{
 "schema": "rtt.certificates/1",
 "design_id": "9a0624079454",
 "design": {
  "name": "concave",
  "rationale": "A 4 mm recessed channel between two lips cradles cylinders and rods on two contact lines.",
  "finger_length_mm": 80,
  "finger_thickness_mm": 10,
  "finger_width_mm": 20,
  "bend_angle_deg": 0,
  "bend_start_frac": 0.5,
  "inner_face": "concave_arc",
  "inner_face_depth_mm": 4,
  "tip_profile": "blunt",
  "tip_size_mm": 0,
  "taper_ratio": 1
 },
 "issued_at": "2026-10-15T16:52:54Z",
 "certificates": [
  {
   "design_id": "9a0624079454",
   "object": "box 80x50x110",
   "controller_setting": 0,
   "task": "task_v1",
   "task_digest": "823e58a28a93",
   "score": 0.8333,
   "category_scores": {
    "placement": 1,
    "shake": 1,
    "push": 0.5
   },
   "tolerance_mm": {
    "x": 3,
    "y": 3
   },
   "passed": "17/18",
   "settings": {
    "grasp_fraction": 0.3,
    "placement_errors_mm": [
     1,
     2,
     3
    ],
    "shake": {
     "amplitude_m": 0.01,
     "frequency_hz": 5,
     "cycles": 5
    },
    "push": {
     "impulse_ns": 0.5,
     "duration_s": 0.02,
     "at_top": true
    },
    "post_perturb_hold_s": 1,
    "jitter": "off",
    "seed": 0
   },
   "tests": [
    {
     "name": "nominal",
     "category": "placement",
     "params": {
      "axis": null,
      "error_mm": 0
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1487,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_x_+1mm",
     "category": "placement",
     "params": {
      "axis": "x",
      "error_mm": 1
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1487,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_x_-1mm",
     "category": "placement",
     "params": {
      "axis": "x",
      "error_mm": -1
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1487,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_x_+2mm",
     "category": "placement",
     "params": {
      "axis": "x",
      "error_mm": 2
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1487,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_x_-2mm",
     "category": "placement",
     "params": {
      "axis": "x",
      "error_mm": -2
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1487,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_x_+3mm",
     "category": "placement",
     "params": {
      "axis": "x",
      "error_mm": 3
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1487,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_x_-3mm",
     "category": "placement",
     "params": {
      "axis": "x",
      "error_mm": -3
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1487,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_y_+1mm",
     "category": "placement",
     "params": {
      "axis": "y",
      "error_mm": 1
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1486,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_y_-1mm",
     "category": "placement",
     "params": {
      "axis": "y",
      "error_mm": -1
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1485,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_y_+2mm",
     "category": "placement",
     "params": {
      "axis": "y",
      "error_mm": 2
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1487,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_y_-2mm",
     "category": "placement",
     "params": {
      "axis": "y",
      "error_mm": -2
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1487,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_y_+3mm",
     "category": "placement",
     "params": {
      "axis": "y",
      "error_mm": 3
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1487,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_y_-3mm",
     "category": "placement",
     "params": {
      "axis": "y",
      "error_mm": -3
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1487,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "shake_x",
     "category": "shake",
     "params": {
      "axis": "x",
      "amplitude_m": 0.01,
      "frequency_hz": 5,
      "cycles": 5,
      "peak_accel_m_s2": 9.87
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1487,
     "hold_time_s": 2.78,
     "flags": []
    },
    {
     "name": "shake_y",
     "category": "shake",
     "params": {
      "axis": "y",
      "amplitude_m": 0.01,
      "frequency_hz": 5,
      "cycles": 5,
      "peak_accel_m_s2": 9.87
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1487,
     "hold_time_s": 2.78,
     "flags": []
    },
    {
     "name": "shake_z",
     "category": "shake",
     "params": {
      "axis": "z",
      "amplitude_m": 0.01,
      "frequency_hz": 5,
      "cycles": 5,
      "peak_accel_m_s2": 9.87
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1571,
     "hold_time_s": 2.78,
     "flags": []
    },
    {
     "name": "push_x",
     "category": "push",
     "params": {
      "axis": "x",
      "impulse_ns": 0.5,
      "duration_s": 0.02,
      "force_n": 25,
      "height_above_com_m": 0.055
     },
     "success": false,
     "failure_mode": "unstable_hold",
     "max_lift_m": 0.1487,
     "hold_time_s": 0.78,
     "flags": [
      "penetration"
     ]
    },
    {
     "name": "push_y",
     "category": "push",
     "params": {
      "axis": "y",
      "impulse_ns": 0.5,
      "duration_s": 0.02,
      "force_n": 25,
      "height_above_com_m": 0.055
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1487,
     "hold_time_s": 2.01,
     "flags": []
    }
   ]
  },
  {
   "design_id": "9a0624079454",
   "object": "box 140x40x60",
   "controller_setting": 0,
   "task": "task_v1",
   "task_digest": "823e58a28a93",
   "score": 0.7222,
   "category_scores": {
    "placement": 1,
