{
  "accepted": false,
  "cohorts": [
    {
      "baseline": {
        "accepted": false,
        "backend": "isaacsim_physx",
        "comparisons": [
          {
            "landed_time_change_s": 0.21999999999999886,
            "passed": true,
            "peak_attitude_difference_rad": 0.026261762439563734,
            "peak_position_difference_m": 0.09034061883735447,
            "position_difference_rmse_m": 0.030785545524906904,
            "position_rmse_change_m": 0.002374998813147622,
            "profile": "hold-dropout-2000ms",
            "recovery_passed": false,
            "recovery_windows": [
              {
                "complete_horizon": true,
                "difference_at_resumed_capture_m": 0.028593312497233698,
                "excursion_observed": false,
                "first_resumed_capture_s": 20.0,
                "horizon_end_s": 39.995,
                "passed": true,
                "peak_position_difference_m": 0.03231946358623166,
                "post_outage_samples_above_band": 0,
                "recovery_time_s": 0.0,
                "samples_above_band": 0,
                "window_end_s": 20.0,
                "window_start_s": 18.0
              },
              {
                "complete_horizon": true,
                "difference_at_resumed_capture_m": 0.08653659773241784,
                "excursion_observed": true,
                "first_resumed_capture_s": 42.0,
                "horizon_end_s": 50.0,
                "passed": false,
                "peak_position_difference_m": 0.09034061883735447,
                "post_outage_samples_above_band": 1453,
                "recovery_time_s": null,
                "samples_above_band": 1565,
                "window_end_s": 42.0,
                "window_start_s": 40.0
              }
            ],
            "reference_profile": "sample-hold",
            "seed": 0
          },
          {
            "landed_time_change_s": 2.1500000000000057,
            "passed": false,
            "peak_attitude_difference_rad": 0.12354068330400247,
            "peak_position_difference_m": 0.15840529901228798,
            "position_difference_rmse_m": 0.06210539340929588,
            "position_rmse_change_m": 0.0048163456058226,
            "profile": "hold-dropout-2000ms",
            "recovery_passed": false,
            "recovery_windows": [
              {
                "complete_horizon": true,
                "difference_at_resumed_capture_m": 0.09470595415837403,
                "excursion_observed": true,
                "first_resumed_capture_s": 20.0,
                "horizon_end_s": 39.995,
                "passed": true,
                "peak_position_difference_m": 0.1094677688099261,
                "post_outage_samples_above_band": 265,
                "recovery_time_s": 1.325,
                "samples_above_band": 351,
                "window_end_s": 20.0,
                "window_start_s": 18.0
              },
              {
                "complete_horizon": true,
                "difference_at_resumed_capture_m": 0.061513026464420036,
                "excursion_observed": true,
                "first_resumed_capture_s": 42.0,
                "horizon_end_s": 50.0,
                "passed": false,
                "peak_position_difference_m": 0.15840529901228798,
                "post_outage_samples_above_band": 1601,
                "recovery_time_s": null,
                "samples_above_band": 1670,
                "window_end_s": 42.0,
                "window_start_s": 40.0
              }
            ],
            "reference_profile": "sample-hold",
            "seed": 1
          },
          {
            "landed_time_change_s": 0.3049999999999997,
            "passed": true,
            "peak_attitude_difference_rad": 0.055063899184348106,
            "peak_position_difference_m": 0.07920784893696528,
            "position_difference_rmse_m": 0.01658371970728772,
            "position_rmse_change_m": 0.002107905671286131,
            "profile": "hold-dropout-2000ms",
            "recovery_passed": true,
            "recovery_windows": [
              {
                "complete_horizon": true,
                "difference_at_resumed_capture_m": 0.002869136702214261,
                "excursion_observed": false,
                "first_resumed_capture_s": 20.0,
                "horizon_end_s": 39.995,
                "passed": true,
                "peak_position_difference_m": 0.004966100738011785,
                "post_outage_samples_above_band": 0,
                "recovery_time_s": 0.0,
                "samples_above_band": 0,
                "window_end_s": 20.0,
                "window_start_s": 18.0
              },
              {
                "complete_horizon": true,
                "difference_at_resumed_capture_m": 0.07230578450781074,
                "excursion_observed": true,
                "first_resumed_capture_s": 42.0,
                "horizon_end_s": 50.0,
                "passed": true,
                "peak_position_difference_m": 0.07920784893696528,
                "post_outage_samples_above_band": 197,
                "recovery_time_s": 0.985,
                "samples_above_band": 284,
                "window_end_s": 42.0,
                "window_start_s": 40.0
              }
            ],
            "reference_profile": "sample-hold",
            "seed": 2
          }
        ],
        "complete": true,
        "control_dt_s": 0.005,
        "controller_binary_sha256": "b4543a2973dc424a7f398cf225a3088fefedd4053b2d3658eefd050f73d7c90f",
        "duration_results": [
          {
            "accepted": true,
            "duration_s": 0.0,
            "excursion_windows": 0,
            "mission_passes": 3,
            "pair_count": 0,
