\"0 0 -0.14\" mass=\"1.2\" diaginertia=\"0.0144 0.0144 0.0144\" /><joint name=\"actor_elbow_l\" type=\"hinge\" axis=\"1 0 0\" range=\"0 2.65\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_forearm_l\" type=\"capsule\" size=\"0.036\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.02 0 0 -0.26\" /><site name=\"actor_site_elbow_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_wrist_l\" pos=\"0 0 -0.28\"><inertial pos=\"0 0 0\" mass=\"0.4\" diaginertia=\"0.0048 0.0048 0.0048\" /><joint name=\"actor_wrist_l_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-1.1 1.1\" limited=\"true\" damping=\"1\" /><joint name=\"actor_wrist_l_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-0.65 0.65\" limited=\"true\" damping=\"1\" /><joint name=\"actor_wrist_l_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-1.4 1.4\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_hand_l\" type=\"sphere\" size=\"0.035\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" /><site name=\"actor_site_wrist_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /></body></body></body><body name=\"actor_shoulder_r\" pos=\"0.18 0 0.06\"><inertial pos=\"0 0 -0.15\" mass=\"2.0\" diaginertia=\"0.024 0.024 0.024\" /><joint name=\"actor_shoulder_r_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-1.2 2.7\" limited=\"true\" damping=\"1\" /><joint name=\"actor_shoulder_r_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-2.3 2.3\" limited=\"true\" damping=\"1\" /><joint name=\"actor_shoulder_r_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-1.6 1.6\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_upper_arm_r\" type=\"capsule\" size=\"0.043\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.025 0 0 -0.275\" /><site name=\"actor_site_shoulder_r\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_elbow_r\" pos=\"0 0 -0.3\"><inertial pos=\"0 0 -0.14\" mass=\"1.2\" diaginertia=\"0.0144 0.0144 0.0144\" /><joint name=\"actor_elbow_r\" type=\"hinge\" axis=\"1 0 0\" range=\"0 2.65\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_forearm_r\" type=\"capsule\" size=\"0.036\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.02 0 0 -0.26\" /><site name=\"actor_site_elbow_r\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_wrist_r\" pos=\"0 0 -0.28\"><inertial pos=\"0 0 0\" mass=\"0.4\" diaginertia=\"0.0048 0.0048 0.0048\" /><joint name=\"actor_wrist_r_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-1.1 1.1\" limited=\"true\" damping=\"1\" /><joint name=\"actor_wrist_r_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-0.65 0.65\" limited=\"true\" damping=\"1\" /><joint name=\"actor_wrist_r_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-1.4 1.4\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_hand_r\" type=\"sphere\" size=\"0.035\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" /><site name=\"actor_site_wrist_r\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /></body></body></body></body><body name=\"actor_hip_l\" pos=\"-0.105 0 -0.06\"><inertial pos=\"0 0 -0.215\" mass=\"8.0\" diaginertia=\"0.096 0.096 0.096\" /><joint name=\"actor_hip_l_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-0.7 1.8\" limited=\"true\" damping=\"1\" /><joint name=\"actor_hip_l_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-0.65 0.65\" limited=\"true\" damping=\"1\" /><joint name=\"actor_hip_l_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-0.8 0.8\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_thigh_l\" type=\"capsule\" size=\"0.065\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.04 0 0 -0.39\" /><site name=\"actor_site_hip_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_knee_l\" pos=\"0 0 -0.43\"><inertial pos=\"0 0 -0.215\" mass=\"3.5\" diaginertia=\"0.042 0.042 0.042\" /><joint name=\"actor_knee_l\" type=\"hinge\" axis=\"1 0 0\" range=\"-2.7 0\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_shin_l\" type=\"capsule\" size=\"0.047\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.035 0 0 -0.395\" /><site name=\"actor_site_knee_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_ankle_l\" pos=\"0 0 -0.43\"><inertial pos=\"0 0.04 -0.0275\" mass=\"1.0\" diaginertia=\"0.012 0.012 0.012\" /><joint name=\"actor_ankle_l_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-0.8 0.8\" limited=\"true\" damping=\"1\" /><joint name=\"actor_ankle_l_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-0.45 0.45\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_foot_l\" type=\"box\" size=\"0.05 0.13 0.0275\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" pos=\"0 .04 -.0275\" /><site name=\"actor_site_ankle_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><site name=\"actor_site_sole_l\" pos=\"0 0.04 -0.055\" size=\".008\" rgba=\"1 .6 .1 1\" /></body></body></body><body name=\"actor_hip_r\" 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diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0470_swing_single/result.d4dfaa23ae54a56e925f61f3dc2c003ffc3b95c30bb01f9abbca4defdfd392a3.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0470_swing_single/result.d4dfaa23ae54a56e925f61f3dc2c003ffc3b95c30bb01f9abbca4defdfd392a3.json
new file mode 100644
index 0000000000000000000000000000000000000000..44b7778b88ecb88887062a4e16e19cba2e3baa2a
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0470_swing_single/result.d4dfaa23ae54a56e925f61f3dc2c003ffc3b95c30bb01f9abbca4defdfd392a3.json
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+{"schema":"doorbench.planned-reference-public-attempt.v1","projection":"Public summary; execution logs and traceback omitted, absolute paths redacted. 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diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0470_swing_single/validation.e4479114e4875c433869b843b60c8daccaadd744b5165ee829b50c3771d6cd3e.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0470_swing_single/validation.e4479114e4875c433869b843b60c8daccaadd744b5165ee829b50c3771d6cd3e.json
new file mode 100644
index 0000000000000000000000000000000000000000..eba2db99bb467a31502762e438374898e18984bc
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0470_swing_single/validation.e4479114e4875c433869b843b60c8daccaadd744b5165ee829b50c3771d6cd3e.json
@@ -0,0 +1,252 @@
+{
+  "accepted": true,
+  "actor_geometry_count": 16,
+  "actor_self_pairs_exclude": "same-body and directly adjacent bodies only",
+  "clip_sha256": "8e8ad3e04760565178ab43153b42b2800d183031c4685c6646b8c31816f5ee90",
+  "collision_samples": 4705,
+  "contact_exclusion_pair_frames": 1368,
+  "door_id": "db0470_swing_single",
+  "failure_counts": {},
+  "failure_examples": {},
+  "frames": 2344,
+  "kinematic_accepted": true,
+  "maxima": {
+    "active_hand_target_error_m": 0.00025916248927017565,
+    "actor_acceleration_limit_ratio": 0.9986256086895898,
+    "actor_velocity_limit_ratio": 1.0000000000002132,
+    "fk_actor_body_pos": 0.0,
+    "fk_actor_body_quat": 1.2990531157078367e-07,
+    "fk_actor_joints": 0.0,
+    "fk_body_pos": 0.0,
+    "fk_body_quat": 4.2146848510894035e-08,
+    "fk_foot_pos": 0.0,
+    "fk_foot_quat": 1.1542389828584842e-07,
+    "foot_target_orientation_error_rad": 7.884953353001448e-08,
+    "foot_target_position_error_m": 2.5097030578083586e-15,
+    "hand_contact_penetration_m": 0.0,
+    "hand_contact_surface_gap_m": 0.004430174380189226,
+    "interpolated_stance_orientation_drift_rad": 3.330277180587391e-05,
+    "interpolated_stance_position_drift_m": 5.070247238018762e-05,
+    "joint_limit_violation_rad": 0.0,
+    "stance_orientation_drift_rad": 1.1151007970493858e-07,
+    "stance_position_drift_m": 2.7461193146406915e-15,
+    "stance_sole_height_error_m": 3.16780074394174e-11
+  },
+  "minimum_foot_ground_distance_m": -4.9148485472067655e-05,
+  "minimum_noncontact_distance_m": 0.0039617627061426346,
+  "native_collision_geometry_count": 12,
+  "native_timewarp": {
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+    "nondecreasing": true,
+    "start_s": 0.0
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+  "rig_fingerprint": "7aaa9dc6d1679b4775f9c79dbcb9a077f7c8e8d56a52d0ecf7fe97af071a9dd1",
+  "runtime": {
+    "mujoco": "3.12.0",
+    "numpy": "2.5.2"
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+  "schema": "doorbench.planned-reference-validation.v1",
+  "scope": [
+    "Recomputed FK from saved qpos on original fixed actor MJCF and source door.",
+    "Exact engine distances for declared rigid collision geometry, including nonadjacent actor self-collision.",
+    "Frame and adaptively subdivided geodesic joint interpolation checks, not continuous-collision certification.",
+    "Stance requires fixed ankle pose and four sole corners supported by horizontal native floor boxes/planes.",
+    "Joint-range/derivative acceptance applies to the actor. Native source poses/FK and monotonic timewarp are verified; source dynamics and soft joint-limit compliance are not re-certified.",
+    "No dynamics, balance, friction, force closure, actuator torque or retimed-native-physics certification."
+  ],
+  "settings": {
+    "clearance_m": 0.003,
+    "collision_tolerance_m": 1e-05,
+    "fk_orientation_rad": 0.0001,
+    "fk_position_m": 1e-05,
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+    "hand_surface_gap_m": 0.005,
+    "joint_acceleration_rad_s2": 15.0,
+    "joint_limit_rad": 1e-06,
+    "joint_speed_rad_s": 2.5,
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+    "max_sample_rotation_rad": 0.05,
+    "max_sample_translation_m": 0.01,
+    "root_acceleration_m_s2": 3.0,
+    "root_angular_acceleration_rad_s2": 8.0,
+    "root_angular_speed_rad_s": 1.5,
+    "root_speed_m_s": 0.8
+  },
+  "signed_distance_queries": 538789,
+  "source_sha256": {
+    "door.xml": "4b76152a800df363ccff52f21510e52c31b3be694cdc40fb23fd53141d694552",
+    "model.json": "ca458423de0b3b53d6a104e8ecb3df3c6c052173240dbc6fd2e1c011a57b8443",
+    "spec.json": "c113fd29d0babb38a0e0a29104dfb89b6e96a0cd41390c90c0ef7e1a5c07550f"
+  },
+  "status": "accepted_kinematic",
+  "task_completion": {
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+    "completion_scope": "Observed actor route plus declared source outcome; contact, lock recognition and mechanism semantics are not independently certified.",
+    "crossings": [
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+        "from_frame": 901,
+        "inside_aperture": true,
+        "position": [
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+          0.0,
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+        "time_s": 20.974475504169426
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+    "evidence_pass": true,
+    "failure_counts": {},
+    "failure_examples": {},
+    "final_pelvis": [
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+      1.5002331882224507,
+      0.9452783050320751
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+    "final_signed_distance_m": 1.5002331882224507,
+    "goal_distance_m": 0.00026547713744727824,
+    "goal_metric": "XY pelvis projection into ground goal disc",
+    "goal_radius_m": 0.5,
+    "initial_signed_distance_m": -1.5934999428772438,
+    "inside_forward_crossings": 1,
+    "proposal_traversal": "proposed",
+    "scenario": "open_and_traverse",
+    "source_success_declared": true
+  },
+  "trajectory_sha256": "a5c2289f5f4f53d3c2991862d292e474626949520f424f0554ffd9901de030bf",
+  "worst_samples": {
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+      "frame": 1786,
+      "limit": 0.01,
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+        "dof": "actor_knee_l",
+        "limit": 15.0,
+        "root_rotation_basis": "world"
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+      "frame": 550,
+      "limit": 1.0001,
+      "measured": 0.9986256086895898
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+    "actor_velocity_limit_ratio": {
+      "context": {
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+        "limit": 2.5,
+        "velocity": -2.500000000000533
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+      "frame": 1834,
+      "limit": 1.0001,
+      "measured": 1.0000000000002132
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+    "fk_actor_body_pos": {
+      "context": null,
+      "frame": 0,
+      "limit": 1e-05,
+      "measured": 0.0
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+    "fk_actor_body_quat": {
+      "context": null,
+      "frame": 277,
+      "limit": 0.0001,
+      "measured": 1.2990531157078367e-07
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+    "fk_actor_joints": {
+      "context": null,
+      "frame": 0,
+      "limit": 1e-05,
+      "measured": 0.0
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+    "fk_body_pos": {
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+      "measured": 4.2146848510894035e-08
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+    "fk_foot_pos": {
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+      "frame": 0,
+      "limit": 1e-05,
+      "measured": 0.0
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+      "frame": 1588,
+      "limit": 0.0001,
+      "measured": 1.1542389828584842e-07
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+    "foot_target_orientation_error_rad": {
+      "context": 0,
+      "frame": 281,
+      "limit": 0.008726646259971648,
+      "measured": 7.884953353001448e-08
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+      "frame": 2343,
+      "limit": 0.001,
+      "measured": 2.5097030578083586e-15
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+    "hand_contact_penetration_m": {
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+      "frame": 436,
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+      "frame": 1647,
+      "limit": 0.005,
+      "measured": 0.004430174380189226
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+    "interpolated_stance_orientation_drift_rad": {
+      "context": 1,
+      "frame": "2200+1/2",
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+      "measured": 3.330277180587391e-05
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+      "frame": "2205+1/2",
+      "limit": 0.001,
+      "measured": 5.070247238018762e-05
+    },
+    "joint_limit_violation_rad": {
+      "context": "actor_spine_pitch",
+      "frame": 0,
+      "limit": 1e-06,
+      "measured": 0.0
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+      "frame": 539,
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+      "measured": 1.1151007970493858e-07
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+      "limit": 0.001,
+      "measured": 2.7461193146406915e-15
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+    "stance_sole_height_error_m": {
+      "context": 0,
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+      "measured": 3.16780074394174e-11
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+  }
+}
diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0471_sliding_single/result.30b4a9d91617eb47f2708c8035283b12238a7f381de580e61d8ec2a34f53b084.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0471_sliding_single/result.30b4a9d91617eb47f2708c8035283b12238a7f381de580e61d8ec2a34f53b084.json
new file mode 100644
index 0000000000000000000000000000000000000000..134779a667426bf53987c6f26923fedb5a5c00ad
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0471_sliding_single/result.30b4a9d91617eb47f2708c8035283b12238a7f381de580e61d8ec2a34f53b084.json
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diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0474_automatic_sliding/result.94b84b378bd330c7509cc420113821192cde293a4cbffcf4b1b95120251a76d9.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0474_automatic_sliding/result.94b84b378bd330c7509cc420113821192cde293a4cbffcf4b1b95120251a76d9.json
new file mode 100644
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diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0489_swing_single/clip.915cab77d54883b8d0775d251615668fd0a84a08549dbf7618d1a180b9474d2e.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0489_swing_single/clip.915cab77d54883b8d0775d251615668fd0a84a08549dbf7618d1a180b9474d2e.json
new file mode 100644
index 0000000000000000000000000000000000000000..eda3465979545780edf6ba8b8cf796a6515db7bf
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0489_swing_single/clip.915cab77d54883b8d0775d251615668fd0a84a08549dbf7618d1a180b9474d2e.json
@@ -0,0 +1 @@
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kinematic proposal; constrained IK and independent acceptance still required.","body_guidance_filter":{"type":"Gaussian","sigma_seconds":0.2,"scope":"Soft body and resting-arm targets before IK; foot contacts and native poses unchanged."}},"solver_summary":{"failed_frames":0,"geometrically_infeasible_frames":0,"error_counts":{},"runtime_s":9.79519179201452},"limitations":["Kinematic candidate: independent acceptance and visual review pending.","Native door poses are time-warped; source forces and dynamics are not replayed on this clock.","Original approximate adult rig; no articulated fingers, actuator limits or contact-force certification."]}
diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0489_swing_single/result.9a96b4979825f07b243a8088f34782d788d2e4b937463fbc9cb2edc776768bd8.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0489_swing_single/result.9a96b4979825f07b243a8088f34782d788d2e4b937463fbc9cb2edc776768bd8.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f42e2c4590458a3955687fa88e6a82b3a567bd0
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0489_swing_single/result.9a96b4979825f07b243a8088f34782d788d2e4b937463fbc9cb2edc776768bd8.json
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+{"schema":"doorbench.planned-reference-public-attempt.v1","projection":"Public summary; execution logs and traceback omitted, absolute paths redacted. 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Source benchmark outcome is separate from new actor completion. No dynamics, balance, force-closure, continuous collision or personal visual approval."}
diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0489_swing_single/validation.52a1ade4f6a554c927af27d48adb218c3993810246d1fd65f357f483d54a7279.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0489_swing_single/validation.52a1ade4f6a554c927af27d48adb218c3993810246d1fd65f357f483d54a7279.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ded475de4460749643bc640a1dc151f90f111cd
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0489_swing_single/validation.52a1ade4f6a554c927af27d48adb218c3993810246d1fd65f357f483d54a7279.json
@@ -0,0 +1,229 @@
+{
+  "accepted": true,
+  "actor_geometry_count": 16,
+  "actor_self_pairs_exclude": "same-body and directly adjacent bodies only",
+  "clip_sha256": "915cab77d54883b8d0775d251615668fd0a84a08549dbf7618d1a180b9474d2e",
+  "collision_samples": 1427,
+  "contact_exclusion_pair_frames": 237,
+  "door_id": "db0489_swing_single",
+  "failure_counts": {},
+  "failure_examples": {},
+  "frames": 711,
+  "kinematic_accepted": true,
+  "maxima": {
+    "active_hand_target_error_m": 0.00019778365561469707,
+    "actor_acceleration_limit_ratio": 0.9960119680800549,
+    "actor_velocity_limit_ratio": 1.0000000000000533,
+    "fk_actor_body_pos": 0.0,
+    "fk_actor_body_quat": 1.2990531157078367e-07,
+    "fk_actor_joints": 0.0,
+    "fk_body_pos": 0.0,
+    "fk_body_quat": 4.2146848510894035e-08,
+    "fk_foot_pos": 0.0,
+    "fk_foot_quat": 1.1151007970493858e-07,
+    "foot_target_orientation_error_rad": 7.884953353001448e-08,
+    "foot_target_position_error_m": 2.1704794690987428e-15,
+    "hand_contact_penetration_m": 0.0,
+    "hand_contact_surface_gap_m": 0.004401431500818308,
+    "interpolated_stance_orientation_drift_rad": 1.4111895298263409e-05,
+    "interpolated_stance_position_drift_m": 5.4112718402538704e-05,
+    "joint_limit_violation_rad": 0.0,
+    "stance_orientation_drift_rad": 9.884312124119402e-08,
+    "stance_position_drift_m": 2.070794860612116e-15,
+    "stance_sole_height_error_m": 2.8774080340632224e-11
+  },
+  "minimum_foot_ground_distance_m": -5.336436343785292e-05,
+  "minimum_noncontact_distance_m": 0.0043801745834909575,
+  "native_collision_geometry_count": 27,
+  "native_timewarp": {
+    "end_s": 4.099999904632568,
+    "nondecreasing": true,
+    "start_s": 0.0
+  },
+  "rig_fingerprint": "7aaa9dc6d1679b4775f9c79dbcb9a077f7c8e8d56a52d0ecf7fe97af071a9dd1",
+  "runtime": {
+    "mujoco": "3.12.0",
+    "numpy": "2.5.2"
+  },
+  "schema": "doorbench.planned-reference-validation.v1",
+  "scope": [
+    "Recomputed FK from saved qpos on original fixed actor MJCF and source door.",
+    "Exact engine distances for declared rigid collision geometry, including nonadjacent actor self-collision.",
+    "Frame and adaptively subdivided geodesic joint interpolation checks, not continuous-collision certification.",
+    "Stance requires fixed ankle pose and four sole corners supported by horizontal native floor boxes/planes.",
+    "Joint-range/derivative acceptance applies to the actor. Native source poses/FK and monotonic timewarp are verified; source dynamics and soft joint-limit compliance are not re-certified.",
+    "No dynamics, balance, friction, force closure, actuator torque or retimed-native-physics certification."
+  ],
+  "settings": {
+    "clearance_m": 0.003,
+    "collision_tolerance_m": 1e-05,
+    "fk_orientation_rad": 0.0001,
+    "fk_position_m": 1e-05,
+    "foot_orientation_rad": 0.008726646259971648,
+    "foot_position_m": 0.001,
+    "ground_penetration_m": 0.0001,
+    "hand_contact_penetration_m": 0.003,
+    "hand_position_m": 0.01,
+    "hand_surface_gap_m": 0.005,
+    "joint_acceleration_rad_s2": 15.0,
+    "joint_limit_rad": 1e-06,
+    "joint_speed_rad_s": 2.5,
+    "max_sample_dt_s": 0.025,
+    "max_sample_rotation_rad": 0.05,
+    "max_sample_translation_m": 0.01,
+    "root_acceleration_m_s2": 3.0,
+    "root_angular_acceleration_rad_s2": 8.0,
+    "root_angular_speed_rad_s": 1.5,
+    "root_speed_m_s": 0.8
+  },
+  "signed_distance_queries": 163238,
+  "source_sha256": {
+    "door.xml": "3fb74b572fad8f3b703586f1dd09a787150903a55c621662dc27a61530217c11",
+    "model.json": "faf89ea2328444b521dca38df7a3c92c3198258e57dfcd4ac364d6b6c5abc307",
+    "spec.json": "b661dd49ec80a0a601776aac268283cff5f96bb01c275dda695cebb3cd835692"
+  },
+  "status": "accepted_kinematic",
+  "task_completion": {
+    "complete_proposal": true,
+    "completion_scope": "Observed actor route plus declared source outcome; contact, lock recognition and mechanism semantics are not independently certified.",
+    "evidence_pass": true,
+    "failure_counts": {},
+    "failure_examples": {},
+    "proposal_traversal": "not_requested",
+    "recognition_scope": "Nontraversing motion permitted. Recognition/locked mechanism evidence comes only from the declared source outcome.",
+    "scenario": "locked_recognize",
+    "source_success_declared": true
+  },
+  "trajectory_sha256": "3ac273522cd549c3700a4c68be6819ff930c64a47d851dff071d026fa9bee2b8",
+  "worst_samples": {
+    "active_hand_target_error_m": {
+      "context": 1,
+      "frame": 398,
+      "limit": 0.01,
+      "measured": 0.00019778365561469707
+    },
+    "actor_acceleration_limit_ratio": {
+      "context": {
+        "acceleration": 14.940179521200823,
+        "dof": "actor_knee_l",
+        "limit": 15.0,
+        "root_rotation_basis": "world"
+      },
+      "frame": 312,
+      "limit": 1.0001,
+      "measured": 0.9960119680800549
+    },
+    "actor_velocity_limit_ratio": {
+      "context": {
+        "dof": "actor_elbow_r",
+        "limit": 2.5,
+        "velocity": 2.5000000000001332
+      },
+      "frame": 355,
+      "limit": 1.0001,
+      "measured": 1.0000000000000533
+    },
+    "fk_actor_body_pos": {
+      "context": null,
+      "frame": 0,
+      "limit": 1e-05,
+      "measured": 0.0
+    },
+    "fk_actor_body_quat": {
+      "context": null,
+      "frame": 86,
+      "limit": 0.0001,
+      "measured": 1.2990531157078367e-07
+    },
+    "fk_actor_joints": {
+      "context": null,
+      "frame": 0,
+      "limit": 1e-05,
+      "measured": 0.0
+    },
+    "fk_body_pos": {
+      "context": null,
+      "frame": 0,
+      "limit": 1e-05,
+      "measured": 0.0
+    },
+    "fk_body_quat": {
+      "context": null,
+      "frame": 593,
+      "limit": 0.0001,
+      "measured": 4.2146848510894035e-08
+    },
+    "fk_foot_pos": {
+      "context": null,
+      "frame": 0,
+      "limit": 1e-05,
+      "measured": 0.0
+    },
+    "fk_foot_quat": {
+      "context": null,
+      "frame": 316,
+      "limit": 0.0001,
+      "measured": 1.1151007970493858e-07
+    },
+    "foot_target_orientation_error_rad": {
+      "context": 0,
+      "frame": 86,
+      "limit": 0.008726646259971648,
+      "measured": 7.884953353001448e-08
+    },
+    "foot_target_position_error_m": {
+      "context": 0,
+      "frame": 424,
+      "limit": 0.001,
+      "measured": 2.1704794690987428e-15
+    },
+    "hand_contact_penetration_m": {
+      "context": 1,
+      "frame": 396,
+      "limit": 0.003,
+      "measured": 0.0
+    },
+    "hand_contact_surface_gap_m": {
+      "context": 1,
+      "frame": 611,
+      "limit": 0.005,
+      "measured": 0.004401431500818308
+    },
+    "interpolated_stance_orientation_drift_rad": {
+      "context": 1,
+      "frame": "198+1/2",
+      "limit": 0.008726646259971648,
+      "measured": 1.4111895298263409e-05
+    },
+    "interpolated_stance_position_drift_m": {
+      "context": 0,
+      "frame": "58+1/2",
+      "limit": 0.001,
+      "measured": 5.4112718402538704e-05
+    },
+    "joint_limit_violation_rad": {
+      "context": "actor_spine_pitch",
+      "frame": 0,
+      "limit": 1e-06,
+      "measured": 0.0
+    },
+    "stance_orientation_drift_rad": {
+      "context": 1,
+      "frame": 316,
+      "limit": 0.008726646259971648,
+      "measured": 9.884312124119402e-08
+    },
+    "stance_position_drift_m": {
+      "context": 0,
+      "frame": 424,
+      "limit": 0.001,
+      "measured": 2.070794860612116e-15
+    },
+    "stance_sole_height_error_m": {
+      "context": 0,
+      "frame": 45,
+      "limit": 0.001,
+      "measured": 2.8774080340632224e-11
+    }
+  }
+}
diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0490_swing_single/clip.a13258e71bcdde5f90e4c4e40cef6c733dc0109d78b255d042ad2d00619c6dc0.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0490_swing_single/clip.a13258e71bcdde5f90e4c4e40cef6c733dc0109d78b255d042ad2d00619c6dc0.json
new file mode 100644
index 0000000000000000000000000000000000000000..2955dad73c682df7d89119d3d597f7d1d77758df
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0490_swing_single/clip.a13258e71bcdde5f90e4c4e40cef6c733dc0109d78b255d042ad2d00619c6dc0.json
@@ -0,0 +1 @@
+{"schema":"doorbench.planned-reference.v1","door_id":"db0490_swing_single","fps":60,"units":"metres/radians/seconds","up_axis":"Z","status":"unvalidated","qa":{},"duration":15.474267384462001,"frames":618,"complete_proposal":true,"sampling":"actor_time is authoritative; fps is the nominal rendering frame rate","retiming":{"success":true,"schema":"doorbench.retime.v1","frames":618,"iterations":4,"original_duration_s":10.283333333333333,"duration_s":15.474267384462001,"duration_scale":1.504790993626775,"maximum_interval_scale":3.3288112193462553,"changed_intervals":392,"maximum_neighbor_scale_ratio":1.1500000000000008,"neighbor_ratio_limit":1.15,"interval_scale_cap":20.0,"before":{"max_velocity_ratio":1.0000000000000013,"max_acceleration_ratio":11.036792815611769,"velocity_violations":0,"acceleration_violations":231,"worst_velocity":{"frame":32,"dof":"actor_knee_l","ratio":1.0000000000000013},"worst_acceleration":{"frame":199,"dof":"actor_knee_l","ratio":11.036792815611769}},"after":{"max_velocity_ratio":1.0000000000000546,"max_acceleration_ratio":0.9960119680800825,"velocity_violations":0,"acceleration_violations":0,"worst_velocity":{"frame":434,"dof":"actor_elbow_r","ratio":1.0000000000000546},"worst_acceleration":{"frame":440,"dof":"actor_elbow_r","ratio":0.9960119680800825}},"velocity_limits":[0.8,0.8,0.8,1.5,1.5,1.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5],"acceleration_limits":[3.0,3.0,3.0,8.0,8.0,8.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0],"dof_labels":["actor_root:x","actor_root:y","actor_root:z","actor_root:rx","actor_root:ry","actor_root:rz","actor_spine_pitch","actor_spine_roll","actor_spine_yaw","actor_neck_yaw","actor_neck_pitch","actor_shoulder_l_pitch","actor_shoulder_l_roll","actor_shoulder_l_yaw","actor_elbow_l","actor_wrist_l_pitch","actor_wrist_l_roll","actor_wrist_l_yaw","actor_shoulder_r_pitch","actor_shoulder_r_roll","actor_shoulder_r_yaw","actor_elbow_r","actor_wrist_r_pitch","actor_wrist_r_roll","actor_wrist_r_yaw","actor_hip_l_pitch","actor_hip_l_roll","actor_hip_l_yaw","actor_knee_l","actor_ankle_l_pitch","actor_ankle_l_roll","actor_hip_r_pitch","actor_hip_r_roll","actor_hip_r_yaw","actor_knee_r","actor_ankle_r_pitch","actor_ankle_r_roll"],"failure":null,"scope":"Sampled actor velocity and world-basis angular acceleration; unchanged poses and source clock. Independent geometry/contact/interpolation revalidation required."},"trajectory_sha256":"708ce44cfd10f0eb5e14c13a17b1828850e76d81726787f1bf1c49bc1642e174","source_sha256":{"spec.json":"cebd49b0aa6591e5bb6c5e0c7d352f1ae4f4d0df37ec909e223ff4939d218f0a","model.json":"ebd6aacc2eaf1029f5e768c050717c02b87958bdd4e50fe50e79b4151fbd716e","door.xml":"27000fd79ab7700bb234ebef03bb17ca7389fff6209ec6dcf44138038f432339"},"native":{"body_names":["world","leaf","leaf_handle","leaf_latch_bolt"],"joint_names":["leaf_hinge","leaf_handle_hinge","leaf_latch_bolt_slide"],"qpos_addresses":[0,1,2]},"actor":{"body_names":["actor_pelvis","actor_chest","actor_neck","actor_head","actor_shoulder_l","actor_elbow_l","actor_wrist_l","actor_shoulder_r","actor_elbow_r","actor_wrist_r","actor_hip_l","actor_knee_l","actor_ankle_l","actor_hip_r","actor_knee_r","actor_ankle_r"],"joint_names":["actor_root","actor_spine_pitch","actor_spine_roll","actor_spine_yaw","actor_neck_yaw","actor_neck_pitch","actor_shoulder_l_pitch","actor_shoulder_l_roll","actor_shoulder_l_yaw","actor_elbow_l","actor_wrist_l_pitch","actor_wrist_l_roll","actor_wrist_l_yaw","actor_shoulder_r_pitch","actor_shoulder_r_roll","actor_shoulder_r_yaw","actor_elbow_r","actor_wrist_r_pitch","actor_wrist_r_roll","actor_wrist_r_yaw","actor_hip_l_pitch","actor_hip_l_roll","actor_hip_l_yaw","actor_knee_l","actor_ankle_l_pitch","actor_ankle_l_roll","actor_hip_r_pitch","actor_hip_r_roll","actor_hip_r_yaw","actor_knee_r","actor_ankle_r_pitch","actor_ankle_r_roll"],"qpos_addresses":[0,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37],"geometries":[{"name":"actor_geom_pelvis","body_name":"actor_pelvis","type":"capsule","size":[0.105,0.035,0.0],"pos":[0.0,0.0,0.005000000000000001],"quat_wxyz":[6.123233995736766e-17,1.0,0.0,0.0]},{"name":"actor_geom_torso","body_name":"actor_chest","type":"capsule","size":[0.12,0.0825,0.0],"pos":[0.0,0.0,-0.1075],"quat_wxyz":[6.123233995736766e-17,1.0,0.0,0.0]},{"name":"actor_geom_neck","body_name":"actor_neck","type":"capsule","size":[0.04,0.08,0.0],"pos":[0.0,0.0,-0.039999999999999994],"quat_wxyz":[6.123233995736766e-17,1.0,0.0,0.0]},{"name":"actor_geom_head","body_name":"actor_head","type":"sphere","size":[0.1,0.0,0.0],"pos":[0.0,0.0,0.0],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_upper_arm_l","body_name":"actor_shoulder_l","type":"capsule","size":[0.043,0.125,0.0],"pos":[0.0,0.0,-0.15000000000000002],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_forearm_l","body_name":"actor_elbow_l","type":"capsule","size":[0.036,0.12000000000000001,0.0],"pos":[0.0,0.0,-0.14],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_hand_l","body_name":"actor_wrist_l","type":"sphere","size":[0.035,0.0,0.0],"pos":[0.0,0.0,0.0],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_upper_arm_r","body_name":"actor_shoulder_r","type":"capsule","size":[0.043,0.125,0.0],"pos":[0.0,0.0,-0.15000000000000002],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_forearm_r","body_name":"actor_elbow_r","type":"capsule","size":[0.036,0.12000000000000001,0.0],"pos":[0.0,0.0,-0.14],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_hand_r","body_name":"actor_wrist_r","type":"sphere","size":[0.035,0.0,0.0],"pos":[0.0,0.0,0.0],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_thigh_l","body_name":"actor_hip_l","type":"capsule","size":[0.065,0.17500000000000002,0.0],"pos":[0.0,0.0,-0.215],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_shin_l","body_name":"actor_knee_l","type":"capsule","size":[0.047,0.18,0.0],"pos":[0.0,0.0,-0.21500000000000002],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_foot_l","body_name":"actor_ankle_l","type":"box","size":[0.05,0.13,0.0275],"pos":[0.0,0.04,-0.0275],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_thigh_r","body_name":"actor_hip_r","type":"capsule","size":[0.065,0.17500000000000002,0.0],"pos":[0.0,0.0,-0.215],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_shin_r","body_name":"actor_knee_r","type":"capsule","size":[0.047,0.18,0.0],"pos":[0.0,0.0,-0.21500000000000002],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_foot_r","body_name":"actor_ankle_r","type":"box","size":[0.05,0.13,0.0275],"pos":[0.0,0.04,-0.0275],"quat_wxyz":[1.0,0.0,0.0,0.0]}],"mjcf_xml":"<mujoco model=\"doorbench_original_adult\"><compiler angle=\"radian\" autolimits=\"true\" /><worldbody><body name=\"actor_pelvis\" pos=\"0.0472968482201 -1.77255632258 0.940521645285\" quat=\"0.9999999742 0 0 0.000227157931161\"><inertial pos=\"0 0 0\" mass=\"9.0\" diaginertia=\"0.108 0.108 0.108\" /><freejoint name=\"actor_root\" /><geom name=\"actor_geom_pelvis\" type=\"capsule\" size=\"0.105\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.03 0 0 0.04\" /><site name=\"actor_site_pelvis\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_chest\" pos=\"0 0 0.35\"><inertial pos=\"0 0 -0.12\" mass=\"20.0\" diaginertia=\"0.24 0.24 0.24\" /><joint name=\"actor_spine_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-0.65 0.65\" limited=\"true\" damping=\"1\" pos=\"0 0 -.30\" /><joint name=\"actor_spine_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-0.4 0.4\" limited=\"true\" damping=\"1\" pos=\"0 0 -.30\" /><joint name=\"actor_spine_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-0.8 0.8\" limited=\"true\" damping=\"1\" pos=\"0 0 -.30\" /><geom name=\"actor_geom_torso\" type=\"capsule\" size=\"0.12\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.19 0 0 -0.025\" /><site name=\"actor_site_chest\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_neck\" pos=\"0 0 0.16\"><inertial pos=\"0 0 0\" mass=\"1.0\" diaginertia=\"0.012 0.012 0.012\" /><joint name=\"actor_neck_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-1 1\" limited=\"true\" damping=\"1\" /><joint name=\"actor_neck_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-0.5 0.5\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_neck\" type=\"capsule\" size=\"0.04\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.12 0 0 0.04\" /><site name=\"actor_site_neck\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_head\" pos=\"0 0 0.13\"><inertial pos=\"0 0 0\" mass=\"4.5\" diaginertia=\"0.054 0.054 0.054\" /><geom name=\"actor_geom_head\" type=\"sphere\" size=\"0.1\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" /><site name=\"actor_site_head\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /></body></body><body name=\"actor_shoulder_l\" pos=\"-0.18 0 0.06\"><inertial pos=\"0 0 -0.15\" mass=\"2.0\" diaginertia=\"0.024 0.024 0.024\" /><joint name=\"actor_shoulder_l_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-1.2 2.7\" limited=\"true\" damping=\"1\" /><joint name=\"actor_shoulder_l_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-2.3 2.3\" limited=\"true\" damping=\"1\" /><joint name=\"actor_shoulder_l_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-1.6 1.6\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_upper_arm_l\" type=\"capsule\" size=\"0.043\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.025 0 0 -0.275\" /><site name=\"actor_site_shoulder_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_elbow_l\" pos=\"0 0 -0.3\"><inertial pos=\"0 0 -0.14\" mass=\"1.2\" diaginertia=\"0.0144 0.0144 0.0144\" /><joint name=\"actor_elbow_l\" type=\"hinge\" axis=\"1 0 0\" range=\"0 2.65\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_forearm_l\" type=\"capsule\" size=\"0.036\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.02 0 0 -0.26\" /><site name=\"actor_site_elbow_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_wrist_l\" pos=\"0 0 -0.28\"><inertial pos=\"0 0 0\" mass=\"0.4\" diaginertia=\"0.0048 0.0048 0.0048\" /><joint name=\"actor_wrist_l_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-1.1 1.1\" limited=\"true\" damping=\"1\" /><joint name=\"actor_wrist_l_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-0.65 0.65\" limited=\"true\" damping=\"1\" /><joint name=\"actor_wrist_l_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-1.4 1.4\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_hand_l\" type=\"sphere\" size=\"0.035\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" /><site name=\"actor_site_wrist_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /></body></body></body><body name=\"actor_shoulder_r\" pos=\"0.18 0 0.06\"><inertial pos=\"0 0 -0.15\" mass=\"2.0\" diaginertia=\"0.024 0.024 0.024\" /><joint name=\"actor_shoulder_r_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-1.2 2.7\" limited=\"true\" damping=\"1\" /><joint name=\"actor_shoulder_r_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-2.3 2.3\" limited=\"true\" damping=\"1\" /><joint name=\"actor_shoulder_r_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-1.6 1.6\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_upper_arm_r\" type=\"capsule\" size=\"0.043\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.025 0 0 -0.275\" /><site name=\"actor_site_shoulder_r\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_elbow_r\" pos=\"0 0 -0.3\"><inertial pos=\"0 0 -0.14\" mass=\"1.2\" diaginertia=\"0.0144 0.0144 0.0144\" /><joint name=\"actor_elbow_r\" type=\"hinge\" axis=\"1 0 0\" range=\"0 2.65\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_forearm_r\" type=\"capsule\" size=\"0.036\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.02 0 0 -0.26\" /><site name=\"actor_site_elbow_r\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_wrist_r\" pos=\"0 0 -0.28\"><inertial pos=\"0 0 0\" mass=\"0.4\" diaginertia=\"0.0048 0.0048 0.0048\" /><joint name=\"actor_wrist_r_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-1.1 1.1\" limited=\"true\" damping=\"1\" /><joint name=\"actor_wrist_r_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-0.65 0.65\" limited=\"true\" damping=\"1\" /><joint name=\"actor_wrist_r_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-1.4 1.4\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_hand_r\" type=\"sphere\" size=\"0.035\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" /><site name=\"actor_site_wrist_r\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /></body></body></body></body><body name=\"actor_hip_l\" pos=\"-0.105 0 -0.06\"><inertial pos=\"0 0 -0.215\" mass=\"8.0\" diaginertia=\"0.096 0.096 0.096\" /><joint name=\"actor_hip_l_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-0.7 1.8\" limited=\"true\" damping=\"1\" /><joint name=\"actor_hip_l_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-0.65 0.65\" limited=\"true\" damping=\"1\" /><joint name=\"actor_hip_l_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-0.8 0.8\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_thigh_l\" type=\"capsule\" size=\"0.065\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.04 0 0 -0.39\" /><site name=\"actor_site_hip_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_knee_l\" pos=\"0 0 -0.43\"><inertial pos=\"0 0 -0.215\" mass=\"3.5\" diaginertia=\"0.042 0.042 0.042\" /><joint name=\"actor_knee_l\" type=\"hinge\" axis=\"1 0 0\" range=\"-2.7 0\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_shin_l\" type=\"capsule\" size=\"0.047\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.035 0 0 -0.395\" /><site name=\"actor_site_knee_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_ankle_l\" pos=\"0 0 -0.43\"><inertial pos=\"0 0.04 -0.0275\" mass=\"1.0\" diaginertia=\"0.012 0.012 0.012\" /><joint name=\"actor_ankle_l_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-0.8 0.8\" limited=\"true\" damping=\"1\" /><joint name=\"actor_ankle_l_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-0.45 0.45\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_foot_l\" type=\"box\" size=\"0.05 0.13 0.0275\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" pos=\"0 .04 -.0275\" /><site name=\"actor_site_ankle_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><site name=\"actor_site_sole_l\" pos=\"0 0.04 -0.055\" size=\".008\" rgba=\"1 .6 .1 1\" /></body></body></body><body name=\"actor_hip_r\" 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diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0490_swing_single/result.f845e7008a3e77e85a75f05a67701f93829fe6c88c94b43046f5ebd536474e2e.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0490_swing_single/result.f845e7008a3e77e85a75f05a67701f93829fe6c88c94b43046f5ebd536474e2e.json
new file mode 100644
index 0000000000000000000000000000000000000000..b08efb7db2a38410c10415af0b728db2d9aed61b
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0490_swing_single/result.f845e7008a3e77e85a75f05a67701f93829fe6c88c94b43046f5ebd536474e2e.json
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diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0490_swing_single/validation.30e9a071569e106ea8a567fdc2357ee32b5d384460cac85add4047c7c6411c17.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0490_swing_single/validation.30e9a071569e106ea8a567fdc2357ee32b5d384460cac85add4047c7c6411c17.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5b8d35246028bb54b468b6b3be4e36d363fe54f
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0490_swing_single/validation.30e9a071569e106ea8a567fdc2357ee32b5d384460cac85add4047c7c6411c17.json
@@ -0,0 +1,229 @@
+{
+  "accepted": true,
+  "actor_geometry_count": 16,
+  "actor_self_pairs_exclude": "same-body and directly adjacent bodies only",
+  "clip_sha256": "a13258e71bcdde5f90e4c4e40cef6c733dc0109d78b255d042ad2d00619c6dc0",
+  "collision_samples": 1255,
+  "contact_exclusion_pair_frames": 64,
+  "door_id": "db0490_swing_single",
+  "failure_counts": {},
+  "failure_examples": {},
+  "frames": 618,
+  "kinematic_accepted": true,
+  "maxima": {
+    "active_hand_target_error_m": 0.00021891402631774707,
+    "actor_acceleration_limit_ratio": 0.9960119680800825,
+    "actor_velocity_limit_ratio": 1.0000000000000546,
+    "fk_actor_body_pos": 0.0,
+    "fk_actor_body_quat": 1.2990531157078367e-07,
+    "fk_actor_joints": 0.0,
+    "fk_body_pos": 0.0,
+    "fk_body_quat": 4.2146848510894035e-08,
+    "fk_foot_pos": 0.0,
+    "fk_foot_quat": 1.1151007970493858e-07,
+    "foot_target_orientation_error_rad": 8.429369702178807e-08,
+    "foot_target_position_error_m": 1.8427826312921946e-15,
+    "hand_contact_penetration_m": 0.0,
+    "hand_contact_surface_gap_m": 0.004378556894234532,
+    "interpolated_stance_orientation_drift_rad": 2.051250789194648e-05,
+    "interpolated_stance_position_drift_m": 5.179303954767078e-05,
+    "joint_limit_violation_rad": 0.0,
+    "stance_orientation_drift_rad": 8.940696716308595e-08,
+    "stance_position_drift_m": 2.179298796140383e-15,
+    "stance_sole_height_error_m": 2.6576546519052613e-11
+  },
+  "minimum_foot_ground_distance_m": -5.0997814922341955e-05,
+  "minimum_noncontact_distance_m": 0.004378024651786043,
+  "native_collision_geometry_count": 22,
+  "native_timewarp": {
+    "end_s": 4.099999904632568,
+    "nondecreasing": true,
+    "start_s": 0.0
+  },
+  "rig_fingerprint": "7aaa9dc6d1679b4775f9c79dbcb9a077f7c8e8d56a52d0ecf7fe97af071a9dd1",
+  "runtime": {
+    "mujoco": "3.12.0",
+    "numpy": "2.5.2"
+  },
+  "schema": "doorbench.planned-reference-validation.v1",
+  "scope": [
+    "Recomputed FK from saved qpos on original fixed actor MJCF and source door.",
+    "Exact engine distances for declared rigid collision geometry, including nonadjacent actor self-collision.",
+    "Frame and adaptively subdivided geodesic joint interpolation checks, not continuous-collision certification.",
+    "Stance requires fixed ankle pose and four sole corners supported by horizontal native floor boxes/planes.",
+    "Joint-range/derivative acceptance applies to the actor. Native source poses/FK and monotonic timewarp are verified; source dynamics and soft joint-limit compliance are not re-certified.",
+    "No dynamics, balance, friction, force closure, actuator torque or retimed-native-physics certification."