    "shake": 0.6667,
    "push": 0.5
   },
   "tolerance_mm": {
    "x": 3,
    "y": 3
   },
   "passed": "16/18",
   "settings": {
    "grasp_fraction": 0.3,
    "placement_errors_mm": [
     1,
     2,
     3
    ],
    "shake": {
     "amplitude_m": 0.01,
     "frequency_hz": 5,
     "cycles": 5
    },
    "push": {
     "impulse_ns": 0.5,
     "duration_s": 0.02,
     "at_top": true
    },
    "post_perturb_hold_s": 1,
    "jitter": "off",
    "seed": 0
   },
   "tests": [
    {
     "name": "nominal",
     "category": "placement",
     "params": {
      "axis": null,
      "error_mm": 0
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1477,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_x_+1mm",
     "category": "placement",
     "params": {
      "axis": "x",
      "error_mm": 1
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1477,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_x_-1mm",
     "category": "placement",
     "params": {
      "axis": "x",
      "error_mm": -1
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1477,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_x_+2mm",
     "category": "placement",
     "params": {
      "axis": "x",
      "error_mm": 2
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1477,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_x_-2mm",
     "category": "placement",
     "params": {
      "axis": "x",
      "error_mm": -2
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1477,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_x_+3mm",
     "category": "placement",
     "params": {
      "axis": "x",
      "error_mm": 3
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1477,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_x_-3mm",
     "category": "placement",
     "params": {
      "axis": "x",
      "error_mm": -3
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1477,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_y_+1mm",
     "category": "placement",
     "params": {
      "axis": "y",
      "error_mm": 1
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1477,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_y_-1mm",
     "category": "placement",
     "params": {
      "axis": "y",
      "error_mm": -1
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1477,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_y_+2mm",
     "category": "placement",
     "params": {
      "axis": "y",
      "error_mm": 2
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1477,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_y_-2mm",
     "category": "placement",
     "params": {
      "axis": "y",
      "error_mm": -2
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1477,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_y_+3mm",
     "category": "placement",
     "params": {
      "axis": "y",
      "error_mm": 3
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1477,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_y_-3mm",
     "category": "placement",
     "params": {
      "axis": "y",
      "error_mm": -3
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1477,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "shake_x",
     "category": "shake",
     "params": {
      "axis": "x",
      "amplitude_m": 0.01,
      "frequency_hz": 5,
      "cycles": 5,
      "peak_accel_m_s2": 9.87
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1477,
     "hold_time_s": 2.77,
     "flags": []
    },
    {
     "name": "shake_y",
     "category": "shake",
     "params": {
      "axis": "y",
      "amplitude_m": 0.01,
      "frequency_hz": 5,
      "cycles": 5,
      "peak_accel_m_s2": 9.87
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1477,
     "hold_time_s": 2.77,
     "flags": []
    },
    {
     "name": "shake_z",
     "category": "shake",
     "params": {
      "axis": "z",
      "amplitude_m": 0.01,
      "frequency_hz": 5,
      "cycles": 5,
      "peak_accel_m_s2": 9.87
     },
     "success": false,
     "failure_mode": "unstable_hold",
     "max_lift_m": 0.1528,
     "hold_time_s": 0.94,
     "flags": [
      "penetration"
     ]
    },
    {
     "name": "push_x",
     "category": "push",
     "params": {
      "axis": "x",
      "impulse_ns": 0.5,
      "duration_s": 0.02,
      "force_n": 25,
      "height_above_com_m": 0.03
     },
     "success": false,
     "failure_mode": "unstable_hold",
     "max_lift_m": 0.1477,
     "hold_time_s": 0.77,
     "flags": [
      "penetration"
     ]
    },
    {
     "name": "push_y",
     "category": "push",
     "params": {
      "axis": "y",
      "impulse_ns": 0.5,
      "duration_s": 0.02,
      "force_n": 25,
      "height_above_com_m": 0.03
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1477,
     "hold_time_s": 2.01,
     "flags": []
    }
   ]
  },
  {
   "design_id": "9a0624079454",
   "object": "box 160x30x30",
   "controller_setting": 2,
   "task": "task_v1",
   "task_digest": "823e58a28a93",
   "score": 0.8333,
   "category_scores": {
    "placement": 1,
    "shake": 1,
    "push": 0.5
   },
   "tolerance_mm": {
    "x": 3,
    "y": 3
   },
   "passed": "17/18",
   "settings": {
    "grasp_fraction": 0.7,
    "placement_errors_mm": [
     1,
     2,
     3
    ],
    "shake": {
     "amplitude_m": 0.01,
     "frequency_hz": 5,
     "cycles": 5
    },
    "push": {
     "impulse_ns": 0.5,
     "duration_s": 0.02,
     "at_top": true
    },
    "post_perturb_hold_s": 1,
    "jitter": "off",
    "seed": 0
   },
   "tests": [
    {
     "name": "nominal",
     "category": "placement",
     "params": {
      "axis": null,
      "error_mm": 0
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.149,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_x_+1mm",
