{
  "schema": "simcompare.blog.replay-provenance.v1",
  "policy_sha256": "9540ebdca9d33494f588dc60c8ac820b711d5a36ff1c3a84ef1333400aa0af47",
  "scene_index": 54,
  "selection": "Start 54 shows the pattern of 18 of 25 held-out starts (MuJoCo default succeeds, 2 ms overloads, PhysX default overloads, PGS succeeds); among those 18 its PhysX peak (91 N) is closest to the median (90 N). Selected after inspecting outcomes.",
  "bundle": "settings-seed4-test054.json.gz",
  "bundle_sha256": "3eb0ea82826c45f6c1ddceefba9a34024182fde5ed0981e0eefb81292cda4d1a",
  "sources": [
    {
      "condition": "mujoco-nominal",
      "run": "ablation-a2-01",
      "recording": "ablation-a2-01/runs/mujoco-nominal/shard-04/replays/scene-54-policy-2-seed-2000.json.gz",
      "recording_sha256": "a7fd04f558b7c2f5b8cb8ea8380ce563233691487d2e87c8913e8f8698786d08",
      "outcome": "success",
      "peak_force_N": 10.241598186219148,
      "stop_time_s": 5.0
    },
    {
      "condition": "mujoco-timeconst-2ms",
      "run": "ablation-a2-01",
      "recording": "ablation-a2-01/runs/mujoco-timeconst-2ms/shard-04/replays/scene-54-policy-2-seed-2000.json.gz",
      "recording_sha256": "75e3b556ada46858fe9f03cb8c0774e9d08aa98fbce143bba8a99721def8c38d",
      "outcome": "overload_stop",
      "peak_force_N": 50.076537406227004,
      "stop_time_s": 2.098
    },
    {
      "condition": "physx-nominal",
      "run": "ablation-a2-confirm-01",
      "recording": "ablation-a2-confirm-01/runs/physx-nominal/shard-04/replays/scene-54-policy-2-seed-2000.json.gz",
      "recording_sha256": "e9345e0084d3aa8152644e803d461fa8f31983dd4204190c3dbcccfea4552404",
      "outcome": "overload_stop",
      "peak_force_N": 91.08172248707997,
      "stop_time_s": 2.072
    },
    {
      "condition": "physx-solver-pgs",
      "run": "ablation-a2-confirm-01",
      "recording": "ablation-a2-confirm-01/runs/physx-solver-pgs/shard-04/replays/scene-54-policy-2-seed-2000.json.gz",
      "recording_sha256": "4bdea520efeb93b1d5daa378221c6c9140049d8d90a9ab15914d2191ce1b2463",
      "outcome": "success",
      "peak_force_N": 23.979978816199093,
      "stop_time_s": 5.0
    }
  ],
  "display_postprocess": "Finger pads added for display by settings-ablation-2026-10-19/add_finger_pads.py from part one's grasp replay meshes; poses and outcomes unchanged."
}