{
  "passed": true,
  "partial": false,
  "trials": 12,
  "groups": [
    {
      "layout": "clear",
      "seed": 96162,
      "initial_state_and_dynamics_exact": true
    },
    {
      "layout": "clear",
      "seed": 96164,
      "initial_state_and_dynamics_exact": true
    },
    {
      "layout": "clear",
      "seed": 96165,
      "initial_state_and_dynamics_exact": true
    },
    {
      "layout": "beam",
      "seed": 96162,
      "initial_state_and_dynamics_exact": true
    },
    {
      "layout": "beam",
      "seed": 96164,
      "initial_state_and_dynamics_exact": true
    },
    {
      "layout": "beam",
      "seed": 96165,
      "initial_state_and_dynamics_exact": true
    }
  ],
  "paired_executor_matches": [
    {
      "layout": "clear",
      "seed": 96162,
      "public_vs_selected_fixed_max_errors": {},
      "fixed_candidate_first_action_difference_tick": 16
    },
    {
      "layout": "clear",
      "seed": 96164,
      "public_vs_selected_fixed_max_errors": {},
      "fixed_candidate_first_action_difference_tick": 16
    },
    {
      "layout": "clear",
      "seed": 96165,
      "public_vs_selected_fixed_max_errors": {},
      "fixed_candidate_first_action_difference_tick": 20
    },
    {
      "layout": "beam",
      "seed": 96162,
      "public_vs_selected_fixed_max_errors": {},
      "fixed_candidate_first_action_difference_tick": 16
    },
    {
      "layout": "beam",
      "seed": 96164,
      "public_vs_selected_fixed_max_errors": {},
      "fixed_candidate_first_action_difference_tick": 16
    },
    {
      "layout": "beam",
      "seed": 96165,
      "public_vs_selected_fixed_max_errors": {},
      "fixed_candidate_first_action_difference_tick": 20
    }
  ],
  "rows": [
    {
      "case": "clear-fixed_duck-96162",
      "mode": "fixed_duck",
      "layout": "clear",
      "seed": 96162,
      "selected": "local_duck",
      "success": true,
      "control_steps": 417,
      "stop_reason": "goal_hold",
      "contact": null,
      "support_diagnostic": [
        {
          "foot": "left_ankle_roll_link",
          "unknown": 152,
          "contact_hypotheses": 222,
          "contact_hypotheses_with_observed_load": 219,
          "lifted_hypotheses": 43,
          "lifted_hypotheses_with_observed_load": 0
        },
        {
          "foot": "right_ankle_roll_link",
          "unknown": 130,
          "contact_hypotheses": 240,
          "contact_hypotheses_with_observed_load": 240,
          "lifted_hypotheses": 47,
          "lifted_hypotheses_with_observed_load": 5
        }
      ],
      "reference_exact": true,
      "measured_min_pelvis_height_m": 0.731676459312439
    },
    {
      "case": "clear-fixed_sustained-96162",
      "mode": "fixed_sustained",
      "layout": "clear",
      "seed": 96162,
      "selected": "sustained",
      "success": true,
      "control_steps": 417,
      "stop_reason": "goal_hold",
      "contact": null,
      "support_diagnostic": [
        {
          "foot": "left_ankle_roll_link",
          "unknown": 146,
          "contact_hypotheses": 223,
          "contact_hypotheses_with_observed_load": 223,
          "lifted_hypotheses": 48,
          "lifted_hypotheses_with_observed_load": 0
        },
        {
          "foot": "right_ankle_roll_link",
          "unknown": 139,
          "contact_hypotheses": 220,
          "contact_hypotheses_with_observed_load": 220,
          "lifted_hypotheses": 58,
          "lifted_hypotheses_with_observed_load": 6
        }
      ],
      "reference_exact": true,
      "measured_min_pelvis_height_m": 0.7313967943191528
    },
    {
      "case": "beam-fixed_duck-96162",
      "mode": "fixed_duck",
      "layout": "beam",
      "seed": 96162,
      "selected": "local_duck",
      "success": false,
      "control_steps": 142,
      "stop_reason": "contact",
      "contact": {
        "body": "torso_link",
        "target": "obstacle_1",
        "force_n": 729.6616821289062,
        "time_s": 2.84
      },
      "support_diagnostic": [
        {
          "foot": "left_ankle_roll_link",
          "unknown": 66,
          "contact_hypotheses": 53,
          "contact_hypotheses_with_observed_load": 53,
          "lifted_hypotheses": 23,
          "lifted_hypotheses_with_observed_load": 0
        },
        {
          "foot": "right_ankle_roll_link",
          "unknown": 52,
          "contact_hypotheses": 73,
          "contact_hypotheses_with_observed_load": 73,
          "lifted_hypotheses": 17,