     "category": "placement",
     "params": {
      "axis": "x",
      "error_mm": 1
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.149,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_x_-1mm",
     "category": "placement",
     "params": {
      "axis": "x",
      "error_mm": -1
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.149,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_x_+2mm",
     "category": "placement",
     "params": {
      "axis": "x",
      "error_mm": 2
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.149,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_x_-2mm",
     "category": "placement",
     "params": {
      "axis": "x",
      "error_mm": -2
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.149,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_x_+3mm",
     "category": "placement",
     "params": {
      "axis": "x",
      "error_mm": 3
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.149,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_x_-3mm",
     "category": "placement",
     "params": {
      "axis": "x",
      "error_mm": -3
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.149,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_y_+1mm",
     "category": "placement",
     "params": {
      "axis": "y",
      "error_mm": 1
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.149,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_y_-1mm",
     "category": "placement",
     "params": {
      "axis": "y",
      "error_mm": -1
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.149,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_y_+2mm",
     "category": "placement",
     "params": {
      "axis": "y",
      "error_mm": 2
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.149,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_y_-2mm",
     "category": "placement",
     "params": {
      "axis": "y",
      "error_mm": -2
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.149,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_y_+3mm",
     "category": "placement",
     "params": {
      "axis": "y",
      "error_mm": 3
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.149,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_y_-3mm",
     "category": "placement",
     "params": {
      "axis": "y",
      "error_mm": -3
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.149,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "shake_x",
     "category": "shake",
     "params": {
      "axis": "x",
      "amplitude_m": 0.01,
      "frequency_hz": 5,
      "cycles": 5,
      "peak_accel_m_s2": 9.87
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.149,
     "hold_time_s": 2.78,
     "flags": []
    },
    {
     "name": "shake_y",
     "category": "shake",
     "params": {
      "axis": "y",
      "amplitude_m": 0.01,
      "frequency_hz": 5,
      "cycles": 5,
      "peak_accel_m_s2": 9.87
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.149,
     "hold_time_s": 2.78,
     "flags": []
    },
    {
     "name": "shake_z",
     "category": "shake",
     "params": {
      "axis": "z",
      "amplitude_m": 0.01,
      "frequency_hz": 5,
      "cycles": 5,
      "peak_accel_m_s2": 9.87
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1573,
     "hold_time_s": 2.78,
     "flags": []
    },
    {
     "name": "push_x",
     "category": "push",
     "params": {
      "axis": "x",
      "impulse_ns": 0.5,
      "duration_s": 0.02,
      "force_n": 25,
      "height_above_com_m": 0.015
     },
     "success": false,
     "failure_mode": "unstable_hold",
     "max_lift_m": 0.149,
     "hold_time_s": 0.78,
     "flags": [
      "penetration"
     ]
    },
    {
     "name": "push_y",
     "category": "push",
     "params": {
      "axis": "y",
      "impulse_ns": 0.5,
      "duration_s": 0.02,
      "force_n": 25,
      "height_above_com_m": 0.015
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.149,
     "hold_time_s": 2.01,
     "flags": []
    }
   ]
  },
  {
   "design_id": "9a0624079454",
   "object": "box 120x30x80",
   "controller_setting": 0,
   "task": "task_v1",
   "task_digest": "823e58a28a93",
   "score": 0.8333,
   "category_scores": {
    "placement": 1,
    "shake": 1,
    "push": 0.5
   },
   "tolerance_mm": {
    "x": 3,
    "y": 3
   },
   "passed": "17/18",
   "settings": {
    "grasp_fraction": 0.3,
    "placement_errors_mm": [
     1,
     2,
     3
    ],
    "shake": {
     "amplitude_m": 0.01,
     "frequency_hz": 5,
     "cycles": 5
    },
    "push": {
     "impulse_ns": 0.5,
     "duration_s": 0.02,
     "at_top": true
    },
    "post_perturb_hold_s": 1,
    "jitter": "off",
    "seed": 0
   },
   "tests": [
    {
     "name": "nominal",
     "category": "placement",
     "params": {
      "axis": null,
      "error_mm": 0
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1481,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_x_+1mm",
     "category": "placement",
     "params": {
      "axis": "x",
      "error_mm": 1
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1481,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_x_-1mm",
     "category": "placement",
     "params": {
      "axis": "x",
      "error_mm": -1
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1481,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_x_+2mm",
     "category": "placement",
     "params": {
      "axis": "x",
      "error_mm": 2
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1481,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_x_-2mm",
     "category": "placement",
     "params": {
      "axis": "x",
      "error_mm": -2
