{ "passed": true, "partial": false, "trials": 18, "native_executions": 15, "request_rejections": 3, "groups": [ { "layout": "clear", "seed": 96162, "initial_states_exact": true, "executing_controls_dynamics_exact": true, "executing_controls": 3 }, { "layout": "clear", "seed": 96167, "initial_states_exact": true, "executing_controls_dynamics_exact": true, "executing_controls": 2 }, { "layout": "beam", "seed": 96162, "initial_states_exact": true, "executing_controls_dynamics_exact": true, "executing_controls": 3 }, { "layout": "beam", "seed": 96167, "initial_states_exact": true, "executing_controls_dynamics_exact": true, "executing_controls": 2 }, { "layout": "beam_lower20", "seed": 96162, "initial_states_exact": true, "executing_controls_dynamics_exact": true, "executing_controls": 3 }, { "layout": "beam_lower20", "seed": 96167, "initial_states_exact": true, "executing_controls_dynamics_exact": true, "executing_controls": 2 } ], "paired_executor_matches": [ { "layout": "clear", "seed": 96162, "qualified_request_rejected": false, "qualified_vs_matching_executor_max_errors": { "reference": 0.0, "token": 0.0, "proprio": 0.0, "action": 0.0 }, "comparison_mode": "public_select", "old_vs_qualified_first_action_difference_tick": null }, { "layout": "clear", "seed": 96167, "qualified_request_rejected": true, "qualified_vs_matching_executor_max_errors": {}, "comparison_mode": "public_select", "old_vs_qualified_first_action_difference_tick": null }, { "layout": "beam", "seed": 96162, "qualified_request_rejected": false, "qualified_vs_matching_executor_max_errors": { "reference": 0.0, "token": 0.0, "proprio": 0.0, "action": 0.0 }, "comparison_mode": "fixed_lowered", "old_vs_qualified_first_action_difference_tick": 60 }, { "layout": "beam", "seed": 96167, "qualified_request_rejected": true, "qualified_vs_matching_executor_max_errors": {}, "comparison_mode": "fixed_lowered", "old_vs_qualified_first_action_difference_tick": null }, { "layout": "beam_lower20", "seed": 96162, "qualified_request_rejected": false, "qualified_vs_matching_executor_max_errors": { "reference": 0.0, "token": 0.0, "proprio": 0.0, "action": 0.0 }, "comparison_mode": "fixed_lowered", "old_vs_qualified_first_action_difference_tick": 60 }, { "layout": "beam_lower20", "seed": 96167, "qualified_request_rejected": true, "qualified_vs_matching_executor_max_errors": {}, "comparison_mode": "fixed_lowered", "old_vs_qualified_first_action_difference_tick": null } ], "rows": [ { "case": "clear-public_select-96162", "mode": "public_select", "layout": "clear", "seed": 96162, "selected": "nominal", "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": 156, "contact_hypotheses": 233, "contact_hypotheses_with_observed_load": 232, "lifted_hypotheses": 28, "lifted_hypotheses_with_observed_load": 0 }, { "foot": "right_ankle_roll_link", "unknown": 131, "contact_hypotheses": 258, "contact_hypotheses_with_observed_load": 258, "lifted_hypotheses": 28, "lifted_hypotheses_with_observed_load": 0 } ], "reference_exact": true, "measured_min_pelvis_height_m": 0.7467396855354309 }, { "case": "clear-public_qualified-96162", "mode": "public_qualified", "layout": "clear", "seed": 96162, "selected": "nominal", "geometry_only_choice": "nominal", "selection_details": [ { "candidate": "nominal", "minimum_sampled_separation_m": null, "endpoint_distance_m": 0.0, "posture_cost": 0.0, "admitted": true, "geometry_admitted": true, "capability_admitted": true, "evidence_attempts": 2, "evidence_successes": 2 }, { "candidate": "local_duck", "minimum_sampled_separation_m": null, "endpoint_distance_m": 0.0, "posture_cost": 0.012632986828187528, "admitted": true, "geometry_admitted": true, "capability_admitted": true, "evidence_attempts": 3, "evidence_successes": 3 }, { "candidate": "sustained", "minimum_sampled_separation_m": null, "endpoint_distance_m": 0.0, "posture_cost": 0.019785215030009583, "admitted": true, "geometry_admitted": true, "capability_admitted": true, "evidence_attempts": 