{
  "role": "scripted nominal mechanics diagnostic; not learned-policy success; no reachability classification",
  "trials": [
    {
      "world": 0,
      "target_width_m": 0.033,
      "grasp_z_offset_m": 0.0,
      "success": 0.0,
      "best_hold_s": 0.0,
      "max_clearance": 0.1478952169418335,
      "max_penetration": 0.007923327386379242,
      "ever_bad_contact": 0.0,
      "max_joint_speed": 0.4729467034339905,
      "max_force_ratio": 1.0,
      "ever_dropped": 0.0
    }
  ],
  "outcome": "scripted diagnostic; not learned",
  "timing": "20Hz policy /125Hz joint targets /1kHz physics"
}