{
  "status": "PASS",
  "checks": {
    "47_calibrated_views": true,
    "subpixel_registration": true,
    "sensor_projection_matches_sdk": true,
    "heldout_appearance": true,
    "multiview_geometry": true,
    "bottle_multiview_fit": true,
    "watertight_positive_bottle": true,
    "complete_full_resolution_renders": true,
    "nominal_pick_success": true,
    "19_robustness_trials": true,
    "negative_controls_fail_to_lift": true,
    "contact_only_feasible_dynamics": true,
    "portable_scene_loads": true,
    "all_recorded_states_finite": true,
    "arm_joint_ranges_respected": true,
    "oriented_bottle_surface_clears_table": true,
    "pick.xml_ready_collision_free": true,
    "laboratory.xml_ready_collision_free": true,
    "bottle_pick.mp4_decodes": true,
    "multiview_orbit.mp4_decodes": true,
    "flythrough_replays_verified_trajectory": true,
    "flythrough_renders_align_and_decode": true,
    "wrist_replays_verified_trajectory": true,
    "wrist_fixed_to_gripper": true,
    "wrist_bottle_and_fingers_visible": true,
    "wrist_camera_poses_finite": true,
    "bottle_pick_wrist.mp4_decodes": true,
    "bottle_pick_flythrough_wrist_pip.mp4_decodes": true,
    "wrist_decoded_inset_synchronized": true,
    "wrist_preserves_original_flythrough": true,
    "radiance_physics_frame_alignment": true,
    "input_hashes_match": true
  },
  "details": {
    "min_held_surface_clearance_m": 0.19490103370081002,
    "max_held_bottle_tilt_deg": 4.2881753519963866,
    "video": {
      "bottle_pick.mp4": {
        "frames": 240,
        "fps": 30.0,
        "size": [
          960,
          720
        ]
      },
      "multiview_orbit.mp4": {
        "frames": 276,
        "fps": 30.0,
        "size": [
          960,
          608
        ]
      }
    }
  },
  "environment": {
    "python": "3.11.16",
    "mujoco": "3.11.0",
    "platform": "Linux-6.8.0-124-generic-x86_64-with-glibc2.35"
  },
  "scope": "Simulation feasibility for this measured scene and tested assumptions; no real robot execution or independent absolute dimensional ground truth.",
  "protocol_notes": [
    "Appearance uses seven views excluded from texture selection, MVS and radiance training; camera localization uses all views. Validation informed development; this is not a blind benchmark.",
    "MVS consistency is internal agreement between geometrically filtered depth maps, not millimeter absolute scene accuracy.",
    "Unknown surfaces, shiny metal and moving-person regions remain imperfect. Gaussian expected depth is not used for collisions.",
    "The original arm is represented by a UR5e surrogate at the measured pedestal; Robotiq 2F85 is added. Bottle mass and contact friction are assumptions tested over ranges."
  ]
}