{
  "audit": "Independent recorded-command replay",
  "error": null,
  "all_recorded_states_match": true,
  "recorded_frames": 551,
  "replayed_frames": 551,
  "max_qpos_delta": 0.0,
  "max_sim_time_delta": 0.0,
  "fixture_dwell_seconds": 0.0,
  "fixture_dwell_window": null,
  "seating_pass": false,
  "output_pass": true,
  "output_center_error_mm": 0.9346742746417563,
  "final": {
    "time": 27.499999999995637,
    "board_fixture_N": 0.0,
    "robot_scene_N": 0.0,
    "grip_N": 0.0,
    "penetration_m": 9.771789987612394e-08,
    "released": true,
    "center_m": [
      0.7690743488672445,
      -0.2898704392802372,
      0.8349999861583757
    ],
    "hole_centers_m": [
      [
        0.7300919017803236,
        -0.3143983584563184,
        0.835000070140936
      ],
      [
        0.7880568010813209,
        -0.2653568408512206,
        0.8349999512286819
      ]
    ],
    "pin_envelope_radius_m": [
      0.3047562416457858,
      0.304637467106273
    ],
    "tilt_deg": 0.00014311599598724022,
    "seated": false
  },
  "peak_board_fixture_normal_N": 22.033868642737573,
  "peak_robot_scene_normal_N": 0.0,
  "peak_grip_normal_N": 45.187210530339485,
  "contact_pass": false,
  "overall_pass": false,
  "contact_hz": 500.0,
  "timing": "paused",
  "depth": false,
  "sim_seconds": 27.499999999995637,
  "force_interpretation": "Evaluator-only sum of contact-normal magnitudes at each physics tick; not a physical sensor or a safety certification."
}