{
  "passed": true,
  "counts": [
    {
      "layout": "clear",
      "new_original_attempts": 2,
      "reused_scene_controls": 2,
      "original_successes": 2,
      "scene_successes": 2,
      "gains": 0,
      "regressions": 0
    },
    {
      "layout": "beam",
      "new_original_attempts": 2,
      "reused_scene_controls": 2,
      "original_successes": 2,
      "scene_successes": 2,
      "gains": 0,
      "regressions": 0
    },
    {
      "layout": "beam_lower20",
      "new_original_attempts": 2,
      "reused_scene_controls": 2,
      "original_successes": 2,
      "scene_successes": 0,
      "gains": 2,
      "regressions": 0
    }
  ],
  "pairs": [
    {
      "layout": "clear",
      "seed": 96162,
      "original": {
        "case": "clear-original-96162",
        "mode": "fixed_lowered",
        "layout": "clear",
        "seed": 96162,
        "selected": "lowered",
        "success": true,
        "control_steps": 376,
        "stop_reason": "goal_hold",
        "contact": null,
        "peak_contact": null,
        "support_diagnostic": [
          {
            "foot": "left_ankle_roll_link",
            "unknown": 153,
            "contact_hypotheses": 180,
            "contact_hypotheses_with_observed_load": 179,
            "lifted_hypotheses": 43,
            "lifted_hypotheses_with_observed_load": 0
          },
          {
            "foot": "right_ankle_roll_link",
            "unknown": 130,
            "contact_hypotheses": 199,
            "contact_hypotheses_with_observed_load": 198,
            "lifted_hypotheses": 47,
            "lifted_hypotheses_with_observed_load": 1
          }
        ],
        "reference_exact": true,
        "measured_min_pelvis_height_m": 0.6396055221557617
      },
      "scene": {
        "case": "clear-fixed_lowered-96162",
        "mode": "fixed_lowered",
        "layout": "clear",
        "seed": 96162,
        "selected": "lowered",
        "geometry_only_choice": "nominal",
        "selection_details": [
          {
            "candidate": "nominal",
            "minimum_sampled_separation_m": null,
            "endpoint_distance_m": 0.0,
            "posture_cost": 0.0,
            "admitted": true
          },
          {
            "candidate": "local_duck",
            "minimum_sampled_separation_m": null,
            "endpoint_distance_m": 0.0,
            "posture_cost": 0.012632986828187528,
            "admitted": true
          },
          {
            "candidate": "sustained",
            "minimum_sampled_separation_m": null,
            "endpoint_distance_m": 0.0,
            "posture_cost": 0.019785215030009583,
            "admitted": true
          },
          {
            "candidate": "lowered",
            "minimum_sampled_separation_m": null,
            "endpoint_distance_m": 0.0,
            "posture_cost": 0.016017508574782617,
            "admitted": true
          }
        ],
        "success": true,
        "control_steps": 417,
        "stop_reason": "goal_hold",
        "contact": null,
        "support_diagnostic": [
          {
            "foot": "left_ankle_roll_link",
            "unknown": 153,
            "contact_hypotheses": 221,
            "contact_hypotheses_with_observed_load": 218,
            "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": 4
          }
        ],
        "reference_exact": true,
        "measured_min_pelvis_height_m": 0.7222265005111694
      },
      "scene_contact_events": {
        "first": null,
        "peak": null
      },
      "gain": false,
      "regression": false,
      "completion_time_difference_s": -0.8200000000000001
    },
    {
      "layout": "beam",
      "seed": 96162,
      "original": {
        "case": "beam-original-96162",
        "mode": "fixed_lowered",
        "layout": "beam",
        "seed": 96162,
        "selected": "lowered",
        "success": true,
        "control_steps": 376,
        "stop_reason": "goal_hold",
        "contact": null,
        "peak_contact": null,
        "support_diagnostic": [
          {
            "foot": "left_ankle_roll_link",
            "unknown": 153,
            "contact_hypotheses": 180,
            "contact_hypotheses_with_observed_load": 179,
            "lifted_hypotheses": 43,
            "lifted_hypotheses_with_observed_load": 0
          },
          {
            "foot": "right_ankle_roll_link",
            "unknown": 130,
            "contact_hypotheses": 199,
            "contact_hypotheses_with_observed_load": 198,
            "lifted_hypotheses": 47,
            "lifted_hypotheses_with_observed_load": 1
          }
        ],
        "reference_exact": true,