3, "evidence_successes": 3 }, { "candidate": "lowered", "minimum_sampled_separation_m": null, "endpoint_distance_m": 0.0, "posture_cost": 0.016017508574782617, "admitted": true, "geometry_admitted": true, "capability_admitted": true, "evidence_attempts": 3, "evidence_successes": 3 } ], "success": true, "control_steps": 417, "stop_reason": "goal_hold", "contact": null, "support_diagnostic": [ { "foot": "left_ankle_roll_link", "unknown": 156, "contact_hypotheses": 233, "contact_hypotheses_with_observed_load": 232, "lifted_hypotheses": 28, "lifted_hypotheses_with_observed_load": 0 }, { "foot": "right_ankle_roll_link", "unknown": 131, "contact_hypotheses": 258, "contact_hypotheses_with_observed_load": 258, "lifted_hypotheses": 28, "lifted_hypotheses_with_observed_load": 0 } ], "reference_exact": true, "measured_min_pelvis_height_m": 0.7467396855354309 }, { "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 }, { "case": "beam-public_select-96162", "mode": "public_select", "layout": "beam", "seed": 96162, "selected": "local_duck", "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": 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-public_qualified-96162", "mode": "public_qualified", "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, "geometry_admitted": false, "capability_admitted": false, "evidence_attempts": 2, "evidence_successes": 0 }, { "candidate": "local_duck", "minimum_sampled_separation_m": 0.04441312302671138, "endpoint_distance_m": 0.0, "posture_cost": 0.012632986828187528, "admitted": false, "geometry_admitted": true, "capability_admitted": false, "evidence_attempts": 3, "evidence_successes": 2 }, { "candidate": "sustained", "minimum_sampled_separation_m": 0.04441312302671138, "endpoint_distance_m": 0.0, "posture_cost": 0.019785215030009583, "admitted": false, "geometry_admitted": true, "capability_admitted": false, "evidence_attempts": 3, "evidence_successes": 2 }, { "candidate": "lowered", "minimum_sampled_separation_m": 0.04940984000287715, "endpoint_distance_m": 0.0, "posture_cost": 0.016017508574782617, "admitted": true, "geometry_admitted": true, "capability_admitted": true, "evidence_attempts": 3, "evidence_successes": 3 } ], "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 }, { "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 }, { "case": "beam_lower20-public_select-96162", "mode": "public_select", "layout": "beam_lower20", "seed": 96162, "selected": "local_duck", "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": 126, "stop_reason": "contact", "contact": { "body": "torso_link", "target": "obstacle_1", "force_n": 853.66748046875, "time_s": 2.52 }, "support_diagnostic": [ { "foot": "left_ankle_roll_link", "unknown": 65, "contact_hypotheses": 53, "contact_hypotheses_with_observed_load": 53, "lifted_hypotheses": 8, "lifted_hypotheses_with_observed_load": 0 }, { "foot": "right_ankle_roll_link", "unknown": 49, "contact_hypotheses": 60, "contact_hypotheses_with_observed_load": 60, "lifted_hypotheses": 17, "lifted_hypotheses_with_observed_load": 0 } ], "reference_exact": true, "measured_min_pelvis_height_m": 0.7411736845970154 }, { "case": "beam_lower20-public_qualified-96162", "mode": "public_qualified", "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, "geometry_admitted": false, "capability_admitted": false, "evidence_attempts": 2, "evidence_successes": 0 }, { "candidate": "local_duck", "minimum_sampled_separation_m": 0.024413123026711364, "endpoint_distance_m": 0.0, "posture_cost": 0.012632986828187528, "admitted": false, "geometry_admitted": true, "capability_admitted": false, "evidence_attempts": 3, "evidence_successes": 2 }, { "candidate": "sustained", "minimum_sampled_separation_m": 0.024413123026711364, "endpoint_distance_m": 0.0, "posture_cost": 0.019785215030009583, "admitted": false, "geometry_admitted": true, "capability_admitted": false, "evidence_attempts": 3, "evidence_successes": 2 }, { "candidate": "lowered", "minimum_sampled_separation_m": 