{
  "success": true,
  "gates": {
    "continuous_from_initial": true,
    "tray_entered_target": true,
    "door_tray_clearance": true,
    "no_door_tray_contact": true,
    "hands_clear_before_push_2s": true,
    "support_held_3s_before_push": true,
    "support_carries_80_percent_during_push": true,
    "motor_force_within_limit": true,
    "contact_peak_within_limit": true,
    "contact_over_budget_duration": true,
    "penetration_within_limit": true
  },
  "measurements": {
    "final_tray_x_m": 0.32455,
    "min_passing_clearance_m": 0.042069999999999996,
    "support_before_push_s": 286.67,
    "min_support_during_push_N": 4.414,
    "max_motor_N": 7.897,
    "max_hand_contact_N": 7.897,
    "contact_over_budget_s": 0.0,
    "max_penetration_m": 6.8e-05,
    "door_tray_contact_samples": 0,
    "sim_s": 606.13,
    "wall_s": 606.4843889474869,
    "high_level_calls": 22,
    "codex_usage": {
      "input_tokens": 409889,
      "output_tokens": 8608,
      "reasoning_output_tokens": 4381
    },
    "controller": "learned",
    "policy_mean_inference_ms": 0.4163772371041781
  },
  "thresholds": {
    "support_N": 3.5316000000000005,
    "minimum_clearance_m": 0.01,
    "motor_N": 8.05,
    "contact_peak_N": 12.0,
    "contact_sustained_N": 8.5,
    "contact_over_limit_allowance_s": 0.05,
    "max_penetration_m": 0.004
  }
}