        "measured_min_pelvis_height_m": 0.6396055221557617
      },
      "scene": {
        "case": "beam-fixed_lowered-96162",
        "mode": "fixed_lowered",
        "layout": "beam",
        "seed": 96162,
        "selected": "lowered",
        "geometry_only_choice": "local_duck",
        "selection_details": [
          {
            "candidate": "nominal",
            "minimum_sampled_separation_m": -0.03854203055065156,
            "endpoint_distance_m": 0.0,
            "posture_cost": 0.0,
            "admitted": false
          },
          {
            "candidate": "local_duck",
            "minimum_sampled_separation_m": 0.04441312302671138,
            "endpoint_distance_m": 0.0,
            "posture_cost": 0.012632986828187528,
            "admitted": true
          },
          {
            "candidate": "sustained",
            "minimum_sampled_separation_m": 0.04441312302671138,
            "endpoint_distance_m": 0.0,
            "posture_cost": 0.019785215030009583,
            "admitted": true
          },
          {
            "candidate": "lowered",
            "minimum_sampled_separation_m": 0.04940984000287715,
            "endpoint_distance_m": 0.0,
            "posture_cost": 0.016017508574782617,
            "admitted": true
          }
        ],
        "success": true,
        "control_steps": 417,
        "stop_reason": "goal_hold",
        "contact": null,
        "support_diagnostic": [
          {
            "foot": "left_ankle_roll_link",
            "unknown": 153,
            "contact_hypotheses": 221,
            "contact_hypotheses_with_observed_load": 218,
            "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": 4
          }
        ],
        "reference_exact": true,
        "measured_min_pelvis_height_m": 0.7225475311279297
      },
      "scene_contact_events": {
        "first": null,
        "peak": null
      },
      "gain": false,
      "regression": false,
      "completion_time_difference_s": -0.8200000000000001
    },
    {
      "layout": "beam_lower20",
      "seed": 96162,
      "original": {
        "case": "beam_lower20-original-96162",
        "mode": "fixed_lowered",
        "layout": "beam_lower20",
        "seed": 96162,
        "selected": "lowered",
        "success": true,
        "control_steps": 376,
        "stop_reason": "goal_hold",
        "contact": null,
        "peak_contact": null,
        "support_diagnostic": [
          {
            "foot": "left_ankle_roll_link",
            "unknown": 153,
            "contact_hypotheses": 180,
            "contact_hypotheses_with_observed_load": 179,
            "lifted_hypotheses": 43,
            "lifted_hypotheses_with_observed_load": 0
          },
          {
            "foot": "right_ankle_roll_link",
            "unknown": 130,
            "contact_hypotheses": 199,
            "contact_hypotheses_with_observed_load": 198,
            "lifted_hypotheses": 47,
            "lifted_hypotheses_with_observed_load": 1
          }
        ],
        "reference_exact": true,
        "measured_min_pelvis_height_m": 0.6396055221557617
      },
      "scene": {
        "case": "beam_lower20-fixed_lowered-96162",
        "mode": "fixed_lowered",
        "layout": "beam_lower20",
        "seed": 96162,
        "selected": "lowered",
        "geometry_only_choice": "local_duck",
        "selection_details": [
          {
            "candidate": "nominal",
            "minimum_sampled_separation_m": -0.058542030550651575,
            "endpoint_distance_m": 0.0,
            "posture_cost": 0.0,
            "admitted": false
          },
          {
            "candidate": "local_duck",
            "minimum_sampled_separation_m": 0.024413123026711364,
            "endpoint_distance_m": 0.0,
            "posture_cost": 0.012632986828187528,
            "admitted": true
          },
          {
            "candidate": "sustained",
            "minimum_sampled_separation_m": 0.024413123026711364,
            "endpoint_distance_m": 0.0,
            "posture_cost": 0.019785215030009583,
            "admitted": true
          },
          {
            "candidate": "lowered",
            "minimum_sampled_separation_m": 0.029409840002877136,
            "endpoint_distance_m": 0.0,
            "posture_cost": 0.016017508574782617,
            "admitted": true
          }
        ],
        "success": false,
        "control_steps": 137,
        "stop_reason": "contact",
        "contact": {
          "body": "torso_link",
          "target": "obstacle_1",
          "force_n": 1221.290283203125,
          "time_s": 2.73
        },
        "support_diagnostic": [
          {
            "foot": "left_ankle_roll_link",
