{
  "passed": true,
  "partial": false,
  "trials": 6,
  "reused_controls": 6,
  "groups": [
    {
      "layout": "clear",
      "seed": 96162,
      "initial_state_and_dynamics_exact": true,
      "control_reused": true
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    {
      "layout": "clear",
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      "initial_state_and_dynamics_exact": true,
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    {
      "layout": "beam",
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    {
      "layout": "beam",
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      "initial_state_and_dynamics_exact": true,
      "control_reused": true
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    {
      "layout": "beam_lower20",
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      "initial_state_and_dynamics_exact": true,
      "control_reused": true
    },
    {
      "layout": "beam_lower20",
      "seed": 96167,
      "initial_state_and_dynamics_exact": true,
      "control_reused": true
    }
  ],
  "paired_executor_matches": [
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      "layout": "clear",
      "seed": 96162,
      "new_vs_control_first_action_difference_tick": 0
    },
    {
      "layout": "clear",
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      "new_vs_control_first_action_difference_tick": 0
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    {
      "layout": "beam",
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    {
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      "new_vs_control_first_action_difference_tick": 0
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    {
      "layout": "beam_lower20",
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      "new_vs_control_first_action_difference_tick": 0
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    {
      "layout": "beam_lower20",
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      "new_vs_control_first_action_difference_tick": 0
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  ],
  "rows": [
    {
      "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
    },
    {
      "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",
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          "lifted_hypotheses_with_observed_load": 1
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      ],
      "reference_exact": true,
      "measured_min_pelvis_height_m": 0.6396055221557617
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    {
      "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",
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          "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,
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          "lifted_hypotheses": 47,
          "lifted_hypotheses_with_observed_load": 1
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      ],
      "reference_exact": true,
      "measured_min_pelvis_height_m": 0.6396055221557617
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    {
      "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
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    {
      "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
    },
    {
      "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
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  ],
  "plan_sha256": "c3b5a04184113d08d9b4f9e48790c578cb6a297a16ad803d7f5db8181b0e22cb",
  "scope": "Six new original-motor executions and six bound scene controls; common config and exact entry/dynamics/library/first-query/RNG pairing. First contact is the earliest forbidden threshold crossing, with peak recorded separately. No public-ledger admission or training."
}