{"run_id": "cdfa16f3-8f94-4f1f-8aa8-975ae58b12d1", "seed": 7, "time": 0.0, "type": "reset"}
{"run_id": "cdfa16f3-8f94-4f1f-8aa8-975ae58b12d1", "seed": 7, "time": 0.0, "type": "inspection_model", "noise_std": 0.0, "bias": 0.0, "expanded_uncertainty": 1e-05, "dimensional_unit": "m"}
{"run_id": "cdfa16f3-8f94-4f1f-8aa8-975ae58b12d1", "seed": 7, "time": 0.5, "type": "transfer_start", "part_id": "FINISH-INTEGRATION-001", "source": "raw_storage", "destination": "finisher"}
{"run_id": "cdfa16f3-8f94-4f1f-8aa8-975ae58b12d1", "seed": 7, "time": 0.5, "type": "motion_start", "target": [-1.55, -0.45, 1.05], "samples": 257, "command_duration": 5.890486225306917, "command_velocity_bound": 0.5, "command_acceleration_bound": 0.27438550431106745}
{"run_id": "cdfa16f3-8f94-4f1f-8aa8-975ae58b12d1", "seed": 7, "time": 6.394, "type": "motion_end", "position_error": 1.4455798484836114e-05, "angle_error": 0.0003963614596195866, "observed_joint_velocity": 0.4988714819829228, "observed_joint_acceleration": 0.2600894955036709}
{"run_id": "cdfa16f3-8f94-4f1f-8aa8-975ae58b12d1", "seed": 7, "time": 6.394, "type": "motion_start", "target": [-1.55, -0.45, 0.85], "samples": 72, "command_duration": 9.37432343380033, "command_velocity_bound": 0.09627183210773627, "command_acceleration_bound": 0.05760376851741088}
{"run_id": "cdfa16f3-8f94-4f1f-8aa8-975ae58b12d1", "seed": 7, "time": 15.772, "type": "motion_end", "position_error": 1.0652033059445403e-05, "angle_error": 3.261759887615184e-06, "observed_joint_velocity": 0.09618519746395691, "observed_joint_acceleration": 1.799344963931008}
{"run_id": "cdfa16f3-8f94-4f1f-8aa8-975ae58b12d1", "seed": 7, "time": 18.372, "type": "grasp_verified", "contacts": {"left": true, "right": true}, "drift": 8.702318339487813e-07, "mode": "contact_only"}
{"run_id": "cdfa16f3-8f94-4f1f-8aa8-975ae58b12d1", "seed": 7, "time": 18.372, "type": "motion_start", "target": [-1.55, -0.45, 1.1], "samples": 85, "command_duration": 6.695551645835253, "command_velocity_bound": 0.16214683365506116, "command_acceleration_bound": 0.15081431091634478}
{"run_id": "cdfa16f3-8f94-4f1f-8aa8-975ae58b12d1", "seed": 7, "time": 25.07, "type": "motion_end", "position_error": 0.00017275142894784357, "angle_error": 0.0002097880333847094, "observed_joint_velocity": 0.16186153144409274, "observed_joint_acceleration": 0.07428177754609244}
{"run_id": "cdfa16f3-8f94-4f1f-8aa8-975ae58b12d1", "seed": 7, "time": 25.07, "type": "motion_start", "target": [-1.45, -0.1999976615522049, 1.2], "samples": 154, "command_duration": 4.885491180930251, "command_velocity_bound": 0.37252707616414427, "command_acceleration_bound": 1.0000000000000002}
{"run_id": "cdfa16f3-8f94-4f1f-8aa8-975ae58b12d1", "seed": 7, "time": 29.958, "type": "motion_end", "position_error": 0.00015174204334027458, "angle_error": 0.00016858395090144692, "observed_joint_velocity": 0.36992897424853216, "observed_joint_acceleration": 0.4126511212130316}