          "lifted_hypotheses_with_observed_load": 0
        }
      ],
      "reference_exact": true,
      "measured_min_pelvis_height_m": 0.7380843758583069
    },
    {
      "case": "beam-fixed_sustained-96162",
      "mode": "fixed_sustained",
      "layout": "beam",
      "seed": 96162,
      "selected": "sustained",
      "success": false,
      "control_steps": 144,
      "stop_reason": "contact",
      "contact": {
        "body": "torso_link",
        "target": "obstacle_1",
        "force_n": 41.199134826660156,
        "time_s": 2.88
      },
      "support_diagnostic": [
        {
          "foot": "left_ankle_roll_link",
          "unknown": 61,
          "contact_hypotheses": 54,
          "contact_hypotheses_with_observed_load": 54,
          "lifted_hypotheses": 29,
          "lifted_hypotheses_with_observed_load": 0
        },
        {
          "foot": "right_ankle_roll_link",
          "unknown": 54,
          "contact_hypotheses": 71,
          "contact_hypotheses_with_observed_load": 71,
          "lifted_hypotheses": 19,
          "lifted_hypotheses_with_observed_load": 0
        }
      ],
      "reference_exact": true,
      "measured_min_pelvis_height_m": 0.73537677526474
    },
    {
      "case": "clear-fixed_duck-96164",
      "mode": "fixed_duck",
      "layout": "clear",
      "seed": 96164,
      "selected": "local_duck",
      "success": true,
      "control_steps": 424,
      "stop_reason": "goal_hold",
      "contact": null,
      "support_diagnostic": [
        {
          "foot": "left_ankle_roll_link",
          "unknown": 152,
          "contact_hypotheses": 229,
          "contact_hypotheses_with_observed_load": 229,
          "lifted_hypotheses": 43,
          "lifted_hypotheses_with_observed_load": 0
        },
        {
          "foot": "right_ankle_roll_link",
          "unknown": 130,
          "contact_hypotheses": 247,
          "contact_hypotheses_with_observed_load": 247,
          "lifted_hypotheses": 47,
          "lifted_hypotheses_with_observed_load": 5
        }
      ],
      "reference_exact": true,
      "measured_min_pelvis_height_m": 0.7225834727287292
    },
    {
      "case": "clear-fixed_sustained-96164",
      "mode": "fixed_sustained",
      "layout": "clear",
      "seed": 96164,
      "selected": "sustained",
      "success": true,
      "control_steps": 418,
      "stop_reason": "goal_hold",
      "contact": null,
      "support_diagnostic": [
        {
          "foot": "left_ankle_roll_link",
          "unknown": 146,
          "contact_hypotheses": 224,
          "contact_hypotheses_with_observed_load": 224,
          "lifted_hypotheses": 48,
          "lifted_hypotheses_with_observed_load": 0
        },
        {
          "foot": "right_ankle_roll_link",
          "unknown": 139,
          "contact_hypotheses": 221,
          "contact_hypotheses_with_observed_load": 221,
          "lifted_hypotheses": 58,
          "lifted_hypotheses_with_observed_load": 7
        }
      ],
      "reference_exact": true,
      "measured_min_pelvis_height_m": 0.7237185835838318
    },
    {
      "case": "beam-fixed_duck-96164",
      "mode": "fixed_duck",
      "layout": "beam",
      "seed": 96164,
      "selected": "local_duck",
      "success": true,
      "control_steps": 425,
      "stop_reason": "goal_hold",
      "contact": null,
      "support_diagnostic": [
        {
          "foot": "left_ankle_roll_link",
          "unknown": 152,
          "contact_hypotheses": 230,
          "contact_hypotheses_with_observed_load": 230,
          "lifted_hypotheses": 43,
          "lifted_hypotheses_with_observed_load": 0
        },
        {
          "foot": "right_ankle_roll_link",
          "unknown": 130,
          "contact_hypotheses": 248,
          "contact_hypotheses_with_observed_load": 248,
          "lifted_hypotheses": 47,
          "lifted_hypotheses_with_observed_load": 5
        }
      ],
      "reference_exact": true,
      "measured_min_pelvis_height_m": 0.7225750088691711
    },
    {
      "case": "beam-fixed_sustained-96164",
      "mode": "fixed_sustained",
      "layout": "beam",
      "seed": 96164,
      "selected": "sustained",
      "success": true,
      "control_steps": 418,
      "stop_reason": "goal_hold",
      "contact": null,
      "support_diagnostic": [
        {
          "foot": "left_ankle_roll_link",
          "unknown": 146,
          "contact_hypotheses": 224,
          "contact_hypotheses_with_observed_load": 224,
