{
  "passed": true,
  "checks": {
    "native_fk_agrees": true,
    "tool_poses_preserved": true,
    "continuous_arm_motion": true,
    "no_arm_penetrations_in_retargeted_replay": true,
    "independent_cb3_contact_pick": true,
    "no_bottle_attachment": true,
    "original_states_unchanged": true,
    "cad_source_files_unchanged": true,
    "manual_base_footprint": true,
    "orientation_aware_held_clearance": true
  },
  "maximum_native_fk_error_m": 7.860269245766492e-16,
  "maximum_native_rotation_matrix_error": 1.4432899320127035e-15,
  "base_footprint_m": 0.1489999191250361,
  "arm_penetrations": {},
  "minimum_orientation_aware_held_clearance_m": 0.19501908784704358,
  "capture_holdout": {
    "view": 12,
    "not_used_for_fit": true,
    "observations_px": [
      [
        440,
        442
      ],
      [
        444,
        378
      ],
      [
        468,
        216
      ],
      [
        637,
        234
      ],
      [
        610,
        283
      ],
      [
        653,
        289
      ]
    ],
    "projected_px": [
      [
        441.4664972226456,
        438.31643814405385
      ],
      [
        442.9756803392223,
        371.68745409548086
      ],
      [
        463.64748805068575,
        225.23277364520095
      ],
      [
        634.3859847799655,
        239.07192984864355
      ],
      [
        604.0717603330403,
        284.1782417616987
      ],
      [
        645.3368458679373,
        283.8792258598239
      ]
    ],
    "errors_px": [
      3.964749935444701,
      6.395112709258303,
      10.207275319713903,
      5.705922183147384,
      6.044193841855624,
      9.216629484060077
    ],
    "mean_error_px": 6.922313912246666,
    "maximum_error_px": 10.207275319713903,
    "limitations": "Manual landmarks approximate visible mechanical centres; includes camera registration, annotation, mounting, and CAD differences. Not a dense surface accuracy measurement."
  },
  "limits": "CAD-derived nominal shape, inferred materials, approximate mounting bolts. No claim of microscopic or serial-specific 1:1 accuracy. Physics uses approximate ROS inertias and convex collision parts."
}