{"run_id": "cdfa16f3-8f94-4f1f-8aa8-975ae58b12d1", "seed": 7, "time": 29.958, "type": "motion_start", "target": [-1.75, -0.29999766155220486, 1.2], "samples": 241, "command_duration": 5.94804130954271, "command_velocity_bound": 0.4537490644765831, "command_acceleration_bound": 1.0}
{"run_id": "cdfa16f3-8f94-4f1f-8aa8-975ae58b12d1", "seed": 7, "time": 35.91, "type": "motion_end", "position_error": 0.00018087557873201415, "angle_error": 0.00021806223972811303, "observed_joint_velocity": 0.45276043781086495, "observed_joint_acceleration": 1.918321891849664}
{"run_id": "cdfa16f3-8f94-4f1f-8aa8-975ae58b12d1", "seed": 7, "time": 35.91, "type": "base_motion_start", "destination": "aisle_exit", "target": [-0.9, -1.3430002625033132e-05, 0.0]}
{"run_id": "cdfa16f3-8f94-4f1f-8aa8-975ae58b12d1", "seed": 7, "time": 40.574, "type": "base_docked", "station": "aisle_exit", "position_error": 0.00030973428853597884}
{"run_id": "cdfa16f3-8f94-4f1f-8aa8-975ae58b12d1", "seed": 7, "time": 40.574, "type": "base_motion_start", "destination": "aisle_travel", "target": [-0.9, 22.5, 0.0]}
{"run_id": "cdfa16f3-8f94-4f1f-8aa8-975ae58b12d1", "seed": 7, "time": 146.046, "type": "base_docked", "station": "aisle_travel", "position_error": 1.3387521445196171e-05}
{"run_id": "cdfa16f3-8f94-4f1f-8aa8-975ae58b12d1", "seed": 7, "time": 146.046, "type": "base_motion_start", "destination": "finisher", "target": [-0.05, 22.5, 0.0]}
{"run_id": "cdfa16f3-8f94-4f1f-8aa8-975ae58b12d1", "seed": 7, "time": 150.49, "type": "base_docked", "station": "finisher", "position_error": 0.00030257750941799916}
{"run_id": "cdfa16f3-8f94-4f1f-8aa8-975ae58b12d1", "seed": 7, "time": 150.49, "type": "motion_start", "target": [-1.27, 22.2, 1.3], "samples": 209, "command_duration": 8.432763926463942, "command_velocity_bound": 0.3015523921158669, "command_acceleration_bound": 0.6253328750767635}
{"run_id": "cdfa16f3-8f94-4f1f-8aa8-975ae58b12d1", "seed": 7, "time": 158.926, "type": "motion_end", "position_error": 0.0003229115972568658, "angle_error": 0.0002447980782242617, "observed_joint_velocity": 0.2996303701754124, "observed_joint_acceleration": 0.18575317338317965}
{"run_id": "cdfa16f3-8f94-4f1f-8aa8-975ae58b12d1", "seed": 7, "time": 158.926, "type": "motion_start", "target": [-1.27, 22.5, 1.42], "samples": 140, "command_duration": 5.049583836776538, "command_velocity_bound": 0.33135256889079673, "command_acceleration_bound": 0.5103739161604129}
{"run_id": "cdfa16f3-8f94-4f1f-8aa8-975ae58b12d1", "seed": 7, "time": 163.978, "type": "motion_end", "position_error": 0.00015623307962205041, "angle_error": 0.0002026885495570893, "observed_joint_velocity": 0.33033674187329676, "observed_joint_acceleration": 0.32733006981511087}
{"run_id": "cdfa16f3-8f94-4f1f-8aa8-975ae58b12d1", "seed": 7, "time": 163.978, "type": "motion_start", "target": [-0.6000000000000001, 22.5, 1.42], "samples": 244, "command_duration": 10.468248155644094, "command_velocity_bound": 0.28532004217844803, "command_acceleration_bound": 0.5397041113225687}