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1481,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_x_+3mm",
     "category": "placement",
     "params": {
      "axis": "x",
      "error_mm": 3
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1481,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_x_-3mm",
     "category": "placement",
     "params": {
      "axis": "x",
      "error_mm": -3
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1481,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_y_+1mm",
     "category": "placement",
     "params": {
      "axis": "y",
      "error_mm": 1
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.148,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_y_-1mm",
     "category": "placement",
     "params": {
      "axis": "y",
      "error_mm": -1
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.148,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_y_+2mm",
     "category": "placement",
     "params": {
      "axis": "y",
      "error_mm": 2
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.148,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_y_-2mm",
     "category": "placement",
     "params": {
      "axis": "y",
      "error_mm": -2
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.148,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_y_+3mm",
     "category": "placement",
     "params": {
      "axis": "y",
      "error_mm": 3
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.148,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_y_-3mm",
     "category": "placement",
     "params": {
      "axis": "y",
      "error_mm": -3
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.148,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "shake_x",
     "category": "shake",
     "params": {
      "axis": "x",
      "amplitude_m": 0.01,
      "frequency_hz": 5,
      "cycles": 5,
      "peak_accel_m_s2": 9.87
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1481,
     "hold_time_s": 2.78,
     "flags": []
    },
    {
     "name": "shake_y",
     "category": "shake",
     "params": {
      "axis": "y",
      "amplitude_m": 0.01,
      "frequency_hz": 5,
      "cycles": 5,
      "peak_accel_m_s2": 9.87
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1481,
     "hold_time_s": 2.78,
     "flags": []
    },
    {
     "name": "shake_z",
     "category": "shake",
     "params": {
      "axis": "z",
      "amplitude_m": 0.01,
      "frequency_hz": 5,
      "cycles": 5,
      "peak_accel_m_s2": 9.87
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1568,
     "hold_time_s": 2.78,
     "flags": []
    },
    {
     "name": "push_x",
     "category": "push",
     "params": {
      "axis": "x",
      "impulse_ns": 0.5,
      "duration_s": 0.02,
      "force_n": 25,
      "height_above_com_m": 0.04
     },
     "success": false,
     "failure_mode": "unstable_hold",
     "max_lift_m": 0.1481,
     "hold_time_s": 0.78,
     "flags": [
      "penetration"
     ]
    },
    {
     "name": "push_y",
     "category": "push",
     "params": {
      "axis": "y",
      "impulse_ns": 0.5,
      "duration_s": 0.02,
      "force_n": 25,
      "height_above_com_m": 0.04
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1481,
     "hold_time_s": 2.01,
     "flags": []
    }
   ]
  },
  {
   "design_id": "9a0624079454",
   "object": "cylinder 25x110",
   "controller_setting": 0,
   "task": "task_v1",
   "task_digest": "823e58a28a93",
   "score": 1,
   "category_scores": {
    "placement": 1,
    "shake": 1,
    "push": 1
   },
   "tolerance_mm": {
    "x": 3,
    "y": 3
   },
   "passed": "18/18",
   "settings": {
    "grasp_fraction": 0.3,
    "placement_errors_mm": [
     1,
     2,
     3
    ],
    "shake": {
     "amplitude_m": 0.01,
     "frequency_hz": 5,
     "cycles": 5
    },
    "push": {
     "impulse_ns": 0.5,
     "duration_s": 0.02,
     "at_top": true
    },
    "post_perturb_hold_s": 1,
    "jitter": "off",
    "seed": 0
   },
   "tests": [
    {
     "name": "nominal",
     "category": "placement",
     "params": {
      "axis": null,
      "error_mm": 0
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1493,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_x_+1mm",
     "category": "placement",
     "params": {
      "axis": "x",
      "error_mm": 1
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1493,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_x_-1mm",
     "category": "placement",
     "params": {
      "axis": "x",
      "error_mm": -1
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1493,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_x_+2mm",
     "category": "placement",
     "params": {
      "axis": "x",
      "error_mm": 2
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1493,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_x_-2mm",
     "category": "placement",
     "params": {
      "axis": "x",
      "error_mm": -2
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1493,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_x_+3mm",
     "category": "placement",
     "params": {
      "axis": "x",
      "error_mm": 3
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1493,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_x_-3mm",
     "category": "placement",
     "params": {
      "axis": "x",
      "error_mm": -3
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1493,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_y_+1mm",
     "category": "placement",
     "params": {
      "axis": "y",
      "error_mm": 1
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1493,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_y_-1mm",
