{
  "checked_on": "2026-10-24",
  "python": "3.12.14",
  "validation": "numerical simulation only",
  "result": {
    "simulation": "planar-2R-unit-inertia",
    "dt_s": 0.005,
    "minimum_clearance_m": 0.29721359549995796,
    "max_keyframe_error_m": 0.012995718090156696,
    "blocked_target_detected": true,
    "events": [
      {
        "phase": "approach",
        "tip_error_m": 5.551115123125783e-17,
        "object_attached": false
      },
      {
        "phase": "grasp",
        "tip_error_m": 0.0036819343139585705,
        "object_attached": true
      },
      {
        "phase": "lift",
        "tip_error_m": 0.005208535650492939,
        "object_attached": true
      },
      {
        "phase": "place",
        "tip_error_m": 0.012995718090156696,
        "object_attached": false
      }
    ]
  }
}