+  ],
+  "settings": {
+    "clearance_m": 0.003,
+    "collision_tolerance_m": 1e-05,
+    "fk_orientation_rad": 0.0001,
+    "fk_position_m": 1e-05,
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+    "foot_position_m": 0.001,
+    "ground_penetration_m": 0.0001,
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+    "hand_position_m": 0.01,
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+    "joint_acceleration_rad_s2": 15.0,
+    "joint_limit_rad": 1e-06,
+    "joint_speed_rad_s": 2.5,
+    "max_sample_dt_s": 0.025,
+    "max_sample_rotation_rad": 0.05,
+    "max_sample_translation_m": 0.01,
+    "root_acceleration_m_s2": 3.0,
+    "root_angular_acceleration_rad_s2": 8.0,
+    "root_angular_speed_rad_s": 1.5,
+    "root_speed_m_s": 0.8
+  },
+  "signed_distance_queries": 122496,
+  "source_sha256": {
+    "door.xml": "27000fd79ab7700bb234ebef03bb17ca7389fff6209ec6dcf44138038f432339",
+    "model.json": "ebd6aacc2eaf1029f5e768c050717c02b87958bdd4e50fe50e79b4151fbd716e",
+    "spec.json": "cebd49b0aa6591e5bb6c5e0c7d352f1ae4f4d0df37ec909e223ff4939d218f0a"
+  },
+  "status": "accepted_kinematic",
+  "task_completion": {
+    "complete_proposal": true,
+    "completion_scope": "Observed actor route plus declared source outcome; contact, lock recognition and mechanism semantics are not independently certified.",
+    "evidence_pass": true,
+    "failure_counts": {},
+    "failure_examples": {},
+    "proposal_traversal": "not_requested",
+    "recognition_scope": "Nontraversing motion permitted. Recognition/locked mechanism evidence comes only from the declared source outcome.",
+    "scenario": "locked_recognize",
+    "source_success_declared": true
+  },
+  "trajectory_sha256": "708ce44cfd10f0eb5e14c13a17b1828850e76d81726787f1bf1c49bc1642e174",
+  "worst_samples": {
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+      "frame": 476,
+      "limit": 0.01,
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+    "actor_acceleration_limit_ratio": {
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+        "dof": "actor_elbow_r",
+        "limit": 15.0,
+        "root_rotation_basis": "world"
+      },
+      "frame": 440,
+      "limit": 1.0001,
+      "measured": 0.9960119680800825
+    },
+    "actor_velocity_limit_ratio": {
+      "context": {
+        "dof": "actor_elbow_r",
+        "limit": 2.5,
+        "velocity": 2.500000000000137
+      },
+      "frame": 434,
+      "limit": 1.0001,
+      "measured": 1.0000000000000546
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+    "fk_actor_body_pos": {
+      "context": null,
+      "frame": 0,
+      "limit": 1e-05,
+      "measured": 0.0
+    },
+    "fk_actor_body_quat": {
+      "context": null,
+      "frame": 109,
+      "limit": 0.0001,
+      "measured": 1.2990531157078367e-07
+    },
+    "fk_actor_joints": {
+      "context": null,
+      "frame": 0,
+      "limit": 1e-05,
+      "measured": 0.0
+    },
+    "fk_body_pos": {
+      "context": null,
+      "frame": 0,
+      "limit": 1e-05,
+      "measured": 0.0
+    },
+    "fk_body_quat": {
+      "context": null,
+      "frame": 534,
+      "limit": 0.0001,
+      "measured": 4.2146848510894035e-08
+    },
+    "fk_foot_pos": {
+      "context": null,
+      "frame": 0,
+      "limit": 1e-05,
+      "measured": 0.0
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+    "fk_foot_quat": {
+      "context": null,
+      "frame": 171,
+      "limit": 0.0001,
+      "measured": 1.1151007970493858e-07
+    },
+    "foot_target_orientation_error_rad": {
+      "context": 1,
+      "frame": 171,
+      "limit": 0.008726646259971648,
+      "measured": 8.429369702178807e-08
+    },
+    "foot_target_position_error_m": {
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+      "frame": 575,
+      "limit": 0.001,
+      "measured": 1.8427826312921946e-15
+    },
+    "hand_contact_penetration_m": {
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+      "frame": 476,
+      "limit": 0.003,
+      "measured": 0.0
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+    "hand_contact_surface_gap_m": {
+      "context": 1,
+      "frame": 518,
+      "limit": 0.005,
+      "measured": 0.004378556894234532
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+    "interpolated_stance_orientation_drift_rad": {
+      "context": 0,
+      "frame": "58+1/2",
+      "limit": 0.008726646259971648,
+      "measured": 2.051250789194648e-05
+    },
+    "interpolated_stance_position_drift_m": {
+      "context": 0,
+      "frame": "58+1/2",
+      "limit": 0.001,
+      "measured": 5.179303954767078e-05
+    },
+    "joint_limit_violation_rad": {
+      "context": "actor_spine_pitch",
+      "frame": 0,
+      "limit": 1e-06,
+      "measured": 0.0
+    },
+    "stance_orientation_drift_rad": {
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+      "limit": 0.008726646259971648,
+      "measured": 8.940696716308595e-08
+    },
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+      "context": 1,
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+      "limit": 0.001,
+      "measured": 2.179298796140383e-15
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+    "stance_sole_height_error_m": {
+      "context": 0,
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+      "measured": 2.6576546519052613e-11
+    }
+  }
+}
diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0491_sliding_bypass/result.798dd0bf15eeb76a4323e90e7eed2e195b4db846dcfbf08049a3291e51613713.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0491_sliding_bypass/result.798dd0bf15eeb76a4323e90e7eed2e195b4db846dcfbf08049a3291e51613713.json
new file mode 100644
index 0000000000000000000000000000000000000000..97b0a34233387a77da596b5c7698981c34246775
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0491_sliding_bypass/result.798dd0bf15eeb76a4323e90e7eed2e195b4db846dcfbf08049a3291e51613713.json
@@ -0,0 +1 @@
+{"schema":"doorbench.planned-reference-public-attempt.v1","projection":"Public summary; execution logs and traceback omitted, absolute paths redacted. Original result is identified by SHA-256.","original_result_sha256":"0dc6062b3fc0fc9a6367300d1ee8c63e2b1eee044a750d2163ca4a88d41c58cf","door_id":"db0491_sliding_bypass","family":"sliding_bypass","status":"unresolved","identity_sha256":"a63fcc373b02e559bbaa67d33c095a14291c769e2f0f5b7b4fdcc82516e10c59","created_at":"2026-09-05T16:32:32.359508+00:00","run_id":"feaf7d7045544f84a504f1afc539eb17","source_outcome":{"base_end":[-0.0,1.804,0.5],"control_dt":0.004,"criteria":{"!damage":true,"opened":true,"traversed":true},"damage":false,"damage_events":[],"difficulty":2,"door_id":"db0491_sliding_bypass","door_q_end":0.58,"energy_J":2.35,"env_damage":false,"episode_return":12.734,"error":null,"events":[["latch_released",0.004],["touched_door",0.504],["door_opened",0.568],["door_open_clear",1.02],["robot_passed_through",3.308],["goal_reached",4.308]],"expected_transit_s":7.31,"family":"sliding_bypass","human_collision":null,"labels":{"door_closed_after":false,"door_damaged":false,"door_open_clear":true,"door_opened":true,"door_slammed":false,"hardware_misuse":false,"latch_released":true,"lock_released":false,"operator_actuated":false,"robot_fell":false,"robot_passed_through":true,"touched_door":true,"touched_operator":false},"max_door_angle":0.5803,"max_leaf_force_N":0.0,"max_operator_torque":0.0,"mujoco_warnings":0,"outcome":"success","randomized":false,"reward_events":[["opened",0.674,3.0],["traversed",3.308,10.0]],"scenario":"open_and_traverse","seed":0,"sim_time":5.31,"start":{"xy":[-0.138,-2.288],"yaw":1.553},"steps":2655,"success":true,"suite":"core","tier":"full","time_budget_s":35.0,"time_to_close":null,"time_to_goal":4.308,"time_to_open":0.568,"time_to_pass":3.308,"time_to_touch":0.5,"wall_s":0.111},"provenance":{"execution":{"isolation_mode":"fresh_python_process_per_door","timeout_s":600.0},"generator_sha256":"12d8e3d5991e0c328240386e242f120193621911de726cb1d5e5372887aa121f","manifest_sha256":"97699b43489a06b64f90d605ef87aec156e4ccc97fb9bbf0db61dac01c05ab34","native_resources_sha256":{},"options":{"fps":60,"gait_profile":"smooth","max_frames":null},"recording_index_sha256":"d9f5c60f6f76992e7a1a7efba0163bab63defe8e7bef0400cfd58aea0fbfe204","recording_sha256":{"clip.json":"7ea1a0c4230fe4dd04ec8d712a9c1bfbf871fb152ff838a2ecb399e8b5e783b8","trajectory.npz":"9f2fa8a1d83bb599e8f0bbb0ca86882c05b623b6465a05339745470f8b026088"},"source_sha256":{"door.xml":"e1651b0761fd75cc9e77a8ab235393ae75684bd6b711ef00b9ea07b55fd667bd","model.json":"5b03a0883b1cf377759a5e42e0467c455c0a365d57a26bfbcb0ca566346d63b9","spec.json":"97d10134fad13055322559d75a7ef55f573761bafeb38ddb577c8c0eaf1fe710"}},"generator":{"files":{"doorbench/reference/__init__.py":"bcc139f47946e74a14fd338497edc2670e4660df4cce8ebc142613dbe32cbe06","doorbench/reference/gait.py":"154f484bf0805df3322bc02de47c9ef4e13961894bd3153946a5967cad172a90","doorbench/reference/guidance.py":"88db8e9d94e3a3a2214b2f744d6e180e379734aac7154a5e4c9aa2a971e46da9","doorbench/reference/humanoid.py":"702272462be6a2197453d52f93ddad2c47fa1dda441ed56450185d86cb7064b6","doorbench/reference/ik.py":"c23e5b594a296b10fcbdd12f0d54cb026d2ce4f8a1d53f20ab0ab52b9b01b0cb","doorbench/reference/planning.py":"4bba623325ce5bd647cb320f9a62878101dd3c578706ad0aea1107eaf9e934a9","doorbench/reference/record.py":"67155bb0c09041a54c993ca0ee96837f743481f2a06cfea73e42eeabf0fdcf6c","doorbench/reference/retime.py":"012556d7d2b7e71948167df7a8b84eb9b00df7d8d587a6298719e1acbd622e7e","doorbench/reference/rig.py":"050f7891718459b0b187179bc2328574012a38a5ab7965b08ef2d3ee0fd44580","doorbench/reference/solve.py":"d56da0ccd854207697f3167a65cf70abb1444e452c6e8f89bdb8dd672128c574","pyproject.toml":"a6d73621fc05f14b9541fe9d0f84639f230fa5ecf8cabfe8d037b5129092479f","scripts/build_planned_reference_corpus.py":"47a35368a8bebbd40986b399000f45e9beb1d62f6f62d0b59168d1b18254a2b7","scripts/validate_planned_reference.py":"5e43f06974464ad741889714689df5a3a3d271471dff513627a814478bda83af"},"runtime":{"implementation":"CPython","isolation_mode":"fresh_python_process_per_door","machine":"arm64","packages":{"daqp":"0.9.1","mink":"1.3.0","mujoco":"3.12.0","numpy":"2.5.2","qpsolvers":"4.13.0","scipy":"1.18.1","shapely":"2.1.2"},"platform":"Darwin","python":"3.12.12","worker_thread_environment":{"MKL_NUM_THREADS":"1","OMP_NUM_THREADS":"1","OPENBLAS_NUM_THREADS":"1","VECLIB_MAXIMUM_THREADS":"1"}},"sha256":"12d8e3d5991e0c328240386e242f120193621911de726cb1d5e5372887aa121f"},"new_completion":{"artifact_bindings_verified":false,"complete_proposal":false,"source_success_declared":true,"task_evidence_pass":false},"reason_code":"guide_traversal_unresolved","runtime_s":0.40010699999402277,"scope":"Complete proposal plus independent sampled kinematic/task-evidence checks. Source benchmark outcome is separate from new actor completion. No dynamics, balance, force-closure, continuous collision or personal visual approval.","error":{"type":"TaskUnresolved","message":"Full task route is unresolved: No standing-body route through the declared aperture at this door pose"}}
diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0492_swing_single/clip.c1ffb503b9457680a5b6ff6fdad5a70c84f26ffc0c614017579286596334dc97.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0492_swing_single/clip.c1ffb503b9457680a5b6ff6fdad5a70c84f26ffc0c614017579286596334dc97.json
new file mode 100644
index 0000000000000000000000000000000000000000..93c8141131757d5b257d4b01cba3a637b9fb1dac
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0492_swing_single/clip.c1ffb503b9457680a5b6ff6fdad5a70c84f26ffc0c614017579286596334dc97.json
@@ -0,0 +1 @@
+{"schema":"doorbench.planned-reference.v1","door_id":"db0492_swing_single","fps":60,"units":"metres/radians/seconds","up_axis":"Z","status":"unvalidated","qa":{},"duration":58.15198320036394,"frames":2623,"complete_proposal":true,"sampling":"actor_time is authoritative; fps is the nominal rendering frame rate","retiming":{"success":true,"schema":"doorbench.retime.v1","frames":2623,"iterations":5,"original_duration_s":43.699999999999996,"duration_s":58.15198320036394,"duration_scale":1.3307089977199986,"maximum_interval_scale":4.481080226909693,"changed_intervals":1535,"maximum_neighbor_scale_ratio":1.1500000000000172,"neighbor_ratio_limit":1.15,"interval_scale_cap":20.0,"before":{"max_velocity_ratio":1.0000000000000013,"max_acceleration_ratio":20.000000000001144,"velocity_violations":0,"acceleration_violations":962,"worst_velocity":{"frame":32,"dof":"actor_knee_l","ratio":1.0000000000000013},"worst_acceleration":{"frame":1152,"dof":"actor_elbow_r","ratio":20.000000000001144}},"after":{"max_velocity_ratio":1.0000000000000533,"max_acceleration_ratio":0.9986778264942964,"velocity_violations":0,"acceleration_violations":0,"worst_velocity":{"frame":435,"dof":"actor_elbow_r","ratio":1.0000000000000533},"worst_acceleration":{"frame":2560,"dof":"actor_knee_r","ratio":0.9986778264942964}},"velocity_limits":[0.8,0.8,0.8,1.5,1.5,1.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5],"acceleration_limits":[3.0,3.0,3.0,8.0,8.0,8.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0],"dof_labels":["actor_root:x","actor_root:y","actor_root:z","actor_root:rx","actor_root:ry","actor_root:rz","actor_spine_pitch","actor_spine_roll","actor_spine_yaw","actor_neck_yaw","actor_neck_pitch","actor_shoulder_l_pitch","actor_shoulder_l_roll","actor_shoulder_l_yaw","actor_elbow_l","actor_wrist_l_pitch","actor_wrist_l_roll","actor_wrist_l_yaw","actor_shoulder_r_pitch","actor_shoulder_r_roll","actor_shoulder_r_yaw","actor_elbow_r","actor_wrist_r_pitch","actor_wrist_r_roll","actor_wrist_r_yaw","actor_hip_l_pitch","actor_hip_l_roll","actor_hip_l_yaw","actor_knee_l","actor_ankle_l_pitch","actor_ankle_l_roll","actor_hip_r_pitch","actor_hip_r_roll","actor_hip_r_yaw","actor_knee_r","actor_ankle_r_pitch","actor_ankle_r_roll"],"failure":null,"scope":"Sampled actor velocity and world-basis angular acceleration; unchanged poses and source clock. Independent geometry/contact/interpolation revalidation 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kinematic proposal; constrained IK and independent acceptance still required.","body_guidance_filter":{"type":"Gaussian","sigma_seconds":0.2,"scope":"Soft body and resting-arm targets before IK; foot contacts and native poses unchanged."}},"solver_summary":{"failed_frames":0,"geometrically_infeasible_frames":0,"error_counts":{},"runtime_s":41.317285625002114},"limitations":["Kinematic candidate: independent acceptance and visual review pending.","Native door poses are time-warped; source forces and dynamics are not replayed on this clock.","Original approximate adult rig; no articulated fingers, actuator limits or contact-force certification."]}
diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0492_swing_single/result.83e788a86212022c087f5d9eaadb649e0aefad81b219fe46c3c394bf55c851c1.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0492_swing_single/result.83e788a86212022c087f5d9eaadb649e0aefad81b219fe46c3c394bf55c851c1.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e47c03713a1187428f304a35a3ca2521d073f6f
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0492_swing_single/result.83e788a86212022c087f5d9eaadb649e0aefad81b219fe46c3c394bf55c851c1.json
@@ -0,0 +1 @@
+{"schema":"doorbench.planned-reference-public-attempt.v1","projection":"Public summary; execution logs and traceback omitted, absolute paths redacted. 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Source benchmark outcome is separate from new actor completion. No dynamics, balance, force-closure, continuous collision or personal visual approval."}
diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0492_swing_single/validation.b2fd56bd7d05460650fd0641b9f6dabc8791324dfd255e29bdcd7bec9ffa543d.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0492_swing_single/validation.b2fd56bd7d05460650fd0641b9f6dabc8791324dfd255e29bdcd7bec9ffa543d.json
new file mode 100644
index 0000000000000000000000000000000000000000..65dc46b0e9f83ca0ddd69c390052d43953a768e4
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0492_swing_single/validation.b2fd56bd7d05460650fd0641b9f6dabc8791324dfd255e29bdcd7bec9ffa543d.json
@@ -0,0 +1,252 @@
+{
+  "accepted": true,
+  "actor_geometry_count": 16,
+  "actor_self_pairs_exclude": "same-body and directly adjacent bodies only",
+  "clip_sha256": "c1ffb503b9457680a5b6ff6fdad5a70c84f26ffc0c614017579286596334dc97",
+  "collision_samples": 5293,
+  "contact_exclusion_pair_frames": 1647,
+  "door_id": "db0492_swing_single",
+  "failure_counts": {},
+  "failure_examples": {},
+  "frames": 2623,
+  "kinematic_accepted": true,
+  "maxima": {
+    "active_hand_target_error_m": 0.0014242965512189772,
+    "actor_acceleration_limit_ratio": 0.9986778264942964,
+    "actor_velocity_limit_ratio": 1.0000000000000533,
+    "fk_actor_body_pos": 0.0,
+    "fk_actor_body_quat": 1.2990531157078367e-07,
+    "fk_actor_joints": 0.0,
+    "fk_body_pos": 0.0,
+    "fk_body_quat": 5.960464477539063e-08,
+    "fk_foot_pos": 0.0,
+    "fk_foot_quat": 1.1151007970493858e-07,
+    "foot_target_orientation_error_rad": 4.92415179069589e-07,
+    "foot_target_position_error_m": 1.2957288137911046e-06,
+    "hand_contact_penetration_m": 0.0,
+    "hand_contact_surface_gap_m": 0.004987941782162559,
+    "interpolated_stance_orientation_drift_rad": 2.990958164704507e-05,
+    "interpolated_stance_position_drift_m": 5.054885511979126e-05,
+    "joint_limit_violation_rad": 0.0,
+    "stance_orientation_drift_rad": 4.92415179069589e-07,
+    "stance_position_drift_m": 1.295728812197993e-06,
+    "stance_sole_height_error_m": 1.2504477267666347e-06
+  },
+  "minimum_foot_ground_distance_m": -4.885354384500176e-05,
+  "minimum_noncontact_distance_m": 0.0035456337137011245,
+  "native_collision_geometry_count": 23,
+  "native_timewarp": {
+    "end_s": 3.5,
+    "nondecreasing": true,
+    "start_s": 0.0
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+  "rig_fingerprint": "7aaa9dc6d1679b4775f9c79dbcb9a077f7c8e8d56a52d0ecf7fe97af071a9dd1",
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+    "mujoco": "3.12.0",
+    "numpy": "2.5.2"
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+  "schema": "doorbench.planned-reference-validation.v1",
+  "scope": [
+    "Recomputed FK from saved qpos on original fixed actor MJCF and source door.",
+    "Exact engine distances for declared rigid collision geometry, including nonadjacent actor self-collision.",
+    "Frame and adaptively subdivided geodesic joint interpolation checks, not continuous-collision certification.",
+    "Stance requires fixed ankle pose and four sole corners supported by horizontal native floor boxes/planes.",
+    "Joint-range/derivative acceptance applies to the actor. Native source poses/FK and monotonic timewarp are verified; source dynamics and soft joint-limit compliance are not re-certified.",
+    "No dynamics, balance, friction, force closure, actuator torque or retimed-native-physics certification."
+  ],
+  "settings": {
+    "clearance_m": 0.003,
+    "collision_tolerance_m": 1e-05,
+    "fk_orientation_rad": 0.0001,
+    "fk_position_m": 1e-05,
+    "foot_orientation_rad": 0.008726646259971648,
+    "foot_position_m": 0.001,
+    "ground_penetration_m": 0.0001,
+    "hand_contact_penetration_m": 0.003,
+    "hand_position_m": 0.01,
+    "hand_surface_gap_m": 0.005,
+    "joint_acceleration_rad_s2": 15.0,
+    "joint_limit_rad": 1e-06,
+    "joint_speed_rad_s": 2.5,
+    "max_sample_dt_s": 0.025,
+    "max_sample_rotation_rad": 0.05,
+    "max_sample_translation_m": 0.01,
+    "root_acceleration_m_s2": 3.0,
+    "root_angular_acceleration_rad_s2": 8.0,
+    "root_angular_speed_rad_s": 1.5,
+    "root_speed_m_s": 0.8
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+  "signed_distance_queries": 618123,
+  "source_sha256": {
+    "door.xml": "42d74f936f326ed07e5984c1ff6c99d123c575b44c19489b9d0f5f7483570b4b",
+    "model.json": "8bf89a8c38ea2eac5258c4a9bb5a511e182dfd5be132d0a3122105e7031e6ac4",
+    "spec.json": "ba66e497e885b457d6286da3a2467e9d82d494d0c1abc2faf4d3956c54571a9e"
+  },
+  "status": "accepted_kinematic",
+  "task_completion": {
+    "complete_proposal": true,
+    "completion_scope": "Observed actor route plus declared source outcome; contact, lock recognition and mechanism semantics are not independently certified.",
+    "crossings": [
+      {
+        "forward": true,
+        "from_frame": 1477,
+        "inside_aperture": true,
+        "position": [
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+          0.0,
+          0.9495529504280171
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+        "time_s": 33.23383299048024
+      }
+    ],
+    "evidence_pass": true,
+    "failure_counts": {},
+    "failure_examples": {},
+    "final_pelvis": [
+      1.8901985312204596e-05,
+      1.5002648722304393,
+      0.9452783048921922
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+    "final_signed_distance_m": 1.5002648722304393,
+    "goal_distance_m": 0.00026554582185868815,
+    "goal_metric": "XY pelvis projection into ground goal disc",
+    "goal_radius_m": 0.5,
+    "initial_signed_distance_m": -1.7627493269125911,
+    "inside_forward_crossings": 1,
+    "proposal_traversal": "proposed",
+    "scenario": "open_and_traverse",
+    "source_success_declared": true
+  },
+  "trajectory_sha256": "22eece381782803f7f1a489f62eb8558b113c3ff5cd081a2bc2aad77e903302e",
+  "worst_samples": {
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+      "context": 1,
+      "frame": 1152,
+      "limit": 0.01,
+      "measured": 0.0014242965512189772
+    },
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+      "context": {
+        "acceleration": 14.980167397414446,
+        "dof": "actor_knee_r",
+        "limit": 15.0,
+        "root_rotation_basis": "world"
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+      "frame": 2560,
+      "limit": 1.0001,
+      "measured": 0.9986778264942964
+    },
+    "actor_velocity_limit_ratio": {
+      "context": {
+        "dof": "actor_elbow_r",
+        "limit": 2.5,
+        "velocity": 2.5000000000001332
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+      "frame": 435,
+      "limit": 1.0001,
+      "measured": 1.0000000000000533
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+    "fk_actor_body_pos": {
+      "context": null,
+      "frame": 0,
+      "limit": 1e-05,
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+    "fk_actor_body_quat": {
+      "context": null,
+      "frame": 2437,
+      "limit": 0.0001,
+      "measured": 1.2990531157078367e-07
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+    "fk_actor_joints": {
+      "context": null,
+      "frame": 0,
+      "limit": 1e-05,
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+    "fk_body_pos": {
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+      "frame": 0,
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+      "measured": 5.960464477539063e-08
+    },
+    "fk_foot_pos": {
+      "context": null,
+      "frame": 0,
+      "limit": 1e-05,
+      "measured": 0.0
+    },
+    "fk_foot_quat": {
+      "context": null,
+      "frame": 126,
+      "limit": 0.0001,
+      "measured": 1.1151007970493858e-07
+    },
+    "foot_target_orientation_error_rad": {
+      "context": 1,
+      "frame": 1156,
+      "limit": 0.008726646259971648,
+      "measured": 4.92415179069589e-07
+    },
+    "foot_target_position_error_m": {
+      "context": 1,
+      "frame": 1156,
+      "limit": 0.001,
+      "measured": 1.2957288137911046e-06
+    },
+    "hand_contact_penetration_m": {
+      "context": 1,
+      "frame": 476,
+      "limit": 0.003,
+      "measured": 0.0
+    },
+    "hand_contact_surface_gap_m": {
+      "context": 1,
+      "frame": 1151,
+      "limit": 0.005,
+      "measured": 0.004987941782162559
+    },
+    "interpolated_stance_orientation_drift_rad": {
+      "context": 0,
+      "frame": "2228+1/2",
+      "limit": 0.008726646259971648,
+      "measured": 2.990958164704507e-05
+    },
+    "interpolated_stance_position_drift_m": {
+      "context": 0,
+      "frame": "2233+1/2",
+      "limit": 0.001,
+      "measured": 5.054885511979126e-05
+    },
+    "joint_limit_violation_rad": {
+      "context": "actor_spine_pitch",
+      "frame": 0,
+      "limit": 1e-06,
+      "measured": 0.0
+    },
+    "stance_orientation_drift_rad": {
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+      "measured": 4.92415179069589e-07
+    },
+    "stance_position_drift_m": {
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+      "frame": 1156,
+      "limit": 0.001,
+      "measured": 1.295728812197993e-06
+    },
+    "stance_sole_height_error_m": {
+      "context": 1,
+      "frame": 1156,
+      "limit": 0.001,
+      "measured": 1.2504477267666347e-06
+    }
+  }
+}
diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0493_swing_single/clip.27d134d1047119c6e0b87b4d7992a71ef1b96a165ce29a9e58a760616cef1ecc.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0493_swing_single/clip.27d134d1047119c6e0b87b4d7992a71ef1b96a165ce29a9e58a760616cef1ecc.json
new file mode 100644
index 0000000000000000000000000000000000000000..89298e8d0738b380ba6573afad16f906ba49c273
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0493_swing_single/clip.27d134d1047119c6e0b87b4d7992a71ef1b96a165ce29a9e58a760616cef1ecc.json
@@ -0,0 +1 @@
+{"schema":"doorbench.planned-reference.v1","door_id":"db0493_swing_single","fps":60,"units":"metres/radians/seconds","up_axis":"Z","status":"unvalidated","qa":{},"duration":96.57398827617548,"frames":4127,"complete_proposal":true,"sampling":"actor_time is authoritative; fps is the nominal rendering frame rate","retiming":{"success":true,"schema":"doorbench.retime.v1","frames":4127,"iterations":4,"original_duration_s":72.46666666666665,"duration_s":96.57398827617548,"duration_scale":1.332667731501962,"maximum_interval_scale":3.2772285858108567,"changed_intervals":2602,"maximum_neighbor_scale_ratio":1.1500000000000825,"neighbor_ratio_limit":1.15,"interval_scale_cap":20.0,"before":{"max_velocity_ratio":1.0000000000000013,"max_acceleration_ratio":10.69739483473797,"velocity_violations":0,"acceleration_violations":1672,"worst_velocity":{"frame":32,"dof":"actor_knee_l","ratio":1.0000000000000013},"worst_acceleration":{"frame":2866,"dof":"actor_elbow_r","ratio":10.69739483473797}},"after":{"max_velocity_ratio":1.0000000000000533,"max_acceleration_ratio":0.999951012855212,"velocity_violations":0,"acceleration_violations":0,"worst_velocity":{"frame":475,"dof":"actor_elbow_r","ratio":1.0000000000000533},"worst_acceleration":{"frame":1772,"dof":"actor_knee_l","ratio":0.999951012855212}},"velocity_limits":[0.8,0.8,0.8,1.5,1.5,1.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5],"acceleration_limits":[3.0,3.0,3.0,8.0,8.0,8.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0],"dof_labels":["actor_root:x","actor_root:y","actor_root:z","actor_root:rx","actor_root:ry","actor_root:rz","actor_spine_pitch","actor_spine_roll","actor_spine_yaw","actor_neck_yaw","actor_neck_pitch","actor_shoulder_l_pitch","actor_shoulder_l_roll","actor_shoulder_l_yaw","actor_elbow_l","actor_wrist_l_pitch","actor_wrist_l_roll","actor_wrist_l_yaw","actor_shoulder_r_pitch","actor_shoulder_r_roll","actor_shoulder_r_yaw","actor_elbow_r","actor_wrist_r_pitch","actor_wrist_r_roll","actor_wrist_r_yaw","actor_hip_l_pitch","actor_hip_l_roll","actor_hip_l_yaw","actor_knee_l","actor_ankle_l_pitch","actor_ankle_l_roll","actor_hip_r_pitch","actor_hip_r_roll","actor_hip_r_yaw","actor_knee_r","actor_ankle_r_pitch","actor_ankle_r_roll"],"failure":null,"scope":"Sampled actor velocity and world-basis angular acceleration; unchanged poses and source clock. Independent geometry/contact/interpolation revalidation required."},"trajectory_sha256":"b04cd3e30937b5720298582b770fec3b1c9dc8ee858f9bfc94fe34d9d20ca396","source_sha256":{"spec.json":"51d42181d1f32276566da69f4af5b33be1af5847ff92d797c675db9614c5e451","model.json":"160db97776709c033360fc7a946f8c9f581b2430ebc0ae3bd6c65d7a25b90483","door.xml":"87c49255c8c86a5aa4d8ffd35e0df3be8ebc64b40cca775d9f137e7d814f422e"},"native":{"body_names":["world","leaf","leaf_handle","leaf_latch_bolt","closer_arm_main","closer_arm_fore"],"joint_names":["leaf_hinge","leaf_handle_hinge","leaf_latch_bolt_slide","closer_pinion","closer_elbow"],"qpos_addresses":[0,1,2,3,4]},"actor":{"body_names":["actor_pelvis","actor_chest","actor_neck","actor_head","actor_shoulder_l","actor_elbow_l","actor_wrist_l","actor_shoulder_r","actor_elbow_r","actor_wrist_r","actor_hip_l","actor_knee_l","actor_ankle_l","actor_hip_r","actor_knee_r","actor_ankle_r"],"joint_names":["actor_root","actor_spine_pitch","actor_spine_roll","actor_spine_yaw","actor_neck_yaw","actor_neck_pitch","actor_shoulder_l_pitch","actor_shoulder_l_roll","actor_shoulder_l_yaw","actor_elbow_l","actor_wrist_l_pitch","actor_wrist_l_roll","actor_wrist_l_yaw","actor_shoulder_r_pitch","actor_shoulder_r_roll","actor_shoulder_r_yaw","actor_elbow_r","actor_wrist_r_pitch","actor_wrist_r_roll","actor_wrist_r_yaw","actor_hip_l_pitch","actor_hip_l_roll","actor_hip_l_yaw","actor_knee_l","actor_ankle_l_pitch","actor_ankle_l_roll","actor_hip_r_pitch","actor_hip_r_roll","actor_hip_r_yaw","actor_knee_r","actor_ankle_r_pitch","actor_ankle_r_roll"],"qpos_addresses":[0,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37],"geometries":[{"name":"actor_geom_pelvis","body_name":"actor_pelvis","type":"capsule","size":[0.105,0.035,0.0],"pos":[0.0,0.0,0.005000000000000001],"quat_wxyz":[6.123233995736766e-17,1.0,0.0,0.0]},{"name":"actor_geom_torso","body_name":"actor_chest","type":"capsule","size":[0.12,0.0825,0.0],"pos":[0.0,0.0,-0.1075],"quat_wxyz":[6.123233995736766e-17,1.0,0.0,0.0]},{"name":"actor_geom_neck","body_name":"actor_neck","type":"capsule","size":[0.04,0.08,0.0],"pos":[0.0,0.0,-0.039999999999999994],"quat_wxyz":[6.123233995736766e-17,1.0,0.0,0.0]},{"name":"actor_geom_head","body_name":"actor_head","type":"sphere","size":[0.1,0.0,0.0],"pos":[0.0,0.0,0.0],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_upper_arm_l","body_name":"actor_shoulder_l","type":"capsule","size":[0.043,0.125,0.0],"pos":[0.0,0.0,-0.15000000000000002],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_forearm_l","body_name":"actor_elbow_l","type":"capsule","size":[0.036,0.12000000000000001,0.0],"pos":[0.0,0.0,-0.14],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_hand_l","body_name":"actor_wrist_l","type":"sphere","size":[0.035,0.0,0.0],"pos":[0.0,0.0,0.0],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_upper_arm_r","body_name":"actor_shoulder_r","type":"capsule","size":[0.043,0.125,0.0],"pos":[0.0,0.0,-0.15000000000000002],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_forearm_r","body_name":"actor_elbow_r","type":"capsule","size":[0.036,0.12000000000000001,0.0],"pos":[0.0,0.0,-0.14],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_hand_r","body_name":"actor_wrist_r","type":"sphere","size":[0.035,0.0,0.0],"pos":[0.0,0.0,0.0],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_thigh_l","body_name":"actor_hip_l","type":"capsule","size":[0.065,0.17500000000000002,0.0],"pos":[0.0,0.0,-0.215],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_shin_l","body_name":"actor_knee_l","type":"capsule","size":[0.047,0.18,0.0],"pos":[0.0,0.0,-0.21500000000000002],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_foot_l","body_name":"actor_ankle_l","type":"box","size":[0.05,0.13,0.0275],"pos":[0.0,0.04,-0.0275],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_thigh_r","body_name":"actor_hip_r","type":"capsule","size":[0.065,0.17500000000000002,0.0],"pos":[0.0,0.0,-0.215],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_shin_r","body_name":"actor_knee_r","type":"capsule","size":[0.047,0.18,0.0],"pos":[0.0,0.0,-0.21500000000000002],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_foot_r","body_name":"actor_ankle_r","type":"box","size":[0.05,0.13,0.0275],"pos":[0.0,0.04,-0.0275],"quat_wxyz":[1.0,0.0,0.0,0.0]}],"mjcf_xml":"<mujoco model=\"doorbench_original_adult\"><compiler angle=\"radian\" autolimits=\"true\" /><worldbody><body name=\"actor_pelvis\" pos=\"0.0109813744426 -1.83029751969 0.940521645285\" quat=\"0.999999966672 0 0 0.000258177782023\"><inertial pos=\"0 0 0\" mass=\"9.0\" diaginertia=\"0.108 0.108 0.108\" /><freejoint name=\"actor_root\" /><geom name=\"actor_geom_pelvis\" type=\"capsule\" size=\"0.105\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.03 0 0 0.04\" /><site name=\"actor_site_pelvis\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_chest\" pos=\"0 0 0.35\"><inertial pos=\"0 0 -0.12\" mass=\"20.0\" diaginertia=\"0.24 0.24 0.24\" /><joint name=\"actor_spine_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-0.65 0.65\" limited=\"true\" damping=\"1\" pos=\"0 0 -.30\" /><joint name=\"actor_spine_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-0.4 0.4\" limited=\"true\" damping=\"1\" pos=\"0 0 -.30\" /><joint name=\"actor_spine_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-0.8 0.8\" limited=\"true\" damping=\"1\" pos=\"0 0 -.30\" /><geom name=\"actor_geom_torso\" type=\"capsule\" size=\"0.12\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.19 0 0 -0.025\" /><site name=\"actor_site_chest\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_neck\" pos=\"0 0 0.16\"><inertial pos=\"0 0 0\" mass=\"1.0\" diaginertia=\"0.012 0.012 0.012\" /><joint name=\"actor_neck_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-1 1\" limited=\"true\" damping=\"1\" /><joint name=\"actor_neck_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-0.5 0.5\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_neck\" type=\"capsule\" size=\"0.04\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.12 0 0 0.04\" /><site name=\"actor_site_neck\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_head\" pos=\"0 0 0.13\"><inertial pos=\"0 0 0\" mass=\"4.5\" diaginertia=\"0.054 0.054 0.054\" /><geom name=\"actor_geom_head\" type=\"sphere\" size=\"0.1\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" /><site name=\"actor_site_head\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /></body></body><body name=\"actor_shoulder_l\" pos=\"-0.18 0 0.06\"><inertial pos=\"0 0 -0.15\" mass=\"2.0\" diaginertia=\"0.024 0.024 0.024\" /><joint name=\"actor_shoulder_l_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-1.2 2.7\" limited=\"true\" damping=\"1\" /><joint name=\"actor_shoulder_l_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-2.3 2.3\" limited=\"true\" damping=\"1\" /><joint name=\"actor_shoulder_l_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-1.6 1.6\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_upper_arm_l\" type=\"capsule\" size=\"0.043\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.025 0 0 -0.275\" /><site name=\"actor_site_shoulder_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_elbow_l\" pos=\"0 0 -0.3\"><inertial pos=\"0 0 -0.14\" mass=\"1.2\" diaginertia=\"0.0144 0.0144 0.0144\" /><joint name=\"actor_elbow_l\" type=\"hinge\" axis=\"1 0 0\" range=\"0 2.65\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_forearm_l\" type=\"capsule\" size=\"0.036\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.02 0 0 -0.26\" /><site name=\"actor_site_elbow_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_wrist_l\" pos=\"0 0 -0.28\"><inertial pos=\"0 0 0\" mass=\"0.4\" diaginertia=\"0.0048 0.0048 0.0048\" /><joint name=\"actor_wrist_l_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-1.1 1.1\" limited=\"true\" damping=\"1\" /><joint name=\"actor_wrist_l_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-0.65 0.65\" limited=\"true\" damping=\"1\" /><joint name=\"actor_wrist_l_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-1.4 1.4\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_hand_l\" type=\"sphere\" size=\"0.035\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" /><site name=\"actor_site_wrist_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /></body></body></body><body name=\"actor_shoulder_r\" pos=\"0.18 0 0.06\"><inertial pos=\"0 0 -0.15\" mass=\"2.0\" diaginertia=\"0.024 0.024 0.024\" /><joint name=\"actor_shoulder_r_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-1.2 2.7\" limited=\"true\" damping=\"1\" /><joint name=\"actor_shoulder_r_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-2.3 2.3\" limited=\"true\" damping=\"1\" /><joint name=\"actor_shoulder_r_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-1.6 1.6\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_upper_arm_r\" type=\"capsule\" size=\"0.043\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.025 0 0 -0.275\" /><site name=\"actor_site_shoulder_r\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_elbow_r\" pos=\"0 0 -0.3\"><inertial pos=\"0 0 -0.14\" mass=\"1.2\" diaginertia=\"0.0144 0.0144 0.0144\" /><joint name=\"actor_elbow_r\" type=\"hinge\" axis=\"1 0 0\" range=\"0 2.65\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_forearm_r\" type=\"capsule\" size=\"0.036\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.02 0 0 -0.26\" /><site name=\"actor_site_elbow_r\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_wrist_r\" pos=\"0 0 -0.28\"><inertial pos=\"0 0 0\" mass=\"0.4\" diaginertia=\"0.0048 0.0048 0.0048\" /><joint name=\"actor_wrist_r_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-1.1 1.1\" limited=\"true\" damping=\"1\" /><joint name=\"actor_wrist_r_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-0.65 0.65\" limited=\"true\" damping=\"1\" /><joint name=\"actor_wrist_r_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-1.4 1.4\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_hand_r\" type=\"sphere\" size=\"0.035\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" /><site name=\"actor_site_wrist_r\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /></body></body></body></body><body name=\"actor_hip_l\" pos=\"-0.105 0 -0.06\"><inertial pos=\"0 0 -0.215\" mass=\"8.0\" diaginertia=\"0.096 0.096 0.096\" /><joint name=\"actor_hip_l_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-0.7 1.8\" limited=\"true\" damping=\"1\" /><joint name=\"actor_hip_l_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-0.65 0.65\" limited=\"true\" damping=\"1\" /><joint name=\"actor_hip_l_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-0.8 0.8\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_thigh_l\" type=\"capsule\" size=\"0.065\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.04 0 0 -0.39\" /><site name=\"actor_site_hip_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_knee_l\" pos=\"0 0 -0.43\"><inertial pos=\"0 0 -0.215\" mass=\"3.5\" diaginertia=\"0.042 0.042 0.042\" /><joint name=\"actor_knee_l\" type=\"hinge\" axis=\"1 0 0\" range=\"-2.7 0\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_shin_l\" type=\"capsule\" size=\"0.047\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.035 0 0 -0.395\" /><site name=\"actor_site_knee_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_ankle_l\" pos=\"0 0 -0.43\"><inertial pos=\"0 0.04 -0.0275\" mass=\"1.0\" diaginertia=\"0.012 0.012 0.012\" /><joint name=\"actor_ankle_l_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-0.8 0.8\" limited=\"true\" damping=\"1\" /><joint name=\"actor_ankle_l_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-0.45 0.45\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_foot_l\" type=\"box\" size=\"0.05 0.13 0.0275\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" pos=\"0 .04 -.0275\" /><site name=\"actor_site_ankle_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><site name=\"actor_site_sole_l\" pos=\"0 0.04 -0.055\" size=\".008\" rgba=\"1 .6 .1 1\" /></body></body></body><body name=\"actor_hip_r\" pos=\"0.105 0 -0.06\"><inertial pos=\"0 0 -0.215\" mass=\"8.0\" diaginertia=\"0.096 0.096 0.096\" /><joint name=\"actor_hip_r_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-0.7 1.8\" limited=\"true\" damping=\"1\" /><joint name=\"actor_hip_r_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-0.65 0.65\" limited=\"true\" damping=\"1\" /><joint name=\"actor_hip_r_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-0.8 0.8\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_thigh_r\" type=\"capsule\" size=\"0.065\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.04 0 0 -0.39\" /><site name=\"actor_site_hip_r\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_knee_r\" pos=\"0 0 -0.43\"><inertial pos=\"0 0 -0.215\" mass=\"3.5\" diaginertia=\"0.042 0.042 0.042\" /><joint name=\"actor_knee_r\" type=\"hinge\" axis=\"1 0 0\" range=\"-2.7 0\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_shin_r\" type=\"capsule\" size=\"0.047\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.035 0 0 -0.395\" /><site name=\"actor_site_knee_r\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_ankle_r\" pos=\"0 0 -0.43\"><inertial pos=\"0 0.04 -0.0275\" mass=\"1.0\" diaginertia=\"0.012 0.012 0.012\" /><joint name=\"actor_ankle_r_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-0.8 0.8\" limited=\"true\" damping=\"1\" /><joint name=\"actor_ankle_r_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-0.45 0.45\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_foot_r\" type=\"box\" size=\"0.05 0.13 0.0275\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" pos=\"0 .04 -.0275\" /><site name=\"actor_site_ankle_r\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><site name=\"actor_site_sole_r\" pos=\"0 0.04 -0.055\" size=\".008\" rgba=\"1 .6 .1 1\" 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kinematic proposal; constrained IK and independent acceptance still required.","body_guidance_filter":{"type":"Gaussian","sigma_seconds":0.2,"scope":"Soft body and resting-arm targets before IK; foot contacts and native poses unchanged."}},"solver_summary":{"failed_frames":0,"geometrically_infeasible_frames":0,"error_counts":{},"runtime_s":57.5124911669991},"limitations":["Kinematic candidate: independent acceptance and visual review pending.","Native door poses are time-warped; source forces and dynamics are not replayed on this clock.","Original approximate adult rig; no articulated fingers, actuator limits or contact-force certification."]}
diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0493_swing_single/result.c4df1bb31e473c046f9496e1bae048569a9f960e90e930517ec42438516db0f5.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0493_swing_single/result.c4df1bb31e473c046f9496e1bae048569a9f960e90e930517ec42438516db0f5.json
new file mode 100644
index 0000000000000000000000000000000000000000..d40327cbb8d1950f85165a018cfc026576e39c9d
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0493_swing_single/result.c4df1bb31e473c046f9496e1bae048569a9f960e90e930517ec42438516db0f5.json
@@ -0,0 +1 @@
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diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0493_swing_single/validation.b319f51b5d12ec6a0465ab2ed2e8ef0d7a80d3aa857a5441ffe7860ee7ef3246.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0493_swing_single/validation.b319f51b5d12ec6a0465ab2ed2e8ef0d7a80d3aa857a5441ffe7860ee7ef3246.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a0337f691603208cebe5ecab44e18bf948c3b82
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0493_swing_single/validation.b319f51b5d12ec6a0465ab2ed2e8ef0d7a80d3aa857a5441ffe7860ee7ef3246.json
@@ -0,0 +1,252 @@
+{
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+  "clip_sha256": "27d134d1047119c6e0b87b4d7992a71ef1b96a165ce29a9e58a760616cef1ecc",
+  "collision_samples": 8299,
+  "contact_exclusion_pair_frames": 2129,
+  "door_id": "db0493_swing_single",
+  "failure_counts": {},
+  "failure_examples": {},
+  "frames": 4127,
+  "kinematic_accepted": true,
+  "maxima": {
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+    "stance_sole_height_error_m": 3.60278089583943e-08
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+  "scope": [
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+    "Exact engine distances for declared rigid collision geometry, including nonadjacent actor self-collision.",
+    "Frame and adaptively subdivided geodesic joint interpolation checks, not continuous-collision certification.",
+    "Stance requires fixed ankle pose and four sole corners supported by horizontal native floor boxes/planes.",
+    "Joint-range/derivative acceptance applies to the actor. Native source poses/FK and monotonic timewarp are verified; source dynamics and soft joint-limit compliance are not re-certified.",
+    "No dynamics, balance, friction, force closure, actuator torque or retimed-native-physics certification."
+  ],
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+}
diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0494_swing_double/result.3f01e129799e2057405c74f24582c329c50c93e7891ec1f3800b06bc874b564c.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0494_swing_double/result.3f01e129799e2057405c74f24582c329c50c93e7891ec1f3800b06bc874b564c.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b59cb047f4679ce9546f9c39a3c7b46a53c5aba
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0494_swing_double/result.3f01e129799e2057405c74f24582c329c50c93e7891ec1f3800b06bc874b564c.json
@@ -0,0 +1 @@
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diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0505_baby_gate/result.4f92c6603469c8d0718295130522ab6a14230b6a63eadca73a635c3719d20c73.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0505_baby_gate/result.4f92c6603469c8d0718295130522ab6a14230b6a63eadca73a635c3719d20c73.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b2784c8fe6dd33ef63e43ccd13009e2b2029c4d
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diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0506_rollup/result.82c9be6116972ee707fc4b8f333a9fcbad76ecb7b941c7fe888e2d41cbed8b74.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0506_rollup/result.82c9be6116972ee707fc4b8f333a9fcbad76ecb7b941c7fe888e2d41cbed8b74.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd6e76f06618940a28c501ee29ecb85636fb6c96
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+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0506_rollup/result.82c9be6116972ee707fc4b8f333a9fcbad76ecb7b941c7fe888e2d41cbed8b74.json
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diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0508_swing_single/result.2034a6f564d421c612c99bfd058a096fea097ee3e85361f586a582ecc46c2afd.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0508_swing_single/result.2034a6f564d421c612c99bfd058a096fea097ee3e85361f586a582ecc46c2afd.json
new file mode 100644
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diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0509_swing_double/result.eee5ce8c948f0db1eee1c4da45c0c1e267e66c95c5137cf3745cd9d2ee197ca3.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0509_swing_double/result.eee5ce8c948f0db1eee1c4da45c0c1e267e66c95c5137cf3745cd9d2ee197ca3.json
new file mode 100644
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diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0512_sliding_single/result.391b76b0c18bb9f2ddc10c77a37c8e3d49ae95d75af11cc31c0d5ad32549f43b.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0512_sliding_single/result.391b76b0c18bb9f2ddc10c77a37c8e3d49ae95d75af11cc31c0d5ad32549f43b.json
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diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0514_automatic_sliding/result.ed8bcb79b98cd1c6be9adbc766c9010a23c0674523ef38187f9738c928d82261.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0514_automatic_sliding/result.ed8bcb79b98cd1c6be9adbc766c9010a23c0674523ef38187f9738c928d82261.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f568494dca394241c8db5ff78890726f8955bc8
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diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0515_elevator/result.a2a8b4b9bb08c05ae00f075fb5fe961863e944b0df1ae0d982b2f306f40f1eee.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0515_elevator/result.a2a8b4b9bb08c05ae00f075fb5fe961863e944b0df1ae0d982b2f306f40f1eee.json
new file mode 100644
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+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0515_elevator/result.a2a8b4b9bb08c05ae00f075fb5fe961863e944b0df1ae0d982b2f306f40f1eee.json
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diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0516_turnstile_tripod/result.a3efb18d6d0f6dea32ddfc7ff35870c56096da6f81b4364af50ad6da0ad86eed.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0516_turnstile_tripod/result.a3efb18d6d0f6dea32ddfc7ff35870c56096da6f81b4364af50ad6da0ad86eed.json
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required."},"trajectory_sha256":"795aeaadf68cc237f7cac301b6aba02491bef9d2995bc9a615a6860c8677a92c","source_sha256":{"spec.json":"52593dad1a13e4a5ec730bdcf41a56a42b05548e44c899b209a62937da4aa99f","model.json":"90277f2617822063ceabe94a9a1bd37104902680c8baf3b2dd959d7b6b19d3ef","door.xml":"67c63b9453634e94379d2f0000a1ea9f92c43e5a60a597c83aaab3b585b07332"},"native":{"body_names":["world","leaf","leaf_handle","leaf_latch_bolt","closer_arm_main","closer_arm_fore"],"joint_names":["leaf_hinge","leaf_handle_hinge","leaf_latch_bolt_slide","closer_pinion","closer_elbow"],"qpos_addresses":[0,1,2,3,4]},"actor":{"body_names":["actor_pelvis","actor_chest","actor_neck","actor_head","actor_shoulder_l","actor_elbow_l","actor_wrist_l","actor_shoulder_r","actor_elbow_r","actor_wrist_r","actor_hip_l","actor_knee_l","actor_ankle_l","actor_hip_r","actor_knee_r","actor_ankle_r"],"joint_names":["actor_root","actor_spine_pitch","actor_spine_roll","actor_spine_yaw","actor_neck_yaw","actor_neck_pitch","actor_shoulder_l_pitch","actor_shoulder_l_roll","actor_shoulder_l_yaw","actor_elbow_l","actor_wrist_l_pitch","actor_wrist_l_roll","actor_wrist_l_yaw","actor_shoulder_r_pitch","actor_shoulder_r_roll","actor_shoulder_r_yaw","actor_elbow_r","actor_wrist_r_pitch","actor_wrist_r_roll","actor_wrist_r_yaw","actor_hip_l_pitch","actor_hip_l_roll","actor_hip_l_yaw","actor_knee_l","actor_ankle_l_pitch","actor_ankle_l_roll","actor_hip_r_pitch","actor_hip_r_roll","actor_hip_r_yaw","actor_knee_r","actor_ankle_r_pitch","actor_ankle_r_roll"],"qpos_addresses":[0,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37],"geometries":[{"name":"actor_geom_pelvis","body_name":"actor_pelvis","type":"capsule","size":[0.105,0.035,0.0],"pos":[0.0,0.0,0.005000000000000001],"quat_wxyz":[6.123233995736766e-17,1.0,0.0,0.0]},{"name":"actor_geom_torso","body_name":"actor_chest","type":"capsule","size":[0.12,0.0825,0.0],"pos":[0.0,0.0,-0.1075],"quat_wxyz":[6.123233995736766e-17,1.0,0.0,0.0]},{"name":"actor_geom_neck","body_name":"actor_neck","type":"capsule","size":[0.04,0.08,0.0],"pos":[0.0,0.0,-0.039999999999999994],"quat_wxyz":[6.123233995736766e-17,1.0,0.0,0.0]},{"name":"actor_geom_head","body_name":"actor_head","type":"sphere","size":[0.1,0.0,0.0],"pos":[0.0,0.0,0.0],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_upper_arm_l","body_name":"actor_shoulder_l","type":"capsule","size":[0.043,0.125,0.0],"pos":[0.0,0.0,-0.15000000000000002],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_forearm_l","body_name":"actor_elbow_l","type":"capsule","size":[0.036,0.12000000000000001,0.0],"pos":[0.0,0.0,-0.14],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_hand_l","body_name":"actor_wrist_l","type":"sphere","size":[0.035,0.0,0.0],"pos":[0.0,0.0,0.0],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_upper_arm_r","body_name":"actor_shoulder_r","type":"capsule","size":[0.043,0.125,0.0],"pos":[0.0,0.0,-0.15000000000000002],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_forearm_r","body_name":"actor_elbow_r","type":"capsule","size":[0.036,0.12000000000000001,0.0],"pos":[0.0,0.0,-0.14],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_hand_r","body_name":"actor_wrist_r","type":"sphere","size":[0.035,0.0,0.0],"pos":[0.0,0.0,0.0],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_thigh_l","body_name":"actor_hip_l","type":"capsule","size":[0.065,0.17500000000000002,0.0],"pos":[0.0,0.0,-0.215],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_shin_l","body_name":"actor_knee_l","type":"capsule","size":[0.047,0.18,0.0],"pos":[0.0,0.0,-0.21500000000000002],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_foot_l","body_name":"actor_ankle_l","type":"box","size":[0.05,0.13,0.0275],"pos":[0.0,0.04,-0.0275],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_thigh_r","body_name":"actor_hip_r","type":"capsule","size":[0.065,0.17500000000000002,0.0],"pos":[0.0,0.0,-0.215],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_shin_r","body_name":"actor_knee_r","type":"capsule","size":[0.047,0.18,0.0],"pos":[0.0,0.0,-0.21500000000000002],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_foot_r","body_name":"actor_ankle_r","type":"box","size":[0.05,0.13,0.0275],"pos":[0.0,0.04,-0.0275],"quat_wxyz":[1.0,0.0,0.0,0.0]}],"mjcf_xml":"<mujoco model=\"doorbench_original_adult\"><compiler angle=\"radian\" autolimits=\"true\" /><worldbody><body name=\"actor_pelvis\" pos=\"-0.100238507566 -2.02013523655 0.940521645285\" quat=\"0.999999991455 0 0 -0.000130725281299\"><inertial pos=\"0 0 0\" mass=\"9.0\" diaginertia=\"0.108 0.108 0.108\" /><freejoint name=\"actor_root\" /><geom name=\"actor_geom_pelvis\" type=\"capsule\" size=\"0.105\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.03 0 0 0.04\" /><site name=\"actor_site_pelvis\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_chest\" pos=\"0 0 0.35\"><inertial pos=\"0 0 -0.12\" mass=\"20.0\" diaginertia=\"0.24 0.24 0.24\" /><joint name=\"actor_spine_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-0.65 0.65\" limited=\"true\" damping=\"1\" pos=\"0 0 -.30\" /><joint name=\"actor_spine_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-0.4 0.4\" limited=\"true\" damping=\"1\" pos=\"0 0 -.30\" /><joint name=\"actor_spine_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-0.8 0.8\" limited=\"true\" damping=\"1\" pos=\"0 0 -.30\" /><geom name=\"actor_geom_torso\" type=\"capsule\" size=\"0.12\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.19 0 0 -0.025\" /><site name=\"actor_site_chest\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_neck\" pos=\"0 0 0.16\"><inertial pos=\"0 0 0\" mass=\"1.0\" diaginertia=\"0.012 0.012 0.012\" /><joint name=\"actor_neck_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-1 1\" limited=\"true\" damping=\"1\" /><joint name=\"actor_neck_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-0.5 0.5\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_neck\" type=\"capsule\" size=\"0.04\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.12 0 0 0.04\" /><site name=\"actor_site_neck\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_head\" pos=\"0 0 0.13\"><inertial pos=\"0 0 0\" mass=\"4.5\" diaginertia=\"0.054 0.054 0.054\" /><geom name=\"actor_geom_head\" type=\"sphere\" size=\"0.1\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" /><site name=\"actor_site_head\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /></body></body><body name=\"actor_shoulder_l\" pos=\"-0.18 0 0.06\"><inertial pos=\"0 0 -0.15\" mass=\"2.0\" diaginertia=\"0.024 0.024 0.024\" /><joint name=\"actor_shoulder_l_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-1.2 2.7\" limited=\"true\" damping=\"1\" /><joint name=\"actor_shoulder_l_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-2.3 2.3\" limited=\"true\" damping=\"1\" /><joint name=\"actor_shoulder_l_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-1.6 1.6\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_upper_arm_l\" type=\"capsule\" size=\"0.043\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.025 0 0 -0.275\" /><site name=\"actor_site_shoulder_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_elbow_l\" pos=\"0 0 -0.3\"><inertial pos=\"0 0 -0.14\" mass=\"1.2\" diaginertia=\"0.0144 0.0144 0.0144\" /><joint name=\"actor_elbow_l\" type=\"hinge\" axis=\"1 0 0\" range=\"0 2.65\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_forearm_l\" type=\"capsule\" size=\"0.036\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.02 0 0 -0.26\" /><site name=\"actor_site_elbow_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_wrist_l\" pos=\"0 0 -0.28\"><inertial pos=\"0 0 0\" mass=\"0.4\" diaginertia=\"0.0048 0.0048 0.0048\" /><joint name=\"actor_wrist_l_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-1.1 1.1\" limited=\"true\" damping=\"1\" /><joint name=\"actor_wrist_l_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-0.65 0.65\" limited=\"true\" damping=\"1\" /><joint name=\"actor_wrist_l_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-1.4 1.4\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_hand_l\" type=\"sphere\" size=\"0.035\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" /><site name=\"actor_site_wrist_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /></body></body></body><body name=\"actor_shoulder_r\" pos=\"0.18 0 0.06\"><inertial pos=\"0 0 -0.15\" mass=\"2.0\" diaginertia=\"0.024 0.024 0.024\" /><joint name=\"actor_shoulder_r_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-1.2 2.7\" limited=\"true\" damping=\"1\" /><joint name=\"actor_shoulder_r_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-2.3 2.3\" limited=\"true\" damping=\"1\" /><joint name=\"actor_shoulder_r_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-1.6 1.6\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_upper_arm_r\" type=\"capsule\" size=\"0.043\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.025 0 0 -0.275\" /><site name=\"actor_site_shoulder_r\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_elbow_r\" pos=\"0 0 -0.3\"><inertial pos=\"0 0 -0.14\" mass=\"1.2\" diaginertia=\"0.0144 0.0144 0.0144\" /><joint name=\"actor_elbow_r\" type=\"hinge\" axis=\"1 0 0\" range=\"0 2.65\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_forearm_r\" type=\"capsule\" size=\"0.036\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.02 0 0 -0.26\" /><site name=\"actor_site_elbow_r\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_wrist_r\" pos=\"0 0 -0.28\"><inertial pos=\"0 0 0\" mass=\"0.4\" diaginertia=\"0.0048 0.0048 0.0048\" /><joint name=\"actor_wrist_r_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-1.1 1.1\" limited=\"true\" damping=\"1\" /><joint name=\"actor_wrist_r_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-0.65 0.65\" limited=\"true\" damping=\"1\" /><joint name=\"actor_wrist_r_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-1.4 1.4\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_hand_r\" type=\"sphere\" size=\"0.035\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" /><site name=\"actor_site_wrist_r\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /></body></body></body></body><body name=\"actor_hip_l\" pos=\"-0.105 0 -0.06\"><inertial pos=\"0 0 -0.215\" mass=\"8.0\" diaginertia=\"0.096 0.096 0.096\" /><joint name=\"actor_hip_l_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-0.7 1.8\" limited=\"true\" damping=\"1\" /><joint name=\"actor_hip_l_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-0.65 0.65\" limited=\"true\" damping=\"1\" /><joint name=\"actor_hip_l_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-0.8 0.8\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_thigh_l\" type=\"capsule\" size=\"0.065\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.04 0 0 -0.39\" /><site name=\"actor_site_hip_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_knee_l\" pos=\"0 0 -0.43\"><inertial pos=\"0 0 -0.215\" mass=\"3.5\" diaginertia=\"0.042 0.042 0.042\" /><joint name=\"actor_knee_l\" type=\"hinge\" axis=\"1 0 0\" range=\"-2.7 0\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_shin_l\" type=\"capsule\" size=\"0.047\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.035 0 0 -0.395\" /><site name=\"actor_site_knee_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_ankle_l\" pos=\"0 0 -0.43\"><inertial pos=\"0 0.04 -0.0275\" mass=\"1.0\" diaginertia=\"0.012 0.012 0.012\" /><joint name=\"actor_ankle_l_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-0.8 0.8\" limited=\"true\" damping=\"1\" /><joint name=\"actor_ankle_l_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-0.45 0.45\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_foot_l\" type=\"box\" size=\"0.05 0.13 0.0275\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" pos=\"0 .04 -.0275\" /><site name=\"actor_site_ankle_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><site name=\"actor_site_sole_l\" pos=\"0 0.04 -0.055\" size=\".008\" rgba=\"1 .6 .1 1\" /></body></body></body><body name=\"actor_hip_r\" 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diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0518_swing_single/result.54d2445eedd431f10b56acba69e8b8a16a97a9dd2e47a6204971879b1afc2cd6.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0518_swing_single/result.54d2445eedd431f10b56acba69e8b8a16a97a9dd2e47a6204971879b1afc2cd6.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c480963e447fc50d89f51790b1e4b1b6f66ebf1
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0518_swing_single/result.54d2445eedd431f10b56acba69e8b8a16a97a9dd2e47a6204971879b1afc2cd6.json
@@ -0,0 +1 @@
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Original result is identified by 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diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0518_swing_single/validation.8d193566a4521b4c5af7cd29dc1a6bccdeb8693fd5a9c6594be3cced27fc8b9d.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0518_swing_single/validation.8d193566a4521b4c5af7cd29dc1a6bccdeb8693fd5a9c6594be3cced27fc8b9d.json
new file mode 100644
index 0000000000000000000000000000000000000000..de7691fded16ad65454eafcb61af827102f1e518
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0518_swing_single/validation.8d193566a4521b4c5af7cd29dc1a6bccdeb8693fd5a9c6594be3cced27fc8b9d.json
@@ -0,0 +1,252 @@
+{
+  "accepted": true,
+  "actor_geometry_count": 16,
+  "actor_self_pairs_exclude": "same-body and directly adjacent bodies only",
+  "clip_sha256": "e6fb6180fc1b7f3a7a25231176b41515fbd93c4e04e3361defc7b6b914a22b13",
+  "collision_samples": 7195,
+  "contact_exclusion_pair_frames": 1311,
+  "door_id": "db0518_swing_single",
+  "failure_counts": {},
+  "failure_examples": {},
+  "frames": 3589,
+  "kinematic_accepted": true,
+  "maxima": {
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+    "actor_acceleration_limit_ratio": 0.9992707476241688,
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+    "fk_actor_body_pos": 0.0,
+    "fk_actor_body_quat": 1.3328003749250115e-07,
+    "fk_actor_joints": 0.0,
+    "fk_body_pos": 0.0,
+    "fk_body_quat": 7.300048299977715e-08,
+    "fk_foot_pos": 0.0,
+    "fk_foot_quat": 1.264405455326821e-07,
+    "foot_target_orientation_error_rad": 9.424321830774485e-08,
+    "foot_target_position_error_m": 3.518264460977797e-11,
+    "hand_contact_penetration_m": 0.0,
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+    "interpolated_stance_orientation_drift_rad": 1.953296137585018e-05,
+    "interpolated_stance_position_drift_m": 5.059272285802465e-05,
+    "joint_limit_violation_rad": 0.0,
+    "stance_orientation_drift_rad": 1.1542389828584842e-07,
+    "stance_position_drift_m": 3.518311364868767e-11,
+    "stance_sole_height_error_m": 3.438186541027122e-11
+  },
+  "minimum_foot_ground_distance_m": -5.0332509971284106e-05,
+  "minimum_noncontact_distance_m": 0.003681963979845125,
+  "native_collision_geometry_count": 23,
+  "native_timewarp": {
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+    "start_s": 0.0
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+    "numpy": "2.5.2"
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+  "schema": "doorbench.planned-reference-validation.v1",
+  "scope": [
+    "Recomputed FK from saved qpos on original fixed actor MJCF and source door.",
+    "Exact engine distances for declared rigid collision geometry, including nonadjacent actor self-collision.",
+    "Frame and adaptively subdivided geodesic joint interpolation checks, not continuous-collision certification.",
+    "Stance requires fixed ankle pose and four sole corners supported by horizontal native floor boxes/planes.",
+    "Joint-range/derivative acceptance applies to the actor. Native source poses/FK and monotonic timewarp are verified; source dynamics and soft joint-limit compliance are not re-certified.",
+    "No dynamics, balance, friction, force closure, actuator torque or retimed-native-physics certification."