            "pair_passes": 0,
            "profile": "sample-hold",
            "recovery_count": 0,
            "recovery_passes": 0
          },
          {
            "accepted": false,
            "duration_s": 2.0,
            "excursion_windows": 4,
            "mission_passes": 3,
            "pair_count": 3,
            "pair_passes": 2,
            "profile": "hold-dropout-2000ms",
            "recovery_count": 6,
            "recovery_passes": 4
          }
        ],
        "kind": "isaac_outage_duration_study",
        "limitations": [
          "Synthetic outages; fixed durations and three seeds do not establish a safe duration or stability proof",
          "Ideal attitude, rates, acceleration, mission supervisor and contact sensing",
          "Paired mission bounds and settled recovery are separate outcomes; failures are retained",
          "Independent yaw refinement remains unresolved; runtime and physics gates unchanged",
          "Soft real-time only; wall timing excludes startup and evidence serialization"
        ],
        "lock_sha256": "e280d5e783d8f42f661aa933223edb7464787da33bd16c964c175aad2c982ce8",
        "passed": 6,
        "physics_dt_s": 0.005,
        "profiles": [
          {
            "capture_period_steps": 4,
            "capture_phase_steps": 0,
            "channels": "position-velocity",
            "control_dt_s": 0.005,
            "dropout_windows_s": [],
            "hold": "last-successful-capture",
            "ideal_channels": "attitude-rates-acceleration-supervisor-contact",
            "noise": "none",
            "profile": "sample-hold",
            "transport_delay_steps": 0
          },
          {
            "capture_period_steps": 4,
            "capture_phase_steps": 0,
            "channels": "position-velocity",
            "control_dt_s": 0.005,
            "dropout_windows_s": [
              [
                18.0,
                20.0
              ],
              [
                40.0,
                42.0
              ]
            ],
            "hold": "last-successful-capture",
            "ideal_channels": "attitude-rates-acceleration-supervisor-contact",
            "noise": "none",
            "profile": "hold-dropout-2000ms",
            "transport_delay_steps": 0
          }
        ],
        "recovery_criteria": {
          "deadline_s": 5.0,
          "dwell_s": 1.0,
          "method": "final-uninterrupted-in-band-suffix",
          "position_difference_m": 0.05
        },
        "reference_profile": "sample-hold",
        "results": [
          {
            "captures": {
              "captures": 2501,
              "held_control_samples": 7500,
              "max_age_s": 0.015,
              "position_discrepancy_peak_m": 0.010045193048790074,
              "position_discrepancy_rmse_m": 0.002322472972098445,
              "velocity_discrepancy_peak_m_s": 0.1959560498432559,
              "velocity_discrepancy_rmse_m_s": 0.0058037754830525465,
              "windows": []
            },
            "config_sha256": "f09c57c8c8aa4d2189b72e9d42f123bd967a37dbd5c438b010112613801deeb2",
            "failure_reason": null,
            "metrics": {
              "measurement_window_s": [
                5.0,
                50.0
              ],
              "mission": {
                "final_support": {
                  "mean_normal_force_n": 9.81668783839504,
                  "mean_vertical_balance_error_n": 7.937680003802621e-06,
                  "peak_height_error_m": 3.270804882077316e-07,
                  "peak_rotor_thrust_n": 6.868825028812103e-65,
                  "peak_speed_m_s": 0.00014869879379853816,
                  "peak_tilt_deg": 0.00014362949576638055,
                  "peak_xy_error_m": 0.024726973320846217,
                  "samples": 401
                },
                "initial_support": {
                  "mean_normal_force_n": 9.815277452468871,
                  "mean_vertical_balance_error_n": 1.2722017784554395e-05,
                  "peak_height_error_m": 3.233551979092697e-07,
                  "peak_rotor_thrust_n": 0.0,
                  "peak_speed_m_s": 0.0001522171521376773,
                  "peak_tilt_deg": 0.00011909759843994624,
                  "peak_xy_error_m": 0.017212400652644587,
                  "samples": 200
                },
                "landed_time_s": 43.545,
                "liftoff_time_s": 2.92,
                "max_penetration_m": 1.5154111877233034e-06,
                "peak_tilt_deg": 10.275775192748412,
                "touchdown_descent_speed_m_s": 0.06932000070810318,
                "touchdown_horizontal_speed_m_s": 0.27628224019167347,
                "touchdown_time_s": 42.535,
                "unexpected_contact_samples": 0,
                "waypoint_band_m": 0.35,
                "waypoint_reached_s": [
                  7.0,
                  15.0,
                  23.0,
                  31.0
                ]
              },
              "peak_error_m": 0.3753195427892715,
              "position_rmse_m": 0.11042878439720603,
              "recovery_reason": "not_applicable",
              "recovery_time_s": null,
              "samples": 10001,
              "step_response": null
            },
            "profile": "sample-hold",
            "sample_count": 10001,
            "samples_sha256": "3ae27c0cf8d2207361f2184c79f04f75f5dafb8fc2dcc1de70a7aac0ca544309",
            "seed": 0,
            "status": "passed",
            "timing": {
              "elapsed_s": 38.26373680000006,
              "late_steps": 28,
              "max_lag_s": 0.023325499999937164,
              "monitor_enabled": true,
              "paced": false,
              "real_time_factor": 1.3067202573900185,
