{
  "protocol": "25 single trials at 2 N actuator limit per finger; fixed 1 kHz controller and existing 4.5 s tape. Numerical validity is not grasp success or physical accuracy. COM uses volume-lumped masses reconstructed from each actual rest mesh. Hold window 1.9\u20132.2 s, relative to first saved pose. Geometry sampled every 5 ms; failure times are detection times. Native MuJoCo uses pre-step time labels for post-step poses, other routes use post-step labels. This substep timestamp offset is not corrected. No repeated trials; two meshes do not prove convergence.",
  "trials": [
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      "file": "mujoco_cpu-mesh0-dt1.json",
      "source": "deform-resolution-01/mujoco_cpu-mesh0-dt1.json",
      "sha256": "21b65eacb44c93ce4b92bc762cda3e8ff92c7bd3d4fda5431d0f924dcb00ae33",
      "backend": "mujoco_cpu",
      "status": "complete",
      "dt_s": 5e-05,
      "vertices": 125,
      "tetrahedra": 384,
      "mass_kg": 0.10504912346763824,
      "failure_time_s": null,
      "failure_reason": null,
      "hold_window_covered": true,
      "hold_mean_com_lift_mm": 65.5662845495397,
      "hold_min_com_lift_mm": 64.80730007812191,
      "final_com_lift_mm": -2.776326017999875,
      "peak_com_lift_mm": 67.29744485537242,
      "minimum_relative_tet_volume_valid_prefix": 0.46187324912902633,
      "volume_ratio_min": 0.9516871073052716,
      "volume_ratio_max": 1.0003166568975368,
      "resolution_control": {
        "refinement": 0,
        "control_period_s": 0.001,
        "logging_period_s": 0.005,
        "force_limit_per_finger_N": 2.0,
        "mesh_sha256": "4f744bd0b1893f1ba178cd007a4b5ca48a1cbb196342ee88b06c0dc21de0db75",
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        "requested_tetrahedra": 384,
        "actual_vertices": 125,
        "actual_tetrahedra": 384,
        "requested_mass_kg": 0.10504912346763823,
        "note": "Numerical sensitivity, not proof of convergence or physical accuracy; failures retained."
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