+  ],
+  "settings": {
+    "clearance_m": 0.003,
+    "collision_tolerance_m": 1e-05,
+    "fk_orientation_rad": 0.0001,
+    "fk_position_m": 1e-05,
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+    "joint_acceleration_rad_s2": 15.0,
+    "joint_limit_rad": 1e-06,
+    "joint_speed_rad_s": 2.5,
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+    "root_acceleration_m_s2": 3.0,
+    "root_angular_acceleration_rad_s2": 8.0,
+    "root_angular_speed_rad_s": 1.5,
+    "root_speed_m_s": 0.8
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+  "source_sha256": {
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+        "from_frame": 3052,
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+      1.5002593501243495,
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+    "goal_metric": "XY pelvis projection into ground goal disc",
+    "goal_radius_m": 0.5,
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+    "inside_forward_crossings": 1,
+    "proposal_traversal": "proposed",
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+  "worst_samples": {
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+        "dof": "actor_knee_l",
+        "limit": 15.0,
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+      "limit": 1.0001,
+      "measured": 0.9992707476241688
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+        "limit": 2.5,
+        "velocity": -2.500000000000533
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+      "frame": 1861,
+      "limit": 1.0001,
+      "measured": 1.0000000000002132
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+      "measured": 1.3328003749250115e-07
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+      "frame": 0,
+      "limit": 1e-05,
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+      "measured": 7.300048299977715e-08
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+      "frame": 0,
+      "limit": 1e-05,
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+      "measured": 1.264405455326821e-07
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+      "frame": 2358,
+      "limit": 0.008726646259971648,
+      "measured": 9.424321830774485e-08
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+      "limit": 0.001,
+      "measured": 3.518264460977797e-11
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+      "frame": "2765+1/2",
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+      "measured": 5.059272285802465e-05
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+      "limit": 1e-06,
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+      "measured": 3.518311364868767e-11
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+    "stance_sole_height_error_m": {
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+      "measured": 3.438186541027122e-11
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+}
diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0519_swing_single/result.8825eafa4f73dadca059c4d8235074739a716d2c4b9f7dd9570309be8bd0851c.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0519_swing_single/result.8825eafa4f73dadca059c4d8235074739a716d2c4b9f7dd9570309be8bd0851c.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1baaef17d32db36a14ae286662b306f32db40d8
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0519_swing_single/result.8825eafa4f73dadca059c4d8235074739a716d2c4b9f7dd9570309be8bd0851c.json
@@ -0,0 +1 @@
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diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0524_bifold/result.de4306f8b42e3782c320919069371a0593d38d17eb4abef3a19a3de5725e3659.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0524_bifold/result.de4306f8b42e3782c320919069371a0593d38d17eb4abef3a19a3de5725e3659.json
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+{"schema":"doorbench.planned-reference-public-validation.v1","projection":"Public report; local absolute paths and tracebacks removed.","original_validation_sha256":"0c697d0538a76cf9abd6b0cc36f18c0a5cf4f47f80e44e115739d3e9db565bfe","report":{"accepted":false,"failure_counts":{"input_contract":1},"failure_examples":{"input_contract":["Active hand contact must name its specific native contact geometry"]},"schema":"doorbench.planned-reference-validation.v1","settings":{"clearance_m":0.003,"collision_tolerance_m":1e-05,"fk_orientation_rad":0.0001,"fk_position_m":1e-05,"foot_orientation_rad":0.008726646259971648,"foot_position_m":0.001,"ground_penetration_m":0.0001,"hand_contact_penetration_m":0.003,"hand_position_m":0.01,"hand_surface_gap_m":0.005,"joint_acceleration_rad_s2":15.0,"joint_limit_rad":1e-06,"joint_speed_rad_s":2.5,"max_sample_dt_s":0.025,"max_sample_rotation_rad":0.05,"max_sample_translation_m":0.01,"root_acceleration_m_s2":3.0,"root_angular_acceleration_rad_s2":8.0,"root_angular_speed_rad_s":1.5,"root_speed_m_s":0.8},"status":"invalid_input"}}
diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0527_swing_single/clip.e71dfadf49a65dfcc42f5e04e3dda5a0d3e8cf5186b4cdd4d1c1e17dd8e042e3.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0527_swing_single/clip.e71dfadf49a65dfcc42f5e04e3dda5a0d3e8cf5186b4cdd4d1c1e17dd8e042e3.json
new file mode 100644
index 0000000000000000000000000000000000000000..d50cd31d82b09cd12dc3e8d7fddce794d5c17312
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0527_swing_single/clip.e71dfadf49a65dfcc42f5e04e3dda5a0d3e8cf5186b4cdd4d1c1e17dd8e042e3.json
@@ -0,0 +1 @@
+{"schema":"doorbench.planned-reference.v1","door_id":"db0527_swing_single","fps":60,"units":"metres/radians/seconds","up_axis":"Z","status":"unvalidated","qa":{},"duration":16.1632753679782,"frames":616,"complete_proposal":true,"sampling":"actor_time is authoritative; fps is the nominal rendering frame rate","retiming":{"success":true,"schema":"doorbench.retime.v1","frames":616,"iterations":4,"original_duration_s":10.25,"duration_s":16.1632753679782,"duration_scale":1.5769049139490927,"maximum_interval_scale":3.2811334619141883,"changed_intervals":419,"maximum_neighbor_scale_ratio":1.1500000000000008,"neighbor_ratio_limit":1.15,"interval_scale_cap":20.0,"before":{"max_velocity_ratio":1.0000000000000027,"max_acceleration_ratio":10.722902294107376,"velocity_violations":0,"acceleration_violations":252,"worst_velocity":{"frame":486,"dof":"actor_elbow_r","ratio":1.0000000000000027},"worst_acceleration":{"frame":119,"dof":"actor_knee_l","ratio":10.722902294107376}},"after":{"max_velocity_ratio":1.0000000000000533,"max_acceleration_ratio":0.9978685890042641,"velocity_violations":0,"acceleration_violations":0,"worst_velocity":{"frame":474,"dof":"actor_elbow_r","ratio":1.0000000000000533},"worst_acceleration":{"frame":229,"dof":"actor_knee_r","ratio":0.9978685890042641}},"velocity_limits":[0.8,0.8,0.8,1.5,1.5,1.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5],"acceleration_limits":[3.0,3.0,3.0,8.0,8.0,8.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0],"dof_labels":["actor_root:x","actor_root:y","actor_root:z","actor_root:rx","actor_root:ry","actor_root:rz","actor_spine_pitch","actor_spine_roll","actor_spine_yaw","actor_neck_yaw","actor_neck_pitch","actor_shoulder_l_pitch","actor_shoulder_l_roll","actor_shoulder_l_yaw","actor_elbow_l","actor_wrist_l_pitch","actor_wrist_l_roll","actor_wrist_l_yaw","actor_shoulder_r_pitch","actor_shoulder_r_roll","actor_shoulder_r_yaw","actor_elbow_r","actor_wrist_r_pitch","actor_wrist_r_roll","actor_wrist_r_yaw","actor_hip_l_pitch","actor_hip_l_roll","actor_hip_l_yaw","actor_knee_l","actor_ankle_l_pitch","actor_ankle_l_roll","actor_hip_r_pitch","actor_hip_r_roll","actor_hip_r_yaw","actor_knee_r","actor_ankle_r_pitch","actor_ankle_r_roll"],"failure":null,"scope":"Sampled actor velocity and world-basis angular acceleration; unchanged poses and source clock. Independent geometry/contact/interpolation revalidation required."},"trajectory_sha256":"6d16edac40fe2e913e6083068882621cf356e5b74756a9ae103ba67d5f8f433a","source_sha256":{"spec.json":"8d3d226dec0c57bdf0582d8e33205608e31a0d7d4d7890f980b94c050d3b7277","model.json":"38763d33557576798492bc3f74a5772d6116cc2878c61c6bdc185afb38262154","door.xml":"4e14288266f49e038d19d94ff8f56e067cf931b308070f079a311f888562b073"},"native":{"body_names":["world","leaf"],"joint_names":["leaf_hinge"],"qpos_addresses":[0]},"actor":{"body_names":["actor_pelvis","actor_chest","actor_neck","actor_head","actor_shoulder_l","actor_elbow_l","actor_wrist_l","actor_shoulder_r","actor_elbow_r","actor_wrist_r","actor_hip_l","actor_knee_l","actor_ankle_l","actor_hip_r","actor_knee_r","actor_ankle_r"],"joint_names":["actor_root","actor_spine_pitch","actor_spine_roll","actor_spine_yaw","actor_neck_yaw","actor_neck_pitch","actor_shoulder_l_pitch","actor_shoulder_l_roll","actor_shoulder_l_yaw","actor_elbow_l","actor_wrist_l_pitch","actor_wrist_l_roll","actor_wrist_l_yaw","actor_shoulder_r_pitch","actor_shoulder_r_roll","actor_shoulder_r_yaw","actor_elbow_r","actor_wrist_r_pitch","actor_wrist_r_roll","actor_wrist_r_yaw","actor_hip_l_pitch","actor_hip_l_roll","actor_hip_l_yaw","actor_knee_l","actor_ankle_l_pitch","actor_ankle_l_roll","actor_hip_r_pitch","actor_hip_r_roll","actor_hip_r_yaw","actor_knee_r","actor_ankle_r_pitch","actor_ankle_r_roll"],"qpos_addresses":[0,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37],"geometries":[{"name":"actor_geom_pelvis","body_name":"actor_pelvis","type":"capsule","size":[0.105,0.035,0.0],"pos":[0.0,0.0,0.005000000000000001],"quat_wxyz":[6.123233995736766e-17,1.0,0.0,0.0]},{"name":"actor_geom_torso","body_name":"actor_chest","type":"capsule","size":[0.12,0.0825,0.0],"pos":[0.0,0.0,-0.1075],"quat_wxyz":[6.123233995736766e-17,1.0,0.0,0.0]},{"name":"actor_geom_neck","body_name":"actor_neck","type":"capsule","size":[0.04,0.08,0.0],"pos":[0.0,0.0,-0.039999999999999994],"quat_wxyz":[6.123233995736766e-17,1.0,0.0,0.0]},{"name":"actor_geom_head","body_name":"actor_head","type":"sphere","size":[0.1,0.0,0.0],"pos":[0.0,0.0,0.0],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_upper_arm_l","body_name":"actor_shoulder_l","type":"capsule","size":[0.043,0.125,0.0],"pos":[0.0,0.0,-0.15000000000000002],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_forearm_l","body_name":"actor_elbow_l","type":"capsule","size":[0.036,0.12000000000000001,0.0],"pos":[0.0,0.0,-0.14],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_hand_l","body_name":"actor_wrist_l","type":"sphere","size":[0.035,0.0,0.0],"pos":[0.0,0.0,0.0],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_upper_arm_r","body_name":"actor_shoulder_r","type":"capsule","size":[0.043,0.125,0.0],"pos":[0.0,0.0,-0.15000000000000002],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_forearm_r","body_name":"actor_elbow_r","type":"capsule","size":[0.036,0.12000000000000001,0.0],"pos":[0.0,0.0,-0.14],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_hand_r","body_name":"actor_wrist_r","type":"sphere","size":[0.035,0.0,0.0],"pos":[0.0,0.0,0.0],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_thigh_l","body_name":"actor_hip_l","type":"capsule","size":[0.065,0.17500000000000002,0.0],"pos":[0.0,0.0,-0.215],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_shin_l","body_name":"actor_knee_l","type":"capsule","size":[0.047,0.18,0.0],"pos":[0.0,0.0,-0.21500000000000002],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_foot_l","body_name":"actor_ankle_l","type":"box","size":[0.05,0.13,0.0275],"pos":[0.0,0.04,-0.0275],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_thigh_r","body_name":"actor_hip_r","type":"capsule","size":[0.065,0.17500000000000002,0.0],"pos":[0.0,0.0,-0.215],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_shin_r","body_name":"actor_knee_r","type":"capsule","size":[0.047,0.18,0.0],"pos":[0.0,0.0,-0.21500000000000002],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_foot_r","body_name":"actor_ankle_r","type":"box","size":[0.05,0.13,0.0275],"pos":[0.0,0.04,-0.0275],"quat_wxyz":[1.0,0.0,0.0,0.0]}],"mjcf_xml":"<mujoco model=\"doorbench_original_adult\"><compiler angle=\"radian\" autolimits=\"true\" /><worldbody><body name=\"actor_pelvis\" pos=\"0.197814204715 -1.96770942041 0.940521645285\" quat=\"0.999999999824 0 0 1.87662722115e-05\"><inertial pos=\"0 0 0\" mass=\"9.0\" diaginertia=\"0.108 0.108 0.108\" /><freejoint name=\"actor_root\" /><geom name=\"actor_geom_pelvis\" type=\"capsule\" size=\"0.105\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.03 0 0 0.04\" /><site name=\"actor_site_pelvis\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_chest\" pos=\"0 0 0.35\"><inertial pos=\"0 0 -0.12\" mass=\"20.0\" diaginertia=\"0.24 0.24 0.24\" /><joint name=\"actor_spine_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-0.65 0.65\" limited=\"true\" damping=\"1\" pos=\"0 0 -.30\" /><joint name=\"actor_spine_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-0.4 0.4\" limited=\"true\" damping=\"1\" pos=\"0 0 -.30\" /><joint name=\"actor_spine_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-0.8 0.8\" limited=\"true\" damping=\"1\" pos=\"0 0 -.30\" /><geom name=\"actor_geom_torso\" type=\"capsule\" size=\"0.12\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.19 0 0 -0.025\" /><site name=\"actor_site_chest\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_neck\" pos=\"0 0 0.16\"><inertial pos=\"0 0 0\" mass=\"1.0\" diaginertia=\"0.012 0.012 0.012\" /><joint name=\"actor_neck_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-1 1\" limited=\"true\" damping=\"1\" /><joint name=\"actor_neck_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-0.5 0.5\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_neck\" type=\"capsule\" size=\"0.04\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.12 0 0 0.04\" /><site name=\"actor_site_neck\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_head\" pos=\"0 0 0.13\"><inertial pos=\"0 0 0\" mass=\"4.5\" diaginertia=\"0.054 0.054 0.054\" /><geom name=\"actor_geom_head\" type=\"sphere\" size=\"0.1\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" /><site name=\"actor_site_head\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /></body></body><body name=\"actor_shoulder_l\" pos=\"-0.18 0 0.06\"><inertial pos=\"0 0 -0.15\" mass=\"2.0\" diaginertia=\"0.024 0.024 0.024\" /><joint name=\"actor_shoulder_l_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-1.2 2.7\" limited=\"true\" damping=\"1\" /><joint name=\"actor_shoulder_l_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-2.3 2.3\" limited=\"true\" damping=\"1\" /><joint name=\"actor_shoulder_l_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-1.6 1.6\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_upper_arm_l\" type=\"capsule\" size=\"0.043\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.025 0 0 -0.275\" /><site name=\"actor_site_shoulder_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_elbow_l\" pos=\"0 0 -0.3\"><inertial pos=\"0 0 -0.14\" mass=\"1.2\" diaginertia=\"0.0144 0.0144 0.0144\" /><joint name=\"actor_elbow_l\" type=\"hinge\" axis=\"1 0 0\" range=\"0 2.65\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_forearm_l\" type=\"capsule\" size=\"0.036\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.02 0 0 -0.26\" /><site name=\"actor_site_elbow_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_wrist_l\" pos=\"0 0 -0.28\"><inertial pos=\"0 0 0\" mass=\"0.4\" diaginertia=\"0.0048 0.0048 0.0048\" /><joint name=\"actor_wrist_l_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-1.1 1.1\" limited=\"true\" damping=\"1\" /><joint name=\"actor_wrist_l_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-0.65 0.65\" limited=\"true\" damping=\"1\" /><joint name=\"actor_wrist_l_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-1.4 1.4\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_hand_l\" type=\"sphere\" size=\"0.035\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" /><site name=\"actor_site_wrist_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /></body></body></body><body name=\"actor_shoulder_r\" pos=\"0.18 0 0.06\"><inertial pos=\"0 0 -0.15\" mass=\"2.0\" diaginertia=\"0.024 0.024 0.024\" /><joint name=\"actor_shoulder_r_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-1.2 2.7\" limited=\"true\" damping=\"1\" /><joint name=\"actor_shoulder_r_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-2.3 2.3\" limited=\"true\" damping=\"1\" /><joint name=\"actor_shoulder_r_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-1.6 1.6\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_upper_arm_r\" type=\"capsule\" size=\"0.043\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.025 0 0 -0.275\" /><site name=\"actor_site_shoulder_r\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_elbow_r\" pos=\"0 0 -0.3\"><inertial pos=\"0 0 -0.14\" mass=\"1.2\" diaginertia=\"0.0144 0.0144 0.0144\" /><joint name=\"actor_elbow_r\" type=\"hinge\" axis=\"1 0 0\" range=\"0 2.65\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_forearm_r\" type=\"capsule\" size=\"0.036\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.02 0 0 -0.26\" /><site name=\"actor_site_elbow_r\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_wrist_r\" pos=\"0 0 -0.28\"><inertial pos=\"0 0 0\" mass=\"0.4\" diaginertia=\"0.0048 0.0048 0.0048\" /><joint name=\"actor_wrist_r_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-1.1 1.1\" limited=\"true\" damping=\"1\" /><joint name=\"actor_wrist_r_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-0.65 0.65\" limited=\"true\" damping=\"1\" /><joint name=\"actor_wrist_r_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-1.4 1.4\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_hand_r\" type=\"sphere\" size=\"0.035\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" /><site name=\"actor_site_wrist_r\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /></body></body></body></body><body name=\"actor_hip_l\" pos=\"-0.105 0 -0.06\"><inertial pos=\"0 0 -0.215\" mass=\"8.0\" diaginertia=\"0.096 0.096 0.096\" /><joint name=\"actor_hip_l_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-0.7 1.8\" limited=\"true\" damping=\"1\" /><joint name=\"actor_hip_l_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-0.65 0.65\" limited=\"true\" damping=\"1\" /><joint name=\"actor_hip_l_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-0.8 0.8\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_thigh_l\" type=\"capsule\" size=\"0.065\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.04 0 0 -0.39\" /><site name=\"actor_site_hip_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_knee_l\" pos=\"0 0 -0.43\"><inertial pos=\"0 0 -0.215\" mass=\"3.5\" diaginertia=\"0.042 0.042 0.042\" /><joint name=\"actor_knee_l\" type=\"hinge\" axis=\"1 0 0\" range=\"-2.7 0\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_shin_l\" type=\"capsule\" size=\"0.047\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.035 0 0 -0.395\" /><site name=\"actor_site_knee_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_ankle_l\" pos=\"0 0 -0.43\"><inertial pos=\"0 0.04 -0.0275\" mass=\"1.0\" diaginertia=\"0.012 0.012 0.012\" /><joint name=\"actor_ankle_l_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-0.8 0.8\" limited=\"true\" damping=\"1\" /><joint name=\"actor_ankle_l_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-0.45 0.45\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_foot_l\" type=\"box\" size=\"0.05 0.13 0.0275\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" pos=\"0 .04 -.0275\" /><site name=\"actor_site_ankle_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><site name=\"actor_site_sole_l\" pos=\"0 0.04 -0.055\" size=\".008\" rgba=\"1 .6 .1 1\" /></body></body></body><body name=\"actor_hip_r\" 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+    "stance_orientation_drift_rad": 1.032382731180714e-07,
+    "stance_position_drift_m": 1.7806883670196607e-15,
+    "stance_sole_height_error_m": 2.4494489769821826e-11
+  },
+  "minimum_foot_ground_distance_m": -4.925136130767491e-05,
+  "minimum_noncontact_distance_m": 0.004365484407178433,
+  "native_collision_geometry_count": 15,
+  "native_timewarp": {
+    "end_s": 3.5,
+    "nondecreasing": true,
+    "start_s": 0.0
+  },
+  "rig_fingerprint": "7aaa9dc6d1679b4775f9c79dbcb9a077f7c8e8d56a52d0ecf7fe97af071a9dd1",
+  "runtime": {
+    "mujoco": "3.12.0",
+    "numpy": "2.5.2"
+  },
+  "schema": "doorbench.planned-reference-validation.v1",
+  "scope": [
+    "Recomputed FK from saved qpos on original fixed actor MJCF and source door.",
+    "Exact engine distances for declared rigid collision geometry, including nonadjacent actor self-collision.",
+    "Frame and adaptively subdivided geodesic joint interpolation checks, not continuous-collision certification.",
+    "Stance requires fixed ankle pose and four sole corners supported by horizontal native floor boxes/planes.",
+    "Joint-range/derivative acceptance applies to the actor. Native source poses/FK and monotonic timewarp are verified; source dynamics and soft joint-limit compliance are not re-certified.",
+    "No dynamics, balance, friction, force closure, actuator torque or retimed-native-physics certification."
+  ],
+  "settings": {
+    "clearance_m": 0.003,
+    "collision_tolerance_m": 1e-05,
+    "fk_orientation_rad": 0.0001,
+    "fk_position_m": 1e-05,
+    "foot_orientation_rad": 0.008726646259971648,
+    "foot_position_m": 0.001,
+    "ground_penetration_m": 0.0001,
+    "hand_contact_penetration_m": 0.003,
+    "hand_position_m": 0.01,
+    "hand_surface_gap_m": 0.005,
+    "joint_acceleration_rad_s2": 15.0,
+    "joint_limit_rad": 1e-06,
+    "joint_speed_rad_s": 2.5,
+    "max_sample_dt_s": 0.025,
+    "max_sample_rotation_rad": 0.05,
+    "max_sample_translation_m": 0.01,
+    "root_acceleration_m_s2": 3.0,
+    "root_angular_acceleration_rad_s2": 8.0,
+    "root_angular_speed_rad_s": 1.5,
+    "root_speed_m_s": 0.8
+  },
+  "signed_distance_queries": 138135,
+  "source_sha256": {
+    "door.xml": "4e14288266f49e038d19d94ff8f56e067cf931b308070f079a311f888562b073",
+    "model.json": "38763d33557576798492bc3f74a5772d6116cc2878c61c6bdc185afb38262154",
+    "spec.json": "8d3d226dec0c57bdf0582d8e33205608e31a0d7d4d7890f980b94c050d3b7277"
+  },
+  "status": "accepted_kinematic",
+  "task_completion": {
+    "complete_proposal": true,
+    "completion_scope": "Observed actor route plus declared source outcome; contact, lock recognition and mechanism semantics are not independently certified.",
+    "evidence_pass": true,
+    "failure_counts": {},
+    "failure_examples": {},
+    "proposal_traversal": "not_requested",
+    "recognition_scope": "Nontraversing motion permitted. Recognition/locked mechanism evidence comes only from the declared source outcome.",
+    "scenario": "locked_recognize",
+    "source_success_declared": true
+  },
+  "trajectory_sha256": "6d16edac40fe2e913e6083068882621cf356e5b74756a9ae103ba67d5f8f433a",
+  "worst_samples": {
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+      "frame": 523,
+      "limit": 0.01,
+      "measured": 0.00020889343718865613
+    },
+    "actor_acceleration_limit_ratio": {
+      "context": {
+        "acceleration": 14.968028835063961,
+        "dof": "actor_knee_r",
+        "limit": 15.0,
+        "root_rotation_basis": "world"
+      },
+      "frame": 229,
+      "limit": 1.0001,
+      "measured": 0.9978685890042641
+    },
+    "actor_velocity_limit_ratio": {
+      "context": {
+        "dof": "actor_elbow_r",
+        "limit": 2.5,
+        "velocity": 2.5000000000001332
+      },
+      "frame": 474,
+      "limit": 1.0001,
+      "measured": 1.0000000000000533
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+    "fk_actor_body_pos": {
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+      "frame": 0,
+      "limit": 1e-05,
+      "measured": 0.0
+    },
+    "fk_actor_body_quat": {
+      "context": null,
+      "frame": 263,
+      "limit": 0.0001,
+      "measured": 1.2990531157078367e-07
+    },
+    "fk_actor_joints": {
+      "context": null,
+      "frame": 0,
+      "limit": 1e-05,
+      "measured": 0.0
+    },
+    "fk_body_pos": {
+      "context": null,
+      "frame": 0,
+      "limit": 1e-05,
+      "measured": 0.0
+    },
+    "fk_body_quat": {
+      "context": null,
+      "frame": 0,
+      "limit": 0.0001,
+      "measured": 0.0
+    },
+    "fk_foot_pos": {
+      "context": null,
+      "frame": 0,
+      "limit": 1e-05,
+      "measured": 0.0
+    },
+    "fk_foot_quat": {
+      "context": null,
+      "frame": 262,
+      "limit": 0.0001,
+      "measured": 1.1151007970493858e-07
+    },
+    "foot_target_orientation_error_rad": {
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+      "limit": 0.008726646259971648,
+      "measured": 8.429369702178807e-08
+    },
+    "foot_target_position_error_m": {
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+      "frame": 449,
+      "limit": 0.001,
+      "measured": 1.739338640084811e-15
+    },
+    "hand_contact_penetration_m": {
+      "context": 1,
+      "frame": 516,
+      "limit": 0.003,
+      "measured": 0.0
+    },
+    "hand_contact_surface_gap_m": {
+      "context": 1,
+      "frame": 516,
+      "limit": 0.005,
+      "measured": 0.004356749910423938
+    },
+    "interpolated_stance_orientation_drift_rad": {
+      "context": 1,
+      "frame": "118+1/3",
+      "limit": 0.008726646259971648,
+      "measured": 1.2688616564385632e-05
+    },
+    "interpolated_stance_position_drift_m": {
+      "context": 0,
+      "frame": "143+1/2",
+      "limit": 0.001,
+      "measured": 4.94060990868787e-05
+    },
+    "joint_limit_violation_rad": {
+      "context": "actor_spine_pitch",
+      "frame": 0,
+      "limit": 1e-06,
+      "measured": 0.0
+    },
+    "stance_orientation_drift_rad": {
+      "context": 1,
+      "frame": 411,
+      "limit": 0.008726646259971648,
+      "measured": 1.032382731180714e-07
+    },
+    "stance_position_drift_m": {
+      "context": 1,
+      "frame": 449,
+      "limit": 0.001,
+      "measured": 1.7806883670196607e-15
+    },
+    "stance_sole_height_error_m": {
+      "context": 1,
+      "frame": 327,
+      "limit": 0.001,
+      "measured": 2.4494489769821826e-11
+    }
+  }
+}
diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0528_turnstile_fullheight/result.e3cad0b2b808c27344ad9a5492da37b4786066708bc6a0a4807791e85f628f23.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0528_turnstile_fullheight/result.e3cad0b2b808c27344ad9a5492da37b4786066708bc6a0a4807791e85f628f23.json
new file mode 100644
index 0000000000000000000000000000000000000000..2da94544edc0abe496f33bb77074798f57a79b8c
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0528_turnstile_fullheight/result.e3cad0b2b808c27344ad9a5492da37b4786066708bc6a0a4807791e85f628f23.json
@@ -0,0 +1 @@
+{"schema":"doorbench.planned-reference-public-attempt.v1","projection":"Public summary; execution logs and traceback omitted, absolute paths redacted. Original result is identified by SHA-256.","original_result_sha256":"d74580e7781b060ea2de413b7582b16e8dc8cc55a34dcae68f83630f80e4760a","door_id":"db0528_turnstile_fullheight","family":"turnstile_fullheight","status":"rejected","identity_sha256":"5e0391f57c6f9b2cde8b882f20556b3e5977755a4f355bf6ce9e2d1b68f8f840","created_at":"2026-09-05T16:34:18.438198+00:00","run_id":"db91800a7bef4708bd3034c1b2eab80a","source_outcome":{"base_end":[0.025,1.807,0.5],"control_dt":0.004,"criteria":{"!damage":true,"opened":true,"traversed":true},"damage":false,"damage_events":[],"difficulty":2,"door_id":"db0528_turnstile_fullheight","door_q_end":4.0155,"energy_J":16.66,"env_damage":false,"episode_return":12.523,"error":null,"events":[["latch_released",0.004],["touched_door",0.504],["door_opened",0.716],["door_open_clear",1.776],["robot_passed_through",3.54]],"expected_transit_s":7.88,"family":"turnstile_fullheight","human_collision":null,"labels":{"door_closed_after":false,"door_damaged":false,"door_open_clear":true,"door_opened":true,"door_slammed":false,"hardware_misuse":false,"latch_released":true,"lock_released":false,"operator_actuated":false,"robot_fell":false,"robot_passed_through":true,"touched_door":true,"touched_operator":false},"max_door_angle":4.0155,"max_leaf_force_N":0.0,"max_operator_torque":0.0,"mujoco_warnings":0,"outcome":"success","randomized":false,"reward_events":[["opened",1.138,3.0],["traversed",3.538,10.0]],"scenario":"open_and_traverse","seed":0,"sim_time":9.538,"start":{"xy":[1.457,-1.761],"yaw":1.902},"steps":4769,"success":true,"suite":"core","tier":"full","time_budget_s":35.0,"time_to_close":null,"time_to_goal":null,"time_to_open":0.714,"time_to_pass":3.538,"time_to_touch":0.5,"wall_s":0.195},"provenance":{"execution":{"isolation_mode":"fresh_python_process_per_door","timeout_s":600.0},"generator_sha256":"12d8e3d5991e0c328240386e242f120193621911de726cb1d5e5372887aa121f","manifest_sha256":"97699b43489a06b64f90d605ef87aec156e4ccc97fb9bbf0db61dac01c05ab34","native_resources_sha256":{},"options":{"fps":60,"gait_profile":"smooth","max_frames":null},"recording_index_sha256":"d9f5c60f6f76992e7a1a7efba0163bab63defe8e7bef0400cfd58aea0fbfe204","recording_sha256":{"clip.json":"08351b7b378c3c7e7adc009f29bfebeea68605ad58e999ffe34ba181ab2025eb","trajectory.npz":"826dacf308265a08e765e92d6eef352c215f42c83f1e11277a1dd7316891b461"},"source_sha256":{"door.xml":"1505012667cf52f3359fd3b724d1dbf355e6234b520714bdbec8535dceb483af","model.json":"baa9ecef8d47ea2d3e61b3cf7859639e1e436b44cfe24b0e4f11ac352b8ba833","spec.json":"6a595aca2718982326eba08e57d25c93a115b9c4d3437e9b987601176dbcaa81"}},"generator":{"files":{"doorbench/reference/__init__.py":"bcc139f47946e74a14fd338497edc2670e4660df4cce8ebc142613dbe32cbe06","doorbench/reference/gait.py":"154f484bf0805df3322bc02de47c9ef4e13961894bd3153946a5967cad172a90","doorbench/reference/guidance.py":"88db8e9d94e3a3a2214b2f744d6e180e379734aac7154a5e4c9aa2a971e46da9","doorbench/reference/humanoid.py":"702272462be6a2197453d52f93ddad2c47fa1dda441ed56450185d86cb7064b6","doorbench/reference/ik.py":"c23e5b594a296b10fcbdd12f0d54cb026d2ce4f8a1d53f20ab0ab52b9b01b0cb","doorbench/reference/planning.py":"4bba623325ce5bd647cb320f9a62878101dd3c578706ad0aea1107eaf9e934a9","doorbench/reference/record.py":"67155bb0c09041a54c993ca0ee96837f743481f2a06cfea73e42eeabf0fdcf6c","doorbench/reference/retime.py":"012556d7d2b7e71948167df7a8b84eb9b00df7d8d587a6298719e1acbd622e7e","doorbench/reference/rig.py":"050f7891718459b0b187179bc2328574012a38a5ab7965b08ef2d3ee0fd44580","doorbench/reference/solve.py":"d56da0ccd854207697f3167a65cf70abb1444e452c6e8f89bdb8dd672128c574","pyproject.toml":"a6d73621fc05f14b9541fe9d0f84639f230fa5ecf8cabfe8d037b5129092479f","scripts/build_planned_reference_corpus.py":"47a35368a8bebbd40986b399000f45e9beb1d62f6f62d0b59168d1b18254a2b7","scripts/validate_planned_reference.py":"5e43f06974464ad741889714689df5a3a3d271471dff513627a814478bda83af"},"runtime":{"implementation":"CPython","isolation_mode":"fresh_python_process_per_door","machine":"arm64","packages":{"daqp":"0.9.1","mink":"1.3.0","mujoco":"3.12.0","numpy":"2.5.2","qpsolvers":"4.13.0","scipy":"1.18.1","shapely":"2.1.2"},"platform":"Darwin","python":"3.12.12","worker_thread_environment":{"MKL_NUM_THREADS":"1","OMP_NUM_THREADS":"1","OPENBLAS_NUM_THREADS":"1","VECLIB_MAXIMUM_THREADS":"1"}},"sha256":"12d8e3d5991e0c328240386e242f120193621911de726cb1d5e5372887aa121f"},"new_completion":{"artifact_bindings_verified":false,"complete_proposal":false,"source_success_declared":true,"task_evidence_pass":false},"failure_counts":{"input_contract":1},"runtime_s":39.939643999998225,"scope":"Complete proposal plus independent sampled kinematic/task-evidence checks. Source benchmark outcome is separate from new actor completion. No dynamics, balance, force-closure, continuous collision or personal visual approval."}
diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0528_turnstile_fullheight/validation.4f79c107aea9da6b903e64be4a7ee8b329d771e903292f7f1c0981077cd85e66.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0528_turnstile_fullheight/validation.4f79c107aea9da6b903e64be4a7ee8b329d771e903292f7f1c0981077cd85e66.json
new file mode 100644
index 0000000000000000000000000000000000000000..6daa23834452b1445d90d522061e8098e75c32e9
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0528_turnstile_fullheight/validation.4f79c107aea9da6b903e64be4a7ee8b329d771e903292f7f1c0981077cd85e66.json
@@ -0,0 +1 @@
+{"schema":"doorbench.planned-reference-public-validation.v1","projection":"Public report; local absolute paths and tracebacks removed.","original_validation_sha256":"0c697d0538a76cf9abd6b0cc36f18c0a5cf4f47f80e44e115739d3e9db565bfe","report":{"accepted":false,"failure_counts":{"input_contract":1},"failure_examples":{"input_contract":["Active hand contact must name its specific native contact geometry"]},"schema":"doorbench.planned-reference-validation.v1","settings":{"clearance_m":0.003,"collision_tolerance_m":1e-05,"fk_orientation_rad":0.0001,"fk_position_m":1e-05,"foot_orientation_rad":0.008726646259971648,"foot_position_m":0.001,"ground_penetration_m":0.0001,"hand_contact_penetration_m":0.003,"hand_position_m":0.01,"hand_surface_gap_m":0.005,"joint_acceleration_rad_s2":15.0,"joint_limit_rad":1e-06,"joint_speed_rad_s":2.5,"max_sample_dt_s":0.025,"max_sample_rotation_rad":0.05,"max_sample_translation_m":0.01,"root_acceleration_m_s2":3.0,"root_angular_acceleration_rad_s2":8.0,"root_angular_speed_rad_s":1.5,"root_speed_m_s":0.8},"status":"invalid_input"}}
diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0529_hatch_floor/result.fe08325afa3cb9916454094513656a36a0812fa1756224a821b30e12f4635ec6.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0529_hatch_floor/result.fe08325afa3cb9916454094513656a36a0812fa1756224a821b30e12f4635ec6.json
new file mode 100644
index 0000000000000000000000000000000000000000..91eaa8bf116f2798747d7a7ade120871294650a3
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0529_hatch_floor/result.fe08325afa3cb9916454094513656a36a0812fa1756224a821b30e12f4635ec6.json
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required."},"trajectory_sha256":"87a870267e3c2fe7da4cb572b21a373f520932ea233ccff13b2f2a31e3cddfab","source_sha256":{"spec.json":"e4c442916dd95a55839f82c096b5ecd3f83ed205e39cb0ee741f64f65078f009","model.json":"e92567e0e39c4d76751e2d2d9e7f2eb555f21af70fd441b541ed3d65cda436e5","door.xml":"47e3a96c2e10f14ae5ed4bd891afc7abcec4c0ed7e56b0b2eaf25fcd26e7d1ff"},"native":{"body_names":["world","leaf_a","leaf_a_handle","leaf_a_latch_bolt","leaf_a_deadbolt","leaf_b"],"joint_names":["leaf_a_hinge","leaf_a_handle_hinge","leaf_a_latch_bolt_slide","leaf_b_hinge"],"qpos_addresses":[0,1,2,3]},"actor":{"body_names":["actor_pelvis","actor_chest","actor_neck","actor_head","actor_shoulder_l","actor_elbow_l","actor_wrist_l","actor_shoulder_r","actor_elbow_r","actor_wrist_r","actor_hip_l","actor_knee_l","actor_ankle_l","actor_hip_r","actor_knee_r","actor_ankle_r"],"joint_names":["actor_root","actor_spine_pitch","actor_spine_roll","actor_spine_yaw","actor_neck_yaw","actor_neck_pitch","actor_shoulder_l_pitch","actor_shoulder_l_roll","actor_shoulder_l_yaw","actor_elbow_l","actor_wrist_l_pitch","actor_wrist_l_roll","actor_wrist_l_yaw","actor_shoulder_r_pitch","actor_shoulder_r_roll","actor_shoulder_r_yaw","actor_elbow_r","actor_wrist_r_pitch","actor_wrist_r_roll","actor_wrist_r_yaw","actor_hip_l_pitch","actor_hip_l_roll","actor_hip_l_yaw","actor_knee_l","actor_ankle_l_pitch","actor_ankle_l_roll","actor_hip_r_pitch","actor_hip_r_roll","actor_hip_r_yaw","actor_knee_r","actor_ankle_r_pitch","actor_ankle_r_roll"],"qpos_addresses":[0,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37],"geometries":[{"name":"actor_geom_pelvis","body_name":"actor_pelvis","type":"capsule","size":[0.105,0.035,0.0],"pos":[0.0,0.0,0.005000000000000001],"quat_wxyz":[6.123233995736766e-17,1.0,0.0,0.0]},{"name":"actor_geom_torso","body_name":"actor_chest","type":"capsule","size":[0.12,0.0825,0.0],"pos":[0.0,0.0,-0.1075],"quat_wxyz":[6.123233995736766e-17,1.0,0.0,0.0]},{"name":"actor_geom_neck","body_name":"actor_neck","type":"capsule","size":[0.04,0.08,0.0],"pos":[0.0,0.0,-0.039999999999999994],"quat_wxyz":[6.123233995736766e-17,1.0,0.0,0.0]},{"name":"actor_geom_head","body_name":"actor_head","type":"sphere","size":[0.1,0.0,0.0],"pos":[0.0,0.0,0.0],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_upper_arm_l","body_name":"actor_shoulder_l","type":"capsule","size":[0.043,0.125,0.0],"pos":[0.0,0.0,-0.15000000000000002],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_forearm_l","body_name":"actor_elbow_l","type":"capsule","size":[0.036,0.12000000000000001,0.0],"pos":[0.0,0.0,-0.14],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_hand_l","body_name":"actor_wrist_l","type":"sphere","size":[0.035,0.0,0.0],"pos":[0.0,0.0,0.0],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_upper_arm_r","body_name":"actor_shoulder_r","type":"capsule","size":[0.043,0.125,0.0],"pos":[0.0,0.0,-0.15000000000000002],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_forearm_r","body_name":"actor_elbow_r","type":"capsule","size":[0.036,0.12000000000000001,0.0],"pos":[0.0,0.0,-0.14],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_hand_r","body_name":"actor_wrist_r","type":"sphere","size":[0.035,0.0,0.0],"pos":[0.0,0.0,0.0],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_thigh_l","body_name":"actor_hip_l","type":"capsule","size":[0.065,0.17500000000000002,0.0],"pos":[0.0,0.0,-0.215],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_shin_l","body_name":"actor_knee_l","type":"capsule","size":[0.047,0.18,0.0],"pos":[0.0,0.0,-0.21500000000000002],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_foot_l","body_name":"actor_ankle_l","type":"box","size":[0.05,0.13,0.0275],"pos":[0.0,0.04,-0.0275],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_thigh_r","body_name":"actor_hip_r","type":"capsule","size":[0.065,0.17500000000000002,0.0],"pos":[0.0,0.0,-0.215],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_shin_r","body_name":"actor_knee_r","type":"capsule","size":[0.047,0.18,0.0],"pos":[0.0,0.0,-0.21500000000000002],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_foot_r","body_name":"actor_ankle_r","type":"box","size":[0.05,0.13,0.0275],"pos":[0.0,0.04,-0.0275],"quat_wxyz":[1.0,0.0,0.0,0.0]}],"mjcf_xml":"<mujoco model=\"doorbench_original_adult\"><compiler angle=\"radian\" autolimits=\"true\" /><worldbody><body name=\"actor_pelvis\" pos=\"-0.0719683484664 -2.26551171542 0.940521645285\" quat=\"0.999999997738 0 0 6.72533026709e-05\"><inertial pos=\"0 0 0\" mass=\"9.0\" diaginertia=\"0.108 0.108 0.108\" /><freejoint name=\"actor_root\" /><geom name=\"actor_geom_pelvis\" type=\"capsule\" size=\"0.105\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.03 0 0 0.04\" /><site name=\"actor_site_pelvis\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_chest\" pos=\"0 0 0.35\"><inertial pos=\"0 0 -0.12\" mass=\"20.0\" diaginertia=\"0.24 0.24 0.24\" /><joint name=\"actor_spine_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-0.65 0.65\" limited=\"true\" damping=\"1\" pos=\"0 0 -.30\" /><joint name=\"actor_spine_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-0.4 0.4\" limited=\"true\" damping=\"1\" pos=\"0 0 -.30\" /><joint name=\"actor_spine_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-0.8 0.8\" limited=\"true\" damping=\"1\" pos=\"0 0 -.30\" /><geom name=\"actor_geom_torso\" type=\"capsule\" size=\"0.12\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.19 0 0 -0.025\" /><site name=\"actor_site_chest\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_neck\" pos=\"0 0 0.16\"><inertial pos=\"0 0 0\" mass=\"1.0\" diaginertia=\"0.012 0.012 0.012\" /><joint name=\"actor_neck_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-1 1\" limited=\"true\" damping=\"1\" /><joint name=\"actor_neck_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-0.5 0.5\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_neck\" type=\"capsule\" size=\"0.04\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.12 0 0 0.04\" /><site name=\"actor_site_neck\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_head\" pos=\"0 0 0.13\"><inertial pos=\"0 0 0\" mass=\"4.5\" diaginertia=\"0.054 0.054 0.054\" /><geom name=\"actor_geom_head\" type=\"sphere\" size=\"0.1\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" /><site name=\"actor_site_head\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /></body></body><body name=\"actor_shoulder_l\" pos=\"-0.18 0 0.06\"><inertial pos=\"0 0 -0.15\" mass=\"2.0\" diaginertia=\"0.024 0.024 0.024\" /><joint name=\"actor_shoulder_l_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-1.2 2.7\" limited=\"true\" damping=\"1\" /><joint name=\"actor_shoulder_l_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-2.3 2.3\" limited=\"true\" damping=\"1\" /><joint name=\"actor_shoulder_l_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-1.6 1.6\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_upper_arm_l\" type=\"capsule\" size=\"0.043\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.025 0 0 -0.275\" /><site name=\"actor_site_shoulder_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_elbow_l\" pos=\"0 0 -0.3\"><inertial pos=\"0 0 -0.14\" mass=\"1.2\" diaginertia=\"0.0144 0.0144 0.0144\" /><joint name=\"actor_elbow_l\" type=\"hinge\" axis=\"1 0 0\" range=\"0 2.65\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_forearm_l\" type=\"capsule\" size=\"0.036\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.02 0 0 -0.26\" /><site name=\"actor_site_elbow_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_wrist_l\" pos=\"0 0 -0.28\"><inertial pos=\"0 0 0\" mass=\"0.4\" diaginertia=\"0.0048 0.0048 0.0048\" /><joint name=\"actor_wrist_l_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-1.1 1.1\" limited=\"true\" damping=\"1\" /><joint name=\"actor_wrist_l_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-0.65 0.65\" limited=\"true\" damping=\"1\" /><joint name=\"actor_wrist_l_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-1.4 1.4\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_hand_l\" type=\"sphere\" size=\"0.035\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" /><site name=\"actor_site_wrist_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /></body></body></body><body name=\"actor_shoulder_r\" pos=\"0.18 0 0.06\"><inertial pos=\"0 0 -0.15\" mass=\"2.0\" diaginertia=\"0.024 0.024 0.024\" /><joint name=\"actor_shoulder_r_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-1.2 2.7\" limited=\"true\" damping=\"1\" /><joint name=\"actor_shoulder_r_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-2.3 2.3\" limited=\"true\" damping=\"1\" /><joint name=\"actor_shoulder_r_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-1.6 1.6\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_upper_arm_r\" type=\"capsule\" size=\"0.043\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.025 0 0 -0.275\" /><site name=\"actor_site_shoulder_r\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_elbow_r\" pos=\"0 0 -0.3\"><inertial pos=\"0 0 -0.14\" mass=\"1.2\" diaginertia=\"0.0144 0.0144 0.0144\" /><joint name=\"actor_elbow_r\" type=\"hinge\" axis=\"1 0 0\" range=\"0 2.65\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_forearm_r\" type=\"capsule\" size=\"0.036\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.02 0 0 -0.26\" /><site name=\"actor_site_elbow_r\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_wrist_r\" pos=\"0 0 -0.28\"><inertial pos=\"0 0 0\" mass=\"0.4\" diaginertia=\"0.0048 0.0048 0.0048\" /><joint name=\"actor_wrist_r_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-1.1 1.1\" limited=\"true\" damping=\"1\" /><joint name=\"actor_wrist_r_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-0.65 0.65\" limited=\"true\" damping=\"1\" /><joint name=\"actor_wrist_r_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-1.4 1.4\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_hand_r\" type=\"sphere\" size=\"0.035\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" /><site name=\"actor_site_wrist_r\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /></body></body></body></body><body name=\"actor_hip_l\" pos=\"-0.105 0 -0.06\"><inertial pos=\"0 0 -0.215\" mass=\"8.0\" diaginertia=\"0.096 0.096 0.096\" /><joint name=\"actor_hip_l_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-0.7 1.8\" limited=\"true\" damping=\"1\" /><joint name=\"actor_hip_l_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-0.65 0.65\" limited=\"true\" damping=\"1\" /><joint name=\"actor_hip_l_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-0.8 0.8\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_thigh_l\" type=\"capsule\" size=\"0.065\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.04 0 0 -0.39\" /><site name=\"actor_site_hip_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_knee_l\" pos=\"0 0 -0.43\"><inertial pos=\"0 0 -0.215\" mass=\"3.5\" diaginertia=\"0.042 0.042 0.042\" /><joint name=\"actor_knee_l\" type=\"hinge\" axis=\"1 0 0\" range=\"-2.7 0\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_shin_l\" type=\"capsule\" size=\"0.047\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.035 0 0 -0.395\" /><site name=\"actor_site_knee_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_ankle_l\" pos=\"0 0 -0.43\"><inertial pos=\"0 0.04 -0.0275\" mass=\"1.0\" diaginertia=\"0.012 0.012 0.012\" /><joint name=\"actor_ankle_l_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-0.8 0.8\" limited=\"true\" damping=\"1\" /><joint name=\"actor_ankle_l_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-0.45 0.45\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_foot_l\" type=\"box\" size=\"0.05 0.13 0.0275\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" pos=\"0 .04 -.0275\" /><site name=\"actor_site_ankle_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><site name=\"actor_site_sole_l\" pos=\"0 0.04 -0.055\" size=\".008\" rgba=\"1 .6 .1 1\" /></body></body></body><body name=\"actor_hip_r\" 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diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0534_swing_double/result.60bc2a2d9b7b2e67c29423c3532f84aa9a883b026f29bb810519a6051f354a26.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0534_swing_double/result.60bc2a2d9b7b2e67c29423c3532f84aa9a883b026f29bb810519a6051f354a26.json
new file mode 100644
index 0000000000000000000000000000000000000000..92132966cd42d55842cda601c0c460eb9d68089a
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0534_swing_double/result.60bc2a2d9b7b2e67c29423c3532f84aa9a883b026f29bb810519a6051f354a26.json
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diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0534_swing_double/validation.fd52503efdf68fa2edc9be66a15825e428049286436af36b4df1eb98777b1d5d.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0534_swing_double/validation.fd52503efdf68fa2edc9be66a15825e428049286436af36b4df1eb98777b1d5d.json
new file mode 100644
index 0000000000000000000000000000000000000000..25d9ccb8150ec6b699e0d57dbba3287f344bc864
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0534_swing_double/validation.fd52503efdf68fa2edc9be66a15825e428049286436af36b4df1eb98777b1d5d.json
@@ -0,0 +1,229 @@
+{
+  "accepted": true,
+  "actor_geometry_count": 16,
+  "actor_self_pairs_exclude": "same-body and directly adjacent bodies only",
+  "clip_sha256": "64a47076176d612813831151f721c0e402b802ba047d534dcda2579784587ec6",
+  "collision_samples": 1799,
+  "contact_exclusion_pair_frames": 258,
+  "door_id": "db0534_swing_double",
+  "failure_counts": {},
+  "failure_examples": {},
+  "frames": 892,
+  "kinematic_accepted": true,
+  "maxima": {
+    "active_hand_target_error_m": 0.00022198172081538796,
+    "actor_acceleration_limit_ratio": 0.9960119680799674,
+    "actor_velocity_limit_ratio": 1.0,
+    "fk_actor_body_pos": 0.0,
+    "fk_actor_body_quat": 1.2990531157078367e-07,
+    "fk_actor_joints": 0.0,
+    "fk_body_pos": 0.0,
+    "fk_body_quat": 4.2146848510894035e-08,
+    "fk_foot_pos": 0.0,
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+    "foot_target_position_error_m": 2.0216012193897997e-15,
+    "hand_contact_penetration_m": 0.0,
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+    "stance_position_drift_m": 2.1218043825950596e-15,
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+  "scope": [
+    "Recomputed FK from saved qpos on original fixed actor MJCF and source door.",
+    "Exact engine distances for declared rigid collision geometry, including nonadjacent actor self-collision.",
+    "Frame and adaptively subdivided geodesic joint interpolation checks, not continuous-collision certification.",
+    "Stance requires fixed ankle pose and four sole corners supported by horizontal native floor boxes/planes.",
+    "Joint-range/derivative acceptance applies to the actor. Native source poses/FK and monotonic timewarp are verified; source dynamics and soft joint-limit compliance are not re-certified.",
+    "No dynamics, balance, friction, force closure, actuator torque or retimed-native-physics certification."
