{
  "protocol": {
    "forces_N": [
      1.05,
      1.1,
      1.15,
      1.5
    ],
    "routes": [
      "newton_mjwarp_vbd",
      "mujoco_cpu",
      "mujoco_warp_native"
    ],
    "repeats": 1,
    "tape_sha256": "c982014c679d3e061cbbb853e56a573d0975bb9a90c2223027c535a1dda19623",
    "timestep_s": {
      "newton_mjwarp_vbd": 0.0005,
      "mujoco_cpu": 5e-05,
      "mujoco_warp_native": 5e-05
    },
    "coupled_shape_contact_kd": 0.2,
    "note": "Actuator limits, not prescribed contact-normal forces. No randomized inputs. No convergence claim."
  },
  "extension": {
    "routes": [
      "physx_gpu",
      "genesis_fem_sap"
    ],
    "forces_N": [
      1.1,
      1.5
    ],
    "timestep_s": 0.001,
    "note": "Original per-route settings restored from saved environment pins; 1.05 and 1.15 N not run for these routes."
  },
  "trials": [
    {
      "file": "mujoco_cpu-1.05N.json",
      "sha256": "817cb04418cd0b783d082a40a636f0d2d1ff646f7ad41cc7e30fb6d05f7667ab",
      "status": "failed",
      "failure_time_s": 1.4100000000000001,
      "last_sample_s": 1.405,
      "samples": 282,
      "peak_com_lift_mm": 9.89845740599099,
      "final_com_lift_mm": 7.377464123263067,
      "hold_window_covered": false,
      "hold_mean_lift_mm": null,
      "hold_min_lift_mm": null,
      "peak_native_feedback_N": null,
      "final_finger_q_m": [
        0.024567383022239698,
        0.022957458252213143
      ],
      "volume_ratio_min": 0.9821882485315954,
      "volume_ratio_max": 1.0003166568975368,
      "effective_shape_kd": [],
      "diagnostic": null,
      "force_limit_N": 1.05,
      "dt_s": 5e-05
    },
    {
      "file": "mujoco_cpu-1.10N.json",
      "sha256": "d1674a5628ceeae28bcf9c895eaa65a6593109f2ea402ef2de9edc116cf82b7f",
      "status": "failed",
      "failure_time_s": 2.3400000000000003,
      "last_sample_s": 2.335,
      "samples": 468,
      "peak_com_lift_mm": 61.202649813279386,
      "final_com_lift_mm": 38.49323491845824,
      "hold_window_covered": true,
      "hold_mean_lift_mm": 57.7868589138885,
      "hold_min_lift_mm": 55.36632703327149,
      "peak_native_feedback_N": null,
      "final_finger_q_m": [
        0.024558893514565697,
        0.01795415619933943
      ],
      "volume_ratio_min": 0.9814077402992949,
      "volume_ratio_max": 1.0003166568975368,
      "effective_shape_kd": [],
      "diagnostic": null,
      "force_limit_N": 1.1,
      "dt_s": 5e-05
    },
    {
      "file": "mujoco_cpu-1.15N.json",
      "sha256": "004f05dfac01593a0c3d739787f4257b87a17651de960ed3aa01b2ab8f07c406",
      "status": "complete",
      "failure_time_s": null,
      "last_sample_s": 4.495,
      "samples": 900,
      "peak_com_lift_mm": 65.69488188482653,
      "final_com_lift_mm": -2.8954980318063317,
      "hold_window_covered": true,
      "hold_mean_lift_mm": 63.70880559988126,
      "hold_min_lift_mm": 62.80865828752846,
      "peak_native_feedback_N": null,
      "final_finger_q_m": [
        0.03999998874541576,
        0.04000000666658025
      ],
      "volume_ratio_min": 0.9703739301961537,
      "volume_ratio_max": 1.0003166568975368,
      "effective_shape_kd": [],
      "diagnostic": null,
      "force_limit_N": 1.15,
      "dt_s": 5e-05
    },
    {
      "file": "mujoco_cpu-1.50N.json",
      "sha256": "efbde706cdb46b628c97cf26209f733b587bf2ac8f74bcc831d3b2a2d4987a0d",
      "status": "complete",
      "failure_time_s": null,
      "last_sample_s": 4.495,
      "samples": 900,
