{
  "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": {
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    "min_passing_clearance_m": 0.05009999999999999,
    "support_before_push_s": 287.78999999999996,
    "min_support_during_push_N": 4.513,
    "max_motor_N": 8.0,
    "max_hand_contact_N": 8.008,
    "contact_over_budget_s": 0.0,
    "max_penetration_m": 6.7e-05,
    "door_tray_contact_samples": 0,
    "sim_s": 572.78,
    "wall_s": 573.1241956818849,
    "high_level_calls": 20,
    "codex_usage": {
      "input_tokens": 363483,
      "output_tokens": 7455,
      "reasoning_output_tokens": 3895
    },
    "controller": "learned",
    "policy_mean_inference_ms": 0.3974765742281824
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  "thresholds": {
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    "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
  }
}