[
  {
    "backend": "mujoco_cpu",
    "force_limit_N": 1,
    "status": "failed",
    "failure": {
      "time_s": 1.345,
      "reason": "nonfinite or inverted tetrahedron",
      "minimum_tet_volume_m3": -5.8724870704393965e-09
    },
    "hold_centroid_lift_mm": null,
    "caveat": "Vertex centroid, not mass-weighted COM; descriptive single trial, not success rate"
  },
  {
    "backend": "mujoco_warp_native",
    "force_limit_N": 1,
    "status": "failed",
    "failure": {
      "time_s": 1.335,
      "reason": "nonfinite or inverted tetrahedron",
      "minimum_tet_volume_m3": -6.660574074689539e-08
    },
    "hold_centroid_lift_mm": null,
    "caveat": "Vertex centroid, not mass-weighted COM; descriptive single trial, not success rate"
  },
  {
    "backend": "physx_gpu",
    "force_limit_N": 1,
    "status": "failed",
    "failure": {
      "time_s": 0.066,
      "reason": "nonfinite or inverted tetrahedron",
      "minimum_tet_volume_m3": -1.2368142066065957e-09
    },
    "hold_centroid_lift_mm": null,
    "caveat": "Vertex centroid, not mass-weighted COM; descriptive single trial, not success rate"
  },
  {
    "backend": "genesis_fem_sap",
    "force_limit_N": 1,
    "status": "complete",
    "failure": null,
    "hold_centroid_lift_mm": -2.890312571743141,
    "caveat": "Vertex centroid, not mass-weighted COM; descriptive single trial, not success rate"
  },
  {
    "backend": "newton_mjwarp_vbd",
    "force_limit_N": 1,
    "status": "complete",
    "failure": null,
    "hold_centroid_lift_mm": 29.49602074225742,
    "caveat": "Vertex centroid, not mass-weighted COM; descriptive single trial, not success rate",
    "hold_com_lift_mm": 29.48943930413324,
    "outcome": "lost ball, left supported workspace",
    "configuration": {
      "shape_contact_kd": 0.2,
      "dt_s": 0.0005
    },
    "source": "kd0.2-1N.json",
    "source_sha256": "88494e36502e747d38c384d286ac2305ca35e1e33fa5db20accdc6329ac14e7f"
  },
  {
    "backend": "mujoco_cpu",
    "force_limit_N": 2,
    "status": "complete",
    "failure": null,
    "hold_centroid_lift_mm": 65.64016990602562,
    "caveat": "Vertex centroid, not mass-weighted COM; descriptive single trial, not success rate"
  },
  {
    "backend": "mujoco_warp_native",
    "force_limit_N": 2,
    "status": "failed",
    "failure": {
      "time_s": 2.525,
      "reason": "nonfinite or inverted tetrahedron",
      "minimum_tet_volume_m3": -8.382387416764702e-09
    },
    "hold_centroid_lift_mm": 60.08507237668895,
    "caveat": "Vertex centroid, not mass-weighted COM; descriptive single trial, not success rate"
  },
  {
    "backend": "physx_gpu",
    "force_limit_N": 2,
    "status": "failed",
    "failure": {
      "time_s": 1.536,
      "reason": "nonfinite or inverted tetrahedron",
      "minimum_tet_volume_m3": -1.2342932231845793e-09
    },
    "hold_centroid_lift_mm": null,
    "caveat": "Vertex centroid, not mass-weighted COM; descriptive single trial, not success rate"
  },
  {
    "backend": "genesis_fem_sap",
    "force_limit_N": 2,
    "status": "complete",
    "failure": null,
    "hold_centroid_lift_mm": -3.0070537134285504,
    "caveat": "Vertex centroid, not mass-weighted COM; descriptive single trial, not success rate"
  },
  {
    "backend": "newton_mjwarp_vbd",
    "force_limit_N": 2,
    "status": "complete",
    "failure": null,
    "hold_centroid_lift_mm": 68.61918676694232,
    "caveat": "Vertex centroid, not mass-weighted COM; descriptive single trial, not success rate",
    "hold_com_lift_mm": 68.58664602800803,
    "outcome": "grasp/lower/release completed",
    "configuration": {
      "shape_contact_kd": 0.2,
      "dt_s": 0.0005
    },
    "source": "kd0.2-2N.json",
    "source_sha256": "8694414e7727c663e5c78b98aa829aa060ff4f4920ba7a980f1851356f57852c"
  }
]