{
  "audit": "Independent recorded-command replay",
  "error": null,
  "all_recorded_states_match": true,
  "recorded_frames": 395,
  "replayed_frames": 395,
  "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": false,
  "output_center_error_mm": 301.47670209894517,
  "final": {
    "time": 19.69999999999996,
    "board_fixture_N": 0.5272755284555642,
    "robot_scene_N": 0.0,
    "grip_N": 0.0,
    "penetration_m": 2.1136850204439565e-05,
    "released": true,
    "center_m": [
      0.49478005677380016,
      -0.16694641509072786,
      0.853500601079366
    ],
    "hole_centers_m": [
      [
        0.4714595336766957,
        -0.15986189618373434,
        0.8925801711170964
      ],
      [
        0.5181656467926087,
        -0.17404078294305975,
        0.8344209227736921
      ]
    ],
    "pin_envelope_radius_m": [
      0.04122772406452632,
      0.03092899414124235
    ],
    "tilt_deg": 89.97295577369943,
    "seated": false
  },
  "peak_board_fixture_normal_N": 39.13290459383583,
  "peak_robot_scene_normal_N": 38.673050738055665,
  "peak_grip_normal_N": 74.93504434656455,
  "contact_pass": false,
  "overall_pass": false,
  "contact_hz": 500.0,
  "timing": "paused",
  "depth": false,
  "sim_seconds": 19.69999999999996,
  "force_interpretation": "Evaluator-only sum of contact-normal magnitudes at each physics tick; not a physical sensor or a safety certification."
}