{"run_id": "cdfa16f3-8f94-4f1f-8aa8-975ae58b12d1", "seed": 7, "time": 174.45, "type": "motion_end", "position_error": 0.00025421260535925906, "angle_error": 0.0003170358566515103, "observed_joint_velocity": 0.2818707536931192, "observed_joint_acceleration": 1.611940096322334}
{"run_id": "cdfa16f3-8f94-4f1f-8aa8-975ae58b12d1", "seed": 7, "time": 174.45, "type": "part_pose_target", "part_position": [-0.6000000000000001, 22.5, 1.259], "part_orientation": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "observed_tcp_offset": [0.0011586809274087425, -3.0359374347641076e-06, 0.0011226851621653218], "tcp_target": [-0.6011663239017262, 22.499997072393995, 1.2601147433189699]}
{"run_id": "cdfa16f3-8f94-4f1f-8aa8-975ae58b12d1", "seed": 7, "time": 174.45, "type": "motion_start", "target": [-0.6011663239017262, 22.499997072393995, 1.2601147433189699], "samples": 98, "command_duration": 8.552234043309753, "command_velocity_bound": 0.1384785480767707, "command_acceleration_bound": 0.09667204385407042}
{"run_id": "cdfa16f3-8f94-4f1f-8aa8-975ae58b12d1", "seed": 7, "time": 183.006, "type": "motion_end", "position_error": 0.00025242310650694193, "angle_error": 0.00033649035134356736, "observed_joint_velocity": 0.13826756497956974, "observed_joint_acceleration": 0.37966320194404807}
{"run_id": "cdfa16f3-8f94-4f1f-8aa8-975ae58b12d1", "seed": 7, "time": 183.006, "type": "hybrid_constraint", "constraint": "grasp_hold", "enabled": false}
{"run_id": "cdfa16f3-8f94-4f1f-8aa8-975ae58b12d1", "seed": 7, "time": 184.306, "type": "motion_start", "target": [-0.6000000000000001, 22.5, 1.42], "samples": 98, "command_duration": 4.996549196044357, "command_velocity_bound": 0.23726465466696572, "command_acceleration_bound": 0.2833921049790384}
{"run_id": "cdfa16f3-8f94-4f1f-8aa8-975ae58b12d1", "seed": 7, "time": 189.306, "type": "motion_end", "position_error": 3.352305005393465e-05, "angle_error": 4.89767793193651e-06, "observed_joint_velocity": 0.2365333125601, "observed_joint_acceleration": 0.14531774086717214}
{"run_id": "cdfa16f3-8f94-4f1f-8aa8-975ae58b12d1", "seed": 7, "time": 189.306, "type": "motion_start", "target": [-1.27, 22.5, 1.42], "samples": 244, "command_duration": 10.4689863205214, "command_velocity_bound": 0.285133488371253, "command_acceleration_bound": 0.5359209888903325}
{"run_id": "cdfa16f3-8f94-4f1f-8aa8-975ae58b12d1", "seed": 7, "time": 199.778, "type": "motion_end", "position_error": 2.0667607409594716e-05, "angle_error": 1.248315367910652e-05, "observed_joint_velocity": 0.28187423703321196, "observed_joint_acceleration": 0.8963635442090161}
{"run_id": "cdfa16f3-8f94-4f1f-8aa8-975ae58b12d1", "seed": 7, "time": 199.778, "type": "finisher_release_verified", "passed": true, "release_clearance_m": 0.025, "release_position": [-0.599923614012836, 22.500005044366148, 1.2586997213605127], "settled_position": [-0.5999420766784818, 22.49998632703263, 1.2338909167600556], "support_force_n": 0.9135984808746009, "position_error_m": 0.0001242626832527861, "max_part_velocity_component": 2.2697095355845757e-07, "settling_elapsed_s": 1.3000000000062073, "scope": "Physical short-drop placement on rigid media proxy; no impact damage or abrasive-media fidelity claim", "dynamic_observations": {"physics_samples": 12664, "peak_media_force_n": 7.891505817152443}}
