{
  "kind": "SCRIPTED_CONTACT_PROBE_NOT_LEARNED_POLICY",
  "utc": "2026-09-16T10:35:06.850517+00:00",
  "mujoco": "3.13.0",
  "configuration": {
    "height": 0.045,
    "offset": 0.0,
    "close": -0.1,
    "roll": 1.57,
    "grasp_offset": [
      -0.035,
      0.0,
      0.023
    ],
    "collision_mode": "decomposed",
    "tilt": 0.2,
    "seed": null
  },
  "randomization": null,
  "initial_cube": [
    -4.909085663696263e-08,
    -0.07999995093807598,
    0.03789224457978068
  ],
  "final_cube": [
    0.026340107949549395,
    -0.14904276783403608,
    0.03789224457978385
  ],
  "target_xy": [
    0.025,
    -0.14
  ],
  "min_sustained_lift_m": 0.0795441658263347,
  "contact_throughout_hold": true,
  "uninterrupted_carry": true,
  "supported_lower": true,
  "scorer_version": 3,
  "final_xy_error_m": 0.009141528286710209,
  "released": true,
  "stable": true,
  "scripted_pick_place_passed": true,
  "sample_period_seconds": 0.05,
  "hold_contact_requirement": "Both fixed finger and moving jaw in every hold/transfer sample; supported lowering",
  "failure": null,
  "full_task_success": null,
  "learned_policy": null,
  "waypoint_errors": [
    {
      "target": [
        -4.909085663696263e-08,
        -0.07999995093807598,
        0.13
      ],
      "position_error_m": 8.03035814359982e-05,
      "approach_error_rad": 0.0937941057282019
    },
    {
      "target": [
        -4.909085663696263e-08,
        -0.07999995093807598,
        0.045
      ],
      "position_error_m": 3.087494439078276e-05,
      "approach_error_rad": 0.0937821955780774
    },
    {
      "target": [
        -4.909085663696263e-08,
        -0.07999995093807598,
        0.13
      ],
      "position_error_m": 3.603767662878274e-05,
      "approach_error_rad": 0.09378314417785731
    },
    {
      "target": [
        0.025,
        -0.14,
        0.13
      ],
      "position_error_m": 0.0003858623787006291,
      "approach_error_rad": 0.09783944540813999
    },
    {
      "target": [
        0.025,
        -0.14,
        0.045
      ],
      "position_error_m": 8.726232473430407e-05,
      "approach_error_rad": 0.0970779936340912
    },
    {
      "target": [
        0.025,
        -0.14,
        0.13
      ],
      "position_error_m": 0.00011654290208516049,
      "approach_error_rad": 0.09707948250859841
    }
  ],
  "simulated_seconds": 19.000000000000348,
  "wall_seconds": 47.89161680000325
}
