{
  "generated_at_utc": "2026-05-13T01:40:47+00:00",
  "experiment": "pact_transporter_postprocess_v02_20260513",
  "policy": "v0.1 contact-aware rewiring + v0.2 root/axis/range hygiene; GT post-hoc only",
  "samples": [
    "Display_3386",
    "Door_8867",
    "Safe_1363",
    "TrashCan_10357"
  ],
  "summary": {
    "sample_count": 4,
    "changed_v01_sample_count": 1,
    "changed_v02_sample_count": 1,
    "raw_mean": {
      "joint_count_accuracy": 0.5,
      "joint_type_accuracy": 0.75,
      "axis_mean_error_deg": 45.22295760168881,
      "origin_mean_error": 0.38951434385114403,
      "axis_finite_rate": 0.75,
      "limit_sanity_rate": 0.75,
      "kinematic_tree_valid": 0.75
    },
    "v01_mean": {
      "joint_count_accuracy": 0.5,
      "joint_type_accuracy": 0.75,
      "axis_mean_error_deg": 45.22295760168881,
      "origin_mean_error": 0.38951434385114403,
      "axis_finite_rate": 0.75,
      "limit_sanity_rate": 0.75,
      "kinematic_tree_valid": 1.0
    },
    "v02_mean": {
      "joint_count_accuracy": 0.5,
      "joint_type_accuracy": 0.75,
      "axis_mean_error_deg": 45.22295760168881,
      "origin_mean_error": 0.38951434385114403,
      "axis_finite_rate": 0.75,
      "limit_sanity_rate": 0.75,
      "kinematic_tree_valid": 1.0
    },
    "delta_v02_mean": {
      "joint_count_accuracy": 0.0,
      "joint_type_accuracy": 0.0,
      "axis_mean_error_deg": 0.0,
      "origin_mean_error": 0.0,
      "axis_finite_rate": 0.0,
      "limit_sanity_rate": 0.0,
      "kinematic_tree_valid": 0.25
    },
    "raw_extra_mean": {
      "root_count": 1.25,
      "nonzero_range_rate": 0.75
    },
    "v02_extra_mean": {
      "root_count": 1.0,
      "nonzero_range_rate": 0.75
    },
    "delta_v02_extra_mean": {
      "root_count": -0.25,
      "nonzero_range_rate": 0.0
    }
  },
  "records": [
    {
      "sample": "Display_3386",
      "category": "Display",
      "pm_id": "3386",
      "template": {
        "pm_id": "1363",
        "category": "Safe",
        "node_count": 4,
        "movable_joint_count": 2
      },
      "mode_v01": "diagnostic_only_count_or_confidence_gate",
      "mode_v02": "v02_no_additional_edit",
      "actions_v01": [],
      "actions_v02": [],
      "gates": {
        "pred_count": 2,
        "template_count": 4,
        "count_close": false,
        "assignment_mean_confidence": 0.25,
        "assignment_min_confidence": 0.25,
        "confident": false,
        "contact_cost_delta": 0.0807416166602889,
        "contact_better": false
      },
      "scores": {
        "raw": {
          "pred_joint_count": 0,
          "gt_joint_count": 5,
          "joint_count_accuracy": 0.0,
          "joint_count_abs_error": 5,
          "joint_type_accuracy": 0.0,
          "axis_mean_error_deg": 90.0,
          "origin_mean_error": 0.0,
          "axis_finite_rate": 0.0,
          "limit_sanity_rate": 0.0,
          "kinematic_tree_valid": 1.0
        },
        "v01": {
          "pred_joint_count": 0,
          "gt_joint_count": 5,
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          "joint_count_abs_error": 5,
          "joint_type_accuracy": 0.0,
          "axis_mean_error_deg": 90.0,
          "origin_mean_error": 0.0,
          "axis_finite_rate": 0.0,
          "limit_sanity_rate": 0.0,
          "kinematic_tree_valid": 1.0
        },
        "v02": {
          "pred_joint_count": 0,
          "gt_joint_count": 5,
          "joint_count_accuracy": 0.0,
          "joint_count_abs_error": 5,
          "joint_type_accuracy": 0.0,
          "axis_mean_error_deg": 90.0,
          "origin_mean_error": 0.0,
          "axis_finite_rate": 0.0,
          "limit_sanity_rate": 0.0,
          "kinematic_tree_valid": 1.0
        },
        "delta_v01": {
          "pred_joint_count": 0,
          "gt_joint_count": 0,
          "joint_count_accuracy": 0.0,
          "joint_count_abs_error": 0,
          "joint_type_accuracy": 0.0,
          "axis_mean_error_deg": 0.0,
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          "axis_finite_rate": 0.0,
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        },
        "delta_v02": {
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          "joint_count_abs_error": 0,
          "joint_type_accuracy": 0.0,
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        }
      },
      "extra_quality": {
        "raw": {
          "root_count": 1.0,
          "axis_finite_rate": 0.0,
          "nonzero_range_rate": 0.0
        },
        "v01": {
          "root_count": 1.0,
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          "nonzero_range_rate": 0.0
        },
        "v02": {
          "root_count": 1.0,