     "category": "placement",
     "params": {
      "axis": "y",
      "error_mm": -1
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1493,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_y_+2mm",
     "category": "placement",
     "params": {
      "axis": "y",
      "error_mm": 2
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1494,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_y_-2mm",
     "category": "placement",
     "params": {
      "axis": "y",
      "error_mm": -2
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1494,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_y_+3mm",
     "category": "placement",
     "params": {
      "axis": "y",
      "error_mm": 3
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1494,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_y_-3mm",
     "category": "placement",
     "params": {
      "axis": "y",
      "error_mm": -3
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1494,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "shake_x",
     "category": "shake",
     "params": {
      "axis": "x",
      "amplitude_m": 0.01,
      "frequency_hz": 5,
      "cycles": 5,
      "peak_accel_m_s2": 9.87
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1493,
     "hold_time_s": 2.78,
     "flags": []
    },
    {
     "name": "shake_y",
     "category": "shake",
     "params": {
      "axis": "y",
      "amplitude_m": 0.01,
      "frequency_hz": 5,
      "cycles": 5,
      "peak_accel_m_s2": 9.87
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1493,
     "hold_time_s": 2.78,
     "flags": []
    },
    {
     "name": "shake_z",
     "category": "shake",
     "params": {
      "axis": "z",
      "amplitude_m": 0.01,
      "frequency_hz": 5,
      "cycles": 5,
      "peak_accel_m_s2": 9.87
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1575,
     "hold_time_s": 2.78,
     "flags": []
    },
    {
     "name": "push_x",
     "category": "push",
     "params": {
      "axis": "x",
      "impulse_ns": 0.5,
      "duration_s": 0.02,
      "force_n": 25,
      "height_above_com_m": 0.055
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1495,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "push_y",
     "category": "push",
     "params": {
      "axis": "y",
      "impulse_ns": 0.5,
      "duration_s": 0.02,
      "force_n": 25,
      "height_above_com_m": 0.055
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1494,
     "hold_time_s": 2.01,
     "flags": []
    }
   ]
  },
  {
   "design_id": "9a0624079454",
   "object": "cylinder 6x100",
   "controller_setting": 0,
   "task": "task_v1",
   "task_digest": "823e58a28a93",
   "score": 0.8333,
   "category_scores": {
    "placement": 1,
    "shake": 1,
    "push": 0.5
   },
   "tolerance_mm": {
    "x": 3,
    "y": 3
   },
   "passed": "17/18",
   "settings": {
    "grasp_fraction": 0.3,
    "placement_errors_mm": [
     1,
     2,
     3
    ],
    "shake": {
     "amplitude_m": 0.01,
     "frequency_hz": 5,
     "cycles": 5
    },
    "push": {
     "impulse_ns": 0.5,
     "duration_s": 0.02,
     "at_top": true
    },
    "post_perturb_hold_s": 1,
    "jitter": "off",
    "seed": 0
   },
   "tests": [
    {
     "name": "nominal",
     "category": "placement",
     "params": {
      "axis": null,
      "error_mm": 0
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.15,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_x_+1mm",
     "category": "placement",
     "params": {
      "axis": "x",
      "error_mm": 1
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.15,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_x_-1mm",
     "category": "placement",
     "params": {
      "axis": "x",
      "error_mm": -1
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.15,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_x_+2mm",
     "category": "placement",
     "params": {
      "axis": "x",
      "error_mm": 2
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.15,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_x_-2mm",
     "category": "placement",
     "params": {
      "axis": "x",
      "error_mm": -2
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.15,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_x_+3mm",
     "category": "placement",
     "params": {
      "axis": "x",
      "error_mm": 3
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.15,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_x_-3mm",
     "category": "placement",
     "params": {
      "axis": "x",
      "error_mm": -3
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.15,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_y_+1mm",
     "category": "placement",
     "params": {
      "axis": "y",
      "error_mm": 1
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.15,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_y_-1mm",
     "category": "placement",
     "params": {
      "axis": "y",
      "error_mm": -1
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.15,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_y_+2mm",
     "category": "placement",
     "params": {
      "axis": "y",
      "error_mm": 2
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.15,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_y_-2mm",
     "category": "placement",
     "params": {
      "axis": "y",
      "error_mm": -2
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.15,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_y_+3mm",
     "category": "placement",
     "params": {
      "axis": "y",
      "error_mm": 3
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.15,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_y_-3mm",
     "category": "placement",