          "lifted_hypotheses": 48,
          "lifted_hypotheses_with_observed_load": 0
        },
        {
          "foot": "right_ankle_roll_link",
          "unknown": 139,
          "contact_hypotheses": 221,
          "contact_hypotheses_with_observed_load": 221,
          "lifted_hypotheses": 58,
          "lifted_hypotheses_with_observed_load": 7
        }
      ],
      "reference_exact": true,
      "measured_min_pelvis_height_m": 0.7237175703048706
    },
    {
      "case": "clear-fixed_duck-96165",
      "mode": "fixed_duck",
      "layout": "clear",
      "seed": 96165,
      "selected": "local_duck",
      "success": true,
      "control_steps": 439,
      "stop_reason": "goal_hold",
      "contact": null,
      "support_diagnostic": [
        {
          "foot": "left_ankle_roll_link",
          "unknown": 152,
          "contact_hypotheses": 244,
          "contact_hypotheses_with_observed_load": 244,
          "lifted_hypotheses": 43,
          "lifted_hypotheses_with_observed_load": 0
        },
        {
          "foot": "right_ankle_roll_link",
          "unknown": 130,
          "contact_hypotheses": 262,
          "contact_hypotheses_with_observed_load": 262,
          "lifted_hypotheses": 47,
          "lifted_hypotheses_with_observed_load": 7
        }
      ],
      "reference_exact": true,
      "measured_min_pelvis_height_m": 0.7095731496810913
    },
    {
      "case": "clear-fixed_sustained-96165",
      "mode": "fixed_sustained",
      "layout": "clear",
      "seed": 96165,
      "selected": "sustained",
      "success": true,
      "control_steps": 416,
      "stop_reason": "goal_hold",
      "contact": null,
      "support_diagnostic": [
        {
          "foot": "left_ankle_roll_link",
          "unknown": 146,
          "contact_hypotheses": 222,
          "contact_hypotheses_with_observed_load": 222,
          "lifted_hypotheses": 48,
          "lifted_hypotheses_with_observed_load": 0
        },
        {
          "foot": "right_ankle_roll_link",
          "unknown": 139,
          "contact_hypotheses": 219,
          "contact_hypotheses_with_observed_load": 219,
          "lifted_hypotheses": 58,
          "lifted_hypotheses_with_observed_load": 10
        }
      ],
      "reference_exact": true,
      "measured_min_pelvis_height_m": 0.7067620754241943
    },
    {
      "case": "beam-fixed_duck-96165",
      "mode": "fixed_duck",
      "layout": "beam",
      "seed": 96165,
      "selected": "local_duck",
      "success": true,
      "control_steps": 439,
      "stop_reason": "goal_hold",
      "contact": null,
      "support_diagnostic": [
        {
          "foot": "left_ankle_roll_link",
          "unknown": 152,
          "contact_hypotheses": 244,
          "contact_hypotheses_with_observed_load": 244,
          "lifted_hypotheses": 43,
          "lifted_hypotheses_with_observed_load": 0
        },
        {
          "foot": "right_ankle_roll_link",
          "unknown": 130,
          "contact_hypotheses": 262,
          "contact_hypotheses_with_observed_load": 262,
          "lifted_hypotheses": 47,
          "lifted_hypotheses_with_observed_load": 7
        }
      ],
      "reference_exact": true,
      "measured_min_pelvis_height_m": 0.7095731496810913
    },
    {
      "case": "beam-fixed_sustained-96165",
      "mode": "fixed_sustained",
      "layout": "beam",
      "seed": 96165,
      "selected": "sustained",
      "success": true,
      "control_steps": 438,
      "stop_reason": "goal_hold",
      "contact": null,
      "support_diagnostic": [
        {
          "foot": "left_ankle_roll_link",
          "unknown": 146,
          "contact_hypotheses": 244,
          "contact_hypotheses_with_observed_load": 244,
          "lifted_hypotheses": 48,
          "lifted_hypotheses_with_observed_load": 0
        },
        {
          "foot": "right_ankle_roll_link",
          "unknown": 139,
          "contact_hypotheses": 241,
          "contact_hypotheses_with_observed_load": 241,
          "lifted_hypotheses": 58,
          "lifted_hypotheses_with_observed_load": 10
        }
      ],
      "reference_exact": true,
      "measured_min_pelvis_height_m": 0.7067610025405884
    }
  ],
  "plan_sha256": "811ac754406269bfa306fa2db0dbc8d2c05a6924c1750c067bfa4c60bbae699f",
  "scope": "Raw force/body and reference reconstruction; same existing scorer. Initial selection, no replanning. Support is descriptive and not a qualified seam constraint."
}