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      "maximum_forbidden_contact_force_n": 0.0,
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    {
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        "meaning": "Conservative sampled enclosing-box separation along obstacle face normals, not exact mesh distance or proof of contact."
      },
      "maximum_forbidden_contact_force_n": 0.0,
      "scope": "Exploratory diagnostics after outcomes. Measured poses at 50 Hz; forbidden forces monitored at 200 Hz. Proxy overlap does not prove contact."
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  ],
  "fixed_best_successes": 5,
  "geometry_rejected_successful_fixed_executions": 6,
  "distinct_new_full_action_histories": 10,
  "new_action_history_groups": [
    [
      "beam_lower10-fixed_duck-96171"
    ],
    [
      "beam_lower10-fixed_lowered-96171",
      "beam_lower30-fixed_lowered-96171"
    ],
    [
      "beam_lower30-fixed_duck-96171"
    ],
    [
      "beam_lower50-fixed_duck-96171"
    ],
    [
      "beam_lower50-fixed_lowered-96171"
    ],
    [
      "beam_lower10-fixed_duck-96173"
    ],
    [
      "beam_lower10-fixed_lowered-96173",
      "beam_lower30-fixed_lowered-96173"
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    [
      "beam_lower30-fixed_duck-96173"
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    [
      "beam_lower50-fixed_duck-96173"
    ],
    [
      "beam_lower50-fixed_lowered-96173"
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  ],
  "decision": "Use the paired capability gaps to specify a separate mechanism and evaluation panel; preserve all failures.",
  "scope": "Twelve fixed executions on six requests at three new heights and two new execution seeds (IDs previously used for training), within the same ancestry/corridor. Shadow scores are retrospective use of pre-action decisions, not public native execution or safe stopping."
}