{
  "passed": true,
  "retained_cb3_arm_xml_identical": true,
  "source_camera_transforms_identical": true,
  "blue_mount": true,
  "physical_pick_passed": true,
  "open_gripper_control_stays_on_table": true,
  "minimum_orientation_aware_held_clearance_m": 0.1693436719371343,
  "urdf": {
    "passed": true,
    "max_fk_matrix_error": 4.3677531730290653e-10,
    "links": 29,
    "joints": 28,
    "notes": "URDF uses source collision meshes; MuJoCo equality constraints become mimic joints. Materials are standard RGBA; Cycles retains reflective PBR."
  },
  "sha256": {
    "assets/local_sim_20260911/scene.xml": "225f95962f577882f6fb38b8a678ab383e73874f0a7c4513ba75f3feabce3409",
    "assets/local_sim_20260911/assets/symmetric_monolithic_mount.obj": "11fffdcf9a99fb427577cb4028081807fd8b22acdec17a1c6f1809e815a8a4ad",
    "scene/laboratory_cb3_rg2_d455.xml": "5caedf5cb300f8379246c4bca8fa50dad0ddafd9cc303e64ee23e96ed9a70795",
    "assets/robot_cb3_rg2_d455/robot_cb3_rg2_d455.urdf": "4bc080cfc05fa8ce845c66fd2c0117fb17a6cb8387bdb4e7dc16d57a3961b2bd",
    "metrics/cb3_rg2_d455_trajectory.npz": "d01965ace9cf8b4af6979302694b2e56ca6c1c880855b126108ac7a44489522c"
  },
  "limitations": "Nominal CAD and approximate inertia/friction. Source mount external-object collisions disabled. No hardware validation."
}