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          "nonzero_range_rate": 0.0
        },
        "delta_v02": {
          "root_count": 0.0,
          "axis_finite_rate": 0.0,
          "nonzero_range_rate": 0.0
        }
      },
      "assets": {
        "raw_open": "samples/Display_3386/raw_open.glb",
        "v01_open": "samples/Display_3386/v01_open.glb",
        "v02_open": "samples/Display_3386/v02_open.glb",
        "object_raw": "samples/Display_3386/object_raw.json",
        "object_transporter_v01": "samples/Display_3386/object_transporter_v01.json",
        "object_transporter_v02": "samples/Display_3386/object_transporter_v02.json",
        "diagnostics_v02": "samples/Display_3386/diagnostics_v02.json"
      }
    },
    {
      "sample": "Door_8867",
      "category": "Door",
      "pm_id": "8867",
      "template": {
        "pm_id": "1363",
        "category": "Safe",
        "node_count": 4,
        "movable_joint_count": 2
      },
      "mode_v01": "diagnostic_only_count_or_confidence_gate",
      "mode_v02": "v02_no_additional_edit",
      "actions_v01": [],
      "actions_v02": [],
      "gates": {
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        "template_count": 4,
        "count_close": true,
        "assignment_mean_confidence": 0.4982639082174634,
        "assignment_min_confidence": 0.3749997934879189,
        "confident": true,
        "contact_cost_delta": 0.0,
        "contact_better": false
      },
      "scores": {
        "raw": {
          "pred_joint_count": 2,
          "gt_joint_count": 2,
          "joint_count_accuracy": 1.0,
          "joint_count_abs_error": 0,
          "joint_type_accuracy": 1.0,
          "axis_mean_error_deg": 0.0,
          "origin_mean_error": 0.5228441259024348,
          "axis_finite_rate": 1.0,
          "limit_sanity_rate": 1.0,
          "kinematic_tree_valid": 1.0
        },
        "v01": {
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          "gt_joint_count": 2,
          "joint_count_accuracy": 1.0,
          "joint_count_abs_error": 0,
          "joint_type_accuracy": 1.0,
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          "origin_mean_error": 0.5228441259024348,
          "axis_finite_rate": 1.0,
          "limit_sanity_rate": 1.0,
          "kinematic_tree_valid": 1.0
        },
        "v02": {
          "pred_joint_count": 2,
          "gt_joint_count": 2,
          "joint_count_accuracy": 1.0,
          "joint_count_abs_error": 0,
          "joint_type_accuracy": 1.0,
          "axis_mean_error_deg": 0.0,
          "origin_mean_error": 0.5228441259024348,
          "axis_finite_rate": 1.0,
          "limit_sanity_rate": 1.0,
          "kinematic_tree_valid": 1.0
        },
        "delta_v01": {
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          "gt_joint_count": 0,
          "joint_count_accuracy": 0.0,
          "joint_count_abs_error": 0,
          "joint_type_accuracy": 0.0,
          "axis_mean_error_deg": 0.0,
          "origin_mean_error": 0.0,
          "axis_finite_rate": 0.0,
          "limit_sanity_rate": 0.0,
          "kinematic_tree_valid": 0.0
        },
        "delta_v02": {
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          "joint_count_accuracy": 0.0,
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        }
      },
      "extra_quality": {
        "raw": {
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          "axis_finite_rate": 0.0,
          "nonzero_range_rate": 1.0
        },
        "v01": {
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          "nonzero_range_rate": 1.0
        },
        "v02": {
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        },
        "delta_v02": {
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          "nonzero_range_rate": 0.0
        }
      },
      "assets": {
        "raw_open": "samples/Door_8867/raw_open.glb",
        "v01_open": "samples/Door_8867/v01_open.glb",
        "v02_open": "samples/Door_8867/v02_open.glb",
        "object_raw": "samples/Door_8867/object_raw.json",
        "object_transporter_v01": "samples/Door_8867/object_transporter_v01.json",
        "object_transporter_v02": "samples/Door_8867/object_transporter_v02.json",
        "diagnostics_v02": "samples/Door_8867/diagnostics_v02.json"
      }
    },
    {
      "sample": "Safe_1363",
      "category": "Safe",
      "pm_id": "1363",
      "template": {
        "pm_id": "8867",
        "category": "Door",
        "node_count": 3,
        "movable_joint_count": 2
      },
      "mode_v01": "diagnostic_only_count_or_confidence_gate",
      "mode_v02": "v02_root_axis_range_repair",
      "actions_v01": [],