              "simulation_s": 50.0
            }
          },
          {
            "captures": {
              "captures": 2501,
              "held_control_samples": 7500,
              "max_age_s": 0.015,
              "position_discrepancy_peak_m": 0.008928431219901316,
              "position_discrepancy_rmse_m": 0.0021591650019491815,
              "velocity_discrepancy_peak_m_s": 0.1959565792418725,
              "velocity_discrepancy_rmse_m_s": 0.004821533068057982,
              "windows": []
            },
            "config_sha256": "b85f08eb7a6e24c349b901ee9812b1c0a816bdf5e157240966bf2ed03c3637ce",
            "failure_reason": null,
            "metrics": {
              "measurement_window_s": [
                5.0,
                50.0
              ],
              "mission": {
                "final_support": {
                  "mean_normal_force_n": 9.792585777225638,
                  "mean_vertical_balance_error_n": -7.7605961005818e-06,
                  "peak_height_error_m": 3.270804882077316e-07,
                  "peak_rotor_thrust_n": 1.2212814712312185e-63,
                  "peak_speed_m_s": 0.00017833345202089833,
                  "peak_tilt_deg": 0.00011360644632913952,
                  "peak_xy_error_m": 0.06538997440420508,
                  "samples": 401
                },
                "initial_support": {
                  "mean_normal_force_n": 9.825137047767639,
                  "mean_vertical_balance_error_n": 6.458880350761475e-06,
                  "peak_height_error_m": 3.233551979092697e-07,
                  "peak_rotor_thrust_n": 0.0,
                  "peak_speed_m_s": 0.00013415225325245653,
                  "peak_tilt_deg": 0.00011902719259507426,
                  "peak_xy_error_m": 0.020175112403786905,
                  "samples": 200
                },
                "landed_time_s": 43.63,
                "liftoff_time_s": 2.915,
                "max_penetration_m": 8.221316948428536e-06,
                "peak_tilt_deg": 10.023787781582898,
                "touchdown_descent_speed_m_s": 0.08058198541402817,
                "touchdown_horizontal_speed_m_s": 0.06317777317485825,
                "touchdown_time_s": 43.56,
                "unexpected_contact_samples": 0,
                "waypoint_band_m": 0.35,
                "waypoint_reached_s": [
                  7.0,
                  15.0,
                  23.0,
                  31.0
                ]
              },
              "peak_error_m": 0.31411765951489,
              "position_rmse_m": 0.11499940466864553,
              "recovery_reason": "not_applicable",
              "recovery_time_s": null,
              "samples": 10001,
              "step_response": null
            },
            "profile": "sample-hold",
            "sample_count": 10001,
            "samples_sha256": "b179080ff5fc2c8eeb00e6373703ec6fdd418eab228e4058aa72bebc5d7b1cad",
            "seed": 1,
            "status": "passed",
            "timing": {
              "elapsed_s": 37.85207790000004,
              "late_steps": 0,
              "max_lag_s": 0.0008338000003459455,
              "monitor_enabled": true,
              "paced": false,
              "real_time_factor": 1.3209314461439368,
              "simulation_s": 50.0
            }
          },
          {
            "captures": {
              "captures": 2501,
              "held_control_samples": 7500,
              "max_age_s": 0.015,
              "position_discrepancy_peak_m": 0.010251811332887543,
              "position_discrepancy_rmse_m": 0.0024572261634759653,
              "velocity_discrepancy_peak_m_s": 0.19595705679081982,
              "velocity_discrepancy_rmse_m_s": 0.005360667367980085,
              "windows": []
            },
            "config_sha256": "1ee2cde513ec53aeb4097b419435d2861eb508118cc42e9798c99ff333a0db39",
            "failure_reason": null,
            "metrics": {
              "measurement_window_s": [
                5.0,
                50.0
              ],
              "mission": {
                "final_support": {
                  "mean_normal_force_n": 9.832668294930398,
                  "mean_vertical_balance_error_n": 9.232843743370736e-06,
                  "peak_height_error_m": 3.308057785061935e-07,
                  "peak_rotor_thrust_n": 1.8820305804683763e-64,
                  "peak_speed_m_s": 0.00017739462139418425,
                  "peak_tilt_deg": 0.00012602925246367068,
                  "peak_xy_error_m": 0.1516927093799355,
                  "samples": 401
                },
                "initial_support": {
                  "mean_normal_force_n": 9.778471827507019,
                  "mean_vertical_balance_error_n": -2.322220378925266e-07,
                  "peak_height_error_m": 3.270804882077316e-07,
                  "peak_rotor_thrust_n": 0.0,
                  "peak_speed_m_s": 0.00022334205425347066,
                  "peak_tilt_deg": 0.00012356143047313606,
                  "peak_xy_error_m": 0.025566186953618245,
                  "samples": 200
                },
                "landed_time_s": 43.575,
                "liftoff_time_s": 2.955,
                "max_penetration_m": 2.8916319412611302e-06,
                "peak_tilt_deg": 11.815404902834677,
                "touchdown_descent_speed_m_s": 0.051495231688022614,
                "touchdown_horizontal_speed_m_s": 0.08552988337562419,
                "touchdown_time_s": 43.345,
                "unexpected_contact_samples": 0,
                "waypoint_band_m": 0.35,
                "waypoint_reached_s": [
                  7.0,
                  15.0,
                  23.0,
                  31.0
                ]
              },
              "peak_error_m": 0.3946868648602252,
