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        "sha256": "d665dbd7a48fe8a3f2b6355c8bbc8e6495d0b1477419ddd13d3c6890a528dff3"
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      "config": {
        "path": "runs/beam-bridge-96163/CONFIG.json",
        "sha256": "655a2ab83851ef19cdfee180e3a9d3069c0509ba14876f844e2e960ce8e9e3fd"
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      "navigation_success": true,
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      "terminal_hold": true,
      "collision_free": true,
      "fell": false,
      "max_hold_ticks": 50,
      "final_goal_distance_m": 0.07981562453149026,
      "max_undesired_force_n": 0.0,
      "control_steps": 426,
      "reference_tracking_required": false,
      "goal_stop_component_success": true,
      "duck_recover_stop_success": true,
      "evidence_scope": "duck_recover_stop_from_reset",
      "passage_success": true,
      "duck_observed": true,
      "lateral_gate_valid": true,
      "recovered": true,
      "entry_tick": 114,
      "clear_tick": 168,
      "recovery_tick": 367,
      "ordered_hold_ticks": 50,
      "stable_stop_success": true,
      "stop_reason": "goal_hold",
      "phase_sequence": [
        {
          "phase": "approach",
          "time_s": 0.0
        },
        {
          "phase": "duck",
          "time_s": 1.9000000000000001
        },
        {
          "phase": "exit",
          "time_s": 3.4
        },
        {
          "phase": "recover",
          "time_s": 3.68
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        {
          "phase": "brake",
          "time_s": 4.0
        },
        {
          "phase": "recover",
          "time_s": 4.82
        },
        {
          "phase": "brake",
          "time_s": 7.08
        },
        {
          "phase": "hold",
          "time_s": 7.5600000000000005
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      ],
      "terminal_contact_pair": null,
      "minimum_sampled_face_separation_m": -0.0032616968468116847
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  ],
  "plan_sha256": "30c485bc4eb72a162a112a61e1669eba0447631a52eba00f85038f8cb03899ca",
  "sources_sha256": "479e6cab96f5d620c38d1a99cc73ddb95aa8b3c0e7631495935dcb303d7cbe08",
  "audit_scope": "Separately re-reduces raw substep forces and collision bounds, and reuses existing task scorer. Shadow requests are not executed decisions.",
  "publication_note": "Workspace prefixes removed from paths; all outcome fields and original file hashes retained. Source audit digest is recorded in PROVENANCE.json."
}