      "peak_com_lift_mm": 67.03672452449894,
      "final_com_lift_mm": -2.79717766461568,
      "hold_window_covered": true,
      "hold_mean_lift_mm": 65.27629132800708,
      "hold_min_lift_mm": 64.53131085577613,
      "peak_native_feedback_N": null,
      "final_finger_q_m": [
        0.03999999071501667,
        0.04000000548397758
      ],
      "volume_ratio_min": 0.9634549160801631,
      "volume_ratio_max": 1.0003166568975368,
      "effective_shape_kd": [],
      "diagnostic": null,
      "force_limit_N": 1.5,
      "dt_s": 5e-05
    },
    {
      "file": "mujoco_warp_native-1.05N.json",
      "sha256": "850781991062dfd3ceab1efd30d9eee8cd89010c9921aaecf33c78d55eeae444",
      "status": "failed",
      "failure_time_s": 1.365,
      "last_sample_s": 1.36,
      "samples": 273,
      "peak_com_lift_mm": 3.4808575288412524,
      "final_com_lift_mm": 1.9255045025912132,
      "hold_window_covered": false,
      "hold_mean_lift_mm": null,
      "hold_min_lift_mm": null,
      "peak_native_feedback_N": null,
      "final_finger_q_m": [
        0.020861664786934853,
        0.017286762595176697
      ],
      "volume_ratio_min": 0.974926143251591,
      "volume_ratio_max": 0.9999998310553999,
      "effective_shape_kd": [],
      "diagnostic": null,
      "force_limit_N": 1.05,
      "dt_s": 5e-05
    },
    {
      "file": "mujoco_warp_native-1.10N.json",
      "sha256": "6d3651b72985b484cd92c8561940f53040e35a22a441958dce714fb061daa49c",
      "status": "failed",
      "failure_time_s": 1.3900000000000001,
      "last_sample_s": 1.385,
      "samples": 278,
      "peak_com_lift_mm": 10.612510041155987,
      "final_com_lift_mm": 10.612510041155987,
      "hold_window_covered": false,
      "hold_mean_lift_mm": null,
      "hold_min_lift_mm": null,
      "peak_native_feedback_N": null,
      "final_finger_q_m": [
        0.022992223501205444,
        0.02449970878660679
      ],
      "volume_ratio_min": 0.9781492963212273,
      "volume_ratio_max": 0.9999998310553999,
      "effective_shape_kd": [],
      "diagnostic": null,
      "force_limit_N": 1.1,
      "dt_s": 5e-05
    },
    {
      "file": "mujoco_warp_native-1.15N.json",
      "sha256": "767894498453236d7bdeccb9fdbc86f3bd80df1917ae248e8dab2f8dd22673d6",
      "status": "failed",
      "failure_time_s": 1.445,
      "last_sample_s": 1.4400000000000002,
      "samples": 289,
      "peak_com_lift_mm": 21.094484802212822,
      "final_com_lift_mm": 21.094484802212822,
      "hold_window_covered": false,
      "hold_mean_lift_mm": null,
      "hold_min_lift_mm": null,
      "peak_native_feedback_N": null,
      "final_finger_q_m": [
        0.023164454847574234,
        0.025114018470048904
      ],
      "volume_ratio_min": 0.9783816450560271,
      "volume_ratio_max": 0.9999998310553999,
      "effective_shape_kd": [],
      "diagnostic": null,
      "force_limit_N": 1.15,
      "dt_s": 5e-05
    },
    {
      "file": "mujoco_warp_native-1.50N.json",
      "sha256": "b5c00ee4cd4eba67e94f10dbd15a952b83a9e7fc628b5c38d093614d31746290",
      "status": "failed",
      "failure_time_s": 2.41,
      "last_sample_s": 2.4050000000000002,
      "samples": 482,
      "peak_com_lift_mm": 62.31560040538658,
      "final_com_lift_mm": 42.342297828666,
      "hold_window_covered": true,
      "hold_mean_lift_mm": 58.698356674917555,
      "hold_min_lift_mm": 56.985310530596244,
      "peak_native_feedback_N": null,
      "final_finger_q_m": [
        0.016916342079639435,
