{
  "drive_convention": {
    "kp_mujoco": 2500,
    "stiffness_param": 1250,
    "force_per_mrad_N_m": 2.4999232292175293,
    "effective_kp": 2499.9232292175293,
    "note": "stiffness parameter = kp/2"
  },
  "gravity_hold_tcp_drift_mm": {
    "max": 8.912205796751676e-05,
    "mean": 4.964025248037747e-05,
    "per_pose": [
      7.226630176648149e-05,
      4.1733194720208235e-05,
      8.912205796751676e-05,
      5.399057365429092e-05,
      4.6563777104152296e-05,
      2.7376890726271106e-05,
      3.4211714259172954e-05,
      3.185750964492596e-05
    ],
    "poses": 8,
    "seconds": 2.0,
    "note": "table moved away"
  },
  "rg2_linkage": [
    {
      "target": 0.0,
      "angles": {
        "rg2_finger": 0.0006337138474918902,
        "left_truss_joint": 0.0006466199993155897,
        "left_tip_joint": 0.00048500645789317787,
        "right_moment_joint": 0.0006079437443986535,
        "right_truss_joint": 0.0006200656061992049,
        "right_tip_joint": 0.00045632649562321603
      },
      "max_linkage_mismatch_rad": 0.00019029350369237363,
      "pad_separation_m": 0.10057133600442936,
      "mujoco_equal_angle_separation_m": 0.10057945583405535
    },
    {
      "target": 0.3,
      "angles": {
        "rg2_finger": 0.2957431375980377,
        "left_truss_joint": 0.29571378231048584,
        "left_tip_joint": 0.29531383514404297,
        "right_moment_joint": 0.2957417368888855,
        "right_truss_joint": 0.2957119941711426,
        "right_tip_joint": 0.2953115999698639
      },
      "max_linkage_mismatch_rad": 0.0004315376281738281,
      "pad_separation_m": 0.08611949198623468,
      "mujoco_equal_angle_separation_m": 0.08613757814368796
    },
    {
      "target": 0.6075,
      "angles": {
        "rg2_finger": 0.6047323346138,
        "left_truss_joint": 0.6047443747520447,
        "left_tip_joint": 0.6044607162475586,
        "right_moment_joint": 0.6047332286834717,
        "right_truss_joint": 0.6047446727752686,
        "right_tip_joint": 0.6044597029685974
      },
      "max_linkage_mismatch_rad": 0.0002849698066711426,
      "pad_separation_m": 0.06267950251627696,
      "mujoco_equal_angle_separation_m": 0.06269476651510573
    },
    {
      "target": 0.9,
      "angles": {
        "rg2_finger": 0.8977177143096924,
        "left_truss_joint": 0.8977525234222412,
        "left_tip_joint": 0.8974854350090027,
        "right_moment_joint": 0.8977169394493103,
        "right_truss_joint": 0.8977513909339905,
        "right_tip_joint": 0.897484302520752
      },
      "max_linkage_mismatch_rad": 0.0002682209014892578,
      "pad_separation_m": 0.03457138449765129,
      "mujoco_equal_angle_separation_m": 0.03458826568517227
    },
    {
      "target": 1.215,
      "angles": {
        "rg2_finger": 1.2114495038986206,
        "left_truss_joint": 1.21149742603302,
        "left_tip_joint": 1.211176872253418,
        "right_moment_joint": 1.211450457572937,
        "right_truss_joint": 1.2114986181259155,
        "right_tip_joint": 1.211175799369812
      },
      "max_linkage_mismatch_rad": 0.0003228187561035156,
      "pad_separation_m": 0.0008929129852450143,
      "mujoco_equal_angle_separation_m": 0.0009143147158375786
    }
  ],
  "bottle_rest": {
    "slab_tessellated_3cm": {
      "faces": 4992,
      "locations": 12,
      "max_penetration_mm": 0.2682209014892578,
      "mean_penetration_mm": 0.2682209014892578,
      "max_creep_mm": 1.3381114384636207e-05,
      "max_tilt_deg": 0.0,
      "fell_through_or_tipped": 0,
      "seconds": 2.0
    },
    "slab_12_faces": {
      "faces": 12,
      "locations": 12,
      "max_penetration_mm": 13283.4169921875,
      "mean_penetration_mm": 1107.484003384908,
      "max_creep_mm": 544.4318570168874,
      "max_tilt_deg": 19.76679182499511,
      "fell_through_or_tipped": 1,
      "seconds": 2.0
    },
    "full_height_box_12_faces": {
      "faces": 12,
      "locations": 12,
      "max_penetration_mm": 14956.9775390625,
      "mean_penetration_mm": 4383.12362686793,
      "max_creep_mm": 1330.650892543663,
      "max_tilt_deg": 155.41506059170092,
      "fell_through_or_tipped": 4,
      "seconds": 2.0
    }
  },
  "single_scene_step_ms_idle": 0.4286542274057865
}