{
  "schema_version": "1.0.0",
  "run_id": "RUN-OPENARM-ORCA-CUBE-001",
  "scene_id": "openarm_orca_reference_cube_cycle_v1",
  "backend": "mujoco",
  "backend_version": "3.13.0",
  "platform": "Darwin arm64",
  "seed": 0,
  "success": true,
  "metrics": {
    "physics_steps": 4000,
    "simulated_duration_s": 7.999999999999341,
    "object_lift_height_m": 0.07372444992389499,
    "object_return_error_m": 0.014095323640606965,
    "final_open_hand_error_rad": 0.017708216119649706,
    "contact_steps": 4000,
    "lift_contact_steps": 1600,
    "peak_normal_force_n": 1.3145903243376766,
    "sample_bundles": 201,
    "sampled_contact_events": 1419,
    "sampled_tactile_observations": 1064
  },
  "provenance": {
    "source_type": "simulated",
    "arm_repository": "https://github.com/enactic/openarm_mujoco",
    "arm_source_commit": "161039cd74ea8675fb8197836fe5674659825c75",
    "hand_repository": "https://github.com/orcahand/orcahand_description",
    "hand_source_commit": "b9b349a21ee0238c62b6cf92ae7597027867adf8",
    "object_source": "ORCA reference cube dimensions",
    "controller": "gravity_compensated_joint_pd_plus_orca_position_targets",
    "contact_model": "mujoco_contact_force",
    "mount_calibrated": false,
    "official_armbench_episode": false
  },
  "acceptance": {
    "finite_state": true,
    "lift_height_at_least_0_05_m": true,
    "contact_during_lift": true,
    "return_error_at_most_0_03_m": true,
    "open_hand_error_at_most_0_03_rad": true
  },
  "limitations": [
    "The cube begins resting on the ORCA palm; this is not a table-pick task.",
    "The terminal operation is lower and reopen, not placement onto a separate support surface.",
    "The palm-up mount is derived from simulation model frames and is not physically calibrated.",
    "The object is the ORCA reference cube, not an ARMBench object or official benchmark episode.",
    "All contact and tactile values are simulated, not measured."
  ]
}