+  ],
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+    "collision_tolerance_m": 1e-05,
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+    "root_speed_m_s": 0.8
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+    "proposal_traversal": "not_requested",
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+    "scenario": "locked_recognize",
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+      "measured": 1.2990531157078367e-07
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+    "fk_actor_joints": {
+      "context": null,
+      "frame": 0,
+      "limit": 1e-05,
+      "measured": 0.0
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+      "measured": 4.2146848510894035e-08
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+    "fk_foot_pos": {
+      "context": null,
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+    "foot_target_orientation_error_rad": {
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+      "measured": 7.884953353001448e-08
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+}
diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0535_strip_curtain/result.d57fedc341ab05e9df3071afd97052677925b77437ef97ca53a469e9fbc533f5.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0535_strip_curtain/result.d57fedc341ab05e9df3071afd97052677925b77437ef97ca53a469e9fbc533f5.json
new file mode 100644
index 0000000000000000000000000000000000000000..239f06f5d35075c3281085599b23aa83d2b42dbe
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0535_strip_curtain/result.d57fedc341ab05e9df3071afd97052677925b77437ef97ca53a469e9fbc533f5.json
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Recognition/locked mechanism evidence comes only from the declared source outcome.","scenario":"locked_recognize","source_success_declared":true},"trajectory_sha256":"6c7763048fc81133835557d97fb759d8114ce0b7df5f377e75d989729263fb80","worst_samples":{"active_hand_target_error_m":{"context":1,"frame":617,"limit":0.01,"measured":0.08872983353301482},"actor_acceleration_limit_ratio":{"context":{"acceleration":-14.985243905525799,"dof":"actor_elbow_r","limit":15.0,"root_rotation_basis":"world"},"frame":564,"limit":1.0001,"measured":0.9990162603683866},"actor_velocity_limit_ratio":{"context":{"dof":"actor_elbow_r","limit":2.5,"velocity":2.5000000000002665},"frame":556,"limit":1.0001,"measured":1.0000000000001066},"fk_actor_body_pos":{"context":null,"frame":0,"limit":1e-05,"measured":0.0},"fk_actor_body_quat":{"context":null,"frame":44,"limit":0.0001,"measured":1.2990531157078367e-07},"fk_actor_joints":{"context":null,"frame":0,"limit":1e-05,"measured":0.0},"fk_body_pos":{"context":null,"frame":0,"limit":1e-05,"measured":0.0},"fk_body_quat":{"context":null,"frame":610,"limit":0.0001,"measured":2.9802322387695312e-08},"fk_foot_pos":{"context":null,"frame":0,"limit":1e-05,"measured":0.0},"fk_foot_quat":{"context":null,"frame":157,"limit":0.0001,"measured":1.1151007970493858e-07},"foot_target_orientation_error_rad":{"context":0,"frame":157,"limit":0.008726646259971648,"measured":7.884953353001448e-08},"foot_target_position_error_m":{"context":0,"frame":594,"limit":0.001,"measured":5.107483143289348e-15},"hand_contact_penetration_m":{"context":1,"frame":596,"limit":0.003,"measured":0.0},"hand_contact_surface_gap_m":{"context":1,"frame":597,"limit":0.005,"measured":0.04469186516901078},"interpolated_stance_orientation_drift_rad":{"context":0,"frame":"78+1/3","limit":0.008726646259971648,"measured":1.4944936111654994e-05},"interpolated_stance_position_drift_m":{"context":1,"frame":"183+1/2","limit":0.001,"measured":4.9830895679122086e-05},"joint_limit_violation_rad":{"context":"actor_spine_pitch","frame":0,"limit":1e-06,"measured":0.0},"stance_orientation_drift_rad":{"context":1,"frame":580,"limit":0.008726646259971648,"measured":1.032382731180714e-07},"stance_position_drift_m":{"context":0,"frame":594,"limit":0.001,"measured":5.056563905922616e-15},"stance_sole_height_error_m":{"context":1,"frame":200,"limit":0.001,"measured":3.2335994992749306e-11}}}}
diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0547_swing_single/clip.06c0152b9122b5353292c4a05154f40e246fc499e9596c9e583beb706021257e.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0547_swing_single/clip.06c0152b9122b5353292c4a05154f40e246fc499e9596c9e583beb706021257e.json
new file mode 100644
index 0000000000000000000000000000000000000000..be84c15f7825d5a9ea8ca916f4c07b960ee39db1
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0547_swing_single/clip.06c0152b9122b5353292c4a05154f40e246fc499e9596c9e583beb706021257e.json
@@ -0,0 +1 @@
+{"schema":"doorbench.planned-reference.v1","door_id":"db0547_swing_single","fps":60,"units":"metres/radians/seconds","up_axis":"Z","status":"unvalidated","qa":{},"duration":71.96297527714599,"frames":3148,"complete_proposal":true,"sampling":"actor_time is authoritative; fps is the nominal rendering frame rate","retiming":{"success":true,"schema":"doorbench.retime.v1","frames":3148,"iterations":5,"original_duration_s":52.45,"duration_s":71.96297527714599,"duration_scale":1.372030033882669,"maximum_interval_scale":3.296146443058409,"changed_intervals":2118,"maximum_neighbor_scale_ratio":1.1500000000000172,"neighbor_ratio_limit":1.15,"interval_scale_cap":20.0,"before":{"max_velocity_ratio":1.0000000000000013,"max_acceleration_ratio":10.821253076767274,"velocity_violations":0,"acceleration_violations":1362,"worst_velocity":{"frame":34,"dof":"actor_knee_l","ratio":1.0000000000000013},"worst_acceleration":{"frame":279,"dof":"actor_knee_l","ratio":10.821253076767274}},"after":{"max_velocity_ratio":1.0000000000000533,"max_acceleration_ratio":0.9993312971243602,"velocity_violations":0,"acceleration_violations":0,"worst_velocity":{"frame":435,"dof":"actor_elbow_r","ratio":1.0000000000000533},"worst_acceleration":{"frame":2027,"dof":"actor_knee_l","ratio":0.9993312971243602}},"velocity_limits":[0.8,0.8,0.8,1.5,1.5,1.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5],"acceleration_limits":[3.0,3.0,3.0,8.0,8.0,8.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0],"dof_labels":["actor_root:x","actor_root:y","actor_root:z","actor_root:rx","actor_root:ry","actor_root:rz","actor_spine_pitch","actor_spine_roll","actor_spine_yaw","actor_neck_yaw","actor_neck_pitch","actor_shoulder_l_pitch","actor_shoulder_l_roll","actor_shoulder_l_yaw","actor_elbow_l","actor_wrist_l_pitch","actor_wrist_l_roll","actor_wrist_l_yaw","actor_shoulder_r_pitch","actor_shoulder_r_roll","actor_shoulder_r_yaw","actor_elbow_r","actor_wrist_r_pitch","actor_wrist_r_roll","actor_wrist_r_yaw","actor_hip_l_pitch","actor_hip_l_roll","actor_hip_l_yaw","actor_knee_l","actor_ankle_l_pitch","actor_ankle_l_roll","actor_hip_r_pitch","actor_hip_r_roll","actor_hip_r_yaw","actor_knee_r","actor_ankle_r_pitch","actor_ankle_r_roll"],"failure":null,"scope":"Sampled actor velocity and world-basis angular acceleration; unchanged poses and source clock. Independent geometry/contact/interpolation revalidation required."},"trajectory_sha256":"608b4bcae0a5b1baa9582d1b37748c200bf35d50523aace127f5e6fa3058c426","source_sha256":{"spec.json":"b6b94febbd7803a7a835254f4ed2a604c7bf66d6d4cd5ede73c68570586c924e","model.json":"ebd3992c2afb19636f8eebb2d20b886cc09433d72095530519c6e163e504a0c6","door.xml":"4280a6e24deec9ddfd84f8b0eb9344c750263914893145422157dd55f047c9b7"},"native":{"body_names":["world","leaf","leaf_handle","leaf_latch_bolt"],"joint_names":["leaf_hinge","leaf_handle_hinge","leaf_latch_bolt_slide"],"qpos_addresses":[0,1,2]},"actor":{"body_names":["actor_pelvis","actor_chest","actor_neck","actor_head","actor_shoulder_l","actor_elbow_l","actor_wrist_l","actor_shoulder_r","actor_elbow_r","actor_wrist_r","actor_hip_l","actor_knee_l","actor_ankle_l","actor_hip_r","actor_knee_r","actor_ankle_r"],"joint_names":["actor_root","actor_spine_pitch","actor_spine_roll","actor_spine_yaw","actor_neck_yaw","actor_neck_pitch","actor_shoulder_l_pitch","actor_shoulder_l_roll","actor_shoulder_l_yaw","actor_elbow_l","actor_wrist_l_pitch","actor_wrist_l_roll","actor_wrist_l_yaw","actor_shoulder_r_pitch","actor_shoulder_r_roll","actor_shoulder_r_yaw","actor_elbow_r","actor_wrist_r_pitch","actor_wrist_r_roll","actor_wrist_r_yaw","actor_hip_l_pitch","actor_hip_l_roll","actor_hip_l_yaw","actor_knee_l","actor_ankle_l_pitch","actor_ankle_l_roll","actor_hip_r_pitch","actor_hip_r_roll","actor_hip_r_yaw","actor_knee_r","actor_ankle_r_pitch","actor_ankle_r_roll"],"qpos_addresses":[0,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37],"geometries":[{"name":"actor_geom_pelvis","body_name":"actor_pelvis","type":"capsule","size":[0.105,0.035,0.0],"pos":[0.0,0.0,0.005000000000000001],"quat_wxyz":[6.123233995736766e-17,1.0,0.0,0.0]},{"name":"actor_geom_torso","body_name":"actor_chest","type":"capsule","size":[0.12,0.0825,0.0],"pos":[0.0,0.0,-0.1075],"quat_wxyz":[6.123233995736766e-17,1.0,0.0,0.0]},{"name":"actor_geom_neck","body_name":"actor_neck","type":"capsule","size":[0.04,0.08,0.0],"pos":[0.0,0.0,-0.039999999999999994],"quat_wxyz":[6.123233995736766e-17,1.0,0.0,0.0]},{"name":"actor_geom_head","body_name":"actor_head","type":"sphere","size":[0.1,0.0,0.0],"pos":[0.0,0.0,0.0],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_upper_arm_l","body_name":"actor_shoulder_l","type":"capsule","size":[0.043,0.125,0.0],"pos":[0.0,0.0,-0.15000000000000002],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_forearm_l","body_name":"actor_elbow_l","type":"capsule","size":[0.036,0.12000000000000001,0.0],"pos":[0.0,0.0,-0.14],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_hand_l","body_name":"actor_wrist_l","type":"sphere","size":[0.035,0.0,0.0],"pos":[0.0,0.0,0.0],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_upper_arm_r","body_name":"actor_shoulder_r","type":"capsule","size":[0.043,0.125,0.0],"pos":[0.0,0.0,-0.15000000000000002],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_forearm_r","body_name":"actor_elbow_r","type":"capsule","size":[0.036,0.12000000000000001,0.0],"pos":[0.0,0.0,-0.14],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_hand_r","body_name":"actor_wrist_r","type":"sphere","size":[0.035,0.0,0.0],"pos":[0.0,0.0,0.0],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_thigh_l","body_name":"actor_hip_l","type":"capsule","size":[0.065,0.17500000000000002,0.0],"pos":[0.0,0.0,-0.215],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_shin_l","body_name":"actor_knee_l","type":"capsule","size":[0.047,0.18,0.0],"pos":[0.0,0.0,-0.21500000000000002],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_foot_l","body_name":"actor_ankle_l","type":"box","size":[0.05,0.13,0.0275],"pos":[0.0,0.04,-0.0275],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_thigh_r","body_name":"actor_hip_r","type":"capsule","size":[0.065,0.17500000000000002,0.0],"pos":[0.0,0.0,-0.215],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_shin_r","body_name":"actor_knee_r","type":"capsule","size":[0.047,0.18,0.0],"pos":[0.0,0.0,-0.21500000000000002],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_foot_r","body_name":"actor_ankle_r","type":"box","size":[0.05,0.13,0.0275],"pos":[0.0,0.04,-0.0275],"quat_wxyz":[1.0,0.0,0.0,0.0]}],"mjcf_xml":"<mujoco 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axis=\"0 0 1\" range=\"-0.8 0.8\" limited=\"true\" damping=\"1\" pos=\"0 0 -.30\" /><geom name=\"actor_geom_torso\" type=\"capsule\" size=\"0.12\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.19 0 0 -0.025\" /><site name=\"actor_site_chest\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_neck\" pos=\"0 0 0.16\"><inertial pos=\"0 0 0\" mass=\"1.0\" diaginertia=\"0.012 0.012 0.012\" /><joint name=\"actor_neck_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-1 1\" limited=\"true\" damping=\"1\" /><joint name=\"actor_neck_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-0.5 0.5\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_neck\" type=\"capsule\" size=\"0.04\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.12 0 0 0.04\" /><site name=\"actor_site_neck\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_head\" pos=\"0 0 0.13\"><inertial pos=\"0 0 0\" mass=\"4.5\" diaginertia=\"0.054 0.054 0.054\" /><geom name=\"actor_geom_head\" type=\"sphere\" size=\"0.1\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" /><site name=\"actor_site_head\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /></body></body><body name=\"actor_shoulder_l\" pos=\"-0.18 0 0.06\"><inertial pos=\"0 0 -0.15\" mass=\"2.0\" diaginertia=\"0.024 0.024 0.024\" /><joint name=\"actor_shoulder_l_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-1.2 2.7\" limited=\"true\" damping=\"1\" /><joint name=\"actor_shoulder_l_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-2.3 2.3\" limited=\"true\" damping=\"1\" /><joint name=\"actor_shoulder_l_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-1.6 1.6\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_upper_arm_l\" type=\"capsule\" size=\"0.043\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.025 0 0 -0.275\" /><site name=\"actor_site_shoulder_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_elbow_l\" pos=\"0 0 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contype=\"1\" conaffinity=\"1\" /><site name=\"actor_site_wrist_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /></body></body></body><body name=\"actor_shoulder_r\" pos=\"0.18 0 0.06\"><inertial pos=\"0 0 -0.15\" mass=\"2.0\" diaginertia=\"0.024 0.024 0.024\" /><joint name=\"actor_shoulder_r_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-1.2 2.7\" limited=\"true\" damping=\"1\" /><joint name=\"actor_shoulder_r_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-2.3 2.3\" limited=\"true\" damping=\"1\" /><joint name=\"actor_shoulder_r_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-1.6 1.6\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_upper_arm_r\" type=\"capsule\" size=\"0.043\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.025 0 0 -0.275\" /><site name=\"actor_site_shoulder_r\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_elbow_r\" pos=\"0 0 -0.3\"><inertial pos=\"0 0 -0.14\" mass=\"1.2\" diaginertia=\"0.0144 0.0144 0.0144\" 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1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.035 0 0 -0.395\" /><site name=\"actor_site_knee_r\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_ankle_r\" pos=\"0 0 -0.43\"><inertial pos=\"0 0.04 -0.0275\" mass=\"1.0\" diaginertia=\"0.012 0.012 0.012\" /><joint name=\"actor_ankle_r_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-0.8 0.8\" limited=\"true\" damping=\"1\" /><joint name=\"actor_ankle_r_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-0.45 0.45\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_foot_r\" type=\"box\" size=\"0.05 0.13 0.0275\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" pos=\"0 .04 -.0275\" /><site name=\"actor_site_ankle_r\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><site name=\"actor_site_sole_r\" pos=\"0 0.04 -0.055\" size=\".008\" rgba=\"1 .6 .1 1\" 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kinematic proposal; constrained IK and independent acceptance still required.","body_guidance_filter":{"type":"Gaussian","sigma_seconds":0.2,"scope":"Soft body and resting-arm targets before IK; foot contacts and native poses unchanged."}},"solver_summary":{"failed_frames":0,"geometrically_infeasible_frames":0,"error_counts":{},"runtime_s":36.208716958004516},"limitations":["Kinematic candidate: independent acceptance and visual review pending.","Native door poses are time-warped; source forces and dynamics are not replayed on this clock.","Original approximate adult rig; no articulated fingers, actuator limits or contact-force certification."]}
diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0547_swing_single/result.7bbcdeba30b6fdef4c519880d1dd7569943811cd9cc1ded6268a1d406bad8f13.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0547_swing_single/result.7bbcdeba30b6fdef4c519880d1dd7569943811cd9cc1ded6268a1d406bad8f13.json
new file mode 100644
index 0000000000000000000000000000000000000000..c83948582b9254d9c6215cb8e5af5a6bdaedbb5a
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0547_swing_single/result.7bbcdeba30b6fdef4c519880d1dd7569943811cd9cc1ded6268a1d406bad8f13.json
@@ -0,0 +1 @@
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Original result is identified by 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diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0547_swing_single/validation.1d236559f3e9180307bbec6bc50c39714d5923784d6c840d873b872b00045349.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0547_swing_single/validation.1d236559f3e9180307bbec6bc50c39714d5923784d6c840d873b872b00045349.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f507fdd30132a649ffb4a45d42044a99aeafba5
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0547_swing_single/validation.1d236559f3e9180307bbec6bc50c39714d5923784d6c840d873b872b00045349.json
@@ -0,0 +1,252 @@
+{
+  "accepted": true,
+  "actor_geometry_count": 16,
+  "actor_self_pairs_exclude": "same-body and directly adjacent bodies only",
+  "clip_sha256": "06c0152b9122b5353292c4a05154f40e246fc499e9596c9e583beb706021257e",
+  "collision_samples": 6321,
+  "contact_exclusion_pair_frames": 1310,
+  "door_id": "db0547_swing_single",
+  "failure_counts": {},
+  "failure_examples": {},
+  "frames": 3148,
+  "kinematic_accepted": true,
+  "maxima": {
+    "active_hand_target_error_m": 0.0002458151739457461,
+    "actor_acceleration_limit_ratio": 0.9993312971243602,
+    "actor_velocity_limit_ratio": 1.0000000000000533,
+    "fk_actor_body_pos": 0.0,
+    "fk_actor_body_quat": 1.2990531157078367e-07,
+    "fk_actor_joints": 0.0,
+    "fk_body_pos": 0.0,
+    "fk_body_quat": 5.960464477539063e-08,
+    "fk_foot_pos": 0.0,
+    "fk_foot_quat": 1.264405455326821e-07,
+    "foot_target_orientation_error_rad": 9.424321830774485e-08,
+    "foot_target_position_error_m": 2.827128829299372e-15,
+    "hand_contact_penetration_m": 0.0,
+    "hand_contact_surface_gap_m": 0.004524432768551036,
+    "interpolated_stance_orientation_drift_rad": 3.151317636629214e-05,
+    "interpolated_stance_position_drift_m": 5.147728741339258e-05,
+    "joint_limit_violation_rad": 0.0,
+    "stance_orientation_drift_rad": 1.0745380149674385e-07,
+    "stance_position_drift_m": 2.498310181656824e-15,
+    "stance_sole_height_error_m": 3.3732697191091177e-11
+  },
+  "minimum_foot_ground_distance_m": -5.1183131348862126e-05,
+  "minimum_noncontact_distance_m": 0.003822396308873245,
+  "native_collision_geometry_count": 22,
+  "native_timewarp": {
+    "end_s": 3.200000047683716,
+    "nondecreasing": true,
+    "start_s": 0.0
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+  "rig_fingerprint": "7aaa9dc6d1679b4775f9c79dbcb9a077f7c8e8d56a52d0ecf7fe97af071a9dd1",
+  "runtime": {
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+    "numpy": "2.5.2"
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+  "schema": "doorbench.planned-reference-validation.v1",
+  "scope": [
+    "Recomputed FK from saved qpos on original fixed actor MJCF and source door.",
+    "Exact engine distances for declared rigid collision geometry, including nonadjacent actor self-collision.",
+    "Frame and adaptively subdivided geodesic joint interpolation checks, not continuous-collision certification.",
+    "Stance requires fixed ankle pose and four sole corners supported by horizontal native floor boxes/planes.",
+    "Joint-range/derivative acceptance applies to the actor. Native source poses/FK and monotonic timewarp are verified; source dynamics and soft joint-limit compliance are not re-certified.",
+    "No dynamics, balance, friction, force closure, actuator torque or retimed-native-physics certification."
+  ],
+  "settings": {
+    "clearance_m": 0.003,
+    "collision_tolerance_m": 1e-05,
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+    "fk_position_m": 1e-05,
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+    "joint_limit_rad": 1e-06,
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+    "root_angular_acceleration_rad_s2": 8.0,
+    "root_angular_speed_rad_s": 1.5,
+    "root_speed_m_s": 0.8
+  },
+  "signed_distance_queries": 670571,
+  "source_sha256": {
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+    "spec.json": "b6b94febbd7803a7a835254f4ed2a604c7bf66d6d4cd5ede73c68570586c924e"
+  },
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+    "final_pelvis": [
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+      1.5002493003093915,
+      0.945278305347942
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+    "goal_distance_m": 0.00026541499905635664,
+    "goal_metric": "XY pelvis projection into ground goal disc",
+    "goal_radius_m": 0.5,
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+    "inside_forward_crossings": 1,
+    "proposal_traversal": "proposed",
+    "scenario": "open_and_traverse",
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+      "frame": 1086,
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+        "dof": "actor_knee_l",
+        "limit": 15.0,
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+      "frame": 2027,
+      "limit": 1.0001,
+      "measured": 0.9993312971243602
+    },
+    "actor_velocity_limit_ratio": {
+      "context": {
+        "dof": "actor_elbow_r",
+        "limit": 2.5,
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+      "frame": 435,
+      "limit": 1.0001,
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+      "frame": 0,
+      "limit": 1e-05,
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+      "context": null,
+      "frame": 132,
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+      "measured": 1.2990531157078367e-07
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+    "fk_actor_joints": {
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+      "frame": 0,
+      "limit": 1e-05,
+      "measured": 0.0
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+      "measured": 5.960464477539063e-08
+    },
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+      "frame": 0,
+      "limit": 1e-05,
+      "measured": 0.0
+    },
+    "fk_foot_quat": {
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+      "frame": 2081,
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+      "measured": 1.264405455326821e-07
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+      "measured": 9.424321830774485e-08
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+      "frame": 3147,
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+      "measured": 2.827128829299372e-15
+    },
+    "hand_contact_penetration_m": {
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+      "measured": 3.151317636629214e-05
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+      "measured": 5.147728741339258e-05
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+      "context": "actor_spine_pitch",
+      "frame": 0,
+      "limit": 1e-06,
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+      "measured": 2.498310181656824e-15
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+    "stance_sole_height_error_m": {
+      "context": 0,
+      "frame": 240,
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+      "measured": 3.3732697191091177e-11
+    }
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+}
diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0548_swing_single/result.c9770a959f79851df16ac1c984c80ff3315ce8c16bd6db838a9a38b0a1074c09.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0548_swing_single/result.c9770a959f79851df16ac1c984c80ff3315ce8c16bd6db838a9a38b0a1074c09.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ef2bf53572ed5c2a2c5a1bc072b84da663e6b6d
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0548_swing_single/result.c9770a959f79851df16ac1c984c80ff3315ce8c16bd6db838a9a38b0a1074c09.json
@@ -0,0 +1 @@
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Original result is identified by SHA-256.","original_result_sha256":"0b0c05ed66f84cd219eceb08262975e76155333aff2066f4278a98da85a0f6e8","door_id":"db0550_sliding_bypass","family":"sliding_bypass","status":"unresolved","identity_sha256":"6730dff13435842a745bfddd20a3d8daf4e260b90d62cc55deb077f6c047a796","created_at":"2026-09-05T16:35:09.013413+00:00","run_id":"00d7f061d80d4b66aa586d0843638797","source_outcome":{"base_end":[0.0,1.807,0.5],"control_dt":0.004,"criteria":{"!damage":true,"opened":true,"traversed":true},"damage":false,"damage_events":[],"difficulty":2,"door_id":"db0550_sliding_bypass","door_q_end":0.884,"energy_J":9.55,"env_damage":false,"episode_return":12.757,"error":null,"events":[["latch_released",0.004],["touched_door",0.504],["door_opened",0.6],["door_open_clear",0.792],["robot_passed_through",2.86],["goal_reached",3.858]],"expected_transit_s":6.71,"family":"sliding_bypass","human_collision":null,"labels":{"door_closed_after":false,"door_damaged":false,"door_open_clear":true,"door_opened":true,"door_slammed":false,"hardware_misuse":false,"latch_released":true,"lock_released":false,"operator_actuated":false,"robot_fell":false,"robot_passed_through":true,"touched_door":true,"touched_operator":false},"max_door_angle":0.8842,"max_leaf_force_N":0.0,"max_operator_torque":0.0,"mujoco_warnings":0,"outcome":"success","randomized":false,"reward_events":[["opened",0.68,3.0],["traversed",2.858,10.0]],"scenario":"open_and_traverse","seed":0,"sim_time":4.86,"start":{"xy":[0.119,-2.065],"yaw":1.711},"steps":2430,"success":true,"suite":"core","tier":"full","time_budget_s":35.0,"time_to_close":null,"time_to_goal":3.858,"time_to_open":0.6,"time_to_pass":2.858,"time_to_touch":0.5,"wall_s":0.093},"provenance":{"execution":{"isolation_mode":"fresh_python_process_per_door","timeout_s":600.0},"generator_sha256":"12d8e3d5991e0c328240386e242f120193621911de726cb1d5e5372887aa121f","manifest_sha256":"97699b43489a06b64f90d605ef87aec156e4ccc97fb9bbf0db61dac01c05ab34","native_resources_sha256":{},"options":{"fps":60,"gait_profile":"smooth","max_frames":null},"recording_index_sha256":"d9f5c60f6f76992e7a1a7efba0163bab63defe8e7bef0400cfd58aea0fbfe204","recording_sha256":{"clip.json":"e0c65295c6527c9867d60881eb60aa48604df2b828f97a236e9ba455275a6646","trajectory.npz":"8579da3b5fb96ed2ad31a1906f0dc9d947c298f7bfb00f1cbee10eb5cad3a4f6"},"source_sha256":{"door.xml":"6133684f7482201abcd603b57cb97dc27f65316d0e80c4e1f7ac70067b621579","model.json":"0005aaa4fd3f23f7cf64c740944529dd9229c42ba103426d8baa93d5feb02ece","spec.json":"5e892c13cf8fe76465212ec7d7a6237e9ad6b9b76ed81da7730572995968ac6e"}},"generator":{"files":{"doorbench/reference/__init__.py":"bcc139f47946e74a14fd338497edc2670e4660df4cce8ebc142613dbe32cbe06","doorbench/reference/gait.py":"154f484bf0805df3322bc02de47c9ef4e13961894bd3153946a5967cad172a90","doorbench/reference/guidance.py":"88db8e9d94e3a3a2214b2f744d6e180e379734aac7154a5e4c9aa2a971e46da9","doorbench/reference/humanoid.py":"702272462be6a2197453d52f93ddad2c47fa1dda441ed56450185d86cb7064b6","doorbench/reference/ik.py":"c23e5b594a296b10fcbdd12f0d54cb026d2ce4f8a1d53f20ab0ab52b9b01b0cb","doorbench/reference/planning.py":"4bba623325ce5bd647cb320f9a62878101dd3c578706ad0aea1107eaf9e934a9","doorbench/reference/record.py":"67155bb0c09041a54c993ca0ee96837f743481f2a06cfea73e42eeabf0fdcf6c","doorbench/reference/retime.py":"012556d7d2b7e71948167df7a8b84eb9b00df7d8d587a6298719e1acbd622e7e","doorbench/reference/rig.py":"050f7891718459b0b187179bc2328574012a38a5ab7965b08ef2d3ee0fd44580","doorbench/reference/solve.py":"d56da0ccd854207697f3167a65cf70abb1444e452c6e8f89bdb8dd672128c574","pyproject.toml":"a6d73621fc05f14b9541fe9d0f84639f230fa5ecf8cabfe8d037b5129092479f","scripts/build_planned_reference_corpus.py":"47a35368a8bebbd40986b399000f45e9beb1d62f6f62d0b59168d1b18254a2b7","scripts/validate_planned_reference.py":"5e43f06974464ad741889714689df5a3a3d271471dff513627a814478bda83af"},"runtime":{"implementation":"CPython","isolation_mode":"fresh_python_process_per_door","machine":"arm64","packages":{"daqp":"0.9.1","mink":"1.3.0","mujoco":"3.12.0","numpy":"2.5.2","qpsolvers":"4.13.0","scipy":"1.18.1","shapely":"2.1.2"},"platform":"Darwin","python":"3.12.12","worker_thread_environment":{"MKL_NUM_THREADS":"1","OMP_NUM_THREADS":"1","OPENBLAS_NUM_THREADS":"1","VECLIB_MAXIMUM_THREADS":"1"}},"sha256":"12d8e3d5991e0c328240386e242f120193621911de726cb1d5e5372887aa121f"},"new_completion":{"artifact_bindings_verified":false,"complete_proposal":false,"source_success_declared":true,"task_evidence_pass":false},"reason_code":"guide_traversal_unresolved","runtime_s":0.46228733300813474,"scope":"Complete proposal plus independent sampled kinematic/task-evidence checks. Source benchmark outcome is separate from new actor completion. No dynamics, balance, force-closure, continuous collision or personal visual approval.","error":{"type":"TaskUnresolved","message":"Full task route is unresolved: No standing-body route through the declared aperture at this door pose"}}
diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0551_swing_single/clip.f97af1f13255a4d9e72d46e2c3ffc88521f0987e8391c1376bc07821ff01e4cc.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0551_swing_single/clip.f97af1f13255a4d9e72d46e2c3ffc88521f0987e8391c1376bc07821ff01e4cc.json
new file mode 100644
index 0000000000000000000000000000000000000000..f12959e7ca1b2e69ba41ea597030e883ac7db545
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0551_swing_single/clip.f97af1f13255a4d9e72d46e2c3ffc88521f0987e8391c1376bc07821ff01e4cc.json
@@ -0,0 +1 @@
+{"schema":"doorbench.planned-reference.v1","door_id":"db0551_swing_single","fps":60,"units":"metres/radians/seconds","up_axis":"Z","status":"unvalidated","qa":{},"duration":18.21639735371606,"frames":829,"complete_proposal":true,"sampling":"actor_time is authoritative; fps is the nominal rendering frame rate","retiming":{"success":true,"schema":"doorbench.retime.v1","frames":829,"iterations":4,"original_duration_s":13.8,"duration_s":18.21639735371606,"duration_scale":1.3200287937475406,"maximum_interval_scale":3.2610321713139534,"changed_intervals":388,"maximum_neighbor_scale_ratio":1.1500000000000008,"neighbor_ratio_limit":1.15,"interval_scale_cap":20.0,"before":{"max_velocity_ratio":1.0000000000000027,"max_acceleration_ratio":10.591920771575285,"velocity_violations":0,"acceleration_violations":225,"worst_velocity":{"frame":486,"dof":"actor_elbow_r","ratio":1.0000000000000027},"worst_acceleration":{"frame":239,"dof":"actor_knee_r","ratio":10.591920771575285}},"after":{"max_velocity_ratio":1.0000000000001066,"max_acceleration_ratio":0.9999521120272659,"velocity_violations":0,"acceleration_violations":0,"worst_velocity":{"frame":784,"dof":"actor_elbow_r","ratio":1.0000000000001066},"worst_acceleration":{"frame":229,"dof":"actor_knee_r","ratio":0.9999521120272659}},"velocity_limits":[0.8,0.8,0.8,1.5,1.5,1.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5],"acceleration_limits":[3.0,3.0,3.0,8.0,8.0,8.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0],"dof_labels":["actor_root:x","actor_root:y","actor_root:z","actor_root:rx","actor_root:ry","actor_root:rz","actor_spine_pitch","actor_spine_roll","actor_spine_yaw","actor_neck_yaw","actor_neck_pitch","actor_shoulder_l_pitch","actor_shoulder_l_roll","actor_shoulder_l_yaw","actor_elbow_l","actor_wrist_l_pitch","actor_wrist_l_roll","actor_wrist_l_yaw","actor_shoulder_r_pitch","actor_shoulder_r_roll","actor_shoulder_r_yaw","actor_elbow_r","actor_wrist_r_pitch","actor_wrist_r_roll","actor_wrist_r_yaw","actor_hip_l_pitch","actor_hip_l_roll","actor_hip_l_yaw","actor_knee_l","actor_ankle_l_pitch","actor_ankle_l_roll","actor_hip_r_pitch","actor_hip_r_roll","actor_hip_r_yaw","actor_knee_r","actor_ankle_r_pitch","actor_ankle_r_roll"],"failure":null,"scope":"Sampled actor velocity and world-basis angular acceleration; unchanged poses and source clock. 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required."},"trajectory_sha256":"aa086855989f3e4e4663c0eb3459902e02177bf331aef837f82b5199507be9ff","source_sha256":{"spec.json":"986cd584b73a6a2a68886c965791e19e35d1e693a2ef8a535b09cc27a59d4d53","model.json":"5c170f1c6ecf7c81751074089eb9d0d8bed2d9a861da4fb2b45f2ccecb11922a","door.xml":"7bbdd46ff83f3ecc7a4035e5f3bd0ac299e602ef201f01967cd187ab8431cca8"},"native":{"body_names":["world","leaf","leaf_handle","leaf_latch_bolt","leaf_aux_bolt","closer_arm_main","closer_arm_fore"],"joint_names":["leaf_hinge","leaf_handle_hinge","leaf_latch_bolt_slide","leaf_aux_bolt_slide","closer_pinion","closer_elbow"],"qpos_addresses":[0,1,2,3,4,5]},"actor":{"body_names":["actor_pelvis","actor_chest","actor_neck","actor_head","actor_shoulder_l","actor_elbow_l","actor_wrist_l","actor_shoulder_r","actor_elbow_r","actor_wrist_r","actor_hip_l","actor_knee_l","actor_ankle_l","actor_hip_r","actor_knee_r","actor_ankle_r"],"joint_names":["actor_root","actor_spine_pitch","actor_spine_roll","actor_spine_yaw","actor_neck_yaw","actor_neck_pitch","actor_shoulder_l_pitch","actor_shoulder_l_roll","actor_shoulder_l_yaw","actor_elbow_l","actor_wrist_l_pitch","actor_wrist_l_roll","actor_wrist_l_yaw","actor_shoulder_r_pitch","actor_shoulder_r_roll","actor_shoulder_r_yaw","actor_elbow_r","actor_wrist_r_pitch","actor_wrist_r_roll","actor_wrist_r_yaw","actor_hip_l_pitch","actor_hip_l_roll","actor_hip_l_yaw","actor_knee_l","actor_ankle_l_pitch","actor_ankle_l_roll","actor_hip_r_pitch","actor_hip_r_roll","actor_hip_r_yaw","actor_knee_r","actor_ankle_r_pitch","actor_ankle_r_roll"],"qpos_addresses":[0,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37],"geometries":[{"name":"actor_geom_pelvis","body_name":"actor_pelvis","type":"capsule","size":[0.105,0.035,0.0],"pos":[0.0,0.0,0.005000000000000001],"quat_wxyz":[6.123233995736766e-17,1.0,0.0,0.0]},{"name":"actor_geom_torso","body_name":"actor_chest","type":"capsule","size":[0.12,0.0825,0.0],"pos":[0.0,0.0,-0.1075],"quat_wxyz":[6.123233995736766e-17,1.0,0.0,0.0]},{"name":"actor_geom_neck","body_name":"actor_neck","type":"capsule","size":[0.04,0.08,0.0],"pos":[0.0,0.0,-0.039999999999999994],"quat_wxyz":[6.123233995736766e-17,1.0,0.0,0.0]},{"name":"actor_geom_head","body_name":"actor_head","type":"sphere","size":[0.1,0.0,0.0],"pos":[0.0,0.0,0.0],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_upper_arm_l","body_name":"actor_shoulder_l","type":"capsule","size":[0.043,0.125,0.0],"pos":[0.0,0.0,-0.15000000000000002],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_forearm_l","body_name":"actor_elbow_l","type":"capsule","size":[0.036,0.12000000000000001,0.0],"pos":[0.0,0.0,-0.14],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_hand_l","body_name":"actor_wrist_l","type":"sphere","size":[0.035,0.0,0.0],"pos":[0.0,0.0,0.0],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_upper_arm_r","body_name":"actor_shoulder_r","type":"capsule","size":[0.043,0.125,0.0],"pos":[0.0,0.0,-0.15000000000000002],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_forearm_r","body_name":"actor_elbow_r","type":"capsule","size":[0.036,0.12000000000000001,0.0],"pos":[0.0,0.0,-0.14],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_hand_r","body_name":"actor_wrist_r","type":"sphere","size":[0.035,0.0,0.0],"pos":[0.0,0.0,0.0],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_thigh_l","body_name":"actor_hip_l","type":"capsule","size":[0.065,0.17500000000000002,0.0],"pos":[0.0,0.0,-0.215],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_shin_l","body_name":"actor_knee_l","type":"capsule","size":[0.047,0.18,0.0],"pos":[0.0,0.0,-0.21500000000000002],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_foot_l","body_name":"actor_ankle_l","type":"box","size":[0.05,0.13,0.0275],"pos":[0.0,0.04,-0.0275],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_thigh_r","body_name":"actor_hip_r","type":"capsule","size":[0.065,0.17500000000000002,0.0],"pos":[0.0,0.0,-0.215],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_shin_r","body_name":"actor_knee_r","type":"capsule","size":[0.047,0.18,0.0],"pos":[0.0,0.0,-0.21500000000000002],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_foot_r","body_name":"actor_ankle_r","type":"box","size":[0.05,0.13,0.0275],"pos":[0.0,0.04,-0.0275],"quat_wxyz":[1.0,0.0,0.0,0.0]}],"mjcf_xml":"<mujoco 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diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0551_swing_single/result.7886afc29cd223a5c6c28f6ec46bf63ecfb93359461e80adc25cacfd15c389bc.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0551_swing_single/result.7886afc29cd223a5c6c28f6ec46bf63ecfb93359461e80adc25cacfd15c389bc.json
new file mode 100644
index 0000000000000000000000000000000000000000..aea09ac1ac0fd8eef1b634c5507483f9976b3e5c
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diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0551_swing_single/validation.4a3f49d295a828fafc4d3517962760e77257b5589980dae015c114eb0e481e19.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0551_swing_single/validation.4a3f49d295a828fafc4d3517962760e77257b5589980dae015c114eb0e481e19.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb6e2339d416212cd2aa78816ac02315557458d6
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0551_swing_single/validation.4a3f49d295a828fafc4d3517962760e77257b5589980dae015c114eb0e481e19.json
@@ -0,0 +1,229 @@
+{
+  "accepted": true,
+  "actor_geometry_count": 16,
+  "actor_self_pairs_exclude": "same-body and directly adjacent bodies only",
+  "clip_sha256": "f97af1f13255a4d9e72d46e2c3ffc88521f0987e8391c1376bc07821ff01e4cc",
+  "collision_samples": 1671,
+  "contact_exclusion_pair_frames": 235,
+  "door_id": "db0551_swing_single",
+  "failure_counts": {},
+  "failure_examples": {},
+  "frames": 829,
+  "kinematic_accepted": true,
+  "maxima": {
+    "active_hand_target_error_m": 0.0002085001270421134,
+    "actor_acceleration_limit_ratio": 0.9999521120272659,
+    "actor_velocity_limit_ratio": 1.0000000000001066,
+    "fk_actor_body_pos": 0.0,
+    "fk_actor_body_quat": 1.2990531157078367e-07,
+    "fk_actor_joints": 0.0,
+    "fk_body_pos": 0.0,
+    "fk_body_quat": 7.300048299977715e-08,
+    "fk_foot_pos": 0.0,
+    "fk_foot_quat": 1.1151007970493858e-07,
+    "foot_target_orientation_error_rad": 7.884953353001448e-08,
+    "foot_target_position_error_m": 1.839644597884564e-15,
+    "hand_contact_penetration_m": 0.0,
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+    "interpolated_stance_orientation_drift_rad": 2.239824464380906e-05,
+    "interpolated_stance_position_drift_m": 5.0340235047907125e-05,
+    "joint_limit_violation_rad": 0.0,
+    "stance_orientation_drift_rad": 1.032382731180714e-07,
+    "stance_position_drift_m": 2.0022526744236027e-15,
+    "stance_sole_height_error_m": 3.132052950327591e-11
+  },
+  "minimum_foot_ground_distance_m": -4.981638488931253e-05,
+  "minimum_noncontact_distance_m": 0.004371871682855067,
+  "native_collision_geometry_count": 29,
+  "native_timewarp": {
+    "end_s": 4.099999904632568,
+    "nondecreasing": true,
+    "start_s": 0.0
+  },
+  "rig_fingerprint": "7aaa9dc6d1679b4775f9c79dbcb9a077f7c8e8d56a52d0ecf7fe97af071a9dd1",
+  "runtime": {
+    "mujoco": "3.12.0",
+    "numpy": "2.5.2"
+  },
+  "schema": "doorbench.planned-reference-validation.v1",
+  "scope": [
+    "Recomputed FK from saved qpos on original fixed actor MJCF and source door.",
+    "Exact engine distances for declared rigid collision geometry, including nonadjacent actor self-collision.",
+    "Frame and adaptively subdivided geodesic joint interpolation checks, not continuous-collision certification.",
+    "Stance requires fixed ankle pose and four sole corners supported by horizontal native floor boxes/planes.",
+    "Joint-range/derivative acceptance applies to the actor. Native source poses/FK and monotonic timewarp are verified; source dynamics and soft joint-limit compliance are not re-certified.",
+    "No dynamics, balance, friction, force closure, actuator torque or retimed-native-physics certification."