              "position_rmse_m": 0.13267665123864386,
              "recovery_reason": "not_applicable",
              "recovery_time_s": null,
              "samples": 10001,
              "step_response": null
            },
            "profile": "sample-hold",
            "sample_count": 10001,
            "samples_sha256": "c2f55651627ab5aaaebdd790c2c173ebe3c3a580f8c9e89c178a9a162d1e5623",
            "seed": 2,
            "status": "passed",
            "timing": {
              "elapsed_s": 40.11358289999998,
              "late_steps": 0,
              "max_lag_s": 0.0012302000001182022,
              "monitor_enabled": true,
              "paced": false,
              "real_time_factor": 1.2464605848010655,
              "simulation_s": 50.0
            }
          },
          {
            "captures": {
              "captures": 2301,
              "held_control_samples": 7700,
              "max_age_s": 2.015,
              "position_discrepancy_peak_m": 0.45655222808328827,
              "position_discrepancy_rmse_m": 0.052850646641017435,
              "velocity_discrepancy_peak_m_s": 0.5455750193347046,
              "velocity_discrepancy_rmse_m_s": 0.08118856303809632,
              "windows": [
                {
                  "end_s": 20.0,
                  "first_capture_after_s": 20.0,
                  "last_capture_before_s": 17.98,
                  "start_s": 18.0
                },
                {
                  "end_s": 42.0,
                  "first_capture_after_s": 42.0,
                  "last_capture_before_s": 39.98,
                  "start_s": 40.0
                }
              ]
            },
            "config_sha256": "75bcc5cd13d01586f0af4d645f2b117b815df1c5c4f071ce4f0b8309222b5fd7",
            "failure_reason": null,
            "metrics": {
              "measurement_window_s": [
                5.0,
                50.0
              ],
              "mission": {
                "final_support": {
                  "mean_normal_force_n": 9.816687788451997,
                  "mean_vertical_balance_error_n": 7.885069257922556e-06,
                  "peak_height_error_m": 3.270804882077316e-07,
                  "peak_rotor_thrust_n": 1.055949715366216e-61,
                  "peak_speed_m_s": 0.00014859165297374707,
                  "peak_tilt_deg": 0.000137024685698016,
                  "peak_xy_error_m": 0.05074087154570584,
                  "samples": 401
                },
                "initial_support": {
                  "mean_normal_force_n": 9.815277452468871,
                  "mean_vertical_balance_error_n": 1.2722017784554395e-05,
                  "peak_height_error_m": 3.233551979092697e-07,
                  "peak_rotor_thrust_n": 0.0,
                  "peak_speed_m_s": 0.0001522171521376773,
                  "peak_tilt_deg": 0.00011909759843994624,
                  "peak_xy_error_m": 0.017212400652644587,
                  "samples": 200
                },
                "landed_time_s": 43.765,
                "liftoff_time_s": 2.92,
                "max_penetration_m": 1.111587252945745e-06,
                "peak_tilt_deg": 10.246200266910444,
                "touchdown_descent_speed_m_s": 0.07599489390850067,
                "touchdown_horizontal_speed_m_s": 0.23697175336353343,
                "touchdown_time_s": 43.695,
                "unexpected_contact_samples": 0,
                "waypoint_band_m": 0.35,
                "waypoint_reached_s": [
                  7.0,
                  15.0,
                  23.0,
                  31.0
                ]
              },
              "peak_error_m": 0.3901835740411519,
              "position_rmse_m": 0.11280378321035366,
              "recovery_reason": "not_applicable",
              "recovery_time_s": null,
              "samples": 10001,
              "step_response": null
            },
            "profile": "hold-dropout-2000ms",
            "sample_count": 10001,
            "samples_sha256": "4983f5cd5835e281404056b8dd40ab2c9b0cde905b2f9dbb612060d5ab1d94f6",
            "seed": 0,
            "status": "passed",
            "timing": {
              "elapsed_s": 50.00010659999998,
              "late_steps": 31,
              "max_lag_s": 0.02809140000010302,
              "monitor_enabled": true,
              "paced": true,
              "real_time_factor": 0.9999978680045458,
              "simulation_s": 50.0
            }
          },
          {
            "captures": {
              "captures": 2301,
              "held_control_samples": 7700,
              "max_age_s": 2.015,
              "position_discrepancy_peak_m": 0.3130686644021449,
              "position_discrepancy_rmse_m": 0.05137812102645231,
              "velocity_discrepancy_peak_m_s": 0.36196377638523636,
              "velocity_discrepancy_rmse_m_s": 0.05991464896245075,
              "windows": [
                {
                  "end_s": 20.0,
                  "first_capture_after_s": 20.0,
                  "last_capture_before_s": 17.98,
                  "start_s": 18.0
                },
                {
                  "end_s": 42.0,
                  "first_capture_after_s": 42.0,
                  "last_capture_before_s": 39.98,
                  "start_s": 40.0
                }
              ]
            },
            "config_sha256": "06196222228fc1eadb93573f5c3179d7634eac10c59f90e04bed284d37fcaad8",
            "failure_reason": null,
            "metrics": {
              "measurement_window_s": [
                5.0,
                50.0
              ],
              "mission": {
                "final_support": {
                  "mean_normal_force_n": 9.792586645283306,
                  "mean_vertical_balance_error_n": -6.962659453829803e-06,