{"run_id": "cdfa16f3-8f94-4f1f-8aa8-975ae58b12d1", "seed": 7, "time": 199.778, "type": "finisher_loaded", "position": [-0.5999423711802292, 22.49998281568294, 1.2338909167600576], "support_force": 0.9135984808746009, "media_model": "rigid bed with controlled short-drop loading; no impact damage model"}
{"run_id": "cdfa16f3-8f94-4f1f-8aa8-975ae58b12d1", "seed": 7, "time": 199.778, "type": "motion_start", "target": [-1.45, 22.29998917526322, 1.2], "samples": 119, "command_duration": 5.430754763596475, "command_velocity_bound": 0.2704107164047806, "command_acceleration_bound": 0.5399788489268994}
{"run_id": "cdfa16f3-8f94-4f1f-8aa8-975ae58b12d1", "seed": 7, "time": 205.212, "type": "motion_end", "position_error": 9.084203492584902e-05, "angle_error": 2.4171538085979924e-05, "observed_joint_velocity": 0.2672986941029323, "observed_joint_acceleration": 0.336714172852686}
{"run_id": "cdfa16f3-8f94-4f1f-8aa8-975ae58b12d1", "seed": 7, "time": 205.212, "type": "motion_start", "target": [-1.75, 22.19998917526322, 1.2], "samples": 211, "command_duration": 6.956701402850465, "command_velocity_bound": 0.35893610930474096, "command_acceleration_bound": 0.9999999999999999}
{"run_id": "cdfa16f3-8f94-4f1f-8aa8-975ae58b12d1", "seed": 7, "time": 212.172, "type": "motion_end", "position_error": 9.687667641183355e-05, "angle_error": 6.216904446504668e-06, "observed_joint_velocity": 0.3583860124516873, "observed_joint_acceleration": 1.127983870898834}
{"run_id": "cdfa16f3-8f94-4f1f-8aa8-975ae58b12d1", "seed": 7, "time": 212.172, "type": "base_motion_start", "destination": "finisher_clear", "target": [-0.9, 22.5, 0.0]}
{"run_id": "cdfa16f3-8f94-4f1f-8aa8-975ae58b12d1", "seed": 7, "time": 216.616, "type": "base_docked", "station": "finisher_clear", "position_error": 0.0003036155111826311}
{"run_id": "cdfa16f3-8f94-4f1f-8aa8-975ae58b12d1", "seed": 7, "time": 216.616, "type": "transfer_end", "part_id": "FINISH-INTEGRATION-001", "destination": "finisher"}
{"run_id": "cdfa16f3-8f94-4f1f-8aa8-975ae58b12d1", "seed": 7, "time": 216.616, "type": "process_start", "part_id": "FINISH-INTEGRATION-001", "operation": "TRIAL_FINISH", "station": "finisher"}
{"run_id": "cdfa16f3-8f94-4f1f-8aa8-975ae58b12d1", "seed": 7, "time": 216.616, "type": "finishing_phase_start", "operation": "TRIAL_FINISH", "station": "finisher", "phase": "grinding", "duration": 3.0}
{"run_id": "cdfa16f3-8f94-4f1f-8aa8-975ae58b12d1", "seed": 7, "time": 219.616, "type": "finishing_phase_end", "operation": "TRIAL_FINISH", "station": "finisher", "phase": "grinding", "surface_quality_model": 0.8}
{"run_id": "cdfa16f3-8f94-4f1f-8aa8-975ae58b12d1", "seed": 7, "time": 219.616, "type": "finishing_phase_start", "operation": "TRIAL_FINISH", "station": "finisher", "phase": "polishing", "duration": 3.0}
{"run_id": "cdfa16f3-8f94-4f1f-8aa8-975ae58b12d1", "seed": 7, "time": 222.616, "type": "finishing_phase_end", "operation": "TRIAL_FINISH", "station": "finisher", "phase": "polishing", "surface_quality_model": 0.2}