            "unknown": 66,
            "contact_hypotheses": 53,
            "contact_hypotheses_with_observed_load": 53,
            "lifted_hypotheses": 18,
            "lifted_hypotheses_with_observed_load": 0
          },
          {
            "foot": "right_ankle_roll_link",
            "unknown": 52,
            "contact_hypotheses": 68,
            "contact_hypotheses_with_observed_load": 68,
            "lifted_hypotheses": 17,
            "lifted_hypotheses_with_observed_load": 0
          }
        ],
        "reference_exact": true,
        "measured_min_pelvis_height_m": 0.7281489372253418
      },
      "scene_contact_events": {
        "first": {
          "substep": 545,
          "time_s": 2.73,
          "body": "torso_link",
          "target": "obstacle_1",
          "force_n": 1221.290283203125
        },
        "peak": {
          "substep": 545,
          "time_s": 2.73,
          "body": "torso_link",
          "target": "obstacle_1",
          "force_n": 1221.290283203125
        }
      },
      "gain": true,
      "regression": false,
      "completion_time_difference_s": null
    },
    {
      "layout": "clear",
      "seed": 96167,
      "original": {
        "case": "clear-original-96167",
        "mode": "fixed_lowered",
        "layout": "clear",
        "seed": 96167,
        "selected": "lowered",
        "success": true,
        "control_steps": 422,
        "stop_reason": "goal_hold",
        "contact": null,
        "peak_contact": null,
        "support_diagnostic": [
          {
            "foot": "left_ankle_roll_link",
            "unknown": 153,
            "contact_hypotheses": 226,
            "contact_hypotheses_with_observed_load": 226,
            "lifted_hypotheses": 43,
            "lifted_hypotheses_with_observed_load": 1
          },
          {
            "foot": "right_ankle_roll_link",
            "unknown": 130,
            "contact_hypotheses": 245,
            "contact_hypotheses_with_observed_load": 245,
            "lifted_hypotheses": 47,
            "lifted_hypotheses_with_observed_load": 2
          }
        ],
        "reference_exact": true,
        "measured_min_pelvis_height_m": 0.6197570562362671
      },
      "scene": {
        "case": "clear-fixed_lowered-96167",
        "mode": "fixed_lowered",
        "layout": "clear",
        "seed": 96167,
        "selected": "lowered",
        "geometry_only_choice": "nominal",
        "selection_details": [
          {
            "candidate": "nominal",
            "minimum_sampled_separation_m": null,
            "endpoint_distance_m": 0.0,
            "posture_cost": 0.0,
            "admitted": true
          },
          {
            "candidate": "local_duck",
            "minimum_sampled_separation_m": null,
            "endpoint_distance_m": 0.0,
            "posture_cost": 0.012632986828187528,
            "admitted": true
          },
          {
            "candidate": "sustained",
            "minimum_sampled_separation_m": null,
            "endpoint_distance_m": 0.0,
            "posture_cost": 0.019785215030009583,
            "admitted": true
          },
          {
            "candidate": "lowered",
            "minimum_sampled_separation_m": null,
            "endpoint_distance_m": 0.0,
            "posture_cost": 0.016017508574782617,
            "admitted": true
          }
        ],
        "success": true,
        "control_steps": 416,
        "stop_reason": "goal_hold",
        "contact": null,
        "support_diagnostic": [
          {
            "foot": "left_ankle_roll_link",
            "unknown": 153,
            "contact_hypotheses": 220,
            "contact_hypotheses_with_observed_load": 220,
            "lifted_hypotheses": 43,
            "lifted_hypotheses_with_observed_load": 0
          },
          {
            "foot": "right_ankle_roll_link",
            "unknown": 130,
            "contact_hypotheses": 239,
            "contact_hypotheses_with_observed_load": 239,
            "lifted_hypotheses": 47,
            "lifted_hypotheses_with_observed_load": 5
          }
        ],
        "reference_exact": true,
        "measured_min_pelvis_height_m": 0.7079264521598816
      },
      "scene_contact_events": {
        "first": null,
        "peak": null
      },
      "gain": false,
      "regression": false,
      "completion_time_difference_s": 0.12
    },
    {
      "layout": "beam",
      "seed": 96167,
      "original": {
        "case": "beam-original-96167",
        "mode": "fixed_lowered",
        "layout": "beam",
        "seed": 96167,
        "selected": "lowered",
        "success": true,
        "control_steps": 422,