                  "peak_height_error_m": 3.270804882077316e-07,
                  "peak_rotor_thrust_n": 9.491675348434068e-95,
                  "peak_speed_m_s": 0.0001767521373885718,
                  "peak_tilt_deg": 0.00012796355308626272,
                  "peak_xy_error_m": 0.09224924386809993,
                  "samples": 401
                },
                "initial_support": {
                  "mean_normal_force_n": 9.825137047767639,
                  "mean_vertical_balance_error_n": 6.458880350761475e-06,
                  "peak_height_error_m": 3.233551979092697e-07,
                  "peak_rotor_thrust_n": 0.0,
                  "peak_speed_m_s": 0.00013415225325245653,
                  "peak_tilt_deg": 0.00011902719259507426,
                  "peak_xy_error_m": 0.020175112403786905,
                  "samples": 200
                },
                "landed_time_s": 41.48,
                "liftoff_time_s": 2.915,
                "max_penetration_m": 2.1584347317110675e-06,
                "peak_tilt_deg": 10.023787985482002,
                "touchdown_descent_speed_m_s": 0.10125645995140076,
                "touchdown_horizontal_speed_m_s": 0.14710345415630735,
                "touchdown_time_s": 41.415,
                "unexpected_contact_samples": 0,
                "waypoint_band_m": 0.35,
                "waypoint_reached_s": [
                  7.0,
                  15.0,
                  23.0,
                  31.0
                ]
              },
              "peak_error_m": 0.3141256129004999,
              "position_rmse_m": 0.11981575027446813,
              "recovery_reason": "not_applicable",
              "recovery_time_s": null,
              "samples": 10001,
              "step_response": null
            },
            "profile": "hold-dropout-2000ms",
            "sample_count": 10001,
            "samples_sha256": "308469e7a6961ea7959eea5c2ae8d3df45a52b08d1cc91fc2d78f7633c7d65b0",
            "seed": 1,
            "status": "passed",
            "timing": {
              "elapsed_s": 50.00002469999981,
              "late_steps": 37,
              "max_lag_s": 0.05449569999984405,
              "monitor_enabled": true,
              "paced": true,
              "real_time_factor": 0.9999995060002478,
              "simulation_s": 50.0
            }
          },
          {
            "captures": {
              "captures": 2301,
              "held_control_samples": 7700,
              "max_age_s": 2.015,
              "position_discrepancy_peak_m": 0.33946418828060343,
              "position_discrepancy_rmse_m": 0.04733520071099323,
              "velocity_discrepancy_peak_m_s": 0.5331480156055253,
              "velocity_discrepancy_rmse_m_s": 0.09668123478576247,
              "windows": [
                {
                  "end_s": 20.0,
                  "first_capture_after_s": 20.0,
                  "last_capture_before_s": 17.98,
                  "start_s": 18.0
                },
                {
                  "end_s": 42.0,
                  "first_capture_after_s": 42.0,
                  "last_capture_before_s": 39.98,
                  "start_s": 40.0
                }
              ]
            },
            "config_sha256": "8a45b697bd0bbd0ba0860638bd944ade57a635307ad0c93133c629576d1f870e",
            "failure_reason": null,
            "metrics": {
              "measurement_window_s": [
                5.0,
                50.0
              ],
              "mission": {
                "final_support": {
                  "mean_normal_force_n": 9.832667938194371,
                  "mean_vertical_balance_error_n": 8.993735078005618e-06,
                  "peak_height_error_m": 3.270804882077316e-07,
                  "peak_rotor_thrust_n": 4.905700980417832e-60,
                  "peak_speed_m_s": 0.00017847550036017654,
                  "peak_tilt_deg": 0.00011765050411203765,
                  "peak_xy_error_m": 0.15776751719491441,
                  "samples": 401
                },
                "initial_support": {
                  "mean_normal_force_n": 9.778471827507019,
                  "mean_vertical_balance_error_n": -2.322220378925266e-07,
                  "peak_height_error_m": 3.270804882077316e-07,
                  "peak_rotor_thrust_n": 0.0,
                  "peak_speed_m_s": 0.00022334205425347066,
                  "peak_tilt_deg": 0.00012356143047313606,
                  "peak_xy_error_m": 0.025566186953618245,
                  "samples": 200
                },
                "landed_time_s": 43.88,
                "liftoff_time_s": 2.955,
                "max_penetration_m": 9.594182725364275e-07,
                "peak_tilt_deg": 11.815399945382197,
                "touchdown_descent_speed_m_s": 0.07402725517749786,
                "touchdown_horizontal_speed_m_s": 0.09966478478609184,
                "touchdown_time_s": 43.81,
                "unexpected_contact_samples": 0,
                "waypoint_band_m": 0.35,
                "waypoint_reached_s": [
                  7.0,
                  15.0,
                  23.0,
                  31.0
                ]
              },
              "peak_error_m": 0.3946837051011462,
              "position_rmse_m": 0.13478455690993,
              "recovery_reason": "not_applicable",
              "recovery_time_s": null,
              "samples": 10001,
              "step_response": null
            },
            "profile": "hold-dropout-2000ms",
            "sample_count": 10001,
            "samples_sha256": "b827eb90b6a51dcbb80b12e244be8464f21eda3c42817737a9454217c76c3ac8",
            "seed": 2,
            "status": "passed",
            "timing": {
              "elapsed_s": 50.00007430000005,