      "actions_v02": [
        {
          "type": "canonicalize_joint_type",
          "node_id": 2,
          "old_type": "continuous",
          "new_type": "revolute"
        }
      ],
      "gates": {
        "pred_count": 3,
        "template_count": 3,
        "count_close": true,
        "assignment_mean_confidence": 0.6658558630616788,
        "assignment_min_confidence": 0.4997136299262155,
        "confident": true,
        "contact_cost_delta": 0.0,
        "contact_better": false
      },
      "scores": {
        "raw": {
          "pred_joint_count": 2,
          "gt_joint_count": 2,
          "joint_count_accuracy": 1.0,
          "joint_count_abs_error": 0,
          "joint_type_accuracy": 1.0,
          "axis_mean_error_deg": 1.0499564519864435,
          "origin_mean_error": 0.4302908548723327,
          "axis_finite_rate": 1.0,
          "limit_sanity_rate": 1.0,
          "kinematic_tree_valid": 1.0
        },
        "v01": {
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        },
        "v02": {
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          "joint_count_abs_error": 0,
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        },
        "delta_v01": {
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        "delta_v02": {
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        }
      },
      "extra_quality": {
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        },
        "v01": {
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        },
        "v02": {
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        },
        "delta_v02": {
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        }
      },
      "assets": {
        "raw_open": "samples/Safe_1363/raw_open.glb",
        "v01_open": "samples/Safe_1363/v01_open.glb",
        "v02_open": "samples/Safe_1363/v02_open.glb",
        "object_raw": "samples/Safe_1363/object_raw.json",
        "object_transporter_v01": "samples/Safe_1363/object_transporter_v01.json",
        "object_transporter_v02": "samples/Safe_1363/object_transporter_v02.json",
        "diagnostics_v02": "samples/Safe_1363/diagnostics_v02.json"
      }
    },
    {
      "sample": "TrashCan_10357",
      "category": "TrashCan",
      "pm_id": "10357",
      "template": {
        "pm_id": "8867",
        "category": "Door",
        "node_count": 3,
        "movable_joint_count": 2
      },
      "mode_v01": "contact_parent_rewire",
      "mode_v02": "v02_no_additional_edit",
      "actions_v01": [
        {
          "type": "set_parent",
          "node_id": 0,
          "old_parent": -1,
          "new_parent": 1,
          "reason": "contact_ot"
        }
      ],
      "actions_v02": [],
      "gates": {
        "pred_count": 2,
        "template_count": 3,
        "count_close": true,
        "assignment_mean_confidence": 0.5362494782959324,
        "assignment_min_confidence": 0.4686107633083994,
        "confident": true,
        "contact_cost_delta": -0.048716158870552806,
        "contact_better": true
      },
      "scores": {
        "raw": {
          "pred_joint_count": 2,
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          "joint_count_abs_error": 1,
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        },
        "v01": {
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        },
        "v02": {
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          "axis_finite_rate": 1.0,
          "limit_sanity_rate": 1.0,
          "kinematic_tree_valid": 1.0
        },
        "delta_v01": {
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        },
        "delta_v02": {
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        }
      },
      "extra_quality": {
        "raw": {
          "root_count": 2.0,
          "axis_finite_rate": 0.0,
          "nonzero_range_rate": 1.0
        },
        "v01": {
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        },
        "v02": {
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        },
        "delta_v02": {
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        }
      },
      "assets": {
        "raw_open": "samples/TrashCan_10357/raw_open.glb",
        "v01_open": "samples/TrashCan_10357/v01_open.glb",
        "v02_open": "samples/TrashCan_10357/v02_open.glb",
        "object_raw": "samples/TrashCan_10357/object_raw.json",
        "object_transporter_v01": "samples/TrashCan_10357/object_transporter_v01.json",
        "object_transporter_v02": "samples/TrashCan_10357/object_transporter_v02.json",
        "diagnostics_v02": "samples/TrashCan_10357/diagnostics_v02.json"
      }
    }
  ]
}