        "stop_reason": "goal_hold",
        "contact": null,
        "peak_contact": null,
        "support_diagnostic": [
          {
            "foot": "left_ankle_roll_link",
            "unknown": 153,
            "contact_hypotheses": 226,
            "contact_hypotheses_with_observed_load": 226,
            "lifted_hypotheses": 43,
            "lifted_hypotheses_with_observed_load": 1
          },
          {
            "foot": "right_ankle_roll_link",
            "unknown": 130,
            "contact_hypotheses": 245,
            "contact_hypotheses_with_observed_load": 245,
            "lifted_hypotheses": 47,
            "lifted_hypotheses_with_observed_load": 2
          }
        ],
        "reference_exact": true,
        "measured_min_pelvis_height_m": 0.6197570562362671
      },
      "scene": {
        "case": "beam-fixed_lowered-96167",
        "mode": "fixed_lowered",
        "layout": "beam",
        "seed": 96167,
        "selected": "lowered",
        "geometry_only_choice": "local_duck",
        "selection_details": [
          {
            "candidate": "nominal",
            "minimum_sampled_separation_m": -0.03854203055065156,
            "endpoint_distance_m": 0.0,
            "posture_cost": 0.0,
            "admitted": false
          },
          {
            "candidate": "local_duck",
            "minimum_sampled_separation_m": 0.04441312302671138,
            "endpoint_distance_m": 0.0,
            "posture_cost": 0.012632986828187528,
            "admitted": true
          },
          {
            "candidate": "sustained",
            "minimum_sampled_separation_m": 0.04441312302671138,
            "endpoint_distance_m": 0.0,
            "posture_cost": 0.019785215030009583,
            "admitted": true
          },
          {
            "candidate": "lowered",
            "minimum_sampled_separation_m": 0.04940984000287715,
            "endpoint_distance_m": 0.0,
            "posture_cost": 0.016017508574782617,
            "admitted": true
          }
        ],
        "success": true,
        "control_steps": 416,
        "stop_reason": "goal_hold",
        "contact": null,
        "support_diagnostic": [
          {
            "foot": "left_ankle_roll_link",
            "unknown": 153,
            "contact_hypotheses": 220,
            "contact_hypotheses_with_observed_load": 220,
            "lifted_hypotheses": 43,
            "lifted_hypotheses_with_observed_load": 0
          },
          {
            "foot": "right_ankle_roll_link",
            "unknown": 130,
            "contact_hypotheses": 239,
            "contact_hypotheses_with_observed_load": 239,
            "lifted_hypotheses": 47,
            "lifted_hypotheses_with_observed_load": 5
          }
        ],
        "reference_exact": true,
        "measured_min_pelvis_height_m": 0.7079264521598816
      },
      "scene_contact_events": {
        "first": null,
        "peak": null
      },
      "gain": false,
      "regression": false,
      "completion_time_difference_s": 0.12
    },
    {
      "layout": "beam_lower20",
      "seed": 96167,
      "original": {
        "case": "beam_lower20-original-96167",
        "mode": "fixed_lowered",
        "layout": "beam_lower20",
        "seed": 96167,
        "selected": "lowered",
        "success": true,
        "control_steps": 422,
        "stop_reason": "goal_hold",
        "contact": null,
        "peak_contact": null,
        "support_diagnostic": [
          {
            "foot": "left_ankle_roll_link",
            "unknown": 153,
            "contact_hypotheses": 226,
            "contact_hypotheses_with_observed_load": 226,
            "lifted_hypotheses": 43,
            "lifted_hypotheses_with_observed_load": 1
          },
          {
            "foot": "right_ankle_roll_link",
            "unknown": 130,
            "contact_hypotheses": 245,
            "contact_hypotheses_with_observed_load": 245,
            "lifted_hypotheses": 47,
            "lifted_hypotheses_with_observed_load": 2
          }
        ],
        "reference_exact": true,
        "measured_min_pelvis_height_m": 0.6197570562362671
      },
      "scene": {
        "case": "beam_lower20-fixed_lowered-96167",
        "mode": "fixed_lowered",
        "layout": "beam_lower20",
        "seed": 96167,
        "selected": "lowered",
        "geometry_only_choice": "local_duck",
        "selection_details": [
          {
            "candidate": "nominal",
            "minimum_sampled_separation_m": -0.058542030550651575,
            "endpoint_distance_m": 0.0,
            "posture_cost": 0.0,
            "admitted": false
          },
          {
