{
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    "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
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  "measurements": {
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    "support_before_push_s": 767.5900000000001,
    "min_support_during_push_N": 4.513,
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    "contact_over_budget_s": 0.0,
    "max_penetration_m": 0.000357,
    "door_tray_contact_samples": 0,
    "sim_s": 1662.43,
    "wall_s": 1663.4481441266835,
    "high_level_calls": 22,
    "codex_usage": {
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      "reasoning_output_tokens": 22990
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    "controller": "learned",
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    "contact_sustained_N": 8.5,
    "contact_over_limit_allowance_s": 0.05,
    "max_penetration_m": 0.004
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}