     "params": {
      "axis": "y",
      "error_mm": -3
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.15,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "shake_x",
     "category": "shake",
     "params": {
      "axis": "x",
      "amplitude_m": 0.01,
      "frequency_hz": 5,
      "cycles": 5,
      "peak_accel_m_s2": 9.87
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.15,
     "hold_time_s": 2.79,
     "flags": []
    },
    {
     "name": "shake_y",
     "category": "shake",
     "params": {
      "axis": "y",
      "amplitude_m": 0.01,
      "frequency_hz": 5,
      "cycles": 5,
      "peak_accel_m_s2": 9.87
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.15,
     "hold_time_s": 2.79,
     "flags": []
    },
    {
     "name": "shake_z",
     "category": "shake",
     "params": {
      "axis": "z",
      "amplitude_m": 0.01,
      "frequency_hz": 5,
      "cycles": 5,
      "peak_accel_m_s2": 9.87
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1578,
     "hold_time_s": 2.79,
     "flags": []
    },
    {
     "name": "push_x",
     "category": "push",
     "params": {
      "axis": "x",
      "impulse_ns": 0.5,
      "duration_s": 0.02,
      "force_n": 25,
      "height_above_com_m": 0.05
     },
     "success": false,
     "failure_mode": "unstable_hold",
     "max_lift_m": 0.1507,
     "hold_time_s": 0.8,
     "flags": [
      "speed_cap"
     ]
    },
    {
     "name": "push_y",
     "category": "push",
     "params": {
      "axis": "y",
      "impulse_ns": 0.5,
      "duration_s": 0.02,
      "force_n": 25,
      "height_above_com_m": 0.05
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.15,
     "hold_time_s": 2.01,
     "flags": []
    }
   ]
  },
  {
   "design_id": "9a0624079454",
   "object": "rod 3x120",
   "controller_setting": 1,
   "task": "task_v1",
   "task_digest": "823e58a28a93",
   "score": 0.3333,
   "category_scores": {
    "placement": 1,
    "shake": 0,
    "push": 0
   },
   "tolerance_mm": {
    "x": 3,
    "y": 3
   },
   "passed": "13/18",
   "settings": {
    "grasp_fraction": 0.5,
    "placement_errors_mm": [
     1,
     2,
     3
    ],
    "shake": {
     "amplitude_m": 0.01,
     "frequency_hz": 5,
     "cycles": 5
    },
    "push": {
     "impulse_ns": 0.5,
     "duration_s": 0.02,
     "at_top": true
    },
    "post_perturb_hold_s": 1,
    "jitter": "off",
    "seed": 0
   },
   "tests": [
    {
     "name": "nominal",
     "category": "placement",
     "params": {
      "axis": null,
      "error_mm": 0
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1499,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_x_+1mm",
     "category": "placement",
     "params": {
      "axis": "x",
      "error_mm": 1
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1499,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_x_-1mm",
     "category": "placement",
     "params": {
      "axis": "x",
      "error_mm": -1
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1499,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_x_+2mm",
     "category": "placement",
     "params": {
      "axis": "x",
      "error_mm": 2
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1499,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_x_-2mm",
     "category": "placement",
     "params": {
      "axis": "x",
      "error_mm": -2
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1499,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_x_+3mm",
     "category": "placement",
     "params": {
      "axis": "x",
      "error_mm": 3
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1499,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_x_-3mm",
     "category": "placement",
     "params": {
      "axis": "x",
      "error_mm": -3
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1499,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_y_+1mm",
     "category": "placement",
     "params": {
      "axis": "y",
      "error_mm": 1
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.15,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_y_-1mm",
     "category": "placement",
     "params": {
      "axis": "y",
      "error_mm": -1
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.15,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_y_+2mm",
     "category": "placement",
     "params": {
      "axis": "y",
      "error_mm": 2
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.15,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_y_-2mm",
     "category": "placement",
     "params": {
      "axis": "y",
      "error_mm": -2
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.15,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_y_+3mm",
     "category": "placement",
     "params": {
      "axis": "y",
      "error_mm": 3
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.15,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_y_-3mm",
     "category": "placement",
     "params": {
      "axis": "y",
      "error_mm": -3
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.15,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "shake_x",
     "category": "shake",
     "params": {
      "axis": "x",
      "amplitude_m": 0.01,
      "frequency_hz": 5,
      "cycles": 5,
      "peak_accel_m_s2": 9.87
     },
     "success": false,
     "failure_mode": "unstable_hold",
     "max_lift_m": 0.1499,
     "hold_time_s": 2.11,
     "flags": []
    },
    {
     "name": "shake_y",
     "category": "shake",
     "params": {
      "axis": "y",
      "amplitude_m": 0.01,
      "frequency_hz": 5,
      "cycles": 5,
      "peak_accel_m_s2": 9.87
     },
     "success": false,
     "failure_mode": "unstable_hold",