              "late_steps": 0,
              "max_lag_s": 0.002658500000123354,
              "monitor_enabled": true,
              "paced": true,
              "real_time_factor": 0.9999985140022072,
              "simulation_s": 50.0
            }
          }
        ],
        "schema_version": 1,
        "seeds": [
          0,
          1,
          2
        ],
        "source_commit": "b75bcc85474626e60beee3f6a83b6f0e27874b40",
        "source_dirty": false,
        "source_tree_sha256": "ee1f83b3e9e3809e5654a29c452d05ad7666537679e29402de3cef9e1d2db32e",
        "trials": 6,
        "versions": {
          "isaaclab": "17.0.2",
          "isaacsim": "6.1.0.0",
          "torch": "2.11.0+cu128"
        }
      },
      "candidate": {
        "accepted": false,
        "backend": "isaacsim_physx",
        "comparisons": [
          {
            "landed_time_change_s": 0.4650000000000034,
            "passed": true,
            "peak_attitude_difference_rad": 0.03866954043681891,
            "peak_position_difference_m": 0.0893741859121589,
            "position_difference_rmse_m": 0.028350319574260555,
            "position_rmse_change_m": 0.0034010901218067546,
            "profile": "hold-dropout-2000ms",
            "recovery_passed": false,
            "recovery_windows": [
              {
                "complete_horizon": true,
                "difference_at_resumed_capture_m": 0.028593312497233698,
                "excursion_observed": false,
                "first_resumed_capture_s": 20.0,
                "horizon_end_s": 39.995,
                "passed": true,
                "peak_position_difference_m": 0.03231946358623166,
                "post_outage_samples_above_band": 0,
                "recovery_time_s": 0.0,
                "samples_above_band": 0,
                "window_end_s": 20.0,
                "window_start_s": 18.0
              },
              {
                "complete_horizon": true,
                "difference_at_resumed_capture_m": 0.08573177069205197,
                "excursion_observed": true,
                "first_resumed_capture_s": 42.0,
                "horizon_end_s": 50.0,
                "passed": false,
                "peak_position_difference_m": 0.0893741859121589,
                "post_outage_samples_above_band": 1485,
                "recovery_time_s": null,
                "samples_above_band": 1595,
                "window_end_s": 42.0,
                "window_start_s": 40.0
              }
            ],
            "reference_profile": "sample-hold",
            "seed": 0
          },
          {
            "landed_time_change_s": 2.1600000000000037,
            "passed": false,
            "peak_attitude_difference_rad": 0.11477135017475014,
            "peak_position_difference_m": 0.1255877319825062,
            "position_difference_rmse_m": 0.05108546362593221,
            "position_rmse_change_m": 0.003956721294769469,
            "profile": "hold-dropout-2000ms",
            "recovery_passed": false,
            "recovery_windows": [
              {
                "complete_horizon": true,
                "difference_at_resumed_capture_m": 0.09470595415837403,
                "excursion_observed": true,
                "first_resumed_capture_s": 20.0,
                "horizon_end_s": 39.995,
                "passed": true,
                "peak_position_difference_m": 0.1094677688099261,
                "post_outage_samples_above_band": 265,
                "recovery_time_s": 1.325,
                "samples_above_band": 351,
                "window_end_s": 20.0,
                "window_start_s": 18.0
              },
              {
                "complete_horizon": true,
                "difference_at_resumed_capture_m": 0.048710310106647475,
                "excursion_observed": true,
                "first_resumed_capture_s": 42.0,
                "horizon_end_s": 50.0,
                "passed": false,
                "peak_position_difference_m": 0.1255877319825062,
                "post_outage_samples_above_band": 1573,
                "recovery_time_s": null,
                "samples_above_band": 1573,
                "window_end_s": 42.0,
                "window_start_s": 40.0
              }
            ],
            "reference_profile": "sample-hold",
            "seed": 1
          },
          {
            "landed_time_change_s": 0.3500000000000014,
            "passed": true,
            "peak_attitude_difference_rad": 0.04872735861828469,
            "peak_position_difference_m": 0.08082834557899718,
            "position_difference_rmse_m": 0.014714523185724424,
            "position_rmse_change_m": 0.00343634644309343,
            "profile": "hold-dropout-2000ms",
            "recovery_passed": true,
            "recovery_windows": [
              {
                "complete_horizon": true,
                "difference_at_resumed_capture_m": 0.002869136702214261,
                "excursion_observed": false,
                "first_resumed_capture_s": 20.0,
                "horizon_end_s": 39.995,
                "passed": true,
                "peak_position_difference_m": 0.004966100738011785,
                "post_outage_samples_above_band": 0,
                "recovery_time_s": 0.0,
                "samples_above_band": 0,
                "window_end_s": 20.0,
                "window_start_s": 18.0
              },
              {
                "complete_horizon": true,
                "difference_at_resumed_capture_m": 0.07385164434202864,
                "excursion_observed": true,
                "first_resumed_capture_s": 42.0,
                "horizon_end_s": 50.0,
                "passed": true,
                "peak_position_difference_m": 0.08082834557899718,
                "post_outage_samples_above_band": 201,