{"run_id": "cdfa16f3-8f94-4f1f-8aa8-975ae58b12d1", "seed": 7, "time": 223.61600000033962, "type": "discharge_start", "position": [-0.5999428249049898, 22.499977405678592, 1.2338909167600602]}
{"run_id": "cdfa16f3-8f94-4f1f-8aa8-975ae58b12d1", "seed": 7, "time": 237.61600000040647, "type": "finisher_return_start"}
{"run_id": "cdfa16f3-8f94-4f1f-8aa8-975ae58b12d1", "seed": 7, "time": 246.61600000044945, "type": "finisher_return_end", "returned_home": true}
{"run_id": "cdfa16f3-8f94-4f1f-8aa8-975ae58b12d1", "seed": 7, "time": 246.61600000044945, "type": "finisher_shuttle_start", "target": -0.7}
{"run_id": "cdfa16f3-8f94-4f1f-8aa8-975ae58b12d1", "seed": 7, "time": 264.02400000053257, "type": "finisher_shuttle_end", "complete": true, "slip": 1.3405655565730135e-07}
{"run_id": "cdfa16f3-8f94-4f1f-8aa8-975ae58b12d1", "seed": 7, "time": 264.02400000053257, "type": "discharge_observation", "passed": true, "mechanism_complete": true, "collisions": [], "commanded_tilt_rad": -2.8, "received": true, "settled": true, "initial_part_position": [-0.5999428249049898, 22.499977405678592, 1.2338909167600602], "part_position": [-1.2487339364385257, 22.486329552334674, 0.5999779270325946], "part_orientation_wxyz": [4.280340490228045e-06, 0.15776364131510165, -0.9874768993304993, 8.215412352795441e-05], "observed_tilt_rad": -2.799999999999993, "sieve_contacts": [["finisher_sieve_26", "part_collision"], ["finisher_sieve_26", "part_collision"], ["finisher_sieve_26", "part_collision"], ["finisher_sieve_26", "part_collision"], ["finisher_sieve_27", "part_collision"], ["finisher_sieve_27", "part_collision"], ["finisher_sieve_27", "part_collision"], ["finisher_sieve_27", "part_collision"], ["finisher_sieve_28", "part_collision"], ["finisher_sieve_28", "part_collision"], ["finisher_sieve_28", "part_collision"], ["finisher_sieve_28", "part_collision"], ["finisher_sieve_29", "part_collision"], ["finisher_sieve_29", "part_collision"], ["finisher_sieve_29", "part_collision"], ["finisher_sieve_29", "part_collision"], ["finisher_sieve_30", "part_collision"], ["finisher_sieve_30", "part_collision"], ["finisher_sieve_30", "part_collision"], ["finisher_sieve_30", "part_collision"]], "returned_home": true, "returned_tilt_rad": -1.4531726746836203e-11, "return_part_displacement": 7.558735338416303e-08, "shuttle_complete": true, "shuttle_slip_m": 1.3405655565730135e-07}
{"run_id": "cdfa16f3-8f94-4f1f-8aa8-975ae58b12d1", "seed": 7, "time": 264.024, "type": "process_end", "part_id": "FINISH-INTEGRATION-001", "operation": "TRIAL_FINISH", "station": "finisher", "surface_quality_model": 0.2}
{"run_id": "cdfa16f3-8f94-4f1f-8aa8-975ae58b12d1", "seed": 7, "time": 264.024, "type": "base_motion_start", "destination": "finisher_pickup", "target": [-0.75, 22.5, 0.0]}
{"run_id": "cdfa16f3-8f94-4f1f-8aa8-975ae58b12d1", "seed": 7, "time": 265.532, "type": "base_docked", "station": "finisher_pickup", "position_error": 0.0001646580351278848}
