{
  "audit": "Independent recorded-command replay",
  "error": null,
  "all_recorded_states_match": true,
  "recorded_frames": 549,
  "replayed_frames": 549,
  "max_qpos_delta": 0.0,
  "max_sim_time_delta": 0.0,
  "fixture_dwell_seconds": 5.5600000000015015,
  "fixture_dwell_window": [
    10.838000000000289,
    16.39800000000179
  ],
  "seating_pass": true,
  "output_pass": true,
  "output_center_error_mm": 0.6522433726143124,
  "final": {
    "time": 27.399999999995693,
    "board_fixture_N": 0.0,
    "robot_scene_N": 0.0,
    "grip_N": 0.0,
    "penetration_m": 1.058309708290065e-07,
    "released": true,
    "center_m": [
      0.769360994096571,
      -0.28986926028720333,
      0.8350000633369916
    ],
    "hole_centers_m": [
      [
        0.7303498122275698,
        -0.31435145155204375,
        0.8350002988823415
      ],
      [
        0.7883721780505227,
        -0.2653779376471923,
        0.8349999543056925
      ]
    ],
    "pin_envelope_radius_m": [
      0.30497473585245377,
      0.3049354746501222
    ],
    "tilt_deg": 0.0003633807478133713,
    "seated": false
  },
  "peak_board_fixture_normal_N": 8.652896132376442,
  "peak_robot_scene_normal_N": 0.0,
  "peak_grip_normal_N": 46.23482681888504,
  "contact_pass": true,
  "overall_pass": true,
  "contact_hz": 500.0,
  "timing": "paused",
  "depth": false,
  "sim_seconds": 27.399999999995693,
  "force_interpretation": "Evaluator-only sum of contact-normal magnitudes at each physics tick; not a physical sensor or a safety certification.",
  "grip_contact_members_peak_normal_N": {
    "PCB solid sector 017": 18.34256719682192,
    "PCB solid sector 063": 22.974578182014422
  },
  "settled_fixture_sample": {
    "time": 13.618000000001217,
    "board_fixture_N": 0.45126003029343514,
    "robot_scene_N": 0.0,
    "grip_N": 0.0,
    "penetration_m": 1.2078755045748905e-07,
    "released": true,
    "center_m": [
      0.4899595387363464,
      -0.16991759439699403,
      0.8370002204593946
    ],
    "hole_centers_m": [
      [
        0.4509316784451273,
        -0.19437318927317837,
        0.8370008044402699
      ],
      [
        0.5089874119845658,
        -0.1454392358006391,
        0.8369999412537829
      ]
    ],
    "pin_envelope_radius_m": [
      0.00114347810269869,
      0.0010549558929056023
    ],
    "tilt_deg": 0.0008734534198510751,
    "seated": true
  }
}