0.029409840002877136, "endpoint_distance_m": 0.0, "posture_cost": 0.016017508574782617, "admitted": true, "geometry_admitted": true, "capability_admitted": true, "evidence_attempts": 3, "evidence_successes": 3 } ], "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 }, { "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 }, { "case": "clear-public_select-96167", "mode": "public_select", "layout": "clear", "seed": 96167, "selected": "nominal", "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": 156, "contact_hypotheses": 232, "contact_hypotheses_with_observed_load": 232, "lifted_hypotheses": 28, "lifted_hypotheses_with_observed_load": 1 }, { "foot": "right_ankle_roll_link", "unknown": 131, "contact_hypotheses": 257, "contact_hypotheses_with_observed_load": 257, "lifted_hypotheses": 28, "lifted_hypotheses_with_observed_load": 0 } ], "reference_exact": true, "measured_min_pelvis_height_m": 0.7405736446380615 }, { "case": "clear-public_qualified-96167", "mode": "public_qualified", "layout": "clear", "seed": 96167, "selected": null, "geometry_only_choice": null, "selection_details": [], "success": false, "control_steps": 0, "stop_reason": "profile_rejection", "rejection_reason": "Measured start outside the declared profile: joint_position", "contact": null, "reference_exact": null, "scope": "No issued task actions; raw initial state reproduces admission rejection" }, { "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 }, { "case": "beam-public_select-96167", "mode": "public_select", "layout": "beam", "seed": 96167, "selected": "local_duck", "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": 152, "contact_hypotheses": 221, "contact_hypotheses_with_observed_load": 221, "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": 0.7179414629936218 }, { "case": "beam-public_qualified-96167", "mode": "public_qualified", "layout": "beam", "seed": 96167, "selected": null, "geometry_only_choice": null, "selection_details": [], "success": false, "control_steps": 0, "stop_reason": "profile_rejection", "rejection_reason": "Measured start outside the declared profile: joint_position", "contact": null, "reference_exact": null, "scope": "No issued task actions; raw initial state reproduces admission rejection" }, { "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 }, { "case": "beam_lower20-public_select-96167", "mode": "public_select", "layout": "beam_lower20", "seed": 96167, "selected": "local_duck", "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": 140, "stop_reason": "contact", "contact": { "body": "torso_link", "target": "obstacle_1", "force_n": 1413.4610595703125, "time_s": 2.79 }, "support_diagnostic": [ { "foot": "left_ankle_roll_link", "unknown": 66, "contact_hypotheses": 53, "contact_hypotheses_with_observed_load": 53, "lifted_hypotheses": 21, "lifted_hypotheses_with_observed_load": 0 }, { "foot": "right_ankle_roll_link", "unknown": 52, "contact_hypotheses": 71, "contact_hypotheses_with_observed_load": 71, "lifted_hypotheses": 17, "lifted_hypotheses_with_observed_load": 0 } ], "reference_exact": true, "measured_min_pelvis_height_m": 0.7259823679924011 }, { "case": "beam_lower20-public_qualified-96167", "mode": "public_qualified", "layout": "beam_lower20", "seed": 96167, "selected": null, "geometry_only_choice": null, "selection_details": [], "success": false, "control_steps": 0, "stop_reason": "profile_rejection", "rejection_reason": "Measured start outside the declared profile: joint_position", "contact": null, "reference_exact": null, "scope": "No issued task actions; raw initial state reproduces admission rejection" }, { "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 } ], "plan_sha256": "d0e14aa40749cf6696ccc97433a2c3ca2828db8ca80b1f09db87586e7df57ab4", "scope": "All registered outcomes, force/body and native reference reconstruction; old/new selectors and strong fixed control. Known-map initial choice, no replanning. Source serialization repair preserved separately." }