{
  "generated_at_utc": "2026-05-11T13:40:51+00:00",
  "experiment": "pact_transporter_deep_dive_20260511",
  "scope": "contact-aware offline deep dive over existing PAct outputs",
  "samples": [
    "Display_3386",
    "Door_8867",
    "Safe_1363",
    "TrashCan_10357"
  ],
  "summary": {
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        "metrics": "samples/Door_8867/deep_metrics.json"
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      "contact_pair_joint": {
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      "visuals": {
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        "pair_joint_cost": "samples/Safe_1363/contact_pair_joint_cost.svg",
        "metrics": "samples/Safe_1363/deep_metrics.json"
      }
    },
    {
      "sample": "TrashCan_10357",
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        "cost_matrix": [
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      "template_retrieval": {
        "candidate_count": 3,
        "best": {
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          "category": "TrashCan",
          "classification": "gt_complete_probe_sample",
          "node_count": 3,
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          "gw_cost": 0.29738897358559435,
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          {
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            "category": "TrashCan",
            "classification": "gt_complete_probe_sample",
            "node_count": 4,
            "movable_joint_count": 2,
            "gw_cost": 0.254370514726233,
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            "retrieval_score": 0.7178502317521329
          },
          {
            "pm_id": "3386",
            "category": "TrashCan",
            "classification": "gt_complete_probe_sample",
            "node_count": 6,
            "movable_joint_count": 6,
            "gw_cost": 0.40549475942412777,
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            "signature_cost": 2.9999999999999996,
            "retrieval_score": 0.9759855003342376
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        ]
      },
      "visuals": {
        "contact_graph": "samples/TrashCan_10357/contact_graph.svg",
        "pair_joint_cost": "samples/TrashCan_10357/contact_pair_joint_cost.svg",
        "metrics": "samples/TrashCan_10357/deep_metrics.json"
      }
    }
  ],
  "notes": [
    "No PAct source, checkpoint, or generated raw output is modified.",
    "Contact uses PAct diffuse_tree AABB geometry, not full collision simulation.",
    "Template retrieval is a diagnostic prior; it is not written back as ground-truth correction."
  ]
}