     "max_lift_m": 0.1499,
     "hold_time_s": 2.09,
     "flags": []
    },
    {
     "name": "shake_z",
     "category": "shake",
     "params": {
      "axis": "z",
      "amplitude_m": 0.01,
      "frequency_hz": 5,
      "cycles": 5,
      "peak_accel_m_s2": 9.87
     },
     "success": false,
     "failure_mode": "unstable_hold",
     "max_lift_m": 0.1578,
     "hold_time_s": 1.96,
     "flags": []
    },
    {
     "name": "push_x",
     "category": "push",
     "params": {
      "axis": "x",
      "impulse_ns": 0.5,
      "duration_s": 0.02,
      "force_n": 25,
      "height_above_com_m": 0.003
     },
     "success": false,
     "failure_mode": "unstable_hold",
     "max_lift_m": 0.1499,
     "hold_time_s": 0.79,
     "flags": [
      "speed_cap"
     ]
    },
    {
     "name": "push_y",
     "category": "push",
     "params": {
      "axis": "y",
      "impulse_ns": 0.5,
      "duration_s": 0.02,
      "force_n": 25,
      "height_above_com_m": 0.003
     },
     "success": false,
     "failure_mode": "unstable_hold",
     "max_lift_m": 0.1692,
     "hold_time_s": 0.79,
     "flags": [
      "speed_cap"
     ]
    }
   ]
  },
  {
   "design_id": "9a0624079454",
   "object": "rod 7x140",
   "controller_setting": 0,
   "task": "task_v1",
   "task_digest": "823e58a28a93",
   "score": 0.6667,
   "category_scores": {
    "placement": 1,
    "shake": 1,
    "push": 0
   },
   "tolerance_mm": {
    "x": 3,
    "y": 3
   },
   "passed": "16/18",
   "settings": {
    "grasp_fraction": 0.3,
    "placement_errors_mm": [
     1,
     2,
     3
    ],
    "shake": {
     "amplitude_m": 0.01,
     "frequency_hz": 5,
     "cycles": 5
    },
    "push": {
     "impulse_ns": 0.5,
     "duration_s": 0.02,
     "at_top": true
    },
    "post_perturb_hold_s": 1,
    "jitter": "off",
    "seed": 0
   },
   "tests": [
    {
     "name": "nominal",
     "category": "placement",
     "params": {
      "axis": null,
      "error_mm": 0
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1498,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_x_+1mm",
     "category": "placement",
     "params": {
      "axis": "x",
      "error_mm": 1
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1498,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_x_-1mm",
     "category": "placement",
     "params": {
      "axis": "x",
      "error_mm": -1
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1498,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_x_+2mm",
     "category": "placement",
     "params": {
      "axis": "x",
      "error_mm": 2
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1498,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_x_-2mm",
     "category": "placement",
     "params": {
      "axis": "x",
      "error_mm": -2
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1498,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_x_+3mm",
     "category": "placement",
     "params": {
      "axis": "x",
      "error_mm": 3
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1498,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_x_-3mm",
     "category": "placement",
     "params": {
      "axis": "x",
      "error_mm": -3
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1498,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_y_+1mm",
     "category": "placement",
     "params": {
      "axis": "y",
      "error_mm": 1
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1498,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_y_-1mm",
     "category": "placement",
     "params": {
      "axis": "y",
      "error_mm": -1
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1498,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_y_+2mm",
     "category": "placement",
     "params": {
      "axis": "y",
      "error_mm": 2
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1498,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_y_-2mm",
     "category": "placement",
     "params": {
      "axis": "y",
      "error_mm": -2
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1498,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_y_+3mm",
     "category": "placement",
     "params": {
      "axis": "y",
      "error_mm": 3
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1498,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_y_-3mm",
     "category": "placement",
     "params": {
      "axis": "y",
      "error_mm": -3
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1498,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "shake_x",
     "category": "shake",
     "params": {
      "axis": "x",
      "amplitude_m": 0.01,
      "frequency_hz": 5,
      "cycles": 5,
      "peak_accel_m_s2": 9.87
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1498,
     "hold_time_s": 2.79,
     "flags": []
    },
    {
     "name": "shake_y",
     "category": "shake",
     "params": {
      "axis": "y",
      "amplitude_m": 0.01,
      "frequency_hz": 5,
      "cycles": 5,
      "peak_accel_m_s2": 9.87
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1498,
     "hold_time_s": 2.79,
     "flags": []
    },
    {
     "name": "shake_z",
     "category": "shake",
     "params": {
      "axis": "z",
      "amplitude_m": 0.01,
      "frequency_hz": 5,
      "cycles": 5,
      "peak_accel_m_s2": 9.87
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1577,
     "hold_time_s": 2.79,
     "flags": []
    },
    {
     "name": "push_x",
     "category": "push",
     "params": {
      "axis": "x",
      "impulse_ns": 0.5,
      "duration_s": 0.02,
      "force_n": 25,
      "height_above_com_m": 0.007
     },
     "success": false,
     "failure_mode": "unstable_hold",
