{
  "schema_version": "1.0.0",
  "run_id": "RUN-OPENARM-ORCA-M2-001",
  "scene": "armbench_derived_readiness",
  "backend": "mujoco",
  "backend_version": "3.13.0",
  "platform": "Darwin arm64",
  "steps": 1000,
  "duration_s": 2.0000000000000013,
  "arm_dof": 7,
  "hand_dof": 17,
  "finite_state": true,
  "maximum_joint_drift_rad": 0.008976279860409482,
  "threshold_rad": 0.02,
  "gate": "PASS",
  "mount_calibrated": false,
  "object_asset_source": "none",
  "official_armbench_episode": false,
  "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",
    "controller": "gravity_compensated_joint_pd",
    "rendering": "not_captured"
  },
  "limitations": [
    "The wrist mount transform is simulated and has not been physically calibrated.",
    "No ARMBench object asset or official ARMBench episode is included.",
    "This run validates composition and controlled physics stability, not grasp success.",
    "Native offscreen rendering was not captured in this macOS execution context."
  ],
  "terminal_sample": {
    "step": 1000,
    "time_s": 2.0000000000000013,
    "contacts": 0,
    "openarm_joint_4_rad": 1.199999939168477,
    "orca_maximum_joint_drift_rad": 0.008976279860409482
  }
}