+  ],
+  "settings": {
+    "clearance_m": 0.003,
+    "collision_tolerance_m": 1e-05,
+    "fk_orientation_rad": 0.0001,
+    "fk_position_m": 1e-05,
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+    "ground_penetration_m": 0.0001,
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+    "hand_surface_gap_m": 0.005,
+    "joint_acceleration_rad_s2": 15.0,
+    "joint_limit_rad": 1e-06,
+    "joint_speed_rad_s": 2.5,
+    "max_sample_dt_s": 0.025,
+    "max_sample_rotation_rad": 0.05,
+    "max_sample_translation_m": 0.01,
+    "root_acceleration_m_s2": 3.0,
+    "root_angular_acceleration_rad_s2": 8.0,
+    "root_angular_speed_rad_s": 1.5,
+    "root_speed_m_s": 0.8
+  },
+  "signed_distance_queries": 199112,
+  "source_sha256": {
+    "door.xml": "7bbdd46ff83f3ecc7a4035e5f3bd0ac299e602ef201f01967cd187ab8431cca8",
+    "model.json": "5c170f1c6ecf7c81751074089eb9d0d8bed2d9a861da4fb2b45f2ccecb11922a",
+    "spec.json": "986cd584b73a6a2a68886c965791e19e35d1e693a2ef8a535b09cc27a59d4d53"
+  },
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+  "task_completion": {
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+    "completion_scope": "Observed actor route plus declared source outcome; contact, lock recognition and mechanism semantics are not independently certified.",
+    "evidence_pass": true,
+    "failure_counts": {},
+    "failure_examples": {},
+    "proposal_traversal": "not_requested",
+    "recognition_scope": "Nontraversing motion permitted. Recognition/locked mechanism evidence comes only from the declared source outcome.",
+    "scenario": "locked_recognize",
+    "source_success_declared": true
+  },
+  "trajectory_sha256": "aa086855989f3e4e4663c0eb3459902e02177bf331aef837f82b5199507be9ff",
+  "worst_samples": {
+    "active_hand_target_error_m": {
+      "context": 1,
+      "frame": 519,
+      "limit": 0.01,
+      "measured": 0.0002085001270421134
+    },
+    "actor_acceleration_limit_ratio": {
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+        "dof": "actor_knee_r",
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+        "root_rotation_basis": "world"
+      },
+      "frame": 229,
+      "limit": 1.0001,
+      "measured": 0.9999521120272659
+    },
+    "actor_velocity_limit_ratio": {
+      "context": {
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+        "limit": 2.5,
+        "velocity": -2.5000000000002665
+      },
+      "frame": 784,
+      "limit": 1.0001,
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+      "context": null,
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+      "limit": 1e-05,
+      "measured": 0.0
+    },
+    "fk_actor_body_quat": {
+      "context": null,
+      "frame": 92,
+      "limit": 0.0001,
+      "measured": 1.2990531157078367e-07
+    },
+    "fk_actor_joints": {
+      "context": null,
+      "frame": 0,
+      "limit": 1e-05,
+      "measured": 0.0
+    },
+    "fk_body_pos": {
+      "context": null,
+      "frame": 0,
+      "limit": 1e-05,
+      "measured": 0.0
+    },
+    "fk_body_quat": {
+      "context": null,
+      "frame": 698,
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+      "measured": 7.300048299977715e-08
+    },
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+      "context": null,
+      "frame": 0,
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+      "measured": 1.1151007970493858e-07
+    },
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+      "context": 0,
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+    "interpolated_stance_orientation_drift_rad": {
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+      "frame": "58+1/2",
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+    },
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+      "measured": 5.0340235047907125e-05
+    },
+    "joint_limit_violation_rad": {
+      "context": "actor_spine_pitch",
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+    },
+    "stance_orientation_drift_rad": {
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+      "measured": 2.0022526744236027e-15
+    },
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+      "context": 0,
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+      "measured": 3.132052950327591e-11
+    }
+  }
+}
diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0552_revolving/result.977c6b70c81002a9ec2ea5209b171ba20cb94e20b4b9b1dc3bf8850738ca5a99.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0552_revolving/result.977c6b70c81002a9ec2ea5209b171ba20cb94e20b4b9b1dc3bf8850738ca5a99.json
new file mode 100644
index 0000000000000000000000000000000000000000..21b1a1174b9a025833979457e2bd8b870c3c5a64
--- /dev/null
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diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0557_stall/result.ba03f81e9ebe90b5dc906076b925c8eae4726d9d0ba37e035d3ee7b6aa2c68e7.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0557_stall/result.ba03f81e9ebe90b5dc906076b925c8eae4726d9d0ba37e035d3ee7b6aa2c68e7.json
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diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0558_stall/result.8dc094049ab8e959fbc8c3c70536dd9e4062c1b10b24d09422e3e56a481e899e.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0558_stall/result.8dc094049ab8e959fbc8c3c70536dd9e4062c1b10b24d09422e3e56a481e899e.json
new file mode 100644
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diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0559_hatch_floor/result.c37264630121e7830ebb5e15f7858c0eb39608e21cae5220ef43ef3de3a15733.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0559_hatch_floor/result.c37264630121e7830ebb5e15f7858c0eb39608e21cae5220ef43ef3de3a15733.json
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required."},"trajectory_sha256":"d9f9760aea77e031946edc32ae03682c43a7402dc0647589190fdebaa4d9c734","source_sha256":{"spec.json":"506393bf0175539b5a71a60a6e2eb4e4921afe38c90b941dae3afd03715831aa","model.json":"0de974b29aea9394e89c691518de37549def0c59ff7120ca807151c3840dda59","door.xml":"211dfa5eee663cf3fe7a0341262fd59145a9450b75ee31eeb10fe2cb24fe6b5d"},"native":{"body_names":["world","leaf"],"joint_names":["leaf_hinge"],"qpos_addresses":[0]},"actor":{"body_names":["actor_pelvis","actor_chest","actor_neck","actor_head","actor_shoulder_l","actor_elbow_l","actor_wrist_l","actor_shoulder_r","actor_elbow_r","actor_wrist_r","actor_hip_l","actor_knee_l","actor_ankle_l","actor_hip_r","actor_knee_r","actor_ankle_r"],"joint_names":["actor_root","actor_spine_pitch","actor_spine_roll","actor_spine_yaw","actor_neck_yaw","actor_neck_pitch","actor_shoulder_l_pitch","actor_shoulder_l_roll","actor_shoulder_l_yaw","actor_elbow_l","actor_wrist_l_pitch","actor_wrist_l_roll","actor_wrist_l_yaw","actor_shoulder_r_pitch","actor_shoulder_r_roll","actor_shoulder_r_yaw","actor_elbow_r","actor_wrist_r_pitch","actor_wrist_r_roll","actor_wrist_r_yaw","actor_hip_l_pitch","actor_hip_l_roll","actor_hip_l_yaw","actor_knee_l","actor_ankle_l_pitch","actor_ankle_l_roll","actor_hip_r_pitch","actor_hip_r_roll","actor_hip_r_yaw","actor_knee_r","actor_ankle_r_pitch","actor_ankle_r_roll"],"qpos_addresses":[0,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37],"geometries":[{"name":"actor_geom_pelvis","body_name":"actor_pelvis","type":"capsule","size":[0.105,0.035,0.0],"pos":[0.0,0.0,0.005000000000000001],"quat_wxyz":[6.123233995736766e-17,1.0,0.0,0.0]},{"name":"actor_geom_torso","body_name":"actor_chest","type":"capsule","size":[0.12,0.0825,0.0],"pos":[0.0,0.0,-0.1075],"quat_wxyz":[6.123233995736766e-17,1.0,0.0,0.0]},{"name":"actor_geom_neck","body_name":"actor_neck","type":"capsule","size":[0.04,0.08,0.0],"pos":[0.0,0.0,-0.039999999999999994],"quat_wxyz":[6.123233995736766e-17,1.0,0.0,0.0]},{"name":"actor_geom_head","body_name":"actor_head","type":"sphere","size":[0.1,0.0,0.0],"pos":[0.0,0.0,0.0],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_upper_arm_l","body_name":"actor_shoulder_l","type":"capsule","size":[0.043,0.125,0.0],"pos":[0.0,0.0,-0.15000000000000002],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_forearm_l","body_name":"actor_elbow_l","type":"capsule","size":[0.036,0.12000000000000001,0.0],"pos":[0.0,0.0,-0.14],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_hand_l","body_name":"actor_wrist_l","type":"sphere","size":[0.035,0.0,0.0],"pos":[0.0,0.0,0.0],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_upper_arm_r","body_name":"actor_shoulder_r","type":"capsule","size":[0.043,0.125,0.0],"pos":[0.0,0.0,-0.15000000000000002],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_forearm_r","body_name":"actor_elbow_r","type":"capsule","size":[0.036,0.12000000000000001,0.0],"pos":[0.0,0.0,-0.14],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_hand_r","body_name":"actor_wrist_r","type":"sphere","size":[0.035,0.0,0.0],"pos":[0.0,0.0,0.0],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_thigh_l","body_name":"actor_hip_l","type":"capsule","size":[0.065,0.17500000000000002,0.0],"pos":[0.0,0.0,-0.215],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_shin_l","body_name":"actor_knee_l","type":"capsule","size":[0.047,0.18,0.0],"pos":[0.0,0.0,-0.21500000000000002],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_foot_l","body_name":"actor_ankle_l","type":"box","size":[0.05,0.13,0.0275],"pos":[0.0,0.04,-0.0275],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_thigh_r","body_name":"actor_hip_r","type":"capsule","size":[0.065,0.17500000000000002,0.0],"pos":[0.0,0.0,-0.215],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_shin_r","body_name":"actor_knee_r","type":"capsule","size":[0.047,0.18,0.0],"pos":[0.0,0.0,-0.21500000000000002],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_foot_r","body_name":"actor_ankle_r","type":"box","size":[0.05,0.13,0.0275],"pos":[0.0,0.04,-0.0275],"quat_wxyz":[1.0,0.0,0.0,0.0]}],"mjcf_xml":"<mujoco model=\"doorbench_original_adult\"><compiler angle=\"radian\" autolimits=\"true\" /><worldbody><body name=\"actor_pelvis\" pos=\"0.243024977212 -1.44764838634 0.940521645285\" quat=\"0.999999988001 0 0 -0.000154912347909\"><inertial pos=\"0 0 0\" mass=\"9.0\" diaginertia=\"0.108 0.108 0.108\" /><freejoint name=\"actor_root\" /><geom name=\"actor_geom_pelvis\" type=\"capsule\" size=\"0.105\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.03 0 0 0.04\" /><site name=\"actor_site_pelvis\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_chest\" pos=\"0 0 0.35\"><inertial pos=\"0 0 -0.12\" mass=\"20.0\" diaginertia=\"0.24 0.24 0.24\" /><joint name=\"actor_spine_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-0.65 0.65\" limited=\"true\" damping=\"1\" pos=\"0 0 -.30\" /><joint name=\"actor_spine_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-0.4 0.4\" limited=\"true\" damping=\"1\" pos=\"0 0 -.30\" /><joint name=\"actor_spine_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-0.8 0.8\" limited=\"true\" damping=\"1\" pos=\"0 0 -.30\" /><geom name=\"actor_geom_torso\" type=\"capsule\" size=\"0.12\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.19 0 0 -0.025\" /><site name=\"actor_site_chest\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_neck\" pos=\"0 0 0.16\"><inertial pos=\"0 0 0\" mass=\"1.0\" diaginertia=\"0.012 0.012 0.012\" /><joint name=\"actor_neck_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-1 1\" limited=\"true\" damping=\"1\" /><joint name=\"actor_neck_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-0.5 0.5\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_neck\" type=\"capsule\" size=\"0.04\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.12 0 0 0.04\" /><site name=\"actor_site_neck\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_head\" pos=\"0 0 0.13\"><inertial pos=\"0 0 0\" mass=\"4.5\" diaginertia=\"0.054 0.054 0.054\" /><geom name=\"actor_geom_head\" type=\"sphere\" size=\"0.1\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" /><site name=\"actor_site_head\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /></body></body><body name=\"actor_shoulder_l\" pos=\"-0.18 0 0.06\"><inertial pos=\"0 0 -0.15\" mass=\"2.0\" diaginertia=\"0.024 0.024 0.024\" /><joint name=\"actor_shoulder_l_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-1.2 2.7\" limited=\"true\" damping=\"1\" /><joint name=\"actor_shoulder_l_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-2.3 2.3\" limited=\"true\" damping=\"1\" /><joint name=\"actor_shoulder_l_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-1.6 1.6\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_upper_arm_l\" type=\"capsule\" size=\"0.043\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.025 0 0 -0.275\" /><site name=\"actor_site_shoulder_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_elbow_l\" pos=\"0 0 -0.3\"><inertial pos=\"0 0 -0.14\" mass=\"1.2\" diaginertia=\"0.0144 0.0144 0.0144\" /><joint name=\"actor_elbow_l\" type=\"hinge\" axis=\"1 0 0\" range=\"0 2.65\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_forearm_l\" type=\"capsule\" size=\"0.036\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.02 0 0 -0.26\" /><site name=\"actor_site_elbow_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_wrist_l\" pos=\"0 0 -0.28\"><inertial pos=\"0 0 0\" mass=\"0.4\" diaginertia=\"0.0048 0.0048 0.0048\" /><joint name=\"actor_wrist_l_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-1.1 1.1\" limited=\"true\" damping=\"1\" /><joint name=\"actor_wrist_l_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-0.65 0.65\" limited=\"true\" damping=\"1\" /><joint name=\"actor_wrist_l_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-1.4 1.4\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_hand_l\" type=\"sphere\" size=\"0.035\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" /><site name=\"actor_site_wrist_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /></body></body></body><body name=\"actor_shoulder_r\" pos=\"0.18 0 0.06\"><inertial pos=\"0 0 -0.15\" mass=\"2.0\" diaginertia=\"0.024 0.024 0.024\" /><joint name=\"actor_shoulder_r_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-1.2 2.7\" limited=\"true\" damping=\"1\" /><joint name=\"actor_shoulder_r_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-2.3 2.3\" limited=\"true\" damping=\"1\" /><joint name=\"actor_shoulder_r_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-1.6 1.6\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_upper_arm_r\" type=\"capsule\" size=\"0.043\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.025 0 0 -0.275\" /><site name=\"actor_site_shoulder_r\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_elbow_r\" pos=\"0 0 -0.3\"><inertial pos=\"0 0 -0.14\" mass=\"1.2\" diaginertia=\"0.0144 0.0144 0.0144\" /><joint name=\"actor_elbow_r\" type=\"hinge\" axis=\"1 0 0\" range=\"0 2.65\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_forearm_r\" type=\"capsule\" size=\"0.036\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.02 0 0 -0.26\" /><site name=\"actor_site_elbow_r\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_wrist_r\" pos=\"0 0 -0.28\"><inertial pos=\"0 0 0\" mass=\"0.4\" diaginertia=\"0.0048 0.0048 0.0048\" /><joint name=\"actor_wrist_r_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-1.1 1.1\" limited=\"true\" damping=\"1\" /><joint name=\"actor_wrist_r_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-0.65 0.65\" limited=\"true\" damping=\"1\" /><joint name=\"actor_wrist_r_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-1.4 1.4\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_hand_r\" type=\"sphere\" size=\"0.035\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" /><site name=\"actor_site_wrist_r\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /></body></body></body></body><body name=\"actor_hip_l\" pos=\"-0.105 0 -0.06\"><inertial pos=\"0 0 -0.215\" mass=\"8.0\" diaginertia=\"0.096 0.096 0.096\" /><joint name=\"actor_hip_l_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-0.7 1.8\" limited=\"true\" damping=\"1\" /><joint name=\"actor_hip_l_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-0.65 0.65\" limited=\"true\" damping=\"1\" /><joint name=\"actor_hip_l_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-0.8 0.8\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_thigh_l\" type=\"capsule\" size=\"0.065\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.04 0 0 -0.39\" /><site name=\"actor_site_hip_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_knee_l\" pos=\"0 0 -0.43\"><inertial pos=\"0 0 -0.215\" mass=\"3.5\" diaginertia=\"0.042 0.042 0.042\" /><joint name=\"actor_knee_l\" type=\"hinge\" axis=\"1 0 0\" range=\"-2.7 0\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_shin_l\" type=\"capsule\" size=\"0.047\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.035 0 0 -0.395\" /><site name=\"actor_site_knee_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_ankle_l\" pos=\"0 0 -0.43\"><inertial pos=\"0 0.04 -0.0275\" mass=\"1.0\" diaginertia=\"0.012 0.012 0.012\" /><joint name=\"actor_ankle_l_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-0.8 0.8\" limited=\"true\" damping=\"1\" /><joint name=\"actor_ankle_l_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-0.45 0.45\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_foot_l\" type=\"box\" size=\"0.05 0.13 0.0275\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" pos=\"0 .04 -.0275\" /><site name=\"actor_site_ankle_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><site name=\"actor_site_sole_l\" pos=\"0 0.04 -0.055\" size=\".008\" rgba=\"1 .6 .1 1\" /></body></body></body><body name=\"actor_hip_r\" 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1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.035 0 0 -0.395\" /><site name=\"actor_site_knee_r\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_ankle_r\" pos=\"0 0 -0.43\"><inertial pos=\"0 0.04 -0.0275\" mass=\"1.0\" diaginertia=\"0.012 0.012 0.012\" /><joint name=\"actor_ankle_r_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-0.8 0.8\" limited=\"true\" damping=\"1\" /><joint name=\"actor_ankle_r_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-0.45 0.45\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_foot_r\" type=\"box\" size=\"0.05 0.13 0.0275\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" pos=\"0 .04 -.0275\" /><site name=\"actor_site_ankle_r\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><site name=\"actor_site_sole_r\" pos=\"0 0.04 -0.055\" size=\".008\" rgba=\"1 .6 .1 1\" 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kinematic proposal; constrained IK and independent acceptance still required.","body_guidance_filter":{"type":"Gaussian","sigma_seconds":0.2,"scope":"Soft body and resting-arm targets before IK; foot contacts and native poses unchanged."}},"solver_summary":{"failed_frames":0,"geometrically_infeasible_frames":0,"error_counts":{},"runtime_s":31.430567917006556},"limitations":["Kinematic candidate: independent acceptance and visual review pending.","Native door poses are time-warped; source forces and dynamics are not replayed on this clock.","Original approximate adult rig; no articulated fingers, actuator limits or contact-force certification."]}
diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0560_pivot/result.0de741ed08ca6203453fb063c03f32c074cfdaa9a974f4b7f6b20f5f356c6e5d.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0560_pivot/result.0de741ed08ca6203453fb063c03f32c074cfdaa9a974f4b7f6b20f5f356c6e5d.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8e6f98f07e9b1999d8c13f8cca3dcd556a0fe1c
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0560_pivot/result.0de741ed08ca6203453fb063c03f32c074cfdaa9a974f4b7f6b20f5f356c6e5d.json
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+{"schema":"doorbench.planned-reference-public-attempt.v1","projection":"Public summary; execution logs and traceback omitted, absolute paths redacted. 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diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0560_pivot/validation.1179f011b35f2014c3e08bb173b94e01e8fb7f62fb305d9fb65d5f5f4c4e93bd.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0560_pivot/validation.1179f011b35f2014c3e08bb173b94e01e8fb7f62fb305d9fb65d5f5f4c4e93bd.json
new file mode 100644
index 0000000000000000000000000000000000000000..80fd370e74268952d2c05f7697d71c51592f884a
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0560_pivot/validation.1179f011b35f2014c3e08bb173b94e01e8fb7f62fb305d9fb65d5f5f4c4e93bd.json
@@ -0,0 +1,252 @@
+{
+  "accepted": true,
+  "actor_geometry_count": 16,
+  "actor_self_pairs_exclude": "same-body and directly adjacent bodies only",
+  "clip_sha256": "79d6c3778ff71bc5da78c1d13c3dbe4074ecb19ffc05fd893108bb7503f96812",
+  "collision_samples": 5761,
+  "contact_exclusion_pair_frames": 1819,
+  "door_id": "db0560_pivot",
+  "failure_counts": {},
+  "failure_examples": {},
+  "frames": 2875,
+  "kinematic_accepted": true,
+  "maxima": {
+    "active_hand_target_error_m": 0.00027391851641778256,
+    "actor_acceleration_limit_ratio": 0.9976172102514576,
+    "actor_velocity_limit_ratio": 1.0000000000000533,
+    "fk_actor_body_pos": 0.0,
+    "fk_actor_body_quat": 1.2990531157078367e-07,
+    "fk_actor_joints": 0.0,
+    "fk_body_pos": 0.0,
+    "fk_body_quat": 4.2146848510894035e-08,
+    "fk_foot_pos": 0.0,
+    "fk_foot_quat": 1.1920928955078128e-07,
+    "foot_target_orientation_error_rad": 8.429369702178807e-08,
+    "foot_target_position_error_m": 1.995875760570314e-13,
+    "hand_contact_penetration_m": 0.0,
+    "hand_contact_surface_gap_m": 0.004476983248339547,
+    "interpolated_stance_orientation_drift_rad": 2.798899827305958e-05,
+    "interpolated_stance_position_drift_m": 5.008236474415006e-05,
+    "joint_limit_violation_rad": 0.0,
+    "stance_orientation_drift_rad": 1.0745380149674385e-07,
+    "stance_position_drift_m": 1.9894791775917698e-13,
+    "stance_sole_height_error_m": 3.4413083493944896e-11
+  },
+  "minimum_foot_ground_distance_m": -4.9842703415087924e-05,
+  "minimum_noncontact_distance_m": 0.0039612222477671405,
+  "native_collision_geometry_count": 12,
+  "native_timewarp": {
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+    "nondecreasing": true,
+    "start_s": 0.0
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+  "rig_fingerprint": "7aaa9dc6d1679b4775f9c79dbcb9a077f7c8e8d56a52d0ecf7fe97af071a9dd1",
+  "runtime": {
+    "mujoco": "3.12.0",
+    "numpy": "2.5.2"
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+  "schema": "doorbench.planned-reference-validation.v1",
+  "scope": [
+    "Recomputed FK from saved qpos on original fixed actor MJCF and source door.",
+    "Exact engine distances for declared rigid collision geometry, including nonadjacent actor self-collision.",
+    "Frame and adaptively subdivided geodesic joint interpolation checks, not continuous-collision certification.",
+    "Stance requires fixed ankle pose and four sole corners supported by horizontal native floor boxes/planes.",
+    "Joint-range/derivative acceptance applies to the actor. Native source poses/FK and monotonic timewarp are verified; source dynamics and soft joint-limit compliance are not re-certified.",
+    "No dynamics, balance, friction, force closure, actuator torque or retimed-native-physics certification."
+  ],
+  "settings": {
+    "clearance_m": 0.003,
+    "collision_tolerance_m": 1e-05,
+    "fk_orientation_rad": 0.0001,
+    "fk_position_m": 1e-05,
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+    "ground_penetration_m": 0.0001,
+    "hand_contact_penetration_m": 0.003,
+    "hand_position_m": 0.01,
+    "hand_surface_gap_m": 0.005,
+    "joint_acceleration_rad_s2": 15.0,
+    "joint_limit_rad": 1e-06,
+    "joint_speed_rad_s": 2.5,
+    "max_sample_dt_s": 0.025,
+    "max_sample_rotation_rad": 0.05,
+    "max_sample_translation_m": 0.01,
+    "root_acceleration_m_s2": 3.0,
+    "root_angular_acceleration_rad_s2": 8.0,
+    "root_angular_speed_rad_s": 1.5,
+    "root_speed_m_s": 0.8
+  },
+  "signed_distance_queries": 789440,
+  "source_sha256": {
+    "door.xml": "211dfa5eee663cf3fe7a0341262fd59145a9450b75ee31eeb10fe2cb24fe6b5d",
+    "model.json": "0de974b29aea9394e89c691518de37549def0c59ff7120ca807151c3840dda59",
+    "spec.json": "506393bf0175539b5a71a60a6e2eb4e4921afe38c90b941dae3afd03715831aa"
+  },
+  "status": "accepted_kinematic",
+  "task_completion": {
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+    "completion_scope": "Observed actor route plus declared source outcome; contact, lock recognition and mechanism semantics are not independently certified.",
+    "crossings": [
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+        "from_frame": 863,
+        "inside_aperture": true,
+        "position": [
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+          0.0,
+          0.9521592896574035
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+        "time_s": 20.029992680277108
+      }
+    ],
+    "evidence_pass": true,
+    "failure_counts": {},
+    "failure_examples": {},
+    "final_pelvis": [
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+      1.5002138271791212,
+      0.9452783042591056
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+    "final_signed_distance_m": 1.5002138271791212,
+    "goal_distance_m": 0.00026555467745804,
+    "goal_metric": "XY pelvis projection into ground goal disc",
+    "goal_radius_m": 0.5,
+    "initial_signed_distance_m": -1.4474076914256226,
+    "inside_forward_crossings": 1,
+    "proposal_traversal": "proposed",
+    "scenario": "open_and_traverse",
+    "source_success_declared": true
+  },
+  "trajectory_sha256": "d9f9760aea77e031946edc32ae03682c43a7402dc0647589190fdebaa4d9c734",
+  "worst_samples": {
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+      "frame": 1967,
+      "limit": 0.01,
+      "measured": 0.00027391851641778256
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+        "dof": "actor_knee_r",
+        "limit": 15.0,
+        "root_rotation_basis": "world"
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+      "frame": 2176,
+      "limit": 1.0001,
+      "measured": 0.9976172102514576
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+    "actor_velocity_limit_ratio": {
+      "context": {
+        "dof": "actor_elbow_r",
+        "limit": 2.5,
+        "velocity": 2.5000000000001332
+      },
+      "frame": 355,
+      "limit": 1.0001,
+      "measured": 1.0000000000000533
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+    "fk_actor_body_pos": {
+      "context": null,
+      "frame": 0,
+      "limit": 1e-05,
+      "measured": 0.0
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+    "fk_actor_body_quat": {
+      "context": null,
+      "frame": 288,
+      "limit": 0.0001,
+      "measured": 1.2990531157078367e-07
+    },
+    "fk_actor_joints": {
+      "context": null,
+      "frame": 0,
+      "limit": 1e-05,
+      "measured": 0.0
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+    "fk_body_pos": {
+      "context": null,
+      "frame": 0,
+      "limit": 1e-05,
+      "measured": 0.0
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+    "fk_body_quat": {
+      "context": null,
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+      "limit": 0.0001,
+      "measured": 4.2146848510894035e-08
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+    "fk_foot_pos": {
+      "context": null,
+      "frame": 0,
+      "limit": 1e-05,
+      "measured": 0.0
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+      "frame": 1905,
+      "limit": 0.0001,
+      "measured": 1.1920928955078128e-07
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+    "foot_target_orientation_error_rad": {
+      "context": 0,
+      "frame": 1717,
+      "limit": 0.008726646259971648,
+      "measured": 8.429369702178807e-08
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+      "context": 0,
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+      "limit": 0.001,
+      "measured": 1.995875760570314e-13
+    },
+    "hand_contact_penetration_m": {
+      "context": 1,
+      "frame": 396,
+      "limit": 0.003,
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+    },
+    "hand_contact_surface_gap_m": {
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+      "frame": 1002,
+      "limit": 0.005,
+      "measured": 0.004476983248339547
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+    "interpolated_stance_orientation_drift_rad": {
+      "context": 0,
+      "frame": "2731+1/2",
+      "limit": 0.008726646259971648,
+      "measured": 2.798899827305958e-05
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+      "context": 1,
+      "frame": "103+1/2",
+      "limit": 0.001,
+      "measured": 5.008236474415006e-05
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+    "joint_limit_violation_rad": {
+      "context": "actor_spine_pitch",
+      "frame": 0,
+      "limit": 1e-06,
+      "measured": 0.0
+    },
+    "stance_orientation_drift_rad": {
+      "context": 1,
+      "frame": 1568,
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+      "measured": 1.0745380149674385e-07
+    },
+    "stance_position_drift_m": {
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+      "limit": 0.001,
+      "measured": 1.9894791775917698e-13
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+    "stance_sole_height_error_m": {
+      "context": 0,
+      "frame": 2350,
+      "limit": 0.001,
+      "measured": 3.4413083493944896e-11
+    }
+  }
+}
diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0561_swing_single/result.dda80c41ac3af72d51e8f255358719487f76637a000ff1a79abd2f745f5572a2.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0561_swing_single/result.dda80c41ac3af72d51e8f255358719487f76637a000ff1a79abd2f745f5572a2.json
new file mode 100644
index 0000000000000000000000000000000000000000..c086e09d2d3a8de1adb39ad0fe445a34e382e933
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0561_swing_single/result.dda80c41ac3af72d51e8f255358719487f76637a000ff1a79abd2f745f5572a2.json
@@ -0,0 +1 @@
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diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0565_swing_single/result.76d1259562e99fe6cb800a825454724ae8f5ff4e3016c2f2d3328cd798c1379e.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0565_swing_single/result.76d1259562e99fe6cb800a825454724ae8f5ff4e3016c2f2d3328cd798c1379e.json
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required."},"trajectory_sha256":"33c2cc5926a5a980145c17c571ec32c7de5ec7fc26b07d2b4156164788413f69","source_sha256":{"spec.json":"b13ce290bd2618da755ac7c3bdd0ba47868867a159227995ed7e544841d47391","model.json":"837d75acee58cdeae61f7f77f8040d651eb3e9fe6b298aeff81a54ed8bbabde6","door.xml":"8d1902677ea7b2ee98ef6011f441aa6cbc74c35ec44d7f6c7dfd447f0ed81c27"},"native":{"body_names":["world","leaf"],"joint_names":["leaf_hinge"],"qpos_addresses":[0]},"actor":{"body_names":["actor_pelvis","actor_chest","actor_neck","actor_head","actor_shoulder_l","actor_elbow_l","actor_wrist_l","actor_shoulder_r","actor_elbow_r","actor_wrist_r","actor_hip_l","actor_knee_l","actor_ankle_l","actor_hip_r","actor_knee_r","actor_ankle_r"],"joint_names":["actor_root","actor_spine_pitch","actor_spine_roll","actor_spine_yaw","actor_neck_yaw","actor_neck_pitch","actor_shoulder_l_pitch","actor_shoulder_l_roll","actor_shoulder_l_yaw","actor_elbow_l","actor_wrist_l_pitch","actor_wrist_l_roll","actor_wrist_l_yaw","actor_shoulder_r_pitch","actor_shoulder_r_roll","actor_shoulder_r_yaw","actor_elbow_r","actor_wrist_r_pitch","actor_wrist_r_roll","actor_wrist_r_yaw","actor_hip_l_pitch","actor_hip_l_roll","actor_hip_l_yaw","actor_knee_l","actor_ankle_l_pitch","actor_ankle_l_roll","actor_hip_r_pitch","actor_hip_r_roll","actor_hip_r_yaw","actor_knee_r","actor_ankle_r_pitch","actor_ankle_r_roll"],"qpos_addresses":[0,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37],"geometries":[{"name":"actor_geom_pelvis","body_name":"actor_pelvis","type":"capsule","size":[0.105,0.035,0.0],"pos":[0.0,0.0,0.005000000000000001],"quat_wxyz":[6.123233995736766e-17,1.0,0.0,0.0]},{"name":"actor_geom_torso","body_name":"actor_chest","type":"capsule","size":[0.12,0.0825,0.0],"pos":[0.0,0.0,-0.1075],"quat_wxyz":[6.123233995736766e-17,1.0,0.0,0.0]},{"name":"actor_geom_neck","body_name":"actor_neck","type":"capsule","size":[0.04,0.08,0.0],"pos":[0.0,0.0,-0.039999999999999994],"quat_wxyz":[6.123233995736766e-17,1.0,0.0,0.0]},{"name":"actor_geom_head","body_name":"actor_head","type":"sphere","size":[0.1,0.0,0.0],"pos":[0.0,0.0,0.0],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_upper_arm_l","body_name":"actor_shoulder_l","type":"capsule","size":[0.043,0.125,0.0],"pos":[0.0,0.0,-0.15000000000000002],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_forearm_l","body_name":"actor_elbow_l","type":"capsule","size":[0.036,0.12000000000000001,0.0],"pos":[0.0,0.0,-0.14],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_hand_l","body_name":"actor_wrist_l","type":"sphere","size":[0.035,0.0,0.0],"pos":[0.0,0.0,0.0],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_upper_arm_r","body_name":"actor_shoulder_r","type":"capsule","size":[0.043,0.125,0.0],"pos":[0.0,0.0,-0.15000000000000002],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_forearm_r","body_name":"actor_elbow_r","type":"capsule","size":[0.036,0.12000000000000001,0.0],"pos":[0.0,0.0,-0.14],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_hand_r","body_name":"actor_wrist_r","type":"sphere","size":[0.035,0.0,0.0],"pos":[0.0,0.0,0.0],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_thigh_l","body_name":"actor_hip_l","type":"capsule","size":[0.065,0.17500000000000002,0.0],"pos":[0.0,0.0,-0.215],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_shin_l","body_name":"actor_knee_l","type":"capsule","size":[0.047,0.18,0.0],"pos":[0.0,0.0,-0.21500000000000002],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_foot_l","body_name":"actor_ankle_l","type":"box","size":[0.05,0.13,0.0275],"pos":[0.0,0.04,-0.0275],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_thigh_r","body_name":"actor_hip_r","type":"capsule","size":[0.065,0.17500000000000002,0.0],"pos":[0.0,0.0,-0.215],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_shin_r","body_name":"actor_knee_r","type":"capsule","size":[0.047,0.18,0.0],"pos":[0.0,0.0,-0.21500000000000002],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_foot_r","body_name":"actor_ankle_r","type":"box","size":[0.05,0.13,0.0275],"pos":[0.0,0.04,-0.0275],"quat_wxyz":[1.0,0.0,0.0,0.0]}],"mjcf_xml":"<mujoco model=\"doorbench_original_adult\"><compiler angle=\"radian\" autolimits=\"true\" /><worldbody><body name=\"actor_pelvis\" pos=\"-0.193078193873 -1.43280525749 0.940521645285\" quat=\"0.99999996911 0 0 0.000248556564837\"><inertial pos=\"0 0 0\" mass=\"9.0\" diaginertia=\"0.108 0.108 0.108\" /><freejoint name=\"actor_root\" /><geom name=\"actor_geom_pelvis\" type=\"capsule\" size=\"0.105\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.03 0 0 0.04\" /><site name=\"actor_site_pelvis\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_chest\" pos=\"0 0 0.35\"><inertial pos=\"0 0 -0.12\" mass=\"20.0\" diaginertia=\"0.24 0.24 0.24\" /><joint name=\"actor_spine_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-0.65 0.65\" limited=\"true\" damping=\"1\" pos=\"0 0 -.30\" /><joint name=\"actor_spine_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-0.4 0.4\" limited=\"true\" damping=\"1\" pos=\"0 0 -.30\" /><joint name=\"actor_spine_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-0.8 0.8\" limited=\"true\" damping=\"1\" pos=\"0 0 -.30\" /><geom name=\"actor_geom_torso\" type=\"capsule\" size=\"0.12\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.19 0 0 -0.025\" /><site name=\"actor_site_chest\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_neck\" pos=\"0 0 0.16\"><inertial pos=\"0 0 0\" mass=\"1.0\" diaginertia=\"0.012 0.012 0.012\" /><joint name=\"actor_neck_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-1 1\" limited=\"true\" damping=\"1\" /><joint name=\"actor_neck_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-0.5 0.5\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_neck\" type=\"capsule\" size=\"0.04\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.12 0 0 0.04\" /><site name=\"actor_site_neck\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_head\" pos=\"0 0 0.13\"><inertial pos=\"0 0 0\" mass=\"4.5\" diaginertia=\"0.054 0.054 0.054\" /><geom name=\"actor_geom_head\" type=\"sphere\" size=\"0.1\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" /><site name=\"actor_site_head\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /></body></body><body name=\"actor_shoulder_l\" pos=\"-0.18 0 0.06\"><inertial pos=\"0 0 -0.15\" mass=\"2.0\" diaginertia=\"0.024 0.024 0.024\" /><joint name=\"actor_shoulder_l_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-1.2 2.7\" limited=\"true\" damping=\"1\" /><joint name=\"actor_shoulder_l_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-2.3 2.3\" limited=\"true\" damping=\"1\" /><joint name=\"actor_shoulder_l_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-1.6 1.6\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_upper_arm_l\" type=\"capsule\" size=\"0.043\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.025 0 0 -0.275\" /><site name=\"actor_site_shoulder_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_elbow_l\" pos=\"0 0 -0.3\"><inertial pos=\"0 0 -0.14\" mass=\"1.2\" diaginertia=\"0.0144 0.0144 0.0144\" /><joint name=\"actor_elbow_l\" type=\"hinge\" axis=\"1 0 0\" range=\"0 2.65\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_forearm_l\" type=\"capsule\" size=\"0.036\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.02 0 0 -0.26\" /><site name=\"actor_site_elbow_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_wrist_l\" pos=\"0 0 -0.28\"><inertial pos=\"0 0 0\" mass=\"0.4\" diaginertia=\"0.0048 0.0048 0.0048\" /><joint name=\"actor_wrist_l_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-1.1 1.1\" limited=\"true\" damping=\"1\" /><joint name=\"actor_wrist_l_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-0.65 0.65\" limited=\"true\" damping=\"1\" /><joint name=\"actor_wrist_l_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-1.4 1.4\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_hand_l\" type=\"sphere\" size=\"0.035\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" /><site name=\"actor_site_wrist_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /></body></body></body><body name=\"actor_shoulder_r\" pos=\"0.18 0 0.06\"><inertial pos=\"0 0 -0.15\" mass=\"2.0\" diaginertia=\"0.024 0.024 0.024\" /><joint name=\"actor_shoulder_r_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-1.2 2.7\" limited=\"true\" damping=\"1\" /><joint name=\"actor_shoulder_r_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-2.3 2.3\" limited=\"true\" damping=\"1\" /><joint name=\"actor_shoulder_r_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-1.6 1.6\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_upper_arm_r\" type=\"capsule\" size=\"0.043\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.025 0 0 -0.275\" /><site name=\"actor_site_shoulder_r\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_elbow_r\" pos=\"0 0 -0.3\"><inertial pos=\"0 0 -0.14\" mass=\"1.2\" diaginertia=\"0.0144 0.0144 0.0144\" /><joint name=\"actor_elbow_r\" type=\"hinge\" axis=\"1 0 0\" range=\"0 2.65\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_forearm_r\" type=\"capsule\" size=\"0.036\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.02 0 0 -0.26\" /><site name=\"actor_site_elbow_r\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_wrist_r\" pos=\"0 0 -0.28\"><inertial pos=\"0 0 0\" mass=\"0.4\" diaginertia=\"0.0048 0.0048 0.0048\" /><joint name=\"actor_wrist_r_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-1.1 1.1\" limited=\"true\" damping=\"1\" /><joint name=\"actor_wrist_r_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-0.65 0.65\" limited=\"true\" damping=\"1\" /><joint name=\"actor_wrist_r_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-1.4 1.4\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_hand_r\" type=\"sphere\" size=\"0.035\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" /><site name=\"actor_site_wrist_r\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /></body></body></body></body><body name=\"actor_hip_l\" pos=\"-0.105 0 -0.06\"><inertial pos=\"0 0 -0.215\" mass=\"8.0\" diaginertia=\"0.096 0.096 0.096\" /><joint name=\"actor_hip_l_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-0.7 1.8\" limited=\"true\" damping=\"1\" /><joint name=\"actor_hip_l_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-0.65 0.65\" limited=\"true\" damping=\"1\" /><joint name=\"actor_hip_l_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-0.8 0.8\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_thigh_l\" type=\"capsule\" size=\"0.065\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.04 0 0 -0.39\" /><site name=\"actor_site_hip_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_knee_l\" pos=\"0 0 -0.43\"><inertial pos=\"0 0 -0.215\" mass=\"3.5\" diaginertia=\"0.042 0.042 0.042\" /><joint name=\"actor_knee_l\" type=\"hinge\" axis=\"1 0 0\" range=\"-2.7 0\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_shin_l\" type=\"capsule\" size=\"0.047\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.035 0 0 -0.395\" /><site name=\"actor_site_knee_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_ankle_l\" pos=\"0 0 -0.43\"><inertial pos=\"0 0.04 -0.0275\" mass=\"1.0\" diaginertia=\"0.012 0.012 0.012\" /><joint name=\"actor_ankle_l_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-0.8 0.8\" limited=\"true\" damping=\"1\" /><joint name=\"actor_ankle_l_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-0.45 0.45\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_foot_l\" type=\"box\" size=\"0.05 0.13 0.0275\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" pos=\"0 .04 -.0275\" /><site name=\"actor_site_ankle_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><site name=\"actor_site_sole_l\" pos=\"0 0.04 -0.055\" size=\".008\" rgba=\"1 .6 .1 1\" /></body></body></body><body name=\"actor_hip_r\" 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diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0591_pivot/result.7da334f9ced6962c89e53b8a1b4fe2d35d4a36e69c00ec870e7c76724412ad95.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0591_pivot/result.7da334f9ced6962c89e53b8a1b4fe2d35d4a36e69c00ec870e7c76724412ad95.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b8f4a2ce6d577eb464e42ab02c8812d60145c6f
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0591_pivot/result.7da334f9ced6962c89e53b8a1b4fe2d35d4a36e69c00ec870e7c76724412ad95.json
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diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0591_pivot/validation.6f7526952742bd422b70d420255252779da27db6eb217fccab0fab3f8a9be837.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0591_pivot/validation.6f7526952742bd422b70d420255252779da27db6eb217fccab0fab3f8a9be837.json
new file mode 100644
index 0000000000000000000000000000000000000000..3fe357022116d03cade5ad2241c3ee04405f38c8
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0591_pivot/validation.6f7526952742bd422b70d420255252779da27db6eb217fccab0fab3f8a9be837.json
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+{
+  "accepted": true,
+  "actor_geometry_count": 16,
+  "actor_self_pairs_exclude": "same-body and directly adjacent bodies only",
+  "clip_sha256": "00b7661c0458c43c163dfec680dee71f3b83cbc608a018c63ac8576ef7657286",
+  "collision_samples": 1001,
+  "contact_exclusion_pair_frames": 22,
+  "door_id": "db0591_pivot",
+  "failure_counts": {},
+  "failure_examples": {},
+  "frames": 496,
+  "kinematic_accepted": true,
+  "maxima": {
+    "active_hand_target_error_m": 0.00021585533261874818,
+    "actor_acceleration_limit_ratio": 0.9998886442987976,
+    "actor_velocity_limit_ratio": 1.0000000000000533,
+    "fk_actor_body_pos": 0.0,
+    "fk_actor_body_quat": 1.2990531157078367e-07,
+    "fk_actor_joints": 0.0,
+    "fk_body_pos": 0.0,
+    "fk_body_quat": 2.9802322387695312e-08,
+    "fk_foot_pos": 0.0,
+    "fk_foot_quat": 1.1542389828584842e-07,
+    "foot_target_orientation_error_rad": 8.429369702178807e-08,
+    "foot_target_position_error_m": 2.1308731978078743e-15,
+    "hand_contact_penetration_m": 0.0,
+    "hand_contact_surface_gap_m": 0.004351834488923151,
+    "interpolated_stance_orientation_drift_rad": 1.7655455196057117e-05,
+    "interpolated_stance_position_drift_m": 4.9496353224813685e-05,
+    "joint_limit_violation_rad": 0.0,
+    "stance_orientation_drift_rad": 9.884312124119402e-08,
+    "stance_position_drift_m": 2.229448362370068e-15,
+    "stance_sole_height_error_m": 3.0272381823515104e-11
+  },
+  "minimum_foot_ground_distance_m": -4.9257033330474265e-05,
+  "minimum_noncontact_distance_m": 0.004358888528826606,
+  "native_collision_geometry_count": 14,
+  "native_timewarp": {
+    "end_s": 3.5,
+    "nondecreasing": true,
+    "start_s": 0.0
+  },
+  "rig_fingerprint": "7aaa9dc6d1679b4775f9c79dbcb9a077f7c8e8d56a52d0ecf7fe97af071a9dd1",
+  "runtime": {
+    "mujoco": "3.12.0",
+    "numpy": "2.5.2"
+  },
+  "schema": "doorbench.planned-reference-validation.v1",
+  "scope": [
+    "Recomputed FK from saved qpos on original fixed actor MJCF and source door.",
+    "Exact engine distances for declared rigid collision geometry, including nonadjacent actor self-collision.",
+    "Frame and adaptively subdivided geodesic joint interpolation checks, not continuous-collision certification.",
+    "Stance requires fixed ankle pose and four sole corners supported by horizontal native floor boxes/planes.",
+    "Joint-range/derivative acceptance applies to the actor. Native source poses/FK and monotonic timewarp are verified; source dynamics and soft joint-limit compliance are not re-certified.",
+    "No dynamics, balance, friction, force closure, actuator torque or retimed-native-physics certification."
+  ],
+  "settings": {
+    "clearance_m": 0.003,
+    "collision_tolerance_m": 1e-05,
+    "fk_orientation_rad": 0.0001,
+    "fk_position_m": 1e-05,
+    "foot_orientation_rad": 0.008726646259971648,
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diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0594_sliding_single/validation.4f79c107aea9da6b903e64be4a7ee8b329d771e903292f7f1c0981077cd85e66.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0594_sliding_single/validation.4f79c107aea9da6b903e64be4a7ee8b329d771e903292f7f1c0981077cd85e66.json
new file mode 100644
index 0000000000000000000000000000000000000000..6daa23834452b1445d90d522061e8098e75c32e9
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0594_sliding_single/validation.4f79c107aea9da6b903e64be4a7ee8b329d771e903292f7f1c0981077cd85e66.json
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diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0595_swing_single/clip.8ba4219cd6630f5b5dd1d4a908202f67e5876fbee7e96f24c3b62dcc3cad4339.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0595_swing_single/clip.8ba4219cd6630f5b5dd1d4a908202f67e5876fbee7e96f24c3b62dcc3cad4339.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9a0d506f6e9a89ba05ace0165419b8268b93016
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0595_swing_single/clip.8ba4219cd6630f5b5dd1d4a908202f67e5876fbee7e96f24c3b62dcc3cad4339.json
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kinematic proposal; constrained IK and independent acceptance still required.","body_guidance_filter":{"type":"Gaussian","sigma_seconds":0.2,"scope":"Soft body and resting-arm targets before IK; foot contacts and native poses unchanged."}},"solver_summary":{"failed_frames":0,"geometrically_infeasible_frames":0,"error_counts":{},"runtime_s":7.6261629999789875},"limitations":["Kinematic candidate: independent acceptance and visual review pending.","Native door poses are time-warped; source forces and dynamics are not replayed on this clock.","Original approximate adult rig; no articulated fingers, actuator limits or contact-force certification."]}
diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0595_swing_single/result.a92d29c769c609a77bb93c89bc46f31c66ae0989c11f4b888106f005171fd646.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0595_swing_single/result.a92d29c769c609a77bb93c89bc46f31c66ae0989c11f4b888106f005171fd646.json
new file mode 100644
index 0000000000000000000000000000000000000000..479b0a92a1aee6d6b6e800b68b740aa26954577e
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0595_swing_single/result.a92d29c769c609a77bb93c89bc46f31c66ae0989c11f4b888106f005171fd646.json
@@ -0,0 +1 @@
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Original result is identified by 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diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0595_swing_single/validation.d68a78de0f91b8fb31bf9cbb9024371396aa846e27a0040e1fea53ba20faa8e7.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0595_swing_single/validation.d68a78de0f91b8fb31bf9cbb9024371396aa846e27a0040e1fea53ba20faa8e7.json
new file mode 100644
index 0000000000000000000000000000000000000000..1cde716bdb4e0b8b7c2bf519168fc97b1ccd02e6
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0595_swing_single/validation.d68a78de0f91b8fb31bf9cbb9024371396aa846e27a0040e1fea53ba20faa8e7.json
@@ -0,0 +1,229 @@
+{
+  "accepted": true,
+  "actor_geometry_count": 16,
+  "actor_self_pairs_exclude": "same-body and directly adjacent bodies only",
+  "clip_sha256": "8ba4219cd6630f5b5dd1d4a908202f67e5876fbee7e96f24c3b62dcc3cad4339",
+  "collision_samples": 1089,
+  "contact_exclusion_pair_frames": 64,
+  "door_id": "db0595_swing_single",
+  "failure_counts": {},
+  "failure_examples": {},
+  "frames": 538,
+  "kinematic_accepted": true,
+  "maxima": {
+    "active_hand_target_error_m": 0.00020683981410169207,
+    "actor_acceleration_limit_ratio": 0.9960119680800871,
+    "actor_velocity_limit_ratio": 1.0000000000000533,
+    "fk_actor_body_pos": 0.0,
+    "fk_actor_body_quat": 1.2990531157078367e-07,
+    "fk_actor_joints": 0.0,
+    "fk_body_pos": 0.0,
+    "fk_body_quat": 5.960464477539063e-08,
+    "fk_foot_pos": 0.0,
+    "fk_foot_quat": 1.1151007970493858e-07,
+    "foot_target_orientation_error_rad": 8.429369702178807e-08,
+    "foot_target_position_error_m": 1.9529874065423697e-15,
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+    "hand_contact_surface_gap_m": 0.004366219682740322,
+    "interpolated_stance_orientation_drift_rad": 3.118294337535435e-05,
+    "interpolated_stance_position_drift_m": 5.6491117645190314e-05,
+    "joint_limit_violation_rad": 0.0,
+    "stance_orientation_drift_rad": 1.032382731180714e-07,
+    "stance_position_drift_m": 2.3342778403014756e-15,
+    "stance_sole_height_error_m": 3.26460594668454e-11
+  },
+  "minimum_foot_ground_distance_m": -5.460406724227748e-05,
+  "minimum_noncontact_distance_m": 0.0043691509191471165,
+  "native_collision_geometry_count": 25,
+  "native_timewarp": {
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+    "nondecreasing": true,
+    "start_s": 0.0
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+  "rig_fingerprint": "7aaa9dc6d1679b4775f9c79dbcb9a077f7c8e8d56a52d0ecf7fe97af071a9dd1",
+  "runtime": {
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+    "numpy": "2.5.2"
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+  "schema": "doorbench.planned-reference-validation.v1",
+  "scope": [
+    "Recomputed FK from saved qpos on original fixed actor MJCF and source door.",
+    "Exact engine distances for declared rigid collision geometry, including nonadjacent actor self-collision.",
+    "Frame and adaptively subdivided geodesic joint interpolation checks, not continuous-collision certification.",
+    "Stance requires fixed ankle pose and four sole corners supported by horizontal native floor boxes/planes.",
+    "Joint-range/derivative acceptance applies to the actor. Native source poses/FK and monotonic timewarp are verified; source dynamics and soft joint-limit compliance are not re-certified.",
+    "No dynamics, balance, friction, force closure, actuator torque or retimed-native-physics certification."
