{
  "trials": [
    {
      "case": "aligned",
      "mode": "ik_only",
      "initial_qpos_sha256": "ba8299c966808c2f052d31e05384243cc72e98a201fa0b9428ee47b81e3cbf49",
      "piano_shift_world_m": [
        0.0,
        0.06,
        0.0
      ],
      "initial_error": {
        "position_m": 0.06000000000000005,
        "rotation_rad": 3.650024149988857e-08
      },
      "final_error": {
        "time_seconds": 1.6000000000000012,
        "position_m": 4.991095882862191e-06,
        "rotation_rad": 7.864312816624049e-06
      },
      "success": true,
      "safety_stop": null,
      "model_calls": [],
      "wall_seconds": 0.846657529938966,
      "simulated_seconds": 1.6000000000000012,
      "max_actual_arm_speed_rad_s": 0.34747332235735245,
      "first_sustained_success_seconds": 0.7700000000000006,
      "initial_penetrating_contacts": 0,
      "integrated_position_error": 0.01452682424212464,
      "mean_position_error_m": 0.009079265151327894,
      "max_actual_arm_change_rad": 0.18897975084984786,
      "model_induced_command_distance_rad_seconds": 0.0,
      "qpos_teleported_during_execution": false,
      "song_success_claimed": false
    },
    {
      "case": "aligned",
      "mode": "g05_assisted",
      "initial_qpos_sha256": "ba8299c966808c2f052d31e05384243cc72e98a201fa0b9428ee47b81e3cbf49",
      "piano_shift_world_m": [
        0.0,
        0.06,
        0.0
      ],
      "initial_error": {
        "position_m": 0.06000000000000005,
        "rotation_rad": 3.650024149988857e-08
      },
      "final_error": {
        "time_seconds": 1.6000000000000012,
        "position_m": 5.528076902439095e-05,
        "rotation_rad": 0.001745871315396716
      },
      "success": true,
      "safety_stop": null,
      "model_calls": [
        0,
        1,
        2,
        3
      ],
      "wall_seconds": 5.871961246943101,
      "simulated_seconds": 1.6000000000000012,
      "max_actual_arm_speed_rad_s": 0.3464357021753242,
      "first_sustained_success_seconds": 0.7700000000000006,
      "initial_penetrating_contacts": 0,
      "integrated_position_error": 0.014571943574014675,
      "mean_position_error_m": 0.009107464733759164,
      "max_actual_arm_change_rad": 0.18955007729278164,
      "model_induced_command_distance_rad_seconds": 0.005792469110781408,
      "qpos_teleported_during_execution": false,
      "song_success_claimed": false
    }
  ],
  "paired": [
    {
      "case": "aligned",
      "equal_horizon_without_safety_stop": true,
      "assisted_minus_baseline_integrated_position_error": 4.511933189003427e-05,
      "baseline_success": true,
      "assisted_success": true,
      "assisted_has_lower_error": false
    }
  ]
}