        0.020578186959028244
      ],
      "volume_ratio_min": 0.9635314237120784,
      "volume_ratio_max": 0.9999998310553999,
      "effective_shape_kd": [],
      "diagnostic": null,
      "force_limit_N": 1.5,
      "dt_s": 5e-05
    },
    {
      "file": "newton_mjwarp_vbd-1.05N.json",
      "sha256": "e2cee0b572b4a56e126eff09b85cb6303365739e39176e4366b99ebeb0d70e5c",
      "status": "complete",
      "failure_time_s": null,
      "last_sample_s": 4.4955,
      "samples": 900,
      "peak_com_lift_mm": 65.61743579796008,
      "final_com_lift_mm": -2.7537879972969193,
      "hold_window_covered": true,
      "hold_mean_lift_mm": 62.20778285032416,
      "hold_min_lift_mm": 60.55865412851136,
      "peak_native_feedback_N": 9.024698610766897,
      "final_finger_q_m": [
        0.039999961853027344,
        0.040000032633543015
      ],
      "volume_ratio_min": 0.9432103037834167,
      "volume_ratio_max": 0.9999957084655762,
      "effective_shape_kd": [
        0.20000000298023224
      ],
      "diagnostic": {
        "contact_kd": 0.2
      },
      "force_limit_N": 1.05,
      "dt_s": 0.0005
    },
    {
      "file": "newton_mjwarp_vbd-1.10N.json",
      "sha256": "afc9fde6a7f31ded7cef4579a5839dbcc25f4580811fc1092c8aa80f9ecb19ae",
      "status": "complete",
      "failure_time_s": null,
      "last_sample_s": 4.4955,
      "samples": 900,
      "peak_com_lift_mm": 67.13969586057556,
      "final_com_lift_mm": -2.7450185499965363,
      "hold_window_covered": true,
      "hold_mean_lift_mm": 64.19845798119906,
      "hold_min_lift_mm": 62.823742674700696,
      "peak_native_feedback_N": 165.5608578382312,
      "final_finger_q_m": [
        0.04000004008412361,
        0.03999995440244675
      ],
      "volume_ratio_min": 0.9554698467254639,
      "volume_ratio_max": 1.0037405490875244,
      "effective_shape_kd": [
        0.20000000298023224
      ],
      "diagnostic": {
        "contact_kd": 0.2
      },
      "force_limit_N": 1.1,
      "dt_s": 0.0005
    },
    {
      "file": "newton_mjwarp_vbd-1.15N.json",
      "sha256": "868f263d6fcc4f7fca7225a4852d2820c3fdbedd4ae3120e9f57465e44acaaa4",
      "status": "complete",
      "failure_time_s": null,
      "last_sample_s": 4.4955,
      "samples": 900,
      "peak_com_lift_mm": 67.60948349635699,
      "final_com_lift_mm": -2.9688280773151887,
      "hold_window_covered": true,
      "hold_mean_lift_mm": 64.93614216860094,
      "hold_min_lift_mm": 63.61899858183329,
      "peak_native_feedback_N": 2.2754364547887582,
      "final_finger_q_m": [
        0.04000001400709152,
        0.03999995440244675
      ],
      "volume_ratio_min": 0.968863308429718,
      "volume_ratio_max": 0.9999957084655762,
      "effective_shape_kd": [
        0.20000000298023224
      ],
      "diagnostic": {
        "contact_kd": 0.2
      },
      "force_limit_N": 1.15,
      "dt_s": 0.0005
    },
    {
      "file": "newton_mjwarp_vbd-1.50N.json",
      "sha256": "b1b0ace1d9355a05bb96bf7d42150fce98342100645ad6c28717f3c4f983f017",
      "status": "complete",
      "failure_time_s": null,
      "last_sample_s": 4.4955,
      "samples": 900,
      "peak_com_lift_mm": 68.2433571857155,
      "final_com_lift_mm": -2.659073491314723,
      "hold_window_covered": true,
      "hold_mean_lift_mm": 66.42431337580732,
      "hold_min_lift_mm": 65.57867486582214,
      "peak_native_feedback_N": 2.1355272128526512,
      "final_finger_q_m": [
        0.04000000283122063,
        0.039999958127737045