+  ],
+  "settings": {
+    "clearance_m": 0.003,
+    "collision_tolerance_m": 1e-05,
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+    "fk_position_m": 1e-05,
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+    "joint_acceleration_rad_s2": 15.0,
+    "joint_limit_rad": 1e-06,
+    "joint_speed_rad_s": 2.5,
+    "max_sample_dt_s": 0.025,
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+    "root_acceleration_m_s2": 3.0,
+    "root_angular_acceleration_rad_s2": 8.0,
+    "root_angular_speed_rad_s": 1.5,
+    "root_speed_m_s": 0.8
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+    "model.json": "7c3400725b3a67fafd12ca2b8a7d6f079ba68a5975559b4a904ccc54bc102d2d",
+    "spec.json": "2e2688213632f917dfb65b356e0836e9168ccba99d8713a96e6a540c0a37afc6"
+  },
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+  "task_completion": {
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+    "completion_scope": "Observed actor route plus declared source outcome; contact, lock recognition and mechanism semantics are not independently certified.",
+    "evidence_pass": true,
+    "failure_counts": {},
+    "failure_examples": {},
+    "proposal_traversal": "not_requested",
+    "recognition_scope": "Nontraversing motion permitted. Recognition/locked mechanism evidence comes only from the declared source outcome.",
+    "scenario": "locked_recognize",
+    "source_success_declared": true
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+      "frame": 397,
+      "limit": 0.01,
+      "measured": 0.00020683981410169207
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+        "dof": "actor_knee_r",
+        "limit": 15.0,
+        "root_rotation_basis": "world"
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+      "frame": 281,
+      "limit": 1.0001,
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+      "context": {
+        "dof": "actor_elbow_r",
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+        "velocity": 2.5000000000001332
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+      "frame": 355,
+      "limit": 1.0001,
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+      "context": null,
+      "frame": 0,
+      "limit": 1e-05,
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+      "context": null,
+      "frame": 255,
+      "limit": 0.0001,
+      "measured": 1.2990531157078367e-07
+    },
+    "fk_actor_joints": {
+      "context": null,
+      "frame": 0,
+      "limit": 1e-05,
+      "measured": 0.0
+    },
+    "fk_body_pos": {
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+      "frame": 0,
+      "limit": 1e-05,
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+    },
+    "fk_body_quat": {
+      "context": null,
+      "frame": 412,
+      "limit": 0.0001,
+      "measured": 5.960464477539063e-08
+    },
+    "fk_foot_pos": {
+      "context": null,
+      "frame": 0,
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+      "measured": 0.0
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+    "fk_foot_quat": {
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+      "measured": 1.1151007970493858e-07
+    },
+    "foot_target_orientation_error_rad": {
+      "context": 1,
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+      "limit": 0.008726646259971648,
+      "measured": 8.429369702178807e-08
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+      "limit": 0.001,
+      "measured": 1.9529874065423697e-15
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+      "frame": "58+1/2",
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+      "measured": 3.118294337535435e-05
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+      "measured": 5.6491117645190314e-05
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+    "joint_limit_violation_rad": {
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+}
diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0596_swing_single/result.7ce695ed05a60e7226d383904a71bb9ec7a92254b935515ba331fe02e800af9a.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0596_swing_single/result.7ce695ed05a60e7226d383904a71bb9ec7a92254b935515ba331fe02e800af9a.json
new file mode 100644
index 0000000000000000000000000000000000000000..60a9a9c060a4f01cc6ce632cef96246ef6b14a67
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0596_swing_single/result.7ce695ed05a60e7226d383904a71bb9ec7a92254b935515ba331fe02e800af9a.json
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diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0617_pivot/validation.d8769aa8d9d5a92e8554de959c93bbdd9c730e5513f63029c80dd60dab1ac157.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0617_pivot/validation.d8769aa8d9d5a92e8554de959c93bbdd9c730e5513f63029c80dd60dab1ac157.json
new file mode 100644
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diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0619_swing_single/validation.7cce9f7eb2a6634c9eabd8af2693c2358d3615e3d0741ef29539634413793a8f.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0619_swing_single/validation.7cce9f7eb2a6634c9eabd8af2693c2358d3615e3d0741ef29539634413793a8f.json
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Original result is identified by SHA-256.","original_result_sha256":"4a45e31fe6287fb5e7299a994f5cac4830b8c538052bc1dfffba0ae946263c1d","door_id":"db0628_strip_curtain","family":"strip_curtain","status":"unresolved","identity_sha256":"8102d6ce95ef47a086b55a0ce99bbecc15d2fcfdc16a7c2ece32bb288089686a","created_at":"2026-09-05T16:37:34.140250+00:00","run_id":"303cb83c61114fd095f6dfd9aa220db2","source_outcome":{"base_end":[-0.0,1.807,0.5],"control_dt":0.004,"criteria":{"!damage":true,"opened":true,"traversed":true},"damage":false,"damage_events":[],"difficulty":1,"door_id":"db0628_strip_curtain","door_q_end":1.1989,"energy_J":22.89,"env_damage":false,"episode_return":12.761,"error":null,"events":[["latch_released",0.004],["touched_door",0.504],["door_opened",0.548],["door_open_clear",0.756],["robot_passed_through",2.772],["goal_reached",3.77]],"expected_transit_s":5.36,"family":"strip_curtain","human_collision":null,"labels":{"door_closed_after":false,"door_damaged":false,"door_open_clear":true,"door_opened":true,"door_slammed":false,"hardware_misuse":false,"latch_released":true,"lock_released":false,"operator_actuated":false,"robot_fell":false,"robot_passed_through":true,"touched_door":true,"touched_operator":false},"max_door_angle":1.1989,"max_leaf_force_N":0.0,"max_operator_torque":0.0,"mujoco_warnings":0,"outcome":"success","randomized":false,"reward_events":[["opened",0.594,3.0],["traversed",2.77,10.0]],"scenario":"open_and_traverse","seed":0,"sim_time":4.772,"start":{"xy":[-0.127,-2.013],"yaw":1.39},"steps":2386,"success":true,"suite":"core","tier":"full","time_budget_s":30.0,"time_to_close":null,"time_to_goal":3.77,"time_to_open":0.546,"time_to_pass":2.77,"time_to_touch":0.5,"wall_s":0.248},"provenance":{"execution":{"isolation_mode":"fresh_python_process_per_door","timeout_s":600.0},"generator_sha256":"12d8e3d5991e0c328240386e242f120193621911de726cb1d5e5372887aa121f","manifest_sha256":"97699b43489a06b64f90d605ef87aec156e4ccc97fb9bbf0db61dac01c05ab34","native_resources_sha256":{},"options":{"fps":60,"gait_profile":"smooth","max_frames":null},"recording_index_sha256":"d9f5c60f6f76992e7a1a7efba0163bab63defe8e7bef0400cfd58aea0fbfe204","recording_sha256":{"clip.json":"ff999cc46b1207bd81393f7325a6fd0516a17a319c87ae18b62e17be619e5dc9","trajectory.npz":"99f647c15cddb511ca6982385eaceb35a3f249381d6b05ac8893a50ae31254f3"},"source_sha256":{"door.xml":"123c3134200343d6a1d975bc92477e8a0558f8670fd20f4bc21e97f33805ef6c","model.json":"58c0f980def7039b9227191ba6e027dedd74f7f566b37792290eaaf1a4a51e2b","spec.json":"9732fa07dceb0332f901173dcdca65a3b7a7b389fadd32659329e648ed5206ae"}},"generator":{"files":{"doorbench/reference/__init__.py":"bcc139f47946e74a14fd338497edc2670e4660df4cce8ebc142613dbe32cbe06","doorbench/reference/gait.py":"154f484bf0805df3322bc02de47c9ef4e13961894bd3153946a5967cad172a90","doorbench/reference/guidance.py":"88db8e9d94e3a3a2214b2f744d6e180e379734aac7154a5e4c9aa2a971e46da9","doorbench/reference/humanoid.py":"702272462be6a2197453d52f93ddad2c47fa1dda441ed56450185d86cb7064b6","doorbench/reference/ik.py":"c23e5b594a296b10fcbdd12f0d54cb026d2ce4f8a1d53f20ab0ab52b9b01b0cb","doorbench/reference/planning.py":"4bba623325ce5bd647cb320f9a62878101dd3c578706ad0aea1107eaf9e934a9","doorbench/reference/record.py":"67155bb0c09041a54c993ca0ee96837f743481f2a06cfea73e42eeabf0fdcf6c","doorbench/reference/retime.py":"012556d7d2b7e71948167df7a8b84eb9b00df7d8d587a6298719e1acbd622e7e","doorbench/reference/rig.py":"050f7891718459b0b187179bc2328574012a38a5ab7965b08ef2d3ee0fd44580","doorbench/reference/solve.py":"d56da0ccd854207697f3167a65cf70abb1444e452c6e8f89bdb8dd672128c574","pyproject.toml":"a6d73621fc05f14b9541fe9d0f84639f230fa5ecf8cabfe8d037b5129092479f","scripts/build_planned_reference_corpus.py":"47a35368a8bebbd40986b399000f45e9beb1d62f6f62d0b59168d1b18254a2b7","scripts/validate_planned_reference.py":"5e43f06974464ad741889714689df5a3a3d271471dff513627a814478bda83af"},"runtime":{"implementation":"CPython","isolation_mode":"fresh_python_process_per_door","machine":"arm64","packages":{"daqp":"0.9.1","mink":"1.3.0","mujoco":"3.12.0","numpy":"2.5.2","qpsolvers":"4.13.0","scipy":"1.18.1","shapely":"2.1.2"},"platform":"Darwin","python":"3.12.12","worker_thread_environment":{"MKL_NUM_THREADS":"1","OMP_NUM_THREADS":"1","OPENBLAS_NUM_THREADS":"1","VECLIB_MAXIMUM_THREADS":"1"}},"sha256":"12d8e3d5991e0c328240386e242f120193621911de726cb1d5e5372887aa121f"},"new_completion":{"artifact_bindings_verified":false,"complete_proposal":false,"source_success_declared":true,"task_evidence_pass":false},"reason_code":"guide_traversal_unresolved","runtime_s":0.3626065419812221,"scope":"Complete proposal plus independent sampled kinematic/task-evidence checks. Source benchmark outcome is separate from new actor completion. No dynamics, balance, force-closure, continuous collision or personal visual approval.","error":{"type":"TaskUnresolved","message":"Full task route is unresolved: No standing-body route through the declared aperture at this door pose"}}
diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0629_garage_sectional/clip.ff7d636b3008e73dd31e92513d7068ece95c3ab4a680114bd5ab0ecd6ba2254f.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0629_garage_sectional/clip.ff7d636b3008e73dd31e92513d7068ece95c3ab4a680114bd5ab0ecd6ba2254f.json
new file mode 100644
index 0000000000000000000000000000000000000000..83b6052f9f2c91b2ee8b81b669745734d847bbed
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0629_garage_sectional/clip.ff7d636b3008e73dd31e92513d7068ece95c3ab4a680114bd5ab0ecd6ba2254f.json
@@ -0,0 +1 @@
+{"schema":"doorbench.planned-reference.v1","door_id":"db0629_garage_sectional","fps":60,"units":"metres/radians/seconds","up_axis":"Z","status":"unvalidated","qa":{},"duration":17.596258067603834,"frames":696,"complete_proposal":true,"sampling":"actor_time is authoritative; fps is the nominal rendering frame rate","retiming":{"success":true,"schema":"doorbench.retime.v1","frames":696,"iterations":4,"original_duration_s":11.583333333333334,"duration_s":17.596258067603834,"duration_scale":1.5191014159082445,"maximum_interval_scale":3.296512368122642,"changed_intervals":473,"maximum_neighbor_scale_ratio":1.1500000000000008,"neighbor_ratio_limit":1.15,"interval_scale_cap":20.0,"before":{"max_velocity_ratio":1.0000000000000013,"max_acceleration_ratio":10.823655875061805,"velocity_violations":0,"acceleration_violations":277,"worst_velocity":{"frame":32,"dof":"actor_knee_l","ratio":1.0000000000000013},"worst_acceleration":{"frame":79,"dof":"actor_knee_r","ratio":10.823655875061805}},"after":{"max_velocity_ratio":0.964709409495962,"max_acceleration_ratio":0.9960119680801897,"velocity_violations":0,"acceleration_violations":0,"worst_velocity":{"frame":554,"dof":"actor_elbow_r","ratio":0.964709409495962},"worst_acceleration":{"frame":445,"dof":"actor_knee_r","ratio":0.9960119680801897}},"velocity_limits":[0.8,0.8,0.8,1.5,1.5,1.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5],"acceleration_limits":[3.0,3.0,3.0,8.0,8.0,8.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0],"dof_labels":["actor_root:x","actor_root:y","actor_root:z","actor_root:rx","actor_root:ry","actor_root:rz","actor_spine_pitch","actor_spine_roll","actor_spine_yaw","actor_neck_yaw","actor_neck_pitch","actor_shoulder_l_pitch","actor_shoulder_l_roll","actor_shoulder_l_yaw","actor_elbow_l","actor_wrist_l_pitch","actor_wrist_l_roll","actor_wrist_l_yaw","actor_shoulder_r_pitch","actor_shoulder_r_roll","actor_shoulder_r_yaw","actor_elbow_r","actor_wrist_r_pitch","actor_wrist_r_roll","actor_wrist_r_yaw","actor_hip_l_pitch","actor_hip_l_roll","actor_hip_l_yaw","actor_knee_l","actor_ankle_l_pitch","actor_ankle_l_roll","actor_hip_r_pitch","actor_hip_r_roll","actor_hip_r_yaw","actor_knee_r","actor_ankle_r_pitch","actor_ankle_r_roll"],"failure":null,"scope":"Sampled actor velocity and world-basis angular acceleration; unchanged poses and source clock. 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required."},"trajectory_sha256":"437e8c2fa01d35730d474696f59ed5983af85d866696211b249174fc1d8af9cf","source_sha256":{"spec.json":"5b5bcf1f614cce7ee501a0e3f944f981f31e434ac513a1d6e4759d053d29890c","model.json":"400c4e709b4aed4312f7318671b52acec07d233bec37feb84516fa3c7a897a62","door.xml":"81c2c67d4088f6b4d20acd2ae14731d612779da467ca53d53f8a479227f56fdf"},"native":{"body_names":["world","door"],"joint_names":["door_slide"],"qpos_addresses":[0]},"actor":{"body_names":["actor_pelvis","actor_chest","actor_neck","actor_head","actor_shoulder_l","actor_elbow_l","actor_wrist_l","actor_shoulder_r","actor_elbow_r","actor_wrist_r","actor_hip_l","actor_knee_l","actor_ankle_l","actor_hip_r","actor_knee_r","actor_ankle_r"],"joint_names":["actor_root","actor_spine_pitch","actor_spine_roll","actor_spine_yaw","actor_neck_yaw","actor_neck_pitch","actor_shoulder_l_pitch","actor_shoulder_l_roll","actor_shoulder_l_yaw","actor_elbow_l","actor_wrist_l_pitch","actor_wrist_l_roll","actor_wrist_l_yaw","actor_shoulder_r_pitch","actor_shoulder_r_roll","actor_shoulder_r_yaw","actor_elbow_r","actor_wrist_r_pitch","actor_wrist_r_roll","actor_wrist_r_yaw","actor_hip_l_pitch","actor_hip_l_roll","actor_hip_l_yaw","actor_knee_l","actor_ankle_l_pitch","actor_ankle_l_roll","actor_hip_r_pitch","actor_hip_r_roll","actor_hip_r_yaw","actor_knee_r","actor_ankle_r_pitch","actor_ankle_r_roll"],"qpos_addresses":[0,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37],"geometries":[{"name":"actor_geom_pelvis","body_name":"actor_pelvis","type":"capsule","size":[0.105,0.035,0.0],"pos":[0.0,0.0,0.005000000000000001],"quat_wxyz":[6.123233995736766e-17,1.0,0.0,0.0]},{"name":"actor_geom_torso","body_name":"actor_chest","type":"capsule","size":[0.12,0.0825,0.0],"pos":[0.0,0.0,-0.1075],"quat_wxyz":[6.123233995736766e-17,1.0,0.0,0.0]},{"name":"actor_geom_neck","body_name":"actor_neck","type":"capsule","size":[0.04,0.08,0.0],"pos":[0.0,0.0,-0.039999999999999994],"quat_wxyz":[6.123233995736766e-17,1.0,0.0,0.0]},{"name":"actor_geom_head","body_name":"actor_head","type":"sphere","size":[0.1,0.0,0.0],"pos":[0.0,0.0,0.0],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_upper_arm_l","body_name":"actor_shoulder_l","type":"capsule","size":[0.043,0.125,0.0],"pos":[0.0,0.0,-0.15000000000000002],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_forearm_l","body_name":"actor_elbow_l","type":"capsule","size":[0.036,0.12000000000000001,0.0],"pos":[0.0,0.0,-0.14],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_hand_l","body_name":"actor_wrist_l","type":"sphere","size":[0.035,0.0,0.0],"pos":[0.0,0.0,0.0],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_upper_arm_r","body_name":"actor_shoulder_r","type":"capsule","size":[0.043,0.125,0.0],"pos":[0.0,0.0,-0.15000000000000002],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_forearm_r","body_name":"actor_elbow_r","type":"capsule","size":[0.036,0.12000000000000001,0.0],"pos":[0.0,0.0,-0.14],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_hand_r","body_name":"actor_wrist_r","type":"sphere","size":[0.035,0.0,0.0],"pos":[0.0,0.0,0.0],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_thigh_l","body_name":"actor_hip_l","type":"capsule","size":[0.065,0.17500000000000002,0.0],"pos":[0.0,0.0,-0.215],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_shin_l","body_name":"actor_knee_l","type":"capsule","size":[0.047,0.18,0.0],"pos":[0.0,0.0,-0.21500000000000002],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_foot_l","body_name":"actor_ankle_l","type":"box","size":[0.05,0.13,0.0275],"pos":[0.0,0.04,-0.0275],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_thigh_r","body_name":"actor_hip_r","type":"capsule","size":[0.065,0.17500000000000002,0.0],"pos":[0.0,0.0,-0.215],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_shin_r","body_name":"actor_knee_r","type":"capsule","size":[0.047,0.18,0.0],"pos":[0.0,0.0,-0.21500000000000002],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_foot_r","body_name":"actor_ankle_r","type":"box","size":[0.05,0.13,0.0275],"pos":[0.0,0.04,-0.0275],"quat_wxyz":[1.0,0.0,0.0,0.0]}],"mjcf_xml":"<mujoco 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kinematic proposal; constrained IK and independent acceptance still required.","body_guidance_filter":{"type":"Gaussian","sigma_seconds":0.2,"scope":"Soft body and resting-arm targets before IK; foot contacts and native poses unchanged."}},"solver_summary":{"failed_frames":0,"geometrically_infeasible_frames":0,"error_counts":{},"runtime_s":9.103249084000709},"limitations":["Kinematic candidate: independent acceptance and visual review pending.","Native door poses are time-warped; source forces and dynamics are not replayed on this clock.","Original approximate adult rig; no articulated fingers, actuator limits or contact-force certification."]}
diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0629_garage_sectional/result.e534694a9924b8c0ebb4fb366d9efa21251306f4ac7ae97b21b498c181f99e77.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0629_garage_sectional/result.e534694a9924b8c0ebb4fb366d9efa21251306f4ac7ae97b21b498c181f99e77.json
new file mode 100644
index 0000000000000000000000000000000000000000..358e636f9660902a6e805784adc675d107539a45
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0629_garage_sectional/result.e534694a9924b8c0ebb4fb366d9efa21251306f4ac7ae97b21b498c181f99e77.json
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diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0629_garage_sectional/validation.afdcb9a27f57935ae6e4879b4bff6e048467727271d4012915df3eb83994ee2c.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0629_garage_sectional/validation.afdcb9a27f57935ae6e4879b4bff6e048467727271d4012915df3eb83994ee2c.json
new file mode 100644
index 0000000000000000000000000000000000000000..b052d8d8d4c4df7e31e6b547244b90d4a6abff0e
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0629_garage_sectional/validation.afdcb9a27f57935ae6e4879b4bff6e048467727271d4012915df3eb83994ee2c.json
@@ -0,0 +1,229 @@
+{
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+  "door_id": "db0629_garage_sectional",
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diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0630_sliding_single/result.39009c37cc839c30e2f046159d8a035b3d66e24c3745d60fe7bb5d470862682c.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0630_sliding_single/result.39009c37cc839c30e2f046159d8a035b3d66e24c3745d60fe7bb5d470862682c.json
new file mode 100644
index 0000000000000000000000000000000000000000..b344408ad51a0b52ae6f08c823201b1e30889581
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0630_sliding_single/result.39009c37cc839c30e2f046159d8a035b3d66e24c3745d60fe7bb5d470862682c.json
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diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0636_rollup/result.70363260436e7c1cd94e2bc7e2dafab0fdc71a19f980309e4f1555447f1308c7.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0636_rollup/result.70363260436e7c1cd94e2bc7e2dafab0fdc71a19f980309e4f1555447f1308c7.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb6554d09b5d8a21d0bedb37af7a4d839dbfb5e1
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+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0636_rollup/result.70363260436e7c1cd94e2bc7e2dafab0fdc71a19f980309e4f1555447f1308c7.json
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diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0637_pivot/result.458b48e05e795ed063fcc105efe7d8390f92a68a950bdbc49d1ffda9d89d1f2b.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0637_pivot/result.458b48e05e795ed063fcc105efe7d8390f92a68a950bdbc49d1ffda9d89d1f2b.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a0baf75563081a4ed657e0e9bc7cfa64e87d70c
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0637_pivot/result.458b48e05e795ed063fcc105efe7d8390f92a68a950bdbc49d1ffda9d89d1f2b.json
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--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0641_strip_curtain/result.c85bc97805a41f5612656dd360a841bccf8d9ea412170b518896113e482d5c3a.json
@@ -0,0 +1 @@
+{"schema":"doorbench.planned-reference-public-attempt.v1","projection":"Public summary; execution logs and traceback omitted, absolute paths redacted. Original result is identified by SHA-256.","original_result_sha256":"f129dea091a8ce2d103efc761dd7716164937d333799aaa1073e4899e729fb6c","door_id":"db0641_strip_curtain","family":"strip_curtain","status":"unresolved","identity_sha256":"533691431d8d5c4bf8bb6da1e64c9a946ed0e03f7229cae28607ed78d43167d9","created_at":"2026-09-05T16:38:03.144179+00:00","run_id":"fb9856cb030c4f849d1a5c7278206cce","source_outcome":{"base_end":[-0.0,1.804,0.5],"control_dt":0.004,"criteria":{"!damage":true,"opened":true,"traversed":true},"damage":false,"damage_events":[],"difficulty":1,"door_id":"db0641_strip_curtain","door_q_end":1.1941,"energy_J":50.21,"env_damage":false,"episode_return":12.784,"error":null,"events":[["latch_released",0.004],["touched_door",0.504],["door_opened",0.588],["door_open_clear",0.796],["robot_passed_through",2.316],["goal_reached",3.316]],"expected_transit_s":4.86,"family":"strip_curtain","human_collision":null,"labels":{"door_closed_after":false,"door_damaged":false,"door_open_clear":true,"door_opened":true,"door_slammed":false,"hardware_misuse":false,"latch_released":true,"lock_released":false,"operator_actuated":false,"robot_fell":false,"robot_passed_through":true,"touched_door":true,"touched_operator":false},"max_door_angle":1.2521,"max_leaf_force_N":0.0,"max_operator_torque":0.0,"mujoco_warnings":0,"outcome":"success","randomized":false,"reward_events":[["opened",0.656,3.0],["traversed",2.316,10.0]],"scenario":"open_and_traverse","seed":0,"sim_time":4.318,"start":{"xy":[-0.153,-1.52],"yaw":1.732},"steps":2159,"success":true,"suite":"core","tier":"full","time_budget_s":25.0,"time_to_close":null,"time_to_goal":3.316,"time_to_open":0.588,"time_to_pass":2.316,"time_to_touch":0.5,"wall_s":0.104},"provenance":{"execution":{"isolation_mode":"fresh_python_process_per_door","timeout_s":600.0},"generator_sha256":"12d8e3d5991e0c328240386e242f120193621911de726cb1d5e5372887aa121f","manifest_sha256":"97699b43489a06b64f90d605ef87aec156e4ccc97fb9bbf0db61dac01c05ab34","native_resources_sha256":{},"options":{"fps":60,"gait_profile":"smooth","max_frames":null},"recording_index_sha256":"d9f5c60f6f76992e7a1a7efba0163bab63defe8e7bef0400cfd58aea0fbfe204","recording_sha256":{"clip.json":"bff48fe48987df4cb293375605d77e3fbf5d45fd3e14aadc7384a70b37e928d7","trajectory.npz":"5afab2f88e155958fbbd28f5fb03b2df23ffa5e7dfdff24de8b782a7206d86ae"},"source_sha256":{"door.xml":"57cfa1395f0da937ebc575f3efa6108a02150a18f2bfba955ae3d02dc1c9e8ea","model.json":"99ca58434b73b640baf4c7487115f001dd30e2a500fad97d28f2cb2a60d77b97","spec.json":"53da8ae78236519721d00fb714d55d9fae03dba7cbb9b6b7d58286394c82a737"}},"generator":{"files":{"doorbench/reference/__init__.py":"bcc139f47946e74a14fd338497edc2670e4660df4cce8ebc142613dbe32cbe06","doorbench/reference/gait.py":"154f484bf0805df3322bc02de47c9ef4e13961894bd3153946a5967cad172a90","doorbench/reference/guidance.py":"88db8e9d94e3a3a2214b2f744d6e180e379734aac7154a5e4c9aa2a971e46da9","doorbench/reference/humanoid.py":"702272462be6a2197453d52f93ddad2c47fa1dda441ed56450185d86cb7064b6","doorbench/reference/ik.py":"c23e5b594a296b10fcbdd12f0d54cb026d2ce4f8a1d53f20ab0ab52b9b01b0cb","doorbench/reference/planning.py":"4bba623325ce5bd647cb320f9a62878101dd3c578706ad0aea1107eaf9e934a9","doorbench/reference/record.py":"67155bb0c09041a54c993ca0ee96837f743481f2a06cfea73e42eeabf0fdcf6c","doorbench/reference/retime.py":"012556d7d2b7e71948167df7a8b84eb9b00df7d8d587a6298719e1acbd622e7e","doorbench/reference/rig.py":"050f7891718459b0b187179bc2328574012a38a5ab7965b08ef2d3ee0fd44580","doorbench/reference/solve.py":"d56da0ccd854207697f3167a65cf70abb1444e452c6e8f89bdb8dd672128c574","pyproject.toml":"a6d73621fc05f14b9541fe9d0f84639f230fa5ecf8cabfe8d037b5129092479f","scripts/build_planned_reference_corpus.py":"47a35368a8bebbd40986b399000f45e9beb1d62f6f62d0b59168d1b18254a2b7","scripts/validate_planned_reference.py":"5e43f06974464ad741889714689df5a3a3d271471dff513627a814478bda83af"},"runtime":{"implementation":"CPython","isolation_mode":"fresh_python_process_per_door","machine":"arm64","packages":{"daqp":"0.9.1","mink":"1.3.0","mujoco":"3.12.0","numpy":"2.5.2","qpsolvers":"4.13.0","scipy":"1.18.1","shapely":"2.1.2"},"platform":"Darwin","python":"3.12.12","worker_thread_environment":{"MKL_NUM_THREADS":"1","OMP_NUM_THREADS":"1","OPENBLAS_NUM_THREADS":"1","VECLIB_MAXIMUM_THREADS":"1"}},"sha256":"12d8e3d5991e0c328240386e242f120193621911de726cb1d5e5372887aa121f"},"new_completion":{"artifact_bindings_verified":false,"complete_proposal":false,"source_success_declared":true,"task_evidence_pass":false},"reason_code":"guide_traversal_unresolved","runtime_s":0.33547595801064745,"scope":"Complete proposal plus independent sampled kinematic/task-evidence checks. Source benchmark outcome is separate from new actor completion. No dynamics, balance, force-closure, continuous collision or personal visual approval.","error":{"type":"TaskUnresolved","message":"Full task route is unresolved: No standing-body route through the declared aperture at this door pose"}}
diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0642_swing_single/clip.4da97b93d99ffa59faef5b331c908808deae3e7ddc84644c59e59a584ae31e1f.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0642_swing_single/clip.4da97b93d99ffa59faef5b331c908808deae3e7ddc84644c59e59a584ae31e1f.json
new file mode 100644
index 0000000000000000000000000000000000000000..7813147d397825761f957058f11b7b4ba1e53086
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0642_swing_single/clip.4da97b93d99ffa59faef5b331c908808deae3e7ddc84644c59e59a584ae31e1f.json
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+{"schema":"doorbench.planned-reference.v1","door_id":"db0642_swing_single","fps":60,"units":"metres/radians/seconds","up_axis":"Z","status":"unvalidated","qa":{},"duration":88.73883608660357,"frames":4055,"complete_proposal":true,"sampling":"actor_time is authoritative; fps is the nominal rendering frame rate","retiming":{"success":true,"schema":"doorbench.retime.v1","frames":4055,"iterations":4,"original_duration_s":67.56666666666666,"duration_s":88.73883608660357,"duration_scale":1.3133522854455388,"maximum_interval_scale":3.1762204751365455,"changed_intervals":2636,"maximum_neighbor_scale_ratio":1.1500000000000825,"neighbor_ratio_limit":1.15,"interval_scale_cap":20.0,"before":{"max_velocity_ratio":1.0,"max_acceleration_ratio":10.048143739145097,"velocity_violations":0,"acceleration_violations":1645,"worst_velocity":{"frame":31,"dof":"actor_knee_l","ratio":1.0},"worst_acceleration":{"frame":279,"dof":"actor_knee_l","ratio":10.048143739145097}},"after":{"max_velocity_ratio":1.0000000000000533,"max_acceleration_ratio":0.9980710297748209,"velocity_violations":0,"acceleration_violations":0,"worst_velocity":{"frame":435,"dof":"actor_elbow_r","ratio":1.0000000000000533},"worst_acceleration":{"frame":3469,"dof":"actor_knee_l","ratio":0.9980710297748209}},"velocity_limits":[0.8,0.8,0.8,1.5,1.5,1.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5],"acceleration_limits":[3.0,3.0,3.0,8.0,8.0,8.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0],"dof_labels":["actor_root:x","actor_root:y","actor_root:z","actor_root:rx","actor_root:ry","actor_root:rz","actor_spine_pitch","actor_spine_roll","actor_spine_yaw","actor_neck_yaw","actor_neck_pitch","actor_shoulder_l_pitch","actor_shoulder_l_roll","actor_shoulder_l_yaw","actor_elbow_l","actor_wrist_l_pitch","actor_wrist_l_roll","actor_wrist_l_yaw","actor_shoulder_r_pitch","actor_shoulder_r_roll","actor_shoulder_r_yaw","actor_elbow_r","actor_wrist_r_pitch","actor_wrist_r_roll","actor_wrist_r_yaw","actor_hip_l_pitch","actor_hip_l_roll","actor_hip_l_yaw","actor_knee_l","actor_ankle_l_pitch","actor_ankle_l_roll","actor_hip_r_pitch","actor_hip_r_roll","actor_hip_r_yaw","actor_knee_r","actor_ankle_r_pitch","actor_ankle_r_roll"],"failure":null,"scope":"Sampled actor velocity and world-basis angular acceleration; unchanged poses and source clock. 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required."},"trajectory_sha256":"4159936eca9f435a97a939c0d3c8d632e2e75cd2ac188ece0c153de70586cbea","source_sha256":{"spec.json":"91132281fe5790caf6c11f40354707030e416ad792a854a7ae9a08507699119f","model.json":"ee73c699aba020b4092988740f7266196d0b63f32d83b92ca0160c9252617d8c","door.xml":"4c57336548c3784f29995dbed8cf0cbf42b9045919cd473339ce870d06675470"},"native":{"body_names":["world","leaf","leaf_handle","leaf_latch_bolt"],"joint_names":["leaf_hinge","leaf_handle_hinge","leaf_latch_bolt_slide"],"qpos_addresses":[0,1,2]},"actor":{"body_names":["actor_pelvis","actor_chest","actor_neck","actor_head","actor_shoulder_l","actor_elbow_l","actor_wrist_l","actor_shoulder_r","actor_elbow_r","actor_wrist_r","actor_hip_l","actor_knee_l","actor_ankle_l","actor_hip_r","actor_knee_r","actor_ankle_r"],"joint_names":["actor_root","actor_spine_pitch","actor_spine_roll","actor_spine_yaw","actor_neck_yaw","actor_neck_pitch","actor_shoulder_l_pitch","actor_shoulder_l_roll","actor_shoulder_l_yaw","actor_elbow_l","actor_wrist_l_pitch","actor_wrist_l_roll","actor_wrist_l_yaw","actor_shoulder_r_pitch","actor_shoulder_r_roll","actor_shoulder_r_yaw","actor_elbow_r","actor_wrist_r_pitch","actor_wrist_r_roll","actor_wrist_r_yaw","actor_hip_l_pitch","actor_hip_l_roll","actor_hip_l_yaw","actor_knee_l","actor_ankle_l_pitch","actor_ankle_l_roll","actor_hip_r_pitch","actor_hip_r_roll","actor_hip_r_yaw","actor_knee_r","actor_ankle_r_pitch","actor_ankle_r_roll"],"qpos_addresses":[0,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37],"geometries":[{"name":"actor_geom_pelvis","body_name":"actor_pelvis","type":"capsule","size":[0.105,0.035,0.0],"pos":[0.0,0.0,0.005000000000000001],"quat_wxyz":[6.123233995736766e-17,1.0,0.0,0.0]},{"name":"actor_geom_torso","body_name":"actor_chest","type":"capsule","size":[0.12,0.0825,0.0],"pos":[0.0,0.0,-0.1075],"quat_wxyz":[6.123233995736766e-17,1.0,0.0,0.0]},{"name":"actor_geom_neck","body_name":"actor_neck","type":"capsule","size":[0.04,0.08,0.0],"pos":[0.0,0.0,-0.039999999999999994],"quat_wxyz":[6.123233995736766e-17,1.0,0.0,0.0]},{"name":"actor_geom_head","body_name":"actor_head","type":"sphere","size":[0.1,0.0,0.0],"pos":[0.0,0.0,0.0],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_upper_arm_l","body_name":"actor_shoulder_l","type":"capsule","size":[0.043,0.125,0.0],"pos":[0.0,0.0,-0.15000000000000002],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_forearm_l","body_name":"actor_elbow_l","type":"capsule","size":[0.036,0.12000000000000001,0.0],"pos":[0.0,0.0,-0.14],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_hand_l","body_name":"actor_wrist_l","type":"sphere","size":[0.035,0.0,0.0],"pos":[0.0,0.0,0.0],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_upper_arm_r","body_name":"actor_shoulder_r","type":"capsule","size":[0.043,0.125,0.0],"pos":[0.0,0.0,-0.15000000000000002],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_forearm_r","body_name":"actor_elbow_r","type":"capsule","size":[0.036,0.12000000000000001,0.0],"pos":[0.0,0.0,-0.14],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_hand_r","body_name":"actor_wrist_r","type":"sphere","size":[0.035,0.0,0.0],"pos":[0.0,0.0,0.0],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_thigh_l","body_name":"actor_hip_l","type":"capsule","size":[0.065,0.17500000000000002,0.0],"pos":[0.0,0.0,-0.215],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_shin_l","body_name":"actor_knee_l","type":"capsule","size":[0.047,0.18,0.0],"pos":[0.0,0.0,-0.21500000000000002],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_foot_l","body_name":"actor_ankle_l","type":"box","size":[0.05,0.13,0.0275],"pos":[0.0,0.04,-0.0275],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_thigh_r","body_name":"actor_hip_r","type":"capsule","size":[0.065,0.17500000000000002,0.0],"pos":[0.0,0.0,-0.215],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_shin_r","body_name":"actor_knee_r","type":"capsule","size":[0.047,0.18,0.0],"pos":[0.0,0.0,-0.21500000000000002],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_foot_r","body_name":"actor_ankle_r","type":"box","size":[0.05,0.13,0.0275],"pos":[0.0,0.04,-0.0275],"quat_wxyz":[1.0,0.0,0.0,0.0]}],"mjcf_xml":"<mujoco 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diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0642_swing_single/validation.3c3d269b3b11b9c7493008d4c61684c5b5459d83f566630b94dbdaa35592a40a.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0642_swing_single/validation.3c3d269b3b11b9c7493008d4c61684c5b5459d83f566630b94dbdaa35592a40a.json
new file mode 100644
index 0000000000000000000000000000000000000000..405a0db8c2daef6ca61c8c17b5b832bfe528254f
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0642_swing_single/validation.3c3d269b3b11b9c7493008d4c61684c5b5459d83f566630b94dbdaa35592a40a.json
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+{
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+  "contact_exclusion_pair_frames": 1657,
+  "door_id": "db0642_swing_single",
+  "failure_counts": {},
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+  "frames": 4055,
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+    "No dynamics, balance, friction, force closure, actuator torque or retimed-native-physics certification."
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diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0643_swing_double/result.baa673247f8408a730b5ecc866a0bcc8e842dc8c19fa3034149996a995cb9527.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0643_swing_double/result.baa673247f8408a730b5ecc866a0bcc8e842dc8c19fa3034149996a995cb9527.json
new file mode 100644
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--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0643_swing_double/result.baa673247f8408a730b5ecc866a0bcc8e842dc8c19fa3034149996a995cb9527.json
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required."},"trajectory_sha256":"23c3a61068d9a6f27d307cd8c12872e10ae3aa5a907a73fb4a5ea25f43faaafa","source_sha256":{"spec.json":"dc0f1efba5a7d55ffcd38c4eafd06fe0900f14dbc7f53e4eab16118bdfc3a511","model.json":"60c46f366483ca5d96acc7a254e1dc590962b3f928dfbfe6f5bdebfe97e875cc","door.xml":"0f186985325d52bdb20c8031073a919ccc6b07bc099e553d0ff998e18336e595"},"native":{"body_names":["world","door"],"joint_names":["door_hinge"],"qpos_addresses":[0]},"actor":{"body_names":["actor_pelvis","actor_chest","actor_neck","actor_head","actor_shoulder_l","actor_elbow_l","actor_wrist_l","actor_shoulder_r","actor_elbow_r","actor_wrist_r","actor_hip_l","actor_knee_l","actor_ankle_l","actor_hip_r","actor_knee_r","actor_ankle_r"],"joint_names":["actor_root","actor_spine_pitch","actor_spine_roll","actor_spine_yaw","actor_neck_yaw","actor_neck_pitch","actor_shoulder_l_pitch","actor_shoulder_l_roll","actor_shoulder_l_yaw","actor_elbow_l","actor_wrist_l_pitch","actor_wrist_l_roll","actor_wrist_l_yaw","actor_shoulder_r_pitch","actor_shoulder_r_roll","actor_shoulder_r_yaw","actor_elbow_r","actor_wrist_r_pitch","actor_wrist_r_roll","actor_wrist_r_yaw","actor_hip_l_pitch","actor_hip_l_roll","actor_hip_l_yaw","actor_knee_l","actor_ankle_l_pitch","actor_ankle_l_roll","actor_hip_r_pitch","actor_hip_r_roll","actor_hip_r_yaw","actor_knee_r","actor_ankle_r_pitch","actor_ankle_r_roll"],"qpos_addresses":[0,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37],"geometries":[{"name":"actor_geom_pelvis","body_name":"actor_pelvis","type":"capsule","size":[0.105,0.035,0.0],"pos":[0.0,0.0,0.005000000000000001],"quat_wxyz":[6.123233995736766e-17,1.0,0.0,0.0]},{"name":"actor_geom_torso","body_name":"actor_chest","type":"capsule","size":[0.12,0.0825,0.0],"pos":[0.0,0.0,-0.1075],"quat_wxyz":[6.123233995736766e-17,1.0,0.0,0.0]},{"name":"actor_geom_neck","body_name":"actor_neck","type":"capsule","size":[0.04,0.08,0.0],"pos":[0.0,0.0,-0.039999999999999994],"quat_wxyz":[6.123233995736766e-17,1.0,0.0,0.0]},{"name":"actor_geom_head","body_name":"actor_head","type":"sphere","size":[0.1,0.0,0.0],"pos":[0.0,0.0,0.0],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_upper_arm_l","body_name":"actor_shoulder_l","type":"capsule","size":[0.043,0.125,0.0],"pos":[0.0,0.0,-0.15000000000000002],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_forearm_l","body_name":"actor_elbow_l","type":"capsule","size":[0.036,0.12000000000000001,0.0],"pos":[0.0,0.0,-0.14],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_hand_l","body_name":"actor_wrist_l","type":"sphere","size":[0.035,0.0,0.0],"pos":[0.0,0.0,0.0],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_upper_arm_r","body_name":"actor_shoulder_r","type":"capsule","size":[0.043,0.125,0.0],"pos":[0.0,0.0,-0.15000000000000002],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_forearm_r","body_name":"actor_elbow_r","type":"capsule","size":[0.036,0.12000000000000001,0.0],"pos":[0.0,0.0,-0.14],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_hand_r","body_name":"actor_wrist_r","type":"sphere","size":[0.035,0.0,0.0],"pos":[0.0,0.0,0.0],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_thigh_l","body_name":"actor_hip_l","type":"capsule","size":[0.065,0.17500000000000002,0.0],"pos":[0.0,0.0,-0.215],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_shin_l","body_name":"actor_knee_l","type":"capsule","size":[0.047,0.18,0.0],"pos":[0.0,0.0,-0.21500000000000002],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_foot_l","body_name":"actor_ankle_l","type":"box","size":[0.05,0.13,0.0275],"pos":[0.0,0.04,-0.0275],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_thigh_r","body_name":"actor_hip_r","type":"capsule","size":[0.065,0.17500000000000002,0.0],"pos":[0.0,0.0,-0.215],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_shin_r","body_name":"actor_knee_r","type":"capsule","size":[0.047,0.18,0.0],"pos":[0.0,0.0,-0.21500000000000002],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_foot_r","body_name":"actor_ankle_r","type":"box","size":[0.05,0.13,0.0275],"pos":[0.0,0.04,-0.0275],"quat_wxyz":[1.0,0.0,0.0,0.0]}],"mjcf_xml":"<mujoco model=\"doorbench_original_adult\"><compiler angle=\"radian\" autolimits=\"true\" /><worldbody><body name=\"actor_pelvis\" pos=\"-0.063577598972 -1.97278954254 0.940521645285\" quat=\"0.999999999722 0 0 -2.35814078898e-05\"><inertial pos=\"0 0 0\" mass=\"9.0\" diaginertia=\"0.108 0.108 0.108\" /><freejoint name=\"actor_root\" /><geom name=\"actor_geom_pelvis\" type=\"capsule\" size=\"0.105\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.03 0 0 0.04\" /><site name=\"actor_site_pelvis\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_chest\" pos=\"0 0 0.35\"><inertial pos=\"0 0 -0.12\" mass=\"20.0\" diaginertia=\"0.24 0.24 0.24\" /><joint name=\"actor_spine_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-0.65 0.65\" limited=\"true\" damping=\"1\" pos=\"0 0 -.30\" /><joint name=\"actor_spine_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-0.4 0.4\" limited=\"true\" damping=\"1\" pos=\"0 0 -.30\" /><joint name=\"actor_spine_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-0.8 0.8\" limited=\"true\" damping=\"1\" pos=\"0 0 -.30\" /><geom name=\"actor_geom_torso\" type=\"capsule\" size=\"0.12\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.19 0 0 -0.025\" /><site name=\"actor_site_chest\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_neck\" pos=\"0 0 0.16\"><inertial pos=\"0 0 0\" mass=\"1.0\" diaginertia=\"0.012 0.012 0.012\" /><joint name=\"actor_neck_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-1 1\" limited=\"true\" damping=\"1\" /><joint name=\"actor_neck_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-0.5 0.5\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_neck\" type=\"capsule\" size=\"0.04\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.12 0 0 0.04\" /><site name=\"actor_site_neck\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_head\" pos=\"0 0 0.13\"><inertial pos=\"0 0 0\" mass=\"4.5\" diaginertia=\"0.054 0.054 0.054\" /><geom name=\"actor_geom_head\" type=\"sphere\" size=\"0.1\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" /><site name=\"actor_site_head\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /></body></body><body name=\"actor_shoulder_l\" pos=\"-0.18 0 0.06\"><inertial pos=\"0 0 -0.15\" mass=\"2.0\" diaginertia=\"0.024 0.024 0.024\" /><joint name=\"actor_shoulder_l_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-1.2 2.7\" limited=\"true\" damping=\"1\" /><joint name=\"actor_shoulder_l_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-2.3 2.3\" limited=\"true\" damping=\"1\" /><joint name=\"actor_shoulder_l_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-1.6 1.6\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_upper_arm_l\" type=\"capsule\" size=\"0.043\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.025 0 0 -0.275\" /><site name=\"actor_site_shoulder_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_elbow_l\" pos=\"0 0 -0.3\"><inertial pos=\"0 0 -0.14\" mass=\"1.2\" diaginertia=\"0.0144 0.0144 0.0144\" /><joint name=\"actor_elbow_l\" type=\"hinge\" axis=\"1 0 0\" range=\"0 2.65\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_forearm_l\" type=\"capsule\" size=\"0.036\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.02 0 0 -0.26\" /><site name=\"actor_site_elbow_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_wrist_l\" pos=\"0 0 -0.28\"><inertial pos=\"0 0 0\" mass=\"0.4\" diaginertia=\"0.0048 0.0048 0.0048\" /><joint name=\"actor_wrist_l_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-1.1 1.1\" limited=\"true\" damping=\"1\" /><joint name=\"actor_wrist_l_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-0.65 0.65\" limited=\"true\" damping=\"1\" /><joint name=\"actor_wrist_l_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-1.4 1.4\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_hand_l\" type=\"sphere\" size=\"0.035\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" /><site name=\"actor_site_wrist_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /></body></body></body><body name=\"actor_shoulder_r\" pos=\"0.18 0 0.06\"><inertial pos=\"0 0 -0.15\" mass=\"2.0\" diaginertia=\"0.024 0.024 0.024\" /><joint name=\"actor_shoulder_r_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-1.2 2.7\" limited=\"true\" damping=\"1\" /><joint name=\"actor_shoulder_r_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-2.3 2.3\" limited=\"true\" damping=\"1\" /><joint name=\"actor_shoulder_r_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-1.6 1.6\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_upper_arm_r\" type=\"capsule\" size=\"0.043\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.025 0 0 -0.275\" /><site name=\"actor_site_shoulder_r\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_elbow_r\" pos=\"0 0 -0.3\"><inertial pos=\"0 0 -0.14\" mass=\"1.2\" diaginertia=\"0.0144 0.0144 0.0144\" /><joint name=\"actor_elbow_r\" type=\"hinge\" axis=\"1 0 0\" range=\"0 2.65\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_forearm_r\" type=\"capsule\" size=\"0.036\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.02 0 0 -0.26\" /><site name=\"actor_site_elbow_r\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_wrist_r\" pos=\"0 0 -0.28\"><inertial pos=\"0 0 0\" mass=\"0.4\" diaginertia=\"0.0048 0.0048 0.0048\" /><joint name=\"actor_wrist_r_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-1.1 1.1\" limited=\"true\" damping=\"1\" /><joint name=\"actor_wrist_r_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-0.65 0.65\" limited=\"true\" damping=\"1\" /><joint name=\"actor_wrist_r_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-1.4 1.4\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_hand_r\" type=\"sphere\" size=\"0.035\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" /><site name=\"actor_site_wrist_r\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /></body></body></body></body><body name=\"actor_hip_l\" pos=\"-0.105 0 -0.06\"><inertial pos=\"0 0 -0.215\" mass=\"8.0\" diaginertia=\"0.096 0.096 0.096\" /><joint name=\"actor_hip_l_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-0.7 1.8\" limited=\"true\" damping=\"1\" /><joint name=\"actor_hip_l_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-0.65 0.65\" limited=\"true\" damping=\"1\" /><joint name=\"actor_hip_l_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-0.8 0.8\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_thigh_l\" type=\"capsule\" size=\"0.065\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.04 0 0 -0.39\" /><site name=\"actor_site_hip_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_knee_l\" pos=\"0 0 -0.43\"><inertial pos=\"0 0 -0.215\" mass=\"3.5\" diaginertia=\"0.042 0.042 0.042\" /><joint name=\"actor_knee_l\" type=\"hinge\" axis=\"1 0 0\" range=\"-2.7 0\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_shin_l\" type=\"capsule\" size=\"0.047\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.035 0 0 -0.395\" /><site name=\"actor_site_knee_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_ankle_l\" pos=\"0 0 -0.43\"><inertial pos=\"0 0.04 -0.0275\" mass=\"1.0\" diaginertia=\"0.012 0.012 0.012\" /><joint name=\"actor_ankle_l_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-0.8 0.8\" limited=\"true\" damping=\"1\" /><joint name=\"actor_ankle_l_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-0.45 0.45\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_foot_l\" type=\"box\" size=\"0.05 0.13 0.0275\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" pos=\"0 .04 -.0275\" /><site name=\"actor_site_ankle_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><site name=\"actor_site_sole_l\" pos=\"0 0.04 -0.055\" size=\".008\" rgba=\"1 .6 .1 1\" /></body></body></body><body name=\"actor_hip_r\" 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diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0651_garage_tiltup/result.acefdafd782cd3e21fc1c0c32dee5e4729abce9d828c1f6d2a2a5f3413bea3a4.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0651_garage_tiltup/result.acefdafd782cd3e21fc1c0c32dee5e4729abce9d828c1f6d2a2a5f3413bea3a4.json
new file mode 100644
index 0000000000000000000000000000000000000000..997516808d890eab4b1b3a123959264fa641687d
--- /dev/null
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diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0651_garage_tiltup/validation.556071eb036d51b29f6ef5d4fd78d9edf52f214c739768710cab6d7eb26ecc8b.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0651_garage_tiltup/validation.556071eb036d51b29f6ef5d4fd78d9edf52f214c739768710cab6d7eb26ecc8b.json
new file mode 100644
index 0000000000000000000000000000000000000000..505ba606f29d7914e544deb998ee0f2553d1ec0f
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0651_garage_tiltup/validation.556071eb036d51b29f6ef5d4fd78d9edf52f214c739768710cab6d7eb26ecc8b.json
@@ -0,0 +1,229 @@
+{
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+  "contact_exclusion_pair_frames": 43,
+  "door_id": "db0651_garage_tiltup",
+  "failure_counts": {},
+  "failure_examples": {},
+  "frames": 717,
+  "kinematic_accepted": true,
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+    "Joint-range/derivative acceptance applies to the actor. Native source poses/FK and monotonic timewarp are verified; source dynamics and soft joint-limit compliance are not re-certified.",
+    "No dynamics, balance, friction, force closure, actuator torque or retimed-native-physics certification."