            "candidate": "local_duck",
            "minimum_sampled_separation_m": 0.024413123026711364,
            "endpoint_distance_m": 0.0,
            "posture_cost": 0.012632986828187528,
            "admitted": true
          },
          {
            "candidate": "sustained",
            "minimum_sampled_separation_m": 0.024413123026711364,
            "endpoint_distance_m": 0.0,
            "posture_cost": 0.019785215030009583,
            "admitted": true
          },
          {
            "candidate": "lowered",
            "minimum_sampled_separation_m": 0.029409840002877136,
            "endpoint_distance_m": 0.0,
            "posture_cost": 0.016017508574782617,
            "admitted": true
          }
        ],
        "success": false,
        "control_steps": 143,
        "stop_reason": "contact",
        "contact": {
          "body": "torso_link",
          "target": "obstacle_1",
          "force_n": 975.1136474609375,
          "time_s": 2.855
        },
        "support_diagnostic": [
          {
            "foot": "left_ankle_roll_link",
            "unknown": 66,
            "contact_hypotheses": 53,
            "contact_hypotheses_with_observed_load": 53,
            "lifted_hypotheses": 24,
            "lifted_hypotheses_with_observed_load": 0
          },
          {
            "foot": "right_ankle_roll_link",
            "unknown": 52,
            "contact_hypotheses": 74,
            "contact_hypotheses_with_observed_load": 74,
            "lifted_hypotheses": 17,
            "lifted_hypotheses_with_observed_load": 0
          }
        ],
        "reference_exact": true,
        "measured_min_pelvis_height_m": 0.7139974236488342
      },
      "scene_contact_events": {
        "first": {
          "substep": 569,
          "time_s": 2.85,
          "body": "torso_link",
          "target": "obstacle_1",
          "force_n": 859.4874267578125
        },
        "peak": {
          "substep": 570,
          "time_s": 2.855,
          "body": "torso_link",
          "target": "obstacle_1",
          "force_n": 975.1136474609375
        }
      },
      "gain": true,
      "regression": false,
      "completion_time_difference_s": null
    }
  ],
  "realization_diagnostics": [
    {
      "seed": 96162,
      "motor": "original",
      "query_time_s": 2.72,
      "actual_pelvis_height_m": 0.6445949077606201,
      "reference_pelvis_height_m": 0.6283359527587891,
      "height_error_m": 0.016258955001831055,
      "progress_error_m": -0.023857142831877384,
      "joint_rms_error_rad": 0.131575345993042,
      "preceding_forbidden_force_max_n": 0.0
    },
    {
      "seed": 96162,
      "motor": "scene",
      "query_time_s": 2.72,
      "actual_pelvis_height_m": 0.7358537912368774,
      "reference_pelvis_height_m": 0.6283359527587891,
      "height_error_m": 0.10751783847808838,
      "progress_error_m": 0.15127451425691638,
      "joint_rms_error_rad": 0.23387683928012848,
      "preceding_forbidden_force_max_n": 0.0
    },
    {
      "seed": 96167,
      "motor": "original",
      "query_time_s": 2.84,
      "actual_pelvis_height_m": 0.6509917378425598,
      "reference_pelvis_height_m": 0.6749771237373352,
      "height_error_m": -0.02398538589477539,
      "progress_error_m": -0.11919711324905066,
      "joint_rms_error_rad": 0.08950340002775192,
      "preceding_forbidden_force_max_n": 0.0
    },
    {
      "seed": 96167,
      "motor": "scene",
      "query_time_s": 2.84,
      "actual_pelvis_height_m": 0.7363855838775635,
      "reference_pelvis_height_m": 0.6749771237373352,
      "height_error_m": 0.06140846014022827,
      "progress_error_m": 0.15401555835359743,
      "joint_rms_error_rad": 0.15719860792160034,
      "preceding_forbidden_force_max_n": 0.0
    }
  ],
  "cost": {
    "new_native_attempts": 6,
    "new_control_steps": 2394,
    "new_contact_substeps": 9576,
    "new_native_wall_seconds": 329.73488285095664,
    "physical_retries": 0,
    "training_updates": 0,
    "reused_controls": 6,
    "reused_control_steps": 1946
  },
  "distinct_new_complete_action_histories": 2,
  "new_action_history_groups": [
    [
      "clear-original-96162",
      "beam-original-96162",
      "beam_lower20-original-96162"
    ],
    [
      "clear-original-96167",
      "beam-original-96167",
      "beam_lower20-original-96167"
    ]
  ],
  "same_task_except_identifier": true,
  "initial_state_and_dynamics_exact": true,
  "first_reference_and_proprio_exact": true,
  "scope": "Whole motor package comparison under the common scene evaluation config. Six familiar source/corridor/seed conditions; no public selector integration, component-causal isolation or generalization."
}