     "max_lift_m": 0.1498,
     "hold_time_s": 0.8,
     "flags": [
      "speed_cap"
     ]
    },
    {
     "name": "push_y",
     "category": "push",
     "params": {
      "axis": "y",
      "impulse_ns": 0.5,
      "duration_s": 0.02,
      "force_n": 25,
      "height_above_com_m": 0.007
     },
     "success": false,
     "failure_mode": "unstable_hold",
     "max_lift_m": 0.1537,
     "hold_time_s": 0.79,
     "flags": [
      "penetration"
     ]
    }
   ]
  },
  {
   "design_id": "9a0624079454",
   "object": "rod 14x180",
   "controller_setting": 0,
   "task": "task_v1",
   "task_digest": "823e58a28a93",
   "score": 0.8333,
   "category_scores": {
    "placement": 1,
    "shake": 1,
    "push": 0.5
   },
   "tolerance_mm": {
    "x": 3,
    "y": 3
   },
   "passed": "17/18",
   "settings": {
    "grasp_fraction": 0.3,
    "placement_errors_mm": [
     1,
     2,
     3
    ],
    "shake": {
     "amplitude_m": 0.01,
     "frequency_hz": 5,
     "cycles": 5
    },
    "push": {
     "impulse_ns": 0.5,
     "duration_s": 0.02,
     "at_top": true
    },
    "post_perturb_hold_s": 1,
    "jitter": "off",
    "seed": 0
   },
   "tests": [
    {
     "name": "nominal",
     "category": "placement",
     "params": {
      "axis": null,
      "error_mm": 0
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1492,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_x_+1mm",
     "category": "placement",
     "params": {
      "axis": "x",
      "error_mm": 1
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1492,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_x_-1mm",
     "category": "placement",
     "params": {
      "axis": "x",
      "error_mm": -1
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1492,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_x_+2mm",
     "category": "placement",
     "params": {
      "axis": "x",
      "error_mm": 2
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1492,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_x_-2mm",
     "category": "placement",
     "params": {
      "axis": "x",
      "error_mm": -2
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1492,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_x_+3mm",
     "category": "placement",
     "params": {
      "axis": "x",
      "error_mm": 3
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1492,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_x_-3mm",
     "category": "placement",
     "params": {
      "axis": "x",
      "error_mm": -3
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1492,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_y_+1mm",
     "category": "placement",
     "params": {
      "axis": "y",
      "error_mm": 1
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1492,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_y_-1mm",
     "category": "placement",
     "params": {
      "axis": "y",
      "error_mm": -1
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1492,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_y_+2mm",
     "category": "placement",
     "params": {
      "axis": "y",
      "error_mm": 2
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1492,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_y_-2mm",
     "category": "placement",
     "params": {
      "axis": "y",
      "error_mm": -2
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1492,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_y_+3mm",
     "category": "placement",
     "params": {
      "axis": "y",
      "error_mm": 3
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1492,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "offset_y_-3mm",
     "category": "placement",
     "params": {
      "axis": "y",
      "error_mm": -3
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1492,
     "hold_time_s": 2.01,
     "flags": []
    },
    {
     "name": "shake_x",
     "category": "shake",
     "params": {
      "axis": "x",
      "amplitude_m": 0.01,
      "frequency_hz": 5,
      "cycles": 5,
      "peak_accel_m_s2": 9.87
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1492,
     "hold_time_s": 2.78,
     "flags": []
    },
    {
     "name": "shake_y",
     "category": "shake",
     "params": {
      "axis": "y",
      "amplitude_m": 0.01,
      "frequency_hz": 5,
      "cycles": 5,
      "peak_accel_m_s2": 9.87
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1492,
     "hold_time_s": 2.78,
     "flags": []
    },
    {
     "name": "shake_z",
     "category": "shake",
     "params": {
      "axis": "z",
      "amplitude_m": 0.01,
      "frequency_hz": 5,
      "cycles": 5,
      "peak_accel_m_s2": 9.87
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1574,
     "hold_time_s": 2.78,
     "flags": []
    },
    {
     "name": "push_x",
     "category": "push",
     "params": {
      "axis": "x",
      "impulse_ns": 0.5,
      "duration_s": 0.02,
      "force_n": 25,
      "height_above_com_m": 0.014
     },
     "success": false,
     "failure_mode": "unstable_hold",
     "max_lift_m": 0.1492,
     "hold_time_s": 0.78,
     "flags": [
      "penetration"
     ]
    },
    {
     "name": "push_y",
     "category": "push",
     "params": {
      "axis": "y",
      "impulse_ns": 0.5,
      "duration_s": 0.02,
      "force_n": 25,
      "height_above_com_m": 0.014
     },
     "success": true,
     "failure_mode": null,
     "max_lift_m": 0.1557,
     "hold_time_s": 2.01,
     "flags": []
    }
   ]
  }
 ],
 "provenance": {
  "kind": "local",
  "executor": "cpu",
  "engine": "MuJoCo 3.15.0",
  "host": "workstation",
  "wall_s": 14,
  "sim_steps": null,
  "note": "rtt certify --entrant concave, 9 training objects, 8 workers"
 }
}