      ],
      "volume_ratio_min": 0.9649667143821716,
      "volume_ratio_max": 0.9999957084655762,
      "effective_shape_kd": [
        0.20000000298023224
      ],
      "diagnostic": {
        "contact_kd": 0.2
      },
      "force_limit_N": 1.5,
      "dt_s": 0.0005
    },
    {
      "file": "genesis_fem_sap-1.10N.json",
      "sha256": "f28c3f92be125ddb3ba71008e30c2daff1f062f49af181dbdd33f2d660701e38",
      "status": "complete",
      "failure_time_s": null,
      "last_sample_s": 4.496,
      "samples": 900,
      "peak_com_lift_mm": 0.0,
      "final_com_lift_mm": -4.114915306947076,
      "hold_window_covered": true,
      "hold_mean_lift_mm": -3.9181398633698765,
      "hold_min_lift_mm": -3.966532660165112,
      "peak_native_feedback_N": null,
      "final_finger_q_m": [
        0.040199711598749466,
        0.040000319440931
      ],
      "volume_ratio_min": 0.8675519124059241,
      "volume_ratio_max": 0.9999999997924514,
      "effective_shape_kd": [],
      "diagnostic": null,
      "force_limit_N": 1.1,
      "dt_s": 0.001
    },
    {
      "file": "genesis_fem_sap-1.50N.json",
      "sha256": "05dac38de987e30dd0b6537317edc39514175f2b3ca7a77af35c3367d844eb6e",
      "status": "complete",
      "failure_time_s": null,
      "last_sample_s": 4.496,
      "samples": 900,
      "peak_com_lift_mm": 0.0,
      "final_com_lift_mm": -1.1138931514336203,
      "hold_window_covered": true,
      "hold_mean_lift_mm": -0.7482698550652996,
      "hold_min_lift_mm": -1.2528579527060213,
      "peak_native_feedback_N": null,
      "final_finger_q_m": [
        0.03999999999268953,
        0.04000000000731047
      ],
      "volume_ratio_min": 0.9745665868532681,
      "volume_ratio_max": 0.9999999997924514,
      "effective_shape_kd": [],
      "diagnostic": null,
      "force_limit_N": 1.5,
      "dt_s": 0.001
    },
    {
      "file": "physx_gpu-1.10N.json",
      "sha256": "997b61b39998a3aeb3c0adbca6da5a03c36763fa11ed81c9652c481fca2958ff",
      "status": "failed",
      "failure_time_s": 0.216,
      "last_sample_s": 0.211,
      "samples": 43,
      "peak_com_lift_mm": 0.0,
      "final_com_lift_mm": -12.209728735044557,
      "hold_window_covered": false,
      "hold_mean_lift_mm": null,
      "hold_min_lift_mm": null,
      "peak_native_feedback_N": null,
      "final_finger_q_m": [
        0.03999999910593033,
        0.03999999910593033
      ],
      "volume_ratio_min": 0.804204523563385,
      "volume_ratio_max": 0.9999252557754517,
      "effective_shape_kd": [],
      "diagnostic": {},
      "force_limit_N": 1.1,
      "dt_s": 0.001
    },
    {
      "file": "physx_gpu-1.50N.json",
      "sha256": "0b5ffc8a435cbf9c30ac826ae1fd619c1265d2e1a78da5a37a56917b5071b36a",
      "status": "failed",
      "failure_time_s": 0.656,
      "last_sample_s": 0.651,
      "samples": 131,
      "peak_com_lift_mm": 0.0,
      "final_com_lift_mm": -12.112457259695786,
      "hold_window_covered": false,
      "hold_mean_lift_mm": null,
      "hold_min_lift_mm": null,
      "peak_native_feedback_N": null,
      "final_finger_q_m": [
        0.026424583047628403,
        0.02097446285188198
      ],
      "volume_ratio_min": 0.80068039894104,
      "volume_ratio_max": 0.9999252557754517,
      "effective_shape_kd": [],
      "diagnostic": {},
      "force_limit_N": 1.5,
      "dt_s": 0.001
    }
  ],
  "caveat": "Single trials, not success rates. Complete means no sampled geometry gate triggered; not physical validation."
}