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diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0652_sliding_bypass/result.b144d61204019118e6e3c07095edb57dac16295c9efa75692937661f31fbc5e0.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0652_sliding_bypass/result.b144d61204019118e6e3c07095edb57dac16295c9efa75692937661f31fbc5e0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1e742a9355c44cb9712811220b69eba8d562821
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0652_sliding_bypass/result.b144d61204019118e6e3c07095edb57dac16295c9efa75692937661f31fbc5e0.json
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Source benchmark outcome is separate from new actor completion. No dynamics, balance, force-closure, continuous collision or personal visual approval.","error":{"type":"TaskUnresolved","message":"Full task route is unresolved: No standing-body route through the declared aperture at this door pose"}}
diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0653_swing_single/clip.717a00801f5406d2072ace8756a30024e5a3a46dbcb09ac18de1b400465e05ef.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0653_swing_single/clip.717a00801f5406d2072ace8756a30024e5a3a46dbcb09ac18de1b400465e05ef.json
new file mode 100644
index 0000000000000000000000000000000000000000..daaa69bbe6082b77699c1f552ce4b694b27875fb
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0653_swing_single/clip.717a00801f5406d2072ace8756a30024e5a3a46dbcb09ac18de1b400465e05ef.json
@@ -0,0 +1 @@
+{"schema":"doorbench.planned-reference.v1","door_id":"db0653_swing_single","fps":60,"units":"metres/radians/seconds","up_axis":"Z","status":"unvalidated","qa":{},"duration":103.73948446901439,"frames":4682,"complete_proposal":true,"sampling":"actor_time is authoritative; fps is the nominal rendering frame rate","retiming":{"success":true,"schema":"doorbench.retime.v1","frames":4682,"iterations":5,"original_duration_s":81.04999999999998,"duration_s":103.73948446901439,"duration_scale":1.2799442870945639,"maximum_interval_scale":3.2190509139207313,"changed_intervals":2933,"maximum_neighbor_scale_ratio":1.1500000000000825,"neighbor_ratio_limit":1.15,"interval_scale_cap":20.0,"before":{"max_velocity_ratio":1.0000000000000013,"max_acceleration_ratio":10.320963647967426,"velocity_violations":0,"acceleration_violations":1818,"worst_velocity":{"frame":57,"dof":"actor_knee_r","ratio":1.0000000000000013},"worst_acceleration":{"frame":159,"dof":"actor_knee_r","ratio":10.320963647967426}},"after":{"max_velocity_ratio":1.0,"max_acceleration_ratio":0.9996957950461451,"velocity_violations":0,"acceleration_violations":0,"worst_velocity":{"frame":514,"dof":"actor_elbow_r","ratio":1.0},"worst_acceleration":{"frame":269,"dof":"actor_knee_l","ratio":0.9996957950461451}},"velocity_limits":[0.8,0.8,0.8,1.5,1.5,1.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5],"acceleration_limits":[3.0,3.0,3.0,8.0,8.0,8.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0],"dof_labels":["actor_root:x","actor_root:y","actor_root:z","actor_root:rx","actor_root:ry","actor_root:rz","actor_spine_pitch","actor_spine_roll","actor_spine_yaw","actor_neck_yaw","actor_neck_pitch","actor_shoulder_l_pitch","actor_shoulder_l_roll","actor_shoulder_l_yaw","actor_elbow_l","actor_wrist_l_pitch","actor_wrist_l_roll","actor_wrist_l_yaw","actor_shoulder_r_pitch","actor_shoulder_r_roll","actor_shoulder_r_yaw","actor_elbow_r","actor_wrist_r_pitch","actor_wrist_r_roll","actor_wrist_r_yaw","actor_hip_l_pitch","actor_hip_l_roll","actor_hip_l_yaw","actor_knee_l","actor_ankle_l_pitch","actor_ankle_l_roll","actor_hip_r_pitch","actor_hip_r_roll","actor_hip_r_yaw","actor_knee_r","actor_ankle_r_pitch","actor_ankle_r_roll"],"failure":null,"scope":"Sampled actor velocity and world-basis angular acceleration; unchanged poses and source clock. Independent geometry/contact/interpolation revalidation required."},"trajectory_sha256":"6c4f9b82ddd7788b82931782b2a1c93fe91c2909ab391d4e693a722f0f281c8d","source_sha256":{"spec.json":"2aa2853d900d648de47b36cbd2e82d0fcaf88939f513d4094470b76fd089cb33","model.json":"6a5b9c86dd9f2242b0ad6f2af56043ae3fce917d69ec0c9ccc9bc45c340f7dc9","door.xml":"0c6e8b490e9af782e7b95289987055ebdb2bb0713c79291cd8d53b8f89cf33cb"},"native":{"body_names":["world","leaf","leaf_handle","leaf_latch_bolt"],"joint_names":["leaf_hinge","leaf_handle_hinge","leaf_latch_bolt_slide"],"qpos_addresses":[0,1,2]},"actor":{"body_names":["actor_pelvis","actor_chest","actor_neck","actor_head","actor_shoulder_l","actor_elbow_l","actor_wrist_l","actor_shoulder_r","actor_elbow_r","actor_wrist_r","actor_hip_l","actor_knee_l","actor_ankle_l","actor_hip_r","actor_knee_r","actor_ankle_r"],"joint_names":["actor_root","actor_spine_pitch","actor_spine_roll","actor_spine_yaw","actor_neck_yaw","actor_neck_pitch","actor_shoulder_l_pitch","actor_shoulder_l_roll","actor_shoulder_l_yaw","actor_elbow_l","actor_wrist_l_pitch","actor_wrist_l_roll","actor_wrist_l_yaw","actor_shoulder_r_pitch","actor_shoulder_r_roll","actor_shoulder_r_yaw","actor_elbow_r","actor_wrist_r_pitch","actor_wrist_r_roll","actor_wrist_r_yaw","actor_hip_l_pitch","actor_hip_l_roll","actor_hip_l_yaw","actor_knee_l","actor_ankle_l_pitch","actor_ankle_l_roll","actor_hip_r_pitch","actor_hip_r_roll","actor_hip_r_yaw","actor_knee_r","actor_ankle_r_pitch","actor_ankle_r_roll"],"qpos_addresses":[0,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37],"geometries":[{"name":"actor_geom_pelvis","body_name":"actor_pelvis","type":"capsule","size":[0.105,0.035,0.0],"pos":[0.0,0.0,0.005000000000000001],"quat_wxyz":[6.123233995736766e-17,1.0,0.0,0.0]},{"name":"actor_geom_torso","body_name":"actor_chest","type":"capsule","size":[0.12,0.0825,0.0],"pos":[0.0,0.0,-0.1075],"quat_wxyz":[6.123233995736766e-17,1.0,0.0,0.0]},{"name":"actor_geom_neck","body_name":"actor_neck","type":"capsule","size":[0.04,0.08,0.0],"pos":[0.0,0.0,-0.039999999999999994],"quat_wxyz":[6.123233995736766e-17,1.0,0.0,0.0]},{"name":"actor_geom_head","body_name":"actor_head","type":"sphere","size":[0.1,0.0,0.0],"pos":[0.0,0.0,0.0],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_upper_arm_l","body_name":"actor_shoulder_l","type":"capsule","size":[0.043,0.125,0.0],"pos":[0.0,0.0,-0.15000000000000002],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_forearm_l","body_name":"actor_elbow_l","type":"capsule","size":[0.036,0.12000000000000001,0.0],"pos":[0.0,0.0,-0.14],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_hand_l","body_name":"actor_wrist_l","type":"sphere","size":[0.035,0.0,0.0],"pos":[0.0,0.0,0.0],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_upper_arm_r","body_name":"actor_shoulder_r","type":"capsule","size":[0.043,0.125,0.0],"pos":[0.0,0.0,-0.15000000000000002],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_forearm_r","body_name":"actor_elbow_r","type":"capsule","size":[0.036,0.12000000000000001,0.0],"pos":[0.0,0.0,-0.14],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_hand_r","body_name":"actor_wrist_r","type":"sphere","size":[0.035,0.0,0.0],"pos":[0.0,0.0,0.0],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_thigh_l","body_name":"actor_hip_l","type":"capsule","size":[0.065,0.17500000000000002,0.0],"pos":[0.0,0.0,-0.215],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_shin_l","body_name":"actor_knee_l","type":"capsule","size":[0.047,0.18,0.0],"pos":[0.0,0.0,-0.21500000000000002],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_foot_l","body_name":"actor_ankle_l","type":"box","size":[0.05,0.13,0.0275],"pos":[0.0,0.04,-0.0275],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_thigh_r","body_name":"actor_hip_r","type":"capsule","size":[0.065,0.17500000000000002,0.0],"pos":[0.0,0.0,-0.215],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_shin_r","body_name":"actor_knee_r","type":"capsule","size":[0.047,0.18,0.0],"pos":[0.0,0.0,-0.21500000000000002],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_foot_r","body_name":"actor_ankle_r","type":"box","size":[0.05,0.13,0.0275],"pos":[0.0,0.04,-0.0275],"quat_wxyz":[1.0,0.0,0.0,0.0]}],"mjcf_xml":"<mujoco 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-0.3\"><inertial pos=\"0 0 -0.14\" mass=\"1.2\" diaginertia=\"0.0144 0.0144 0.0144\" /><joint name=\"actor_elbow_l\" type=\"hinge\" axis=\"1 0 0\" range=\"0 2.65\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_forearm_l\" type=\"capsule\" size=\"0.036\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.02 0 0 -0.26\" /><site name=\"actor_site_elbow_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_wrist_l\" pos=\"0 0 -0.28\"><inertial pos=\"0 0 0\" mass=\"0.4\" diaginertia=\"0.0048 0.0048 0.0048\" /><joint name=\"actor_wrist_l_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-1.1 1.1\" limited=\"true\" damping=\"1\" /><joint name=\"actor_wrist_l_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-0.65 0.65\" limited=\"true\" damping=\"1\" /><joint name=\"actor_wrist_l_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-1.4 1.4\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_hand_l\" type=\"sphere\" size=\"0.035\" rgba=\".08 .35 .42 1\" 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kinematic proposal; constrained IK and independent acceptance still required.","body_guidance_filter":{"type":"Gaussian","sigma_seconds":0.2,"scope":"Soft body and resting-arm targets before IK; foot contacts and native poses unchanged."}},"solver_summary":{"failed_frames":0,"geometrically_infeasible_frames":0,"error_counts":{},"runtime_s":52.90986320798402},"limitations":["Kinematic candidate: independent acceptance and visual review pending.","Native door poses are time-warped; source forces and dynamics are not replayed on this clock.","Original approximate adult rig; no articulated fingers, actuator limits or contact-force certification."]}
diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0653_swing_single/result.78003b0c8976bdbd4716e9c0782eccb06147ee2c0affd5d151957cdd72c98f03.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0653_swing_single/result.78003b0c8976bdbd4716e9c0782eccb06147ee2c0affd5d151957cdd72c98f03.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7fa48c64c07f5333e9acc6b30241551816e33d3
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0653_swing_single/result.78003b0c8976bdbd4716e9c0782eccb06147ee2c0affd5d151957cdd72c98f03.json
@@ -0,0 +1 @@
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Original result is identified by 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diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0653_swing_single/validation.e9a379f145eff3ec8d29b4b1b41b7b23a59f00c8ae110de7cbe34bccc206aed9.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0653_swing_single/validation.e9a379f145eff3ec8d29b4b1b41b7b23a59f00c8ae110de7cbe34bccc206aed9.json
new file mode 100644
index 0000000000000000000000000000000000000000..fcb8e69dfa0c6d73b1c015a122ebc79a5d029d76
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0653_swing_single/validation.e9a379f145eff3ec8d29b4b1b41b7b23a59f00c8ae110de7cbe34bccc206aed9.json
@@ -0,0 +1,252 @@
+{
+  "accepted": true,
+  "actor_geometry_count": 16,
+  "actor_self_pairs_exclude": "same-body and directly adjacent bodies only",
+  "clip_sha256": "717a00801f5406d2072ace8756a30024e5a3a46dbcb09ac18de1b400465e05ef",
+  "collision_samples": 9383,
+  "contact_exclusion_pair_frames": 2153,
+  "door_id": "db0653_swing_single",
+  "failure_counts": {},
+  "failure_examples": {},
+  "frames": 4682,
+  "kinematic_accepted": true,
+  "maxima": {
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+    "fk_actor_body_pos": 0.0,
+    "fk_actor_body_quat": 1.2990531157078367e-07,
+    "fk_actor_joints": 0.0,
+    "fk_body_pos": 0.0,
+    "fk_body_quat": 5.960464477539063e-08,
+    "fk_foot_pos": 0.0,
+    "fk_foot_quat": 1.264405455326821e-07,
+    "foot_target_orientation_error_rad": 8.940696716308595e-08,
+    "foot_target_position_error_m": 2.197789900962282e-15,
+    "hand_contact_penetration_m": 0.0,
+    "hand_contact_surface_gap_m": 0.004407080021272567,
+    "interpolated_stance_orientation_drift_rad": 2.474255142817922e-05,
+    "interpolated_stance_position_drift_m": 5.193688583051308e-05,
+    "joint_limit_violation_rad": 0.0,
+    "stance_orientation_drift_rad": 1.1920928955078128e-07,
+    "stance_position_drift_m": 3.164135620181696e-15,
+    "stance_sole_height_error_m": 3.205738452471962e-11
+  },
+  "minimum_foot_ground_distance_m": -5.135981153955166e-05,
+  "minimum_noncontact_distance_m": 0.004048992468982034,
+  "native_collision_geometry_count": 22,
+  "native_timewarp": {
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+  "scope": [
+    "Recomputed FK from saved qpos on original fixed actor MJCF and source door.",
+    "Exact engine distances for declared rigid collision geometry, including nonadjacent actor self-collision.",
+    "Frame and adaptively subdivided geodesic joint interpolation checks, not continuous-collision certification.",
+    "Stance requires fixed ankle pose and four sole corners supported by horizontal native floor boxes/planes.",
+    "Joint-range/derivative acceptance applies to the actor. Native source poses/FK and monotonic timewarp are verified; source dynamics and soft joint-limit compliance are not re-certified.",
+    "No dynamics, balance, friction, force closure, actuator torque or retimed-native-physics certification."
+  ],
+  "settings": {
+    "clearance_m": 0.003,
+    "collision_tolerance_m": 1e-05,
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+    "fk_position_m": 1e-05,
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+    "joint_acceleration_rad_s2": 15.0,
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+    "root_angular_acceleration_rad_s2": 8.0,
+    "root_angular_speed_rad_s": 1.5,
+    "root_speed_m_s": 0.8
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+    "goal_metric": "XY pelvis projection into ground goal disc",
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+    "proposal_traversal": "proposed",
+    "scenario": "unlock_and_traverse",
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+      "limit": 1.0001,
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+        "velocity": 2.5
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+      "measured": 1.2990531157078367e-07
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+      "measured": 8.940696716308595e-08
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+      "measured": 3.205738452471962e-11
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+}
diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0654_swing_single/result.fff5099e177fdc6badc577bfc6fd31cae9ed676e1bd4c8cc827045f4931dac6f.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0654_swing_single/result.fff5099e177fdc6badc577bfc6fd31cae9ed676e1bd4c8cc827045f4931dac6f.json
new file mode 100644
index 0000000000000000000000000000000000000000..8525c8ffd397875f6a0291bf2b6e555f8247900b
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0654_swing_single/result.fff5099e177fdc6badc577bfc6fd31cae9ed676e1bd4c8cc827045f4931dac6f.json
@@ -0,0 +1 @@
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new file mode 100644
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diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0665_bifold/result.bfe050ed3a1327ba9c2750551e9d92eeb5614ab0acf8fc3c0133bdb421bd6d94.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0665_bifold/result.bfe050ed3a1327ba9c2750551e9d92eeb5614ab0acf8fc3c0133bdb421bd6d94.json
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Source benchmark outcome is separate from new actor completion. No dynamics, balance, force-closure, continuous collision or personal visual approval.","error":{"type":"TaskUnresolved","message":"Full task route is unresolved: No standing-body route through the declared aperture at this door pose"}}
diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0666_swing_single/clip.68816de23aea01e6f1f714746ff64754eefa119cf4f392c5361ceaea241d7b73.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0666_swing_single/clip.68816de23aea01e6f1f714746ff64754eefa119cf4f392c5361ceaea241d7b73.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a073fef12718d83aeaab9cd6d211af222361be7
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0666_swing_single/clip.68816de23aea01e6f1f714746ff64754eefa119cf4f392c5361ceaea241d7b73.json
@@ -0,0 +1 @@
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kinematic proposal; constrained IK and independent acceptance still required.","body_guidance_filter":{"type":"Gaussian","sigma_seconds":0.2,"scope":"Soft body and resting-arm targets before IK; foot contacts and native poses unchanged."}},"solver_summary":{"failed_frames":0,"geometrically_infeasible_frames":0,"error_counts":{},"runtime_s":7.102187667012913},"limitations":["Kinematic candidate: independent acceptance and visual review pending.","Native door poses are time-warped; source forces and dynamics are not replayed on this clock.","Original approximate adult rig; no articulated fingers, actuator limits or contact-force certification."]}
diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0666_swing_single/result.5f6a8402950425d3a4784c2973ee481fc3e2cf925c38e24b224c4a4a6c514fe7.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0666_swing_single/result.5f6a8402950425d3a4784c2973ee481fc3e2cf925c38e24b224c4a4a6c514fe7.json
new file mode 100644
index 0000000000000000000000000000000000000000..090247288991fbe848d1315f371f5173ae6ca07b
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0666_swing_single/result.5f6a8402950425d3a4784c2973ee481fc3e2cf925c38e24b224c4a4a6c514fe7.json
@@ -0,0 +1 @@
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diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0666_swing_single/validation.97b2c49fe8dedf56f4425bf008ec478a53ce7ee2f7b5149ae36483115e5830ed.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0666_swing_single/validation.97b2c49fe8dedf56f4425bf008ec478a53ce7ee2f7b5149ae36483115e5830ed.json
new file mode 100644
index 0000000000000000000000000000000000000000..b46a290a76dc3e2832721d0340550c87f0a20450
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0666_swing_single/validation.97b2c49fe8dedf56f4425bf008ec478a53ce7ee2f7b5149ae36483115e5830ed.json
@@ -0,0 +1,229 @@
+{
+  "accepted": true,
+  "actor_geometry_count": 16,
+  "actor_self_pairs_exclude": "same-body and directly adjacent bodies only",
+  "clip_sha256": "68816de23aea01e6f1f714746ff64754eefa119cf4f392c5361ceaea241d7b73",
+  "collision_samples": 1171,
+  "contact_exclusion_pair_frames": 66,
+  "door_id": "db0666_swing_single",
+  "failure_counts": {},
+  "failure_examples": {},
+  "frames": 580,
+  "kinematic_accepted": true,
+  "maxima": {
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+    "actor_acceleration_limit_ratio": 0.9960119680800943,
+    "actor_velocity_limit_ratio": 1.0000000000000533,
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+    "fk_actor_body_quat": 1.2990531157078367e-07,
+    "fk_actor_joints": 0.0,
+    "fk_body_pos": 0.0,
+    "fk_body_quat": 6.664001874625056e-08,
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+    "foot_target_position_error_m": 1.9391322212964874e-15,
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+    "stance_position_drift_m": 3.4416913763379853e-15,
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+    "Exact engine distances for declared rigid collision geometry, including nonadjacent actor self-collision.",
+    "Frame and adaptively subdivided geodesic joint interpolation checks, not continuous-collision certification.",
+    "Stance requires fixed ankle pose and four sole corners supported by horizontal native floor boxes/planes.",
+    "Joint-range/derivative acceptance applies to the actor. Native source poses/FK and monotonic timewarp are verified; source dynamics and soft joint-limit compliance are not re-certified.",
+    "No dynamics, balance, friction, force closure, actuator torque or retimed-native-physics certification."
+  ],
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+    "collision_tolerance_m": 1e-05,
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+    "root_speed_m_s": 0.8
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+      "measured": 1.2990531157078367e-07
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+    "fk_actor_joints": {
+      "context": null,
+      "frame": 0,
+      "limit": 1e-05,
+      "measured": 0.0
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+      "measured": 6.664001874625056e-08
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+      "frame": 0,
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+}
diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0667_swing_single/result.148537847b9120e5284b3127b666fbc8dda0b58adf200bcefed62b8f35bd1b4d.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0667_swing_single/result.148537847b9120e5284b3127b666fbc8dda0b58adf200bcefed62b8f35bd1b4d.json
new file mode 100644
index 0000000000000000000000000000000000000000..4cf17c6287c0ca53208c283e3ea2e768d64a494d
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0667_swing_single/result.148537847b9120e5284b3127b666fbc8dda0b58adf200bcefed62b8f35bd1b4d.json
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+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0671_pivot/clip.47605dedca4edd42ad80239718cf621cee17af48b39224550212b5f7856fc74b.json
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+{"schema":"doorbench.planned-reference.v1","door_id":"db0671_pivot","fps":60,"units":"metres/radians/seconds","up_axis":"Z","status":"unvalidated","qa":{},"duration":56.14581019461815,"frames":2606,"complete_proposal":true,"sampling":"actor_time is authoritative; fps is the nominal rendering frame rate","retiming":{"success":true,"schema":"doorbench.retime.v1","frames":2606,"iterations":4,"original_duration_s":43.416666666666664,"duration_s":56.14581019461815,"duration_scale":1.2931856474768098,"maximum_interval_scale":3.355223781010781,"changed_intervals":1524,"maximum_neighbor_scale_ratio":1.1500000000000172,"neighbor_ratio_limit":1.15,"interval_scale_cap":20.0,"before":{"max_velocity_ratio":1.0000000000000027,"max_acceleration_ratio":11.212631245154672,"velocity_violations":0,"acceleration_violations":928,"worst_velocity":{"frame":907,"dof":"actor_shoulder_r_yaw","ratio":1.0000000000000027},"worst_acceleration":{"frame":79,"dof":"actor_knee_r","ratio":11.212631245154672}},"after":{"max_velocity_ratio":1.0000000000002132,"max_acceleration_ratio":0.9981251139701797,"velocity_violations":0,"acceleration_violations":0,"worst_velocity":{"frame":1896,"dof":"actor_elbow_r","ratio":1.0000000000002132},"worst_acceleration":{"frame":2050,"dof":"actor_knee_r","ratio":0.9981251139701797}},"velocity_limits":[0.8,0.8,0.8,1.5,1.5,1.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5],"acceleration_limits":[3.0,3.0,3.0,8.0,8.0,8.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0],"dof_labels":["actor_root:x","actor_root:y","actor_root:z","actor_root:rx","actor_root:ry","actor_root:rz","actor_spine_pitch","actor_spine_roll","actor_spine_yaw","actor_neck_yaw","actor_neck_pitch","actor_shoulder_l_pitch","actor_shoulder_l_roll","actor_shoulder_l_yaw","actor_elbow_l","actor_wrist_l_pitch","actor_wrist_l_roll","actor_wrist_l_yaw","actor_shoulder_r_pitch","actor_shoulder_r_roll","actor_shoulder_r_yaw","actor_elbow_r","actor_wrist_r_pitch","actor_wrist_r_roll","actor_wrist_r_yaw","actor_hip_l_pitch","actor_hip_l_roll","actor_hip_l_yaw","actor_knee_l","actor_ankle_l_pitch","actor_ankle_l_roll","actor_hip_r_pitch","actor_hip_r_roll","actor_hip_r_yaw","actor_knee_r","actor_ankle_r_pitch","actor_ankle_r_roll"],"failure":null,"scope":"Sampled actor velocity and world-basis angular acceleration; unchanged poses and source clock. Independent geometry/contact/interpolation revalidation required."},"trajectory_sha256":"a105c79272e4e1c89daace2bae3b2e7c80e089c4e2ff8170a3d456e14f7fb091","source_sha256":{"spec.json":"4bcf7d2bcf83b169c7b0235caea3c8d16995217d1f28fa8352f59aca8a0c32f4","model.json":"984ae4f9bd517aeddecb064eb48421be3ef187821f38e6c2cdf1045b74dce170","door.xml":"10af59a178b9037043fc7da8cc1e0711e0820f43a214a814da343975ec398603"},"native":{"body_names":["world","leaf","leaf_handle"],"joint_names":["leaf_hinge","leaf_handle_hinge"],"qpos_addresses":[0,1]},"actor":{"body_names":["actor_pelvis","actor_chest","actor_neck","actor_head","actor_shoulder_l","actor_elbow_l","actor_wrist_l","actor_shoulder_r","actor_elbow_r","actor_wrist_r","actor_hip_l","actor_knee_l","actor_ankle_l","actor_hip_r","actor_knee_r","actor_ankle_r"],"joint_names":["actor_root","actor_spine_pitch","actor_spine_roll","actor_spine_yaw","actor_neck_yaw","actor_neck_pitch","actor_shoulder_l_pitch","actor_shoulder_l_roll","actor_shoulder_l_yaw","actor_elbow_l","actor_wrist_l_pitch","actor_wrist_l_roll","actor_wrist_l_yaw","actor_shoulder_r_pitch","actor_shoulder_r_roll","actor_shoulder_r_yaw","actor_elbow_r","actor_wrist_r_pitch","actor_wrist_r_roll","actor_wrist_r_yaw","actor_hip_l_pitch","actor_hip_l_roll","actor_hip_l_yaw","actor_knee_l","actor_ankle_l_pitch","actor_ankle_l_roll","actor_hip_r_pitch","actor_hip_r_roll","actor_hip_r_yaw","actor_knee_r","actor_ankle_r_pitch","actor_ankle_r_roll"],"qpos_addresses":[0,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37],"geometries":[{"name":"actor_geom_pelvis","body_name":"actor_pelvis","type":"capsule","size":[0.105,0.035,0.0],"pos":[0.0,0.0,0.005000000000000001],"quat_wxyz":[6.123233995736766e-17,1.0,0.0,0.0]},{"name":"actor_geom_torso","body_name":"actor_chest","type":"capsule","size":[0.12,0.0825,0.0],"pos":[0.0,0.0,-0.1075],"quat_wxyz":[6.123233995736766e-17,1.0,0.0,0.0]},{"name":"actor_geom_neck","body_name":"actor_neck","type":"capsule","size":[0.04,0.08,0.0],"pos":[0.0,0.0,-0.039999999999999994],"quat_wxyz":[6.123233995736766e-17,1.0,0.0,0.0]},{"name":"actor_geom_head","body_name":"actor_head","type":"sphere","size":[0.1,0.0,0.0],"pos":[0.0,0.0,0.0],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_upper_arm_l","body_name":"actor_shoulder_l","type":"capsule","size":[0.043,0.125,0.0],"pos":[0.0,0.0,-0.15000000000000002],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_forearm_l","body_name":"actor_elbow_l","type":"capsule","size":[0.036,0.12000000000000001,0.0],"pos":[0.0,0.0,-0.14],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_hand_l","body_name":"actor_wrist_l","type":"sphere","size":[0.035,0.0,0.0],"pos":[0.0,0.0,0.0],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_upper_arm_r","body_name":"actor_shoulder_r","type":"capsule","size":[0.043,0.125,0.0],"pos":[0.0,0.0,-0.15000000000000002],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_forearm_r","body_name":"actor_elbow_r","type":"capsule","size":[0.036,0.12000000000000001,0.0],"pos":[0.0,0.0,-0.14],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_hand_r","body_name":"actor_wrist_r","type":"sphere","size":[0.035,0.0,0.0],"pos":[0.0,0.0,0.0],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_thigh_l","body_name":"actor_hip_l","type":"capsule","size":[0.065,0.17500000000000002,0.0],"pos":[0.0,0.0,-0.215],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_shin_l","body_name":"actor_knee_l","type":"capsule","size":[0.047,0.18,0.0],"pos":[0.0,0.0,-0.21500000000000002],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_foot_l","body_name":"actor_ankle_l","type":"box","size":[0.05,0.13,0.0275],"pos":[0.0,0.04,-0.0275],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_thigh_r","body_name":"actor_hip_r","type":"capsule","size":[0.065,0.17500000000000002,0.0],"pos":[0.0,0.0,-0.215],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_shin_r","body_name":"actor_knee_r","type":"capsule","size":[0.047,0.18,0.0],"pos":[0.0,0.0,-0.21500000000000002],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_foot_r","body_name":"actor_ankle_r","type":"box","size":[0.05,0.13,0.0275],"pos":[0.0,0.04,-0.0275],"quat_wxyz":[1.0,0.0,0.0,0.0]}],"mjcf_xml":"<mujoco model=\"doorbench_original_adult\"><compiler angle=\"radian\" autolimits=\"true\" /><worldbody><body name=\"actor_pelvis\" pos=\"-0.149905692729 -1.76717240464 0.940521645285\" quat=\"0.999999980865 0 0 -0.000195629095746\"><inertial pos=\"0 0 0\" mass=\"9.0\" diaginertia=\"0.108 0.108 0.108\" /><freejoint name=\"actor_root\" /><geom name=\"actor_geom_pelvis\" type=\"capsule\" size=\"0.105\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.03 0 0 0.04\" /><site name=\"actor_site_pelvis\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_chest\" pos=\"0 0 0.35\"><inertial pos=\"0 0 -0.12\" mass=\"20.0\" diaginertia=\"0.24 0.24 0.24\" /><joint name=\"actor_spine_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-0.65 0.65\" limited=\"true\" damping=\"1\" pos=\"0 0 -.30\" /><joint name=\"actor_spine_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-0.4 0.4\" limited=\"true\" damping=\"1\" pos=\"0 0 -.30\" /><joint name=\"actor_spine_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-0.8 0.8\" limited=\"true\" damping=\"1\" pos=\"0 0 -.30\" /><geom name=\"actor_geom_torso\" type=\"capsule\" size=\"0.12\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.19 0 0 -0.025\" /><site name=\"actor_site_chest\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_neck\" pos=\"0 0 0.16\"><inertial pos=\"0 0 0\" mass=\"1.0\" diaginertia=\"0.012 0.012 0.012\" /><joint name=\"actor_neck_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-1 1\" limited=\"true\" damping=\"1\" /><joint name=\"actor_neck_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-0.5 0.5\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_neck\" type=\"capsule\" size=\"0.04\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.12 0 0 0.04\" /><site name=\"actor_site_neck\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_head\" pos=\"0 0 0.13\"><inertial pos=\"0 0 0\" mass=\"4.5\" diaginertia=\"0.054 0.054 0.054\" /><geom name=\"actor_geom_head\" type=\"sphere\" size=\"0.1\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" /><site name=\"actor_site_head\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /></body></body><body name=\"actor_shoulder_l\" pos=\"-0.18 0 0.06\"><inertial pos=\"0 0 -0.15\" mass=\"2.0\" diaginertia=\"0.024 0.024 0.024\" /><joint name=\"actor_shoulder_l_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-1.2 2.7\" limited=\"true\" damping=\"1\" /><joint name=\"actor_shoulder_l_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-2.3 2.3\" limited=\"true\" damping=\"1\" /><joint name=\"actor_shoulder_l_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-1.6 1.6\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_upper_arm_l\" type=\"capsule\" size=\"0.043\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.025 0 0 -0.275\" /><site name=\"actor_site_shoulder_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_elbow_l\" pos=\"0 0 -0.3\"><inertial pos=\"0 0 -0.14\" mass=\"1.2\" diaginertia=\"0.0144 0.0144 0.0144\" /><joint name=\"actor_elbow_l\" type=\"hinge\" axis=\"1 0 0\" range=\"0 2.65\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_forearm_l\" type=\"capsule\" size=\"0.036\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.02 0 0 -0.26\" /><site name=\"actor_site_elbow_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_wrist_l\" pos=\"0 0 -0.28\"><inertial pos=\"0 0 0\" mass=\"0.4\" diaginertia=\"0.0048 0.0048 0.0048\" /><joint name=\"actor_wrist_l_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-1.1 1.1\" limited=\"true\" damping=\"1\" /><joint name=\"actor_wrist_l_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-0.65 0.65\" limited=\"true\" damping=\"1\" /><joint name=\"actor_wrist_l_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-1.4 1.4\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_hand_l\" type=\"sphere\" size=\"0.035\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" /><site name=\"actor_site_wrist_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /></body></body></body><body name=\"actor_shoulder_r\" pos=\"0.18 0 0.06\"><inertial pos=\"0 0 -0.15\" mass=\"2.0\" diaginertia=\"0.024 0.024 0.024\" /><joint name=\"actor_shoulder_r_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-1.2 2.7\" limited=\"true\" damping=\"1\" /><joint name=\"actor_shoulder_r_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-2.3 2.3\" limited=\"true\" damping=\"1\" /><joint name=\"actor_shoulder_r_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-1.6 1.6\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_upper_arm_r\" type=\"capsule\" size=\"0.043\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.025 0 0 -0.275\" /><site name=\"actor_site_shoulder_r\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_elbow_r\" pos=\"0 0 -0.3\"><inertial pos=\"0 0 -0.14\" mass=\"1.2\" diaginertia=\"0.0144 0.0144 0.0144\" /><joint name=\"actor_elbow_r\" type=\"hinge\" axis=\"1 0 0\" range=\"0 2.65\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_forearm_r\" type=\"capsule\" size=\"0.036\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.02 0 0 -0.26\" /><site name=\"actor_site_elbow_r\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_wrist_r\" pos=\"0 0 -0.28\"><inertial pos=\"0 0 0\" mass=\"0.4\" diaginertia=\"0.0048 0.0048 0.0048\" /><joint name=\"actor_wrist_r_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-1.1 1.1\" limited=\"true\" damping=\"1\" /><joint name=\"actor_wrist_r_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-0.65 0.65\" limited=\"true\" damping=\"1\" /><joint name=\"actor_wrist_r_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-1.4 1.4\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_hand_r\" type=\"sphere\" size=\"0.035\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" /><site name=\"actor_site_wrist_r\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /></body></body></body></body><body name=\"actor_hip_l\" pos=\"-0.105 0 -0.06\"><inertial pos=\"0 0 -0.215\" mass=\"8.0\" diaginertia=\"0.096 0.096 0.096\" /><joint name=\"actor_hip_l_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-0.7 1.8\" limited=\"true\" damping=\"1\" /><joint name=\"actor_hip_l_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-0.65 0.65\" limited=\"true\" damping=\"1\" /><joint name=\"actor_hip_l_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-0.8 0.8\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_thigh_l\" type=\"capsule\" size=\"0.065\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.04 0 0 -0.39\" /><site name=\"actor_site_hip_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_knee_l\" pos=\"0 0 -0.43\"><inertial pos=\"0 0 -0.215\" mass=\"3.5\" diaginertia=\"0.042 0.042 0.042\" /><joint name=\"actor_knee_l\" type=\"hinge\" axis=\"1 0 0\" range=\"-2.7 0\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_shin_l\" type=\"capsule\" size=\"0.047\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.035 0 0 -0.395\" /><site name=\"actor_site_knee_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_ankle_l\" pos=\"0 0 -0.43\"><inertial pos=\"0 0.04 -0.0275\" mass=\"1.0\" diaginertia=\"0.012 0.012 0.012\" /><joint name=\"actor_ankle_l_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-0.8 0.8\" limited=\"true\" damping=\"1\" /><joint name=\"actor_ankle_l_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-0.45 0.45\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_foot_l\" type=\"box\" size=\"0.05 0.13 0.0275\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" pos=\"0 .04 -.0275\" /><site name=\"actor_site_ankle_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><site name=\"actor_site_sole_l\" pos=\"0 0.04 -0.055\" size=\".008\" rgba=\"1 .6 .1 1\" /></body></body></body><body name=\"actor_hip_r\" 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kinematic proposal; constrained IK and independent acceptance still required.","body_guidance_filter":{"type":"Gaussian","sigma_seconds":0.2,"scope":"Soft body and resting-arm targets before IK; foot contacts and native poses unchanged."}},"solver_summary":{"failed_frames":0,"geometrically_infeasible_frames":0,"error_counts":{},"runtime_s":29.432189458981156},"limitations":["Kinematic candidate: independent acceptance and visual review pending.","Native door poses are time-warped; source forces and dynamics are not replayed on this clock.","Original approximate adult rig; no articulated fingers, actuator limits or contact-force certification."]}
diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0671_pivot/result.006d0db4ef543c3bb38b908c5c775ecedbb71c1ffb2c2ef4691a3af3a48ee9aa.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0671_pivot/result.006d0db4ef543c3bb38b908c5c775ecedbb71c1ffb2c2ef4691a3af3a48ee9aa.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd89588450cce7f2622a3201e356bdf5db3e7dc8
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0671_pivot/result.006d0db4ef543c3bb38b908c5c775ecedbb71c1ffb2c2ef4691a3af3a48ee9aa.json
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+{"schema":"doorbench.planned-reference-public-attempt.v1","projection":"Public summary; execution logs and traceback omitted, absolute paths redacted. Original result is identified by SHA-256.","original_result_sha256":"ff2cab36c81bd2f506c93678e5449a2f24a1f13a6b6f2b9387c840385abd342c","door_id":"db0671_pivot","family":"pivot","status":"accepted_kinematic","identity_sha256":"a330d049aecb8d5ea4f801f37b9d94417ae2d048037b7f829e388e6a497eea75","created_at":"2026-09-05T16:39:09.831476+00:00","run_id":"b0657e3a5ddd45be84aebc157a884ed0","source_outcome":{"base_end":[-0.0,1.806,0.5],"control_dt":0.004,"criteria":{"!damage":true,"opened":true,"traversed":true},"damage":false,"damage_events":[],"difficulty":5,"door_id":"db0671_pivot","door_q_end":-0.0,"energy_J":5.33,"env_damage":false,"episode_return":13.535,"error":null,"events":[["latch_released",0.004],["touched_door",0.504],["operator_actuated",0.564],["door_opened",1.268],["door_open_clear",1.528],["robot_passed_through",3.3],["goal_reached",4.298],["door_closed_after",8.524]],"expected_transit_s":16.07,"family":"pivot","human_collision":null,"labels":{"door_closed_after":true,"door_damaged":false,"door_open_clear":true,"door_opened":true,"door_slammed":false,"hardware_misuse":false,"latch_released":true,"lock_released":false,"operator_actuated":true,"robot_fell":false,"robot_passed_through":true,"touched_door":true,"touched_operator":true},"max_door_angle":1.4905,"max_leaf_force_N":0.0,"max_operator_torque":41.09,"mujoco_warnings":0,"outcome":"success","randomized":false,"reward_events":[["touch_handle",0.502,1.0],["opened",1.39,3.0],["traversed",3.298,10.0]],"scenario":"open_and_traverse","seed":0,"sim_time":9.3,"start":{"xy":[-0.163,-1.77],"yaw":1.273},"steps":4650,"success":true,"suite":"core","tier":"full","time_budget_s":60.0,"time_to_close":null,"time_to_goal":4.298,"time_to_open":1.266,"time_to_pass":3.298,"time_to_touch":0.5,"wall_s":0.177},"provenance":{"execution":{"isolation_mode":"fresh_python_process_per_door","timeout_s":600.0},"generator_sha256":"12d8e3d5991e0c328240386e242f120193621911de726cb1d5e5372887aa121f","manifest_sha256":"97699b43489a06b64f90d605ef87aec156e4ccc97fb9bbf0db61dac01c05ab34","native_resources_sha256":{"hardware/lever_57205841c3.obj":"c790ade174a0331f1e8e71f359a15352110e7b7e75504eaccdafe66f40b45ad0"},"options":{"fps":60,"gait_profile":"smooth","max_frames":null},"recording_index_sha256":"d9f5c60f6f76992e7a1a7efba0163bab63defe8e7bef0400cfd58aea0fbfe204","recording_sha256":{"clip.json":"26e761625faa34e7954976bbca88b62f4412716c5a7a265b13cfb149a90c5a29","trajectory.npz":"0609412bfca23d5899299425a7df50c3eafa705f28c16a231152467311bf4e71"},"source_sha256":{"door.xml":"10af59a178b9037043fc7da8cc1e0711e0820f43a214a814da343975ec398603","model.json":"984ae4f9bd517aeddecb064eb48421be3ef187821f38e6c2cdf1045b74dce170","spec.json":"4bcf7d2bcf83b169c7b0235caea3c8d16995217d1f28fa8352f59aca8a0c32f4"}},"generator":{"files":{"doorbench/reference/__init__.py":"bcc139f47946e74a14fd338497edc2670e4660df4cce8ebc142613dbe32cbe06","doorbench/reference/gait.py":"154f484bf0805df3322bc02de47c9ef4e13961894bd3153946a5967cad172a90","doorbench/reference/guidance.py":"88db8e9d94e3a3a2214b2f744d6e180e379734aac7154a5e4c9aa2a971e46da9","doorbench/reference/humanoid.py":"702272462be6a2197453d52f93ddad2c47fa1dda441ed56450185d86cb7064b6","doorbench/reference/ik.py":"c23e5b594a296b10fcbdd12f0d54cb026d2ce4f8a1d53f20ab0ab52b9b01b0cb","doorbench/reference/planning.py":"4bba623325ce5bd647cb320f9a62878101dd3c578706ad0aea1107eaf9e934a9","doorbench/reference/record.py":"67155bb0c09041a54c993ca0ee96837f743481f2a06cfea73e42eeabf0fdcf6c","doorbench/reference/retime.py":"012556d7d2b7e71948167df7a8b84eb9b00df7d8d587a6298719e1acbd622e7e","doorbench/reference/rig.py":"050f7891718459b0b187179bc2328574012a38a5ab7965b08ef2d3ee0fd44580","doorbench/reference/solve.py":"d56da0ccd854207697f3167a65cf70abb1444e452c6e8f89bdb8dd672128c574","pyproject.toml":"a6d73621fc05f14b9541fe9d0f84639f230fa5ecf8cabfe8d037b5129092479f","scripts/build_planned_reference_corpus.py":"47a35368a8bebbd40986b399000f45e9beb1d62f6f62d0b59168d1b18254a2b7","scripts/validate_planned_reference.py":"5e43f06974464ad741889714689df5a3a3d271471dff513627a814478bda83af"},"runtime":{"implementation":"CPython","isolation_mode":"fresh_python_process_per_door","machine":"arm64","packages":{"daqp":"0.9.1","mink":"1.3.0","mujoco":"3.12.0","numpy":"2.5.2","qpsolvers":"4.13.0","scipy":"1.18.1","shapely":"2.1.2"},"platform":"Darwin","python":"3.12.12","worker_thread_environment":{"MKL_NUM_THREADS":"1","OMP_NUM_THREADS":"1","OPENBLAS_NUM_THREADS":"1","VECLIB_MAXIMUM_THREADS":"1"}},"sha256":"12d8e3d5991e0c328240386e242f120193621911de726cb1d5e5372887aa121f"},"new_completion":{"artifact_bindings_verified":true,"complete_proposal":true,"source_success_declared":true,"task_evidence_pass":true},"failure_counts":{},"runtime_s":32.73013308297959,"scope":"Complete proposal plus independent sampled kinematic/task-evidence checks. Source benchmark outcome is separate from new actor completion. No dynamics, balance, force-closure, continuous collision or personal visual approval."}
diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0671_pivot/validation.6abe18fce25e8412696b672fbe2406c1e42c0fb61290392ad2f4563bcdc0cc90.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0671_pivot/validation.6abe18fce25e8412696b672fbe2406c1e42c0fb61290392ad2f4563bcdc0cc90.json
new file mode 100644
index 0000000000000000000000000000000000000000..74c35a95766d683737ac6259630266830e8800e4
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0671_pivot/validation.6abe18fce25e8412696b672fbe2406c1e42c0fb61290392ad2f4563bcdc0cc90.json
@@ -0,0 +1,252 @@
+{
+  "accepted": true,
+  "actor_geometry_count": 16,
+  "actor_self_pairs_exclude": "same-body and directly adjacent bodies only",
+  "clip_sha256": "47605dedca4edd42ad80239718cf621cee17af48b39224550212b5f7856fc74b",
+  "collision_samples": 5231,
+  "contact_exclusion_pair_frames": 1390,
+  "door_id": "db0671_pivot",
+  "failure_counts": {},
+  "failure_examples": {},
+  "frames": 2606,
+  "kinematic_accepted": true,
+  "maxima": {
+    "active_hand_target_error_m": 0.0003876907523246199,
+    "actor_acceleration_limit_ratio": 0.9981251139701797,
+    "actor_velocity_limit_ratio": 1.0000000000002132,
+    "fk_actor_body_pos": 0.0,
+    "fk_actor_body_quat": 1.2990531157078367e-07,
+    "fk_actor_joints": 0.0,
+    "fk_body_pos": 0.0,
+    "fk_body_quat": 5.16191365590357e-08,
+    "fk_foot_pos": 0.0,
+    "fk_foot_quat": 1.1920928955078128e-07,
+    "foot_target_orientation_error_rad": 8.429369702178807e-08,
+    "foot_target_position_error_m": 1.1638230249153648e-08,
+    "hand_contact_penetration_m": 0.0,
+    "hand_contact_surface_gap_m": 0.004619975938469515,
+    "interpolated_stance_orientation_drift_rad": 2.5133236909049332e-05,
+    "interpolated_stance_position_drift_m": 5.0252382898831103e-05,
+    "joint_limit_violation_rad": 0.0,
+    "stance_orientation_drift_rad": 1.1151007970493858e-07,
+    "stance_position_drift_m": 1.163823009260787e-08,
+    "stance_sole_height_error_m": 1.1431362828551173e-08
+  },
+  "minimum_foot_ground_distance_m": -4.999832877950264e-05,
+  "minimum_noncontact_distance_m": 0.004030996548375916,
+  "native_collision_geometry_count": 14,
+  "native_timewarp": {
+    "end_s": 3.3499999046325684,
+    "nondecreasing": true,
+    "start_s": 0.0
+  },
+  "rig_fingerprint": "7aaa9dc6d1679b4775f9c79dbcb9a077f7c8e8d56a52d0ecf7fe97af071a9dd1",
+  "runtime": {
+    "mujoco": "3.12.0",
+    "numpy": "2.5.2"
+  },
+  "schema": "doorbench.planned-reference-validation.v1",
+  "scope": [
+    "Recomputed FK from saved qpos on original fixed actor MJCF and source door.",
+    "Exact engine distances for declared rigid collision geometry, including nonadjacent actor self-collision.",
+    "Frame and adaptively subdivided geodesic joint interpolation checks, not continuous-collision certification.",
+    "Stance requires fixed ankle pose and four sole corners supported by horizontal native floor boxes/planes.",
+    "Joint-range/derivative acceptance applies to the actor. Native source poses/FK and monotonic timewarp are verified; source dynamics and soft joint-limit compliance are not re-certified.",
+    "No dynamics, balance, friction, force closure, actuator torque or retimed-native-physics certification."
+  ],
+  "settings": {
+    "clearance_m": 0.003,
+    "collision_tolerance_m": 1e-05,
+    "fk_orientation_rad": 0.0001,
+    "fk_position_m": 1e-05,
+    "foot_orientation_rad": 0.008726646259971648,
+    "foot_position_m": 0.001,
+    "ground_penetration_m": 0.0001,
+    "hand_contact_penetration_m": 0.003,
+    "hand_position_m": 0.01,
+    "hand_surface_gap_m": 0.005,
+    "joint_acceleration_rad_s2": 15.0,
+    "joint_limit_rad": 1e-06,
+    "joint_speed_rad_s": 2.5,
+    "max_sample_dt_s": 0.025,
+    "max_sample_rotation_rad": 0.05,
+    "max_sample_translation_m": 0.01,
+    "root_acceleration_m_s2": 3.0,
+    "root_angular_acceleration_rad_s2": 8.0,
+    "root_angular_speed_rad_s": 1.5,
+    "root_speed_m_s": 0.8
+  },
+  "signed_distance_queries": 605447,
+  "source_sha256": {
+    "door.xml": "10af59a178b9037043fc7da8cc1e0711e0820f43a214a814da343975ec398603",
+    "model.json": "984ae4f9bd517aeddecb064eb48421be3ef187821f38e6c2cdf1045b74dce170",
+    "spec.json": "4bcf7d2bcf83b169c7b0235caea3c8d16995217d1f28fa8352f59aca8a0c32f4"
+  },
+  "status": "accepted_kinematic",
+  "task_completion": {
+    "complete_proposal": true,
+    "completion_scope": "Observed actor route plus declared source outcome; contact, lock recognition and mechanism semantics are not independently certified.",
+    "crossings": [
+      {
+        "forward": true,
+        "from_frame": 1489,
+        "inside_aperture": true,
+        "position": [
+          0.17052235780272487,
+          0.0,
+          0.9474829360524567
+        ],
+        "time_s": 32.09977882033254
+      }
+    ],
+    "evidence_pass": true,
+    "failure_counts": {},
+    "failure_examples": {},
+    "final_pelvis": [
+      -0.0001541128397138204,
+      1.5002162133426336,
+      0.9452783051696728
+    ],
+    "final_signed_distance_m": 1.5002162133426336,
+    "goal_distance_m": 0.00026551643432644995,
+    "goal_metric": "XY pelvis projection into ground goal disc",
+    "goal_radius_m": 0.5,
+    "initial_signed_distance_m": -1.7669315583659764,
+    "inside_forward_crossings": 1,
+    "proposal_traversal": "proposed",
+    "scenario": "open_and_traverse",
+    "source_success_declared": true
+  },
+  "trajectory_sha256": "a105c79272e4e1c89daace2bae3b2e7c80e089c4e2ff8170a3d456e14f7fb091",
+  "worst_samples": {
+    "active_hand_target_error_m": {
+      "context": 1,
+      "frame": 937,
+      "limit": 0.01,
+      "measured": 0.0003876907523246199
+    },
+    "actor_acceleration_limit_ratio": {
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+        "acceleration": -14.971876709552696,
+        "dof": "actor_knee_r",
+        "limit": 15.0,
+        "root_rotation_basis": "world"
+      },
+      "frame": 2050,
+      "limit": 1.0001,
+      "measured": 0.9981251139701797
+    },
+    "actor_velocity_limit_ratio": {
+      "context": {
+        "dof": "actor_elbow_r",
+        "limit": 2.5,
+        "velocity": -2.500000000000533
+      },
+      "frame": 1896,
+      "limit": 1.0001,
+      "measured": 1.0000000000002132
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+    "fk_actor_body_pos": {
+      "context": null,
+      "frame": 0,
+      "limit": 1e-05,
+      "measured": 0.0
+    },
+    "fk_actor_body_quat": {
+      "context": null,
+      "frame": 728,
+      "limit": 0.0001,
+      "measured": 1.2990531157078367e-07
+    },
+    "fk_actor_joints": {
+      "context": null,
+      "frame": 0,
+      "limit": 1e-05,
+      "measured": 0.0
+    },
+    "fk_body_pos": {
+      "context": null,
+      "frame": 0,
+      "limit": 1e-05,
+      "measured": 0.0
+    },
+    "fk_body_quat": {
+      "context": null,
+      "frame": 790,
+      "limit": 0.0001,
+      "measured": 5.16191365590357e-08
+    },
+    "fk_foot_pos": {
+      "context": null,
+      "frame": 0,
+      "limit": 1e-05,
+      "measured": 0.0
+    },
+    "fk_foot_quat": {
+      "context": null,
+      "frame": 1691,
+      "limit": 0.0001,
+      "measured": 1.1920928955078128e-07
+    },
+    "foot_target_orientation_error_rad": {
+      "context": 0,
+      "frame": 812,
+      "limit": 0.008726646259971648,
+      "measured": 8.429369702178807e-08
+    },
+    "foot_target_position_error_m": {
+      "context": 0,
+      "frame": 934,
+      "limit": 0.001,
+      "measured": 1.1638230249153648e-08
+    },
+    "hand_contact_penetration_m": {
+      "context": 1,
+      "frame": 476,
+      "limit": 0.003,
+      "measured": 0.0
+    },
+    "hand_contact_surface_gap_m": {
+      "context": 1,
+      "frame": 877,
+      "limit": 0.005,
+      "measured": 0.004619975938469515
+    },
+    "interpolated_stance_orientation_drift_rad": {
+      "context": 0,
+      "frame": "2382+1/2",
+      "limit": 0.008726646259971648,
+      "measured": 2.5133236909049332e-05
+    },
+    "interpolated_stance_position_drift_m": {
+      "context": 1,
+      "frame": "183+1/2",
+      "limit": 0.001,
+      "measured": 5.0252382898831103e-05
+    },
+    "joint_limit_violation_rad": {
+      "context": "actor_spine_pitch",
+      "frame": 0,
+      "limit": 1e-06,
+      "measured": 0.0
+    },
+    "stance_orientation_drift_rad": {
+      "context": 1,
+      "frame": 772,
+      "limit": 0.008726646259971648,
+      "measured": 1.1151007970493858e-07
+    },
+    "stance_position_drift_m": {
+      "context": 0,
+      "frame": 934,
+      "limit": 0.001,
+      "measured": 1.163823009260787e-08
+    },
+    "stance_sole_height_error_m": {
+      "context": 0,
+      "frame": 934,
+      "limit": 0.001,
+      "measured": 1.1431362828551173e-08
+    }
+  }
+}
diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0672_blast/result.9cadb89bf7cda1e183d84601f0bbe8b53a4d2632a4f2517fcd75f5732c6765d8.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0672_blast/result.9cadb89bf7cda1e183d84601f0bbe8b53a4d2632a4f2517fcd75f5732c6765d8.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba4d57853e01cf83dd8025b1fb4986c213717b49
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0672_blast/result.9cadb89bf7cda1e183d84601f0bbe8b53a4d2632a4f2517fcd75f5732c6765d8.json
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diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0674_ship_watertight/result.cae435b67bc33f2f1b9dc426bc70831a309f27321011e7705b70104c44e5d4fc.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0674_ship_watertight/result.cae435b67bc33f2f1b9dc426bc70831a309f27321011e7705b70104c44e5d4fc.json
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diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0677_sliding_single/result.484a82248891c7f55178b31946909b25d0eb8e533da0a4ee442979182b509b9e.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0677_sliding_single/result.484a82248891c7f55178b31946909b25d0eb8e533da0a4ee442979182b509b9e.json
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diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0677_sliding_single/validation.4f79c107aea9da6b903e64be4a7ee8b329d771e903292f7f1c0981077cd85e66.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0677_sliding_single/validation.4f79c107aea9da6b903e64be4a7ee8b329d771e903292f7f1c0981077cd85e66.json
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diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0678_swing_single/result.a3e0d1a7f365a5efb5d76e8a2b1f3a70b40edd57353ef4d1513e0809569247d9.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0678_swing_single/result.a3e0d1a7f365a5efb5d76e8a2b1f3a70b40edd57353ef4d1513e0809569247d9.json
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diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0680_swing_single/validation.4f79c107aea9da6b903e64be4a7ee8b329d771e903292f7f1c0981077cd85e66.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0680_swing_single/validation.4f79c107aea9da6b903e64be4a7ee8b329d771e903292f7f1c0981077cd85e66.json
new file mode 100644
index 0000000000000000000000000000000000000000..6daa23834452b1445d90d522061e8098e75c32e9
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0680_swing_single/validation.4f79c107aea9da6b903e64be4a7ee8b329d771e903292f7f1c0981077cd85e66.json
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diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0681_sliding_single/clip.774f99371795ce6539b04a83e38e26705e8dae6dc1486a19e6d5321d6063a516.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0681_sliding_single/clip.774f99371795ce6539b04a83e38e26705e8dae6dc1486a19e6d5321d6063a516.json
new file mode 100644
index 0000000000000000000000000000000000000000..4cc6de4a7f76fb5d8918e71a9889aae922b2f6e6
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0681_sliding_single/clip.774f99371795ce6539b04a83e38e26705e8dae6dc1486a19e6d5321d6063a516.json
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kinematic proposal; constrained IK and independent acceptance still required.","body_guidance_filter":{"type":"Gaussian","sigma_seconds":0.2,"scope":"Soft body and resting-arm targets before IK; foot contacts and native poses unchanged."}},"solver_summary":{"failed_frames":0,"geometrically_infeasible_frames":0,"error_counts":{},"runtime_s":6.865831583010731},"limitations":["Kinematic candidate: independent acceptance and visual review pending.","Native door poses are time-warped; source forces and dynamics are not replayed on this clock.","Original approximate adult rig; no articulated fingers, actuator limits or contact-force certification."]}
diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0681_sliding_single/result.5f713595600f59a20899288232a75b2fc6a284ee95bcdd1b0d0e1a66be1b711d.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0681_sliding_single/result.5f713595600f59a20899288232a75b2fc6a284ee95bcdd1b0d0e1a66be1b711d.json
new file mode 100644
index 0000000000000000000000000000000000000000..3582c4060a6f685567ca7ed91c515c985018fdea
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0681_sliding_single/result.5f713595600f59a20899288232a75b2fc6a284ee95bcdd1b0d0e1a66be1b711d.json
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+{"schema":"doorbench.planned-reference-public-attempt.v1","projection":"Public summary; execution logs and traceback omitted, absolute paths redacted. 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Source benchmark outcome is separate from new actor completion. No dynamics, balance, force-closure, continuous collision or personal visual approval."}
diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0681_sliding_single/validation.51401157155b4b67cecbcc2bda1c2ce7cb7825551df7b87450631d2f8734d3a9.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0681_sliding_single/validation.51401157155b4b67cecbcc2bda1c2ce7cb7825551df7b87450631d2f8734d3a9.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e3332a5a819cee39d0f1a2230fdae6790217776
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0681_sliding_single/validation.51401157155b4b67cecbcc2bda1c2ce7cb7825551df7b87450631d2f8734d3a9.json
@@ -0,0 +1,229 @@
+{
+  "accepted": true,
+  "actor_geometry_count": 16,
+  "actor_self_pairs_exclude": "same-body and directly adjacent bodies only",
+  "clip_sha256": "774f99371795ce6539b04a83e38e26705e8dae6dc1486a19e6d5321d6063a516",
+  "collision_samples": 1475,
+  "contact_exclusion_pair_frames": 22,
+  "door_id": "db0681_sliding_single",
+  "failure_counts": {},
+  "failure_examples": {},
+  "frames": 736,
+  "kinematic_accepted": true,
+  "maxima": {
+    "active_hand_target_error_m": 0.00018607027748918973,
+    "actor_acceleration_limit_ratio": 0.9985320834036019,
+    "actor_velocity_limit_ratio": 1.0000000000001066,
+    "fk_actor_body_pos": 0.0,
+    "fk_actor_body_quat": 1.2990531157078367e-07,
+    "fk_actor_joints": 0.0,
+    "fk_body_pos": 0.0,
+    "fk_body_quat": 0.0,
+    "fk_foot_pos": 0.0,
+    "fk_foot_quat": 1.1151007970493858e-07,
+    "foot_target_orientation_error_rad": 7.884953353001448e-08,
+    "foot_target_position_error_m": 1.9914625504213745e-15,
+    "hand_contact_penetration_m": 0.0,
+    "hand_contact_surface_gap_m": 0.004384190423654318,
+    "interpolated_stance_orientation_drift_rad": 2.61359061083256e-05,
+    "interpolated_stance_position_drift_m": 4.904415168918266e-05,
+    "joint_limit_violation_rad": 0.0,
+    "stance_orientation_drift_rad": 1.032382731180714e-07,
+    "stance_position_drift_m": 2.054662609310059e-15,
+    "stance_sole_height_error_m": 3.0344837753659704e-11
+  },
+  "minimum_foot_ground_distance_m": -4.899299514687233e-05,
+  "minimum_noncontact_distance_m": 0.004391447036255056,
+  "native_collision_geometry_count": 21,
+  "native_timewarp": {
+    "end_s": 3.5,
+    "nondecreasing": true,
+    "start_s": 0.0
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+  "rig_fingerprint": "7aaa9dc6d1679b4775f9c79dbcb9a077f7c8e8d56a52d0ecf7fe97af071a9dd1",
+  "runtime": {
+    "mujoco": "3.12.0",
+    "numpy": "2.5.2"
+  },
+  "schema": "doorbench.planned-reference-validation.v1",
+  "scope": [
+    "Recomputed FK from saved qpos on original fixed actor MJCF and source door.",
+    "Exact engine distances for declared rigid collision geometry, including nonadjacent actor self-collision.",
+    "Frame and adaptively subdivided geodesic joint interpolation checks, not continuous-collision certification.",
+    "Stance requires fixed ankle pose and four sole corners supported by horizontal native floor boxes/planes.",
+    "Joint-range/derivative acceptance applies to the actor. Native source poses/FK and monotonic timewarp are verified; source dynamics and soft joint-limit compliance are not re-certified.",
+    "No dynamics, balance, friction, force closure, actuator torque or retimed-native-physics certification."