                "recovery_time_s": 1.005,
                "samples_above_band": 293,
                "window_end_s": 42.0,
                "window_start_s": 40.0
              }
            ],
            "reference_profile": "sample-hold",
            "seed": 2
          }
        ],
        "complete": true,
        "control_dt_s": 0.005,
        "controller_binary_sha256": "b4543a2973dc424a7f398cf225a3088fefedd4053b2d3658eefd050f73d7c90f",
        "duration_results": [
          {
            "accepted": true,
            "duration_s": 0.0,
            "excursion_windows": 0,
            "mission_passes": 3,
            "pair_count": 0,
            "pair_passes": 0,
            "profile": "sample-hold",
            "recovery_count": 0,
            "recovery_passes": 0
          },
          {
            "accepted": false,
            "duration_s": 2.0,
            "excursion_windows": 4,
            "mission_passes": 3,
            "pair_count": 3,
            "pair_passes": 2,
            "profile": "hold-dropout-2000ms",
            "recovery_count": 6,
            "recovery_passes": 4
          }
        ],
        "kind": "isaac_outage_duration_study",
        "limitations": [
          "Synthetic outages; fixed durations and three seeds do not establish a safe duration or stability proof",
          "Ideal attitude, rates, acceleration, mission supervisor and contact sensing",
          "Paired mission bounds and settled recovery are separate outcomes; failures are retained",
          "Independent yaw refinement remains unresolved; runtime and physics gates unchanged",
          "Soft real-time only; wall timing excludes startup and evidence serialization"
        ],
        "lock_sha256": "e280d5e783d8f42f661aa933223edb7464787da33bd16c964c175aad2c982ce8",
        "passed": 6,
        "physics_dt_s": 0.005,
        "profiles": [
          {
            "capture_period_steps": 4,
            "capture_phase_steps": 0,
            "channels": "position-velocity",
            "control_dt_s": 0.005,
            "dropout_windows_s": [],
            "hold": "last-successful-capture",
            "ideal_channels": "attitude-rates-acceleration-supervisor-contact",
            "noise": "none",
            "profile": "sample-hold",
            "transport_delay_steps": 0
          },
          {
            "capture_period_steps": 4,
            "capture_phase_steps": 0,
            "channels": "position-velocity",
            "control_dt_s": 0.005,
            "dropout_windows_s": [
              [
                18.0,
                20.0
              ],
              [
                40.0,
                42.0
              ]
            ],
            "hold": "last-successful-capture",
            "ideal_channels": "attitude-rates-acceleration-supervisor-contact",
            "noise": "none",
            "profile": "hold-dropout-2000ms",
            "transport_delay_steps": 0
          }
        ],
        "recovery_criteria": {
          "deadline_s": 5.0,
          "dwell_s": 1.0,
          "method": "final-uninterrupted-in-band-suffix",
          "position_difference_m": 0.05
        },
        "reference_profile": "sample-hold",
        "results": [
          {
            "captures": {
              "captures": 2501,
              "held_control_samples": 7500,
              "max_age_s": 0.015,
              "position_discrepancy_peak_m": 0.010045193048790074,
              "position_discrepancy_rmse_m": 0.002279384071673865,
              "velocity_discrepancy_peak_m_s": 0.1959560498432559,
              "velocity_discrepancy_rmse_m_s": 0.005655782583154424,
              "windows": []
            },
            "config_sha256": "5503f4ac27fb2c458e9f07c00af65d6d21da082f7092739de7aa4743884070fb",
            "failure_reason": null,
            "metrics": {
              "measurement_window_s": [
                5.0,
                50.0
              ],
              "mission": {
                "final_support": {
                  "mean_normal_force_n": 9.816687752778394,
                  "mean_vertical_balance_error_n": 7.847565768504648e-06,
                  "peak_height_error_m": 3.270804882077316e-07,
                  "peak_rotor_thrust_n": 5.108797919607735e-69,
                  "peak_speed_m_s": 0.0001484915518142475,
                  "peak_tilt_deg": 0.00013205645724254062,
                  "peak_xy_error_m": 0.014523538779317407,
                  "samples": 401
                },
                "initial_support": {
                  "mean_normal_force_n": 9.815277452468871,
                  "mean_vertical_balance_error_n": 1.2722017784554395e-05,
                  "peak_height_error_m": 3.233551979092697e-07,
                  "peak_rotor_thrust_n": 0.0,
                  "peak_speed_m_s": 0.0001522171521376773,
                  "peak_tilt_deg": 0.00011909759843994624,
                  "peak_xy_error_m": 0.017212400652644587,
                  "samples": 200
                },
                "landed_time_s": 43.26,
                "liftoff_time_s": 2.92,
                "max_penetration_m": 1.1383666157077643e-06,
                "peak_tilt_deg": 10.954824870752125,
                "touchdown_descent_speed_m_s": 0.06061805039644241,
                "touchdown_horizontal_speed_m_s": 0.2337949508862217,
                "touchdown_time_s": 42.595,
                "unexpected_contact_samples": 0,
                "waypoint_band_m": 0.35,
                "waypoint_reached_s": [
                  7.0,
                  15.0,
                  23.0,
                  31.0
                ]
              },
              "peak_error_m": 0.32520820940476836,
              "position_rmse_m": 0.09590169080944534,