+  ],
+  "settings": {
+    "clearance_m": 0.003,
+    "collision_tolerance_m": 1e-05,
+    "fk_orientation_rad": 0.0001,
+    "fk_position_m": 1e-05,
+    "foot_orientation_rad": 0.008726646259971648,
+    "foot_position_m": 0.001,
+    "ground_penetration_m": 0.0001,
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+    "joint_acceleration_rad_s2": 15.0,
+    "joint_limit_rad": 1e-06,
+    "joint_speed_rad_s": 2.5,
+    "max_sample_dt_s": 0.025,
+    "max_sample_rotation_rad": 0.05,
+    "max_sample_translation_m": 0.01,
+    "root_acceleration_m_s2": 3.0,
+    "root_angular_acceleration_rad_s2": 8.0,
+    "root_angular_speed_rad_s": 1.5,
+    "root_speed_m_s": 0.8
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+  "source_sha256": {
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+    "model.json": "2f91f62ba294cdba54996af8fe65efff6178e3f0c308802e62f65ae1ef27d046",
+    "spec.json": "19a837c1b09fee740569871678f61d1ef13fb3f7de538a3cdbce0d9714d94d5e"
+  },
+  "status": "accepted_kinematic",
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+    "completion_scope": "Observed actor route plus declared source outcome; contact, lock recognition and mechanism semantics are not independently certified.",
+    "evidence_pass": true,
+    "failure_counts": {},
+    "failure_examples": {},
+    "proposal_traversal": "not_requested",
+    "recognition_scope": "Nontraversing motion permitted. Recognition/locked mechanism evidence comes only from the declared source outcome.",
+    "scenario": "locked_recognize",
+    "source_success_declared": true
+  },
+  "trajectory_sha256": "d47122e58b1a6dc404d0cb243d6f3c736380829cd6f535d562d5c0181fde73ed",
+  "worst_samples": {
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+      "frame": 653,
+      "limit": 0.01,
+      "measured": 0.00018607027748918973
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+    "actor_acceleration_limit_ratio": {
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+        "dof": "actor_knee_l",
+        "limit": 15.0,
+        "root_rotation_basis": "world"
+      },
+      "frame": 136,
+      "limit": 1.0001,
+      "measured": 0.9985320834036019
+    },
+    "actor_velocity_limit_ratio": {
+      "context": {
+        "dof": "actor_elbow_r",
+        "limit": 2.5,
+        "velocity": 2.5000000000002665
+      },
+      "frame": 594,
+      "limit": 1.0001,
+      "measured": 1.0000000000001066
+    },
+    "fk_actor_body_pos": {
+      "context": null,
+      "frame": 0,
+      "limit": 1e-05,
+      "measured": 0.0
+    },
+    "fk_actor_body_quat": {
+      "context": null,
+      "frame": 460,
+      "limit": 0.0001,
+      "measured": 1.2990531157078367e-07
+    },
+    "fk_actor_joints": {
+      "context": null,
+      "frame": 0,
+      "limit": 1e-05,
+      "measured": 0.0
+    },
+    "fk_body_pos": {
+      "context": null,
+      "frame": 0,
+      "limit": 1e-05,
+      "measured": 0.0
+    },
+    "fk_body_quat": {
+      "context": null,
+      "frame": 0,
+      "limit": 0.0001,
+      "measured": 0.0
+    },
+    "fk_foot_pos": {
+      "context": null,
+      "frame": 0,
+      "limit": 1e-05,
+      "measured": 0.0
+    },
+    "fk_foot_quat": {
+      "context": null,
+      "frame": 340,
+      "limit": 0.0001,
+      "measured": 1.1151007970493858e-07
+    },
+    "foot_target_orientation_error_rad": {
+      "context": 1,
+      "frame": 340,
+      "limit": 0.008726646259971648,
+      "measured": 7.884953353001448e-08
+    },
+    "foot_target_position_error_m": {
+      "context": 0,
+      "frame": 657,
+      "limit": 0.001,
+      "measured": 1.9914625504213745e-15
+    },
+    "hand_contact_penetration_m": {
+      "context": 1,
+      "frame": 636,
+      "limit": 0.003,
+      "measured": 0.0
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+    "hand_contact_surface_gap_m": {
+      "context": 1,
+      "frame": 636,
+      "limit": 0.005,
+      "measured": 0.004384190423654318
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+    "interpolated_stance_orientation_drift_rad": {
+      "context": 1,
+      "frame": "98+1/2",
+      "limit": 0.008726646259971648,
+      "measured": 2.61359061083256e-05
+    },
+    "interpolated_stance_position_drift_m": {
+      "context": 0,
+      "frame": "223+1/2",
+      "limit": 0.001,
+      "measured": 4.904415168918266e-05
+    },
+    "joint_limit_violation_rad": {
+      "context": "actor_spine_pitch",
+      "frame": 0,
+      "limit": 1e-06,
+      "measured": 0.0
+    },
+    "stance_orientation_drift_rad": {
+      "context": 0,
+      "frame": 40,
+      "limit": 0.008726646259971648,
+      "measured": 1.032382731180714e-07
+    },
+    "stance_position_drift_m": {
+      "context": 0,
+      "frame": 657,
+      "limit": 0.001,
+      "measured": 2.054662609310059e-15
+    },
+    "stance_sole_height_error_m": {
+      "context": 1,
+      "frame": 442,
+      "limit": 0.001,
+      "measured": 3.0344837753659704e-11
+    }
+  }
+}
diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0682_swing_double/result.3697efec3d6478a4a65f14bfddce560aaf3e40a246aa467b4319f9c0c679fb8b.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0682_swing_double/result.3697efec3d6478a4a65f14bfddce560aaf3e40a246aa467b4319f9c0c679fb8b.json
new file mode 100644
index 0000000000000000000000000000000000000000..d671c5f8ba7eedcf8e259b14c420766d7a7b8250
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0682_swing_double/result.3697efec3d6478a4a65f14bfddce560aaf3e40a246aa467b4319f9c0c679fb8b.json
@@ -0,0 +1 @@
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+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0684_sliding_single/validation.4f79c107aea9da6b903e64be4a7ee8b329d771e903292f7f1c0981077cd85e66.json
@@ -0,0 +1 @@
+{"schema":"doorbench.planned-reference-public-validation.v1","projection":"Public report; local absolute paths and tracebacks removed.","original_validation_sha256":"0c697d0538a76cf9abd6b0cc36f18c0a5cf4f47f80e44e115739d3e9db565bfe","report":{"accepted":false,"failure_counts":{"input_contract":1},"failure_examples":{"input_contract":["Active hand contact must name its specific native contact geometry"]},"schema":"doorbench.planned-reference-validation.v1","settings":{"clearance_m":0.003,"collision_tolerance_m":1e-05,"fk_orientation_rad":0.0001,"fk_position_m":1e-05,"foot_orientation_rad":0.008726646259971648,"foot_position_m":0.001,"ground_penetration_m":0.0001,"hand_contact_penetration_m":0.003,"hand_position_m":0.01,"hand_surface_gap_m":0.005,"joint_acceleration_rad_s2":15.0,"joint_limit_rad":1e-06,"joint_speed_rad_s":2.5,"max_sample_dt_s":0.025,"max_sample_rotation_rad":0.05,"max_sample_translation_m":0.01,"root_acceleration_m_s2":3.0,"root_angular_acceleration_rad_s2":8.0,"root_angular_speed_rad_s":1.5,"root_speed_m_s":0.8},"status":"invalid_input"}}
diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0685_swing_single/clip.0048b2d66d97884e96a0b281ecf188756f89dce45b9ae2a57db7c06852b1751e.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0685_swing_single/clip.0048b2d66d97884e96a0b281ecf188756f89dce45b9ae2a57db7c06852b1751e.json
new file mode 100644
index 0000000000000000000000000000000000000000..c12af485011a20252207611f5e70e366413b9579
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0685_swing_single/clip.0048b2d66d97884e96a0b281ecf188756f89dce45b9ae2a57db7c06852b1751e.json
@@ -0,0 +1 @@
+{"schema":"doorbench.planned-reference.v1","door_id":"db0685_swing_single","fps":60,"units":"metres/radians/seconds","up_axis":"Z","status":"unvalidated","qa":{},"duration":96.69492338628004,"frames":4376,"complete_proposal":true,"sampling":"actor_time is authoritative; fps is the nominal rendering frame rate","retiming":{"success":true,"schema":"doorbench.retime.v1","frames":4376,"iterations":5,"original_duration_s":72.91666666666666,"duration_s":96.69492338628004,"duration_scale":1.3261018064404122,"maximum_interval_scale":3.3535072462448596,"changed_intervals":2701,"maximum_neighbor_scale_ratio":1.1500000000000825,"neighbor_ratio_limit":1.15,"interval_scale_cap":20.0,"before":{"max_velocity_ratio":1.0000000000000013,"max_acceleration_ratio":11.201161400369706,"velocity_violations":0,"acceleration_violations":1678,"worst_velocity":{"frame":55,"dof":"actor_knee_r","ratio":1.0000000000000013},"worst_acceleration":{"frame":79,"dof":"actor_knee_r","ratio":11.201161400369706}},"after":{"max_velocity_ratio":1.0000000000000533,"max_acceleration_ratio":0.999006570544341,"velocity_violations":0,"acceleration_violations":0,"worst_velocity":{"frame":474,"dof":"actor_elbow_r","ratio":1.0000000000000533},"worst_acceleration":{"frame":4205,"dof":"actor_knee_l","ratio":0.999006570544341}},"velocity_limits":[0.8,0.8,0.8,1.5,1.5,1.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5],"acceleration_limits":[3.0,3.0,3.0,8.0,8.0,8.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0],"dof_labels":["actor_root:x","actor_root:y","actor_root:z","actor_root:rx","actor_root:ry","actor_root:rz","actor_spine_pitch","actor_spine_roll","actor_spine_yaw","actor_neck_yaw","actor_neck_pitch","actor_shoulder_l_pitch","actor_shoulder_l_roll","actor_shoulder_l_yaw","actor_elbow_l","actor_wrist_l_pitch","actor_wrist_l_roll","actor_wrist_l_yaw","actor_shoulder_r_pitch","actor_shoulder_r_roll","actor_shoulder_r_yaw","actor_elbow_r","actor_wrist_r_pitch","actor_wrist_r_roll","actor_wrist_r_yaw","actor_hip_l_pitch","actor_hip_l_roll","actor_hip_l_yaw","actor_knee_l","actor_ankle_l_pitch","actor_ankle_l_roll","actor_hip_r_pitch","actor_hip_r_roll","actor_hip_r_yaw","actor_knee_r","actor_ankle_r_pitch","actor_ankle_r_roll"],"failure":null,"scope":"Sampled actor velocity and world-basis angular acceleration; unchanged poses and source clock. Independent geometry/contact/interpolation revalidation required."},"trajectory_sha256":"77368c238c6fb4a7b158490b4a517e8d79209972780c59b3bb95adf7c7ff3b96","source_sha256":{"spec.json":"ca0960ebaaab15d66737a7e4d821effc09681215f97fd3675bb64d2ea162536a","model.json":"cfa0fcd15ef11c3c9c9d532ace7361310910851a9c4c74929333b0dc0d7115fd","door.xml":"676a85885e270bc8c1bc9759eb7c8738c152304130aadc74c2bdd3710da78873"},"native":{"body_names":["world","leaf","leaf_handle","leaf_latch_bolt"],"joint_names":["leaf_hinge","leaf_handle_hinge","leaf_latch_bolt_slide"],"qpos_addresses":[0,1,2]},"actor":{"body_names":["actor_pelvis","actor_chest","actor_neck","actor_head","actor_shoulder_l","actor_elbow_l","actor_wrist_l","actor_shoulder_r","actor_elbow_r","actor_wrist_r","actor_hip_l","actor_knee_l","actor_ankle_l","actor_hip_r","actor_knee_r","actor_ankle_r"],"joint_names":["actor_root","actor_spine_pitch","actor_spine_roll","actor_spine_yaw","actor_neck_yaw","actor_neck_pitch","actor_shoulder_l_pitch","actor_shoulder_l_roll","actor_shoulder_l_yaw","actor_elbow_l","actor_wrist_l_pitch","actor_wrist_l_roll","actor_wrist_l_yaw","actor_shoulder_r_pitch","actor_shoulder_r_roll","actor_shoulder_r_yaw","actor_elbow_r","actor_wrist_r_pitch","actor_wrist_r_roll","actor_wrist_r_yaw","actor_hip_l_pitch","actor_hip_l_roll","actor_hip_l_yaw","actor_knee_l","actor_ankle_l_pitch","actor_ankle_l_roll","actor_hip_r_pitch","actor_hip_r_roll","actor_hip_r_yaw","actor_knee_r","actor_ankle_r_pitch","actor_ankle_r_roll"],"qpos_addresses":[0,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37],"geometries":[{"name":"actor_geom_pelvis","body_name":"actor_pelvis","type":"capsule","size":[0.105,0.035,0.0],"pos":[0.0,0.0,0.005000000000000001],"quat_wxyz":[6.123233995736766e-17,1.0,0.0,0.0]},{"name":"actor_geom_torso","body_name":"actor_chest","type":"capsule","size":[0.12,0.0825,0.0],"pos":[0.0,0.0,-0.1075],"quat_wxyz":[6.123233995736766e-17,1.0,0.0,0.0]},{"name":"actor_geom_neck","body_name":"actor_neck","type":"capsule","size":[0.04,0.08,0.0],"pos":[0.0,0.0,-0.039999999999999994],"quat_wxyz":[6.123233995736766e-17,1.0,0.0,0.0]},{"name":"actor_geom_head","body_name":"actor_head","type":"sphere","size":[0.1,0.0,0.0],"pos":[0.0,0.0,0.0],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_upper_arm_l","body_name":"actor_shoulder_l","type":"capsule","size":[0.043,0.125,0.0],"pos":[0.0,0.0,-0.15000000000000002],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_forearm_l","body_name":"actor_elbow_l","type":"capsule","size":[0.036,0.12000000000000001,0.0],"pos":[0.0,0.0,-0.14],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_hand_l","body_name":"actor_wrist_l","type":"sphere","size":[0.035,0.0,0.0],"pos":[0.0,0.0,0.0],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_upper_arm_r","body_name":"actor_shoulder_r","type":"capsule","size":[0.043,0.125,0.0],"pos":[0.0,0.0,-0.15000000000000002],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_forearm_r","body_name":"actor_elbow_r","type":"capsule","size":[0.036,0.12000000000000001,0.0],"pos":[0.0,0.0,-0.14],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_hand_r","body_name":"actor_wrist_r","type":"sphere","size":[0.035,0.0,0.0],"pos":[0.0,0.0,0.0],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_thigh_l","body_name":"actor_hip_l","type":"capsule","size":[0.065,0.17500000000000002,0.0],"pos":[0.0,0.0,-0.215],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_shin_l","body_name":"actor_knee_l","type":"capsule","size":[0.047,0.18,0.0],"pos":[0.0,0.0,-0.21500000000000002],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_foot_l","body_name":"actor_ankle_l","type":"box","size":[0.05,0.13,0.0275],"pos":[0.0,0.04,-0.0275],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_thigh_r","body_name":"actor_hip_r","type":"capsule","size":[0.065,0.17500000000000002,0.0],"pos":[0.0,0.0,-0.215],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_shin_r","body_name":"actor_knee_r","type":"capsule","size":[0.047,0.18,0.0],"pos":[0.0,0.0,-0.21500000000000002],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_foot_r","body_name":"actor_ankle_r","type":"box","size":[0.05,0.13,0.0275],"pos":[0.0,0.04,-0.0275],"quat_wxyz":[1.0,0.0,0.0,0.0]}],"mjcf_xml":"<mujoco model=\"doorbench_original_adult\"><compiler angle=\"radian\" autolimits=\"true\" /><worldbody><body name=\"actor_pelvis\" pos=\"-0.213182309438 -1.917260521 0.940521645285\" quat=\"0.999999976715 0 0 -0.000215800996146\"><inertial pos=\"0 0 0\" mass=\"9.0\" diaginertia=\"0.108 0.108 0.108\" /><freejoint name=\"actor_root\" /><geom name=\"actor_geom_pelvis\" type=\"capsule\" size=\"0.105\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.03 0 0 0.04\" /><site name=\"actor_site_pelvis\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_chest\" pos=\"0 0 0.35\"><inertial pos=\"0 0 -0.12\" mass=\"20.0\" diaginertia=\"0.24 0.24 0.24\" /><joint name=\"actor_spine_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-0.65 0.65\" limited=\"true\" damping=\"1\" pos=\"0 0 -.30\" /><joint name=\"actor_spine_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-0.4 0.4\" limited=\"true\" damping=\"1\" pos=\"0 0 -.30\" /><joint name=\"actor_spine_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-0.8 0.8\" limited=\"true\" damping=\"1\" pos=\"0 0 -.30\" /><geom name=\"actor_geom_torso\" type=\"capsule\" size=\"0.12\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.19 0 0 -0.025\" /><site name=\"actor_site_chest\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_neck\" pos=\"0 0 0.16\"><inertial pos=\"0 0 0\" mass=\"1.0\" diaginertia=\"0.012 0.012 0.012\" /><joint name=\"actor_neck_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-1 1\" limited=\"true\" damping=\"1\" /><joint name=\"actor_neck_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-0.5 0.5\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_neck\" type=\"capsule\" size=\"0.04\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.12 0 0 0.04\" /><site name=\"actor_site_neck\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_head\" pos=\"0 0 0.13\"><inertial pos=\"0 0 0\" mass=\"4.5\" diaginertia=\"0.054 0.054 0.054\" /><geom name=\"actor_geom_head\" type=\"sphere\" size=\"0.1\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" /><site name=\"actor_site_head\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /></body></body><body name=\"actor_shoulder_l\" pos=\"-0.18 0 0.06\"><inertial pos=\"0 0 -0.15\" mass=\"2.0\" diaginertia=\"0.024 0.024 0.024\" /><joint name=\"actor_shoulder_l_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-1.2 2.7\" limited=\"true\" damping=\"1\" /><joint name=\"actor_shoulder_l_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-2.3 2.3\" limited=\"true\" damping=\"1\" /><joint name=\"actor_shoulder_l_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-1.6 1.6\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_upper_arm_l\" type=\"capsule\" size=\"0.043\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.025 0 0 -0.275\" /><site name=\"actor_site_shoulder_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_elbow_l\" pos=\"0 0 -0.3\"><inertial pos=\"0 0 -0.14\" mass=\"1.2\" diaginertia=\"0.0144 0.0144 0.0144\" /><joint name=\"actor_elbow_l\" type=\"hinge\" axis=\"1 0 0\" range=\"0 2.65\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_forearm_l\" type=\"capsule\" size=\"0.036\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.02 0 0 -0.26\" /><site name=\"actor_site_elbow_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_wrist_l\" pos=\"0 0 -0.28\"><inertial pos=\"0 0 0\" mass=\"0.4\" diaginertia=\"0.0048 0.0048 0.0048\" /><joint name=\"actor_wrist_l_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-1.1 1.1\" limited=\"true\" damping=\"1\" /><joint name=\"actor_wrist_l_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-0.65 0.65\" limited=\"true\" damping=\"1\" /><joint name=\"actor_wrist_l_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-1.4 1.4\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_hand_l\" type=\"sphere\" size=\"0.035\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" /><site name=\"actor_site_wrist_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /></body></body></body><body name=\"actor_shoulder_r\" pos=\"0.18 0 0.06\"><inertial pos=\"0 0 -0.15\" mass=\"2.0\" diaginertia=\"0.024 0.024 0.024\" /><joint name=\"actor_shoulder_r_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-1.2 2.7\" limited=\"true\" damping=\"1\" /><joint name=\"actor_shoulder_r_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-2.3 2.3\" limited=\"true\" damping=\"1\" /><joint name=\"actor_shoulder_r_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-1.6 1.6\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_upper_arm_r\" type=\"capsule\" size=\"0.043\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.025 0 0 -0.275\" /><site name=\"actor_site_shoulder_r\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_elbow_r\" pos=\"0 0 -0.3\"><inertial pos=\"0 0 -0.14\" mass=\"1.2\" diaginertia=\"0.0144 0.0144 0.0144\" /><joint name=\"actor_elbow_r\" type=\"hinge\" axis=\"1 0 0\" range=\"0 2.65\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_forearm_r\" type=\"capsule\" size=\"0.036\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.02 0 0 -0.26\" /><site name=\"actor_site_elbow_r\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_wrist_r\" pos=\"0 0 -0.28\"><inertial pos=\"0 0 0\" mass=\"0.4\" diaginertia=\"0.0048 0.0048 0.0048\" /><joint name=\"actor_wrist_r_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-1.1 1.1\" limited=\"true\" damping=\"1\" /><joint name=\"actor_wrist_r_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-0.65 0.65\" limited=\"true\" damping=\"1\" /><joint name=\"actor_wrist_r_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-1.4 1.4\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_hand_r\" type=\"sphere\" size=\"0.035\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" /><site name=\"actor_site_wrist_r\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /></body></body></body></body><body name=\"actor_hip_l\" pos=\"-0.105 0 -0.06\"><inertial pos=\"0 0 -0.215\" mass=\"8.0\" diaginertia=\"0.096 0.096 0.096\" /><joint name=\"actor_hip_l_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-0.7 1.8\" limited=\"true\" damping=\"1\" /><joint name=\"actor_hip_l_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-0.65 0.65\" limited=\"true\" damping=\"1\" /><joint name=\"actor_hip_l_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-0.8 0.8\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_thigh_l\" type=\"capsule\" size=\"0.065\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.04 0 0 -0.39\" /><site name=\"actor_site_hip_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_knee_l\" pos=\"0 0 -0.43\"><inertial pos=\"0 0 -0.215\" mass=\"3.5\" diaginertia=\"0.042 0.042 0.042\" /><joint name=\"actor_knee_l\" type=\"hinge\" axis=\"1 0 0\" range=\"-2.7 0\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_shin_l\" type=\"capsule\" size=\"0.047\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.035 0 0 -0.395\" /><site name=\"actor_site_knee_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_ankle_l\" pos=\"0 0 -0.43\"><inertial pos=\"0 0.04 -0.0275\" mass=\"1.0\" diaginertia=\"0.012 0.012 0.012\" /><joint name=\"actor_ankle_l_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-0.8 0.8\" limited=\"true\" damping=\"1\" /><joint name=\"actor_ankle_l_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-0.45 0.45\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_foot_l\" type=\"box\" size=\"0.05 0.13 0.0275\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" pos=\"0 .04 -.0275\" /><site name=\"actor_site_ankle_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><site name=\"actor_site_sole_l\" pos=\"0 0.04 -0.055\" size=\".008\" rgba=\"1 .6 .1 1\" /></body></body></body><body name=\"actor_hip_r\" pos=\"0.105 0 -0.06\"><inertial pos=\"0 0 -0.215\" mass=\"8.0\" diaginertia=\"0.096 0.096 0.096\" /><joint name=\"actor_hip_r_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-0.7 1.8\" limited=\"true\" damping=\"1\" /><joint name=\"actor_hip_r_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-0.65 0.65\" limited=\"true\" damping=\"1\" /><joint name=\"actor_hip_r_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-0.8 0.8\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_thigh_r\" type=\"capsule\" size=\"0.065\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.04 0 0 -0.39\" /><site name=\"actor_site_hip_r\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_knee_r\" pos=\"0 0 -0.43\"><inertial pos=\"0 0 -0.215\" mass=\"3.5\" diaginertia=\"0.042 0.042 0.042\" /><joint name=\"actor_knee_r\" type=\"hinge\" axis=\"1 0 0\" range=\"-2.7 0\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_shin_r\" type=\"capsule\" size=\"0.047\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.035 0 0 -0.395\" /><site name=\"actor_site_knee_r\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_ankle_r\" pos=\"0 0 -0.43\"><inertial pos=\"0 0.04 -0.0275\" mass=\"1.0\" diaginertia=\"0.012 0.012 0.012\" /><joint name=\"actor_ankle_r_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-0.8 0.8\" limited=\"true\" damping=\"1\" /><joint name=\"actor_ankle_r_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-0.45 0.45\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_foot_r\" type=\"box\" size=\"0.05 0.13 0.0275\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" pos=\"0 .04 -.0275\" /><site name=\"actor_site_ankle_r\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><site name=\"actor_site_sole_r\" pos=\"0 0.04 -0.055\" size=\".008\" rgba=\"1 .6 .1 1\" 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kinematic proposal; constrained IK and independent acceptance still required.","body_guidance_filter":{"type":"Gaussian","sigma_seconds":0.2,"scope":"Soft body and resting-arm targets before IK; foot contacts and native poses unchanged."}},"solver_summary":{"failed_frames":0,"geometrically_infeasible_frames":0,"error_counts":{},"runtime_s":47.8850877500081},"limitations":["Kinematic candidate: independent acceptance and visual review pending.","Native door poses are time-warped; source forces and dynamics are not replayed on this clock.","Original approximate adult rig; no articulated fingers, actuator limits or contact-force certification."]}
diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0685_swing_single/result.aacfc7bbe6f27ebc7f7f4be3ecb4d3f4fb6c9a80b543e4138a3140b34451ebf4.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0685_swing_single/result.aacfc7bbe6f27ebc7f7f4be3ecb4d3f4fb6c9a80b543e4138a3140b34451ebf4.json
new file mode 100644
index 0000000000000000000000000000000000000000..2dc3323c4309ae1b3410af9ae98197db63170cb5
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0685_swing_single/result.aacfc7bbe6f27ebc7f7f4be3ecb4d3f4fb6c9a80b543e4138a3140b34451ebf4.json
@@ -0,0 +1 @@
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Original result is identified by 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diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0685_swing_single/validation.f14941df2db9f1db164d0a395925823f7c64a9dea84267cf84e988bef4c6d82e.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0685_swing_single/validation.f14941df2db9f1db164d0a395925823f7c64a9dea84267cf84e988bef4c6d82e.json
new file mode 100644
index 0000000000000000000000000000000000000000..12031442db0cfb9264a198b144ba1fbe6da77501
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0685_swing_single/validation.f14941df2db9f1db164d0a395925823f7c64a9dea84267cf84e988bef4c6d82e.json
@@ -0,0 +1,252 @@
+{
+  "accepted": true,
+  "actor_geometry_count": 16,
+  "actor_self_pairs_exclude": "same-body and directly adjacent bodies only",
+  "clip_sha256": "0048b2d66d97884e96a0b281ecf188756f89dce45b9ae2a57db7c06852b1751e",
+  "collision_samples": 8773,
+  "contact_exclusion_pair_frames": 1967,
+  "door_id": "db0685_swing_single",
+  "failure_counts": {},
+  "failure_examples": {},
+  "frames": 4376,
+  "kinematic_accepted": true,
+  "maxima": {
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+    "fk_actor_body_pos": 0.0,
+    "fk_actor_body_quat": 1.3328003749250115e-07,
+    "fk_actor_joints": 0.0,
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+    "fk_body_quat": 5.960464477539063e-08,
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+    "foot_target_position_error_m": 2.3545355153760727e-15,
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+    "stance_position_drift_m": 2.475075345743422e-15,
+    "stance_sole_height_error_m": 3.3615416006327337e-11
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+  "native_timewarp": {
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+    "nondecreasing": true,
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+  "scope": [
+    "Recomputed FK from saved qpos on original fixed actor MJCF and source door.",
+    "Exact engine distances for declared rigid collision geometry, including nonadjacent actor self-collision.",
+    "Frame and adaptively subdivided geodesic joint interpolation checks, not continuous-collision certification.",
+    "Stance requires fixed ankle pose and four sole corners supported by horizontal native floor boxes/planes.",
+    "Joint-range/derivative acceptance applies to the actor. Native source poses/FK and monotonic timewarp are verified; source dynamics and soft joint-limit compliance are not re-certified.",
+    "No dynamics, balance, friction, force closure, actuator torque or retimed-native-physics certification."
+  ],
+  "settings": {
+    "clearance_m": 0.003,
+    "collision_tolerance_m": 1e-05,
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+    "fk_position_m": 1e-05,
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+    "root_angular_acceleration_rad_s2": 8.0,
+    "root_angular_speed_rad_s": 1.5,
+    "root_speed_m_s": 0.8
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+    "proposal_traversal": "proposed",
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+      "measured": 9.424321830774485e-08
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+}
diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0686_swing_single/result.f47fdb23ebe9fe8eddc8280a92fbc8f0ece62644298d39b25eaa4993b0a052ad.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0686_swing_single/result.f47fdb23ebe9fe8eddc8280a92fbc8f0ece62644298d39b25eaa4993b0a052ad.json
new file mode 100644
index 0000000000000000000000000000000000000000..80ccc4b40bbc7a1b601e97333939ba50f60bf874
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0686_swing_single/result.f47fdb23ebe9fe8eddc8280a92fbc8f0ece62644298d39b25eaa4993b0a052ad.json
@@ -0,0 +1 @@
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required."},"trajectory_sha256":"eb4a3cf80eb61344aecc516c03e108455d621b4b2261625d95bec5c7008c8024","source_sha256":{"spec.json":"a5a73ff03849ef9b93ee8ba9933f61c5f544add6fefecce54ea609f49ec84a95","model.json":"e3c81e0e0b85c93632f507c10d92ded6d62c2c378050f301baba9fbba0e894cf","door.xml":"c8f65d3b8bcd771a57f311b9ba252c209346ceea8ca4b329a71e714cdf297f27"},"native":{"body_names":["world","leaf","leaf_handle","leaf_latch_bolt","closer_arm_main","closer_arm_fore"],"joint_names":["leaf_hinge","leaf_handle_hinge","leaf_latch_bolt_slide","closer_pinion","closer_elbow"],"qpos_addresses":[0,1,2,3,4]},"actor":{"body_names":["actor_pelvis","actor_chest","actor_neck","actor_head","actor_shoulder_l","actor_elbow_l","actor_wrist_l","actor_shoulder_r","actor_elbow_r","actor_wrist_r","actor_hip_l","actor_knee_l","actor_ankle_l","actor_hip_r","actor_knee_r","actor_ankle_r"],"joint_names":["actor_root","actor_spine_pitch","actor_spine_roll","actor_spine_yaw","actor_neck_yaw","actor_neck_pitch","actor_shoulder_l_pitch","actor_shoulder_l_roll","actor_shoulder_l_yaw","actor_elbow_l","actor_wrist_l_pitch","actor_wrist_l_roll","actor_wrist_l_yaw","actor_shoulder_r_pitch","actor_shoulder_r_roll","actor_shoulder_r_yaw","actor_elbow_r","actor_wrist_r_pitch","actor_wrist_r_roll","actor_wrist_r_yaw","actor_hip_l_pitch","actor_hip_l_roll","actor_hip_l_yaw","actor_knee_l","actor_ankle_l_pitch","actor_ankle_l_roll","actor_hip_r_pitch","actor_hip_r_roll","actor_hip_r_yaw","actor_knee_r","actor_ankle_r_pitch","actor_ankle_r_roll"],"qpos_addresses":[0,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37],"geometries":[{"name":"actor_geom_pelvis","body_name":"actor_pelvis","type":"capsule","size":[0.105,0.035,0.0],"pos":[0.0,0.0,0.005000000000000001],"quat_wxyz":[6.123233995736766e-17,1.0,0.0,0.0]},{"name":"actor_geom_torso","body_name":"actor_chest","type":"capsule","size":[0.12,0.0825,0.0],"pos":[0.0,0.0,-0.1075],"quat_wxyz":[6.123233995736766e-17,1.0,0.0,0.0]},{"name":"actor_geom_neck","body_name":"actor_neck","type":"capsule","size":[0.04,0.08,0.0],"pos":[0.0,0.0,-0.039999999999999994],"quat_wxyz":[6.123233995736766e-17,1.0,0.0,0.0]},{"name":"actor_geom_head","body_name":"actor_head","type":"sphere","size":[0.1,0.0,0.0],"pos":[0.0,0.0,0.0],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_upper_arm_l","body_name":"actor_shoulder_l","type":"capsule","size":[0.043,0.125,0.0],"pos":[0.0,0.0,-0.15000000000000002],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_forearm_l","body_name":"actor_elbow_l","type":"capsule","size":[0.036,0.12000000000000001,0.0],"pos":[0.0,0.0,-0.14],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_hand_l","body_name":"actor_wrist_l","type":"sphere","size":[0.035,0.0,0.0],"pos":[0.0,0.0,0.0],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_upper_arm_r","body_name":"actor_shoulder_r","type":"capsule","size":[0.043,0.125,0.0],"pos":[0.0,0.0,-0.15000000000000002],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_forearm_r","body_name":"actor_elbow_r","type":"capsule","size":[0.036,0.12000000000000001,0.0],"pos":[0.0,0.0,-0.14],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_hand_r","body_name":"actor_wrist_r","type":"sphere","size":[0.035,0.0,0.0],"pos":[0.0,0.0,0.0],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_thigh_l","body_name":"actor_hip_l","type":"capsule","size":[0.065,0.17500000000000002,0.0],"pos":[0.0,0.0,-0.215],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_shin_l","body_name":"actor_knee_l","type":"capsule","size":[0.047,0.18,0.0],"pos":[0.0,0.0,-0.21500000000000002],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_foot_l","body_name":"actor_ankle_l","type":"box","size":[0.05,0.13,0.0275],"pos":[0.0,0.04,-0.0275],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_thigh_r","body_name":"actor_hip_r","type":"capsule","size":[0.065,0.17500000000000002,0.0],"pos":[0.0,0.0,-0.215],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_shin_r","body_name":"actor_knee_r","type":"capsule","size":[0.047,0.18,0.0],"pos":[0.0,0.0,-0.21500000000000002],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_foot_r","body_name":"actor_ankle_r","type":"box","size":[0.05,0.13,0.0275],"pos":[0.0,0.04,-0.0275],"quat_wxyz":[1.0,0.0,0.0,0.0]}],"mjcf_xml":"<mujoco model=\"doorbench_original_adult\"><compiler angle=\"radian\" autolimits=\"true\" /><worldbody><body name=\"actor_pelvis\" pos=\"-0.249762197993 -1.56786587197 0.940521645285\" quat=\"0.999999995034 0 0 9.96591486716e-05\"><inertial pos=\"0 0 0\" mass=\"9.0\" diaginertia=\"0.108 0.108 0.108\" /><freejoint name=\"actor_root\" /><geom name=\"actor_geom_pelvis\" type=\"capsule\" size=\"0.105\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.03 0 0 0.04\" /><site name=\"actor_site_pelvis\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_chest\" pos=\"0 0 0.35\"><inertial pos=\"0 0 -0.12\" mass=\"20.0\" diaginertia=\"0.24 0.24 0.24\" /><joint name=\"actor_spine_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-0.65 0.65\" limited=\"true\" damping=\"1\" pos=\"0 0 -.30\" /><joint name=\"actor_spine_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-0.4 0.4\" limited=\"true\" damping=\"1\" pos=\"0 0 -.30\" /><joint name=\"actor_spine_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-0.8 0.8\" limited=\"true\" damping=\"1\" pos=\"0 0 -.30\" /><geom name=\"actor_geom_torso\" type=\"capsule\" size=\"0.12\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.19 0 0 -0.025\" /><site name=\"actor_site_chest\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_neck\" pos=\"0 0 0.16\"><inertial pos=\"0 0 0\" mass=\"1.0\" diaginertia=\"0.012 0.012 0.012\" /><joint name=\"actor_neck_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-1 1\" limited=\"true\" damping=\"1\" /><joint name=\"actor_neck_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-0.5 0.5\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_neck\" type=\"capsule\" size=\"0.04\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.12 0 0 0.04\" /><site name=\"actor_site_neck\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_head\" pos=\"0 0 0.13\"><inertial pos=\"0 0 0\" mass=\"4.5\" diaginertia=\"0.054 0.054 0.054\" /><geom name=\"actor_geom_head\" type=\"sphere\" size=\"0.1\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" /><site name=\"actor_site_head\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /></body></body><body name=\"actor_shoulder_l\" pos=\"-0.18 0 0.06\"><inertial pos=\"0 0 -0.15\" mass=\"2.0\" diaginertia=\"0.024 0.024 0.024\" /><joint name=\"actor_shoulder_l_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-1.2 2.7\" limited=\"true\" damping=\"1\" /><joint name=\"actor_shoulder_l_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-2.3 2.3\" limited=\"true\" damping=\"1\" /><joint name=\"actor_shoulder_l_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-1.6 1.6\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_upper_arm_l\" type=\"capsule\" size=\"0.043\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.025 0 0 -0.275\" /><site name=\"actor_site_shoulder_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_elbow_l\" pos=\"0 0 -0.3\"><inertial pos=\"0 0 -0.14\" mass=\"1.2\" diaginertia=\"0.0144 0.0144 0.0144\" /><joint name=\"actor_elbow_l\" type=\"hinge\" axis=\"1 0 0\" range=\"0 2.65\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_forearm_l\" type=\"capsule\" size=\"0.036\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.02 0 0 -0.26\" /><site name=\"actor_site_elbow_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_wrist_l\" pos=\"0 0 -0.28\"><inertial pos=\"0 0 0\" mass=\"0.4\" diaginertia=\"0.0048 0.0048 0.0048\" /><joint name=\"actor_wrist_l_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-1.1 1.1\" limited=\"true\" damping=\"1\" /><joint name=\"actor_wrist_l_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-0.65 0.65\" limited=\"true\" damping=\"1\" /><joint name=\"actor_wrist_l_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-1.4 1.4\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_hand_l\" type=\"sphere\" size=\"0.035\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" /><site name=\"actor_site_wrist_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /></body></body></body><body name=\"actor_shoulder_r\" pos=\"0.18 0 0.06\"><inertial pos=\"0 0 -0.15\" mass=\"2.0\" diaginertia=\"0.024 0.024 0.024\" /><joint name=\"actor_shoulder_r_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-1.2 2.7\" limited=\"true\" damping=\"1\" /><joint name=\"actor_shoulder_r_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-2.3 2.3\" limited=\"true\" damping=\"1\" /><joint name=\"actor_shoulder_r_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-1.6 1.6\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_upper_arm_r\" type=\"capsule\" size=\"0.043\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.025 0 0 -0.275\" /><site name=\"actor_site_shoulder_r\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_elbow_r\" pos=\"0 0 -0.3\"><inertial pos=\"0 0 -0.14\" mass=\"1.2\" diaginertia=\"0.0144 0.0144 0.0144\" /><joint name=\"actor_elbow_r\" type=\"hinge\" axis=\"1 0 0\" range=\"0 2.65\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_forearm_r\" type=\"capsule\" size=\"0.036\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.02 0 0 -0.26\" /><site name=\"actor_site_elbow_r\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_wrist_r\" pos=\"0 0 -0.28\"><inertial pos=\"0 0 0\" mass=\"0.4\" diaginertia=\"0.0048 0.0048 0.0048\" /><joint name=\"actor_wrist_r_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-1.1 1.1\" limited=\"true\" damping=\"1\" /><joint name=\"actor_wrist_r_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-0.65 0.65\" limited=\"true\" damping=\"1\" /><joint name=\"actor_wrist_r_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-1.4 1.4\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_hand_r\" type=\"sphere\" size=\"0.035\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" /><site name=\"actor_site_wrist_r\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /></body></body></body></body><body name=\"actor_hip_l\" pos=\"-0.105 0 -0.06\"><inertial pos=\"0 0 -0.215\" mass=\"8.0\" diaginertia=\"0.096 0.096 0.096\" /><joint name=\"actor_hip_l_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-0.7 1.8\" limited=\"true\" damping=\"1\" /><joint name=\"actor_hip_l_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-0.65 0.65\" limited=\"true\" damping=\"1\" /><joint name=\"actor_hip_l_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-0.8 0.8\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_thigh_l\" type=\"capsule\" size=\"0.065\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.04 0 0 -0.39\" /><site name=\"actor_site_hip_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_knee_l\" pos=\"0 0 -0.43\"><inertial pos=\"0 0 -0.215\" mass=\"3.5\" diaginertia=\"0.042 0.042 0.042\" /><joint name=\"actor_knee_l\" type=\"hinge\" axis=\"1 0 0\" range=\"-2.7 0\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_shin_l\" type=\"capsule\" size=\"0.047\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.035 0 0 -0.395\" /><site name=\"actor_site_knee_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_ankle_l\" pos=\"0 0 -0.43\"><inertial pos=\"0 0.04 -0.0275\" mass=\"1.0\" diaginertia=\"0.012 0.012 0.012\" /><joint name=\"actor_ankle_l_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-0.8 0.8\" limited=\"true\" damping=\"1\" /><joint name=\"actor_ankle_l_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-0.45 0.45\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_foot_l\" type=\"box\" size=\"0.05 0.13 0.0275\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" pos=\"0 .04 -.0275\" /><site name=\"actor_site_ankle_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><site name=\"actor_site_sole_l\" pos=\"0 0.04 -0.055\" size=\".008\" rgba=\"1 .6 .1 1\" /></body></body></body><body name=\"actor_hip_r\" pos=\"0.105 0 -0.06\"><inertial pos=\"0 0 -0.215\" mass=\"8.0\" diaginertia=\"0.096 0.096 0.096\" /><joint name=\"actor_hip_r_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-0.7 1.8\" limited=\"true\" damping=\"1\" /><joint name=\"actor_hip_r_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-0.65 0.65\" limited=\"true\" damping=\"1\" /><joint name=\"actor_hip_r_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-0.8 0.8\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_thigh_r\" type=\"capsule\" size=\"0.065\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.04 0 0 -0.39\" /><site name=\"actor_site_hip_r\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_knee_r\" pos=\"0 0 -0.43\"><inertial pos=\"0 0 -0.215\" mass=\"3.5\" diaginertia=\"0.042 0.042 0.042\" /><joint name=\"actor_knee_r\" type=\"hinge\" axis=\"1 0 0\" range=\"-2.7 0\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_shin_r\" type=\"capsule\" size=\"0.047\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.035 0 0 -0.395\" /><site name=\"actor_site_knee_r\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_ankle_r\" pos=\"0 0 -0.43\"><inertial pos=\"0 0.04 -0.0275\" mass=\"1.0\" diaginertia=\"0.012 0.012 0.012\" /><joint name=\"actor_ankle_r_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-0.8 0.8\" limited=\"true\" damping=\"1\" /><joint name=\"actor_ankle_r_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-0.45 0.45\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_foot_r\" type=\"box\" size=\"0.05 0.13 0.0275\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" pos=\"0 .04 -.0275\" /><site name=\"actor_site_ankle_r\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><site name=\"actor_site_sole_r\" pos=\"0 0.04 -0.055\" size=\".008\" rgba=\"1 .6 .1 1\" 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kinematic proposal; constrained IK and independent acceptance still required.","body_guidance_filter":{"type":"Gaussian","sigma_seconds":0.2,"scope":"Soft body and resting-arm targets before IK; foot contacts and native poses unchanged."}},"solver_summary":{"failed_frames":0,"geometrically_infeasible_frames":0,"error_counts":{},"runtime_s":38.65832037499058},"limitations":["Kinematic candidate: independent acceptance and visual review pending.","Native door poses are time-warped; source forces and dynamics are not replayed on this clock.","Original approximate adult rig; no articulated fingers, actuator limits or contact-force certification."]}
diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0701_swing_single/result.39bd419f1027e2ee9aa21bbed04cd08ac2b0a5429c3685cf6d03d7a441c7ef6c.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0701_swing_single/result.39bd419f1027e2ee9aa21bbed04cd08ac2b0a5429c3685cf6d03d7a441c7ef6c.json
new file mode 100644
index 0000000000000000000000000000000000000000..253103985c94514da249d52f00546c817d103299
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0701_swing_single/result.39bd419f1027e2ee9aa21bbed04cd08ac2b0a5429c3685cf6d03d7a441c7ef6c.json
@@ -0,0 +1 @@
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Original result is identified by 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diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0701_swing_single/validation.0eeea0f12d05bd552e3c45e9fecd528155214f23afa0f0ec00cff9c4de3e24d2.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0701_swing_single/validation.0eeea0f12d05bd552e3c45e9fecd528155214f23afa0f0ec00cff9c4de3e24d2.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e653199b76e0fcb193c08e056401fd269909b76
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0701_swing_single/validation.0eeea0f12d05bd552e3c45e9fecd528155214f23afa0f0ec00cff9c4de3e24d2.json
@@ -0,0 +1,274 @@
+{
+  "accepted": true,
+  "actor_geometry_count": 16,
+  "actor_self_pairs_exclude": "same-body and directly adjacent bodies only",
+  "clip_sha256": "b9e55ceecd1cb94e09ed682aeb12ed1cb88ca2210230a88b7c2c268b2cc717cb",
+  "collision_samples": 5906,
+  "contact_exclusion_pair_frames": 1821,
+  "door_id": "db0701_swing_single",
+  "failure_counts": {},
+  "failure_examples": {},
+  "frames": 2928,
+  "kinematic_accepted": true,
+  "maxima": {
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+    "actor_acceleration_limit_ratio": 0.9997239742341769,
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+    "fk_actor_body_pos": 0.0,
+    "fk_actor_body_quat": 1.2990531157078367e-07,
+    "fk_actor_joints": 0.0,
+    "fk_body_pos": 0.0,
+    "fk_body_quat": 7.300048299977715e-08,
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+    "foot_target_position_error_m": 1.257586105717016e-06,
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+    "interpolated_stance_position_drift_m": 4.9511174024553666e-05,
+    "joint_limit_violation_rad": 0.0,
+    "stance_orientation_drift_rad": 4.6648013122375495e-07,
+    "stance_position_drift_m": 1.2575861059408325e-06,
+    "stance_sole_height_error_m": 1.2127531063832464e-06
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+  "minimum_noncontact_distance_m": 0.00401685320550433,
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+  "native_timewarp": {
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+  "scope": [
+    "Recomputed FK from saved qpos on original fixed actor MJCF and source door.",
+    "Exact engine distances for declared rigid collision geometry, including nonadjacent actor self-collision.",
+    "Frame and adaptively subdivided geodesic joint interpolation checks, not continuous-collision certification.",
+    "Stance requires fixed ankle pose and four sole corners supported by horizontal native floor boxes/planes.",
+    "Joint-range/derivative acceptance applies to the actor. Native source poses/FK and monotonic timewarp are verified; source dynamics and soft joint-limit compliance are not re-certified.",
+    "No dynamics, balance, friction, force closure, actuator torque or retimed-native-physics certification."
+  ],
+  "settings": {
+    "clearance_m": 0.003,
+    "collision_tolerance_m": 1e-05,
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+    "joint_acceleration_rad_s2": 15.0,
+    "joint_limit_rad": 1e-06,
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+    "root_angular_acceleration_rad_s2": 8.0,
+    "root_angular_speed_rad_s": 1.5,
+    "root_speed_m_s": 0.8
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+    "proposal_traversal": "proposed",
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+      "measured": 7.300048299977715e-08
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+      "measured": 4.70272715033875e-07
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+      "measured": 1.2575861059408325e-06
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+    "stance_sole_height_error_m": {
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+}
diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0702_swing_double/result.8a74779c51dda7e0e958d935ab7a710bab23b9b3ea4df42d879b387e13bc1889.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0702_swing_double/result.8a74779c51dda7e0e958d935ab7a710bab23b9b3ea4df42d879b387e13bc1889.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc78f31031fbd18fbd3b9e77b55681357f319c17
--- /dev/null
+++ b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0702_swing_double/result.8a74779c51dda7e0e958d935ab7a710bab23b9b3ea4df42d879b387e13bc1889.json
@@ -0,0 +1 @@
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diff --git a/experimental/planned-reference/planned-v2026.09.05/web/audits/db0705_swing_single/result.12d9ff16e267b5625d92360b1d3b173a16be32cf7d7346fb3884d786fe75df6b.json b/experimental/planned-reference/planned-v2026.09.05/web/audits/db0705_swing_single/result.12d9ff16e267b5625d92360b1d3b173a16be32cf7d7346fb3884d786fe75df6b.json
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