              "recovery_reason": "not_applicable",
              "recovery_time_s": null,
              "samples": 10001,
              "step_response": null
            },
            "profile": "sample-hold",
            "sample_count": 10001,
            "samples_sha256": "3ff19b643ee5a26c26c595f94d83220926d85c8e3626aa2c55af8f9e76f30a2a",
            "seed": 0,
            "status": "passed",
            "timing": {
              "elapsed_s": 37.10470470000291,
              "late_steps": 17,
              "max_lag_s": 0.0219280000065919,
              "monitor_enabled": true,
              "paced": false,
              "real_time_factor": 1.3475380118035565,
              "simulation_s": 50.0
            }
          },
          {
            "captures": {
              "captures": 2501,
              "held_control_samples": 7500,
              "max_age_s": 0.015,
              "position_discrepancy_peak_m": 0.008928431219901316,
              "position_discrepancy_rmse_m": 0.0021483965227486455,
              "velocity_discrepancy_peak_m_s": 0.1959565792418725,
              "velocity_discrepancy_rmse_m_s": 0.005307121923912758,
              "windows": []
            },
            "config_sha256": "0d4ffc14758921253d974f94d80c335f5fa78fc154c85eef2cab25d55fe87113",
            "failure_reason": null,
            "metrics": {
              "measurement_window_s": [
                5.0,
                50.0
              ],
              "mission": {
                "final_support": {
                  "mean_normal_force_n": 9.792586547775459,
                  "mean_vertical_balance_error_n": -7.045657498106454e-06,
                  "peak_height_error_m": 3.270804882077316e-07,
                  "peak_rotor_thrust_n": 7.353993359809192e-64,
                  "peak_speed_m_s": 0.00017754273438151755,
                  "peak_tilt_deg": 0.0001233725075390358,
                  "peak_xy_error_m": 0.05262839473339573,
                  "samples": 401
                },
                "initial_support": {
                  "mean_normal_force_n": 9.825137047767639,
                  "mean_vertical_balance_error_n": 6.458880350761475e-06,
                  "peak_height_error_m": 3.233551979092697e-07,
                  "peak_rotor_thrust_n": 0.0,
                  "peak_speed_m_s": 0.00013415225325245653,
                  "peak_tilt_deg": 0.00011902719259507426,
                  "peak_xy_error_m": 0.020175112403786905,
                  "samples": 200
                },
                "landed_time_s": 43.615,
                "liftoff_time_s": 2.915,
                "max_penetration_m": 8.665368850899191e-06,
                "peak_tilt_deg": 10.023787781582898,
                "touchdown_descent_speed_m_s": 0.07916571944952011,
                "touchdown_horizontal_speed_m_s": 0.057885331937580886,
                "touchdown_time_s": 43.545,
                "unexpected_contact_samples": 0,
                "waypoint_band_m": 0.35,
                "waypoint_reached_s": [
                  7.0,
                  15.0,
                  23.0,
                  31.0
                ]
              },
              "peak_error_m": 0.31411765951489,
              "position_rmse_m": 0.10920821079006801,
              "recovery_reason": "not_applicable",
              "recovery_time_s": null,
              "samples": 10001,
              "step_response": null
            },
            "profile": "sample-hold",
            "sample_count": 10001,
            "samples_sha256": "51bb609b98e880056b0728717131e35b79f6622ace60e690c125bb0756661631",
            "seed": 1,
            "status": "passed",
            "timing": {
              "elapsed_s": 40.40098939999007,
              "late_steps": 0,
              "max_lag_s": 0.0005065000004833564,
              "monitor_enabled": true,
              "paced": false,
              "real_time_factor": 1.2375934535903295,
              "simulation_s": 50.0
            }
          },
          {
            "captures": {
              "captures": 2501,
              "held_control_samples": 7500,
              "max_age_s": 0.015,
              "position_discrepancy_peak_m": 0.010251811332887543,
              "position_discrepancy_rmse_m": 0.002407984009020674,
              "velocity_discrepancy_peak_m_s": 0.33475432666673327,
              "velocity_discrepancy_rmse_m_s": 0.006410513902469095,
              "windows": []
            },
            "config_sha256": "e290b7ed533152e44865b68bda50cf9b5e2e9987f92b50b1cb53b03b3cb6a7ce",
            "failure_reason": null,
            "metrics": {
              "measurement_window_s": [
                5.0,
                50.0
              ],
              "mission": {
                "final_support": {
                  "mean_normal_force_n": 9.832668223583193,
                  "mean_vertical_balance_error_n": 9.182756276853902e-06,
                  "peak_height_error_m": 3.308057785061935e-07,
                  "peak_rotor_thrust_n": 2.1969271307342965e-64,
                  "peak_speed_m_s": 0.00017732804337598063,
                  "peak_tilt_deg": 0.00012727242432755993,
                  "peak_xy_error_m": 0.07264198495838481,
                  "samples": 401
                },
                "initial_support": {
                  "mean_normal_force_n": 9.778471827507019,
                  "mean_vertical_balance_error_n": -2.322220378925266e-07,
                  "peak_height_error_m": 3.270804882077316e-07,
                  "peak_rotor_thrust_n": 0.0,
                  "peak_speed_m_s": 0.00022334205425347066,
                  "peak_tilt_deg": 0.00012356143047313606,
                  "peak_xy_error_m": 0.025566186953618245,
                  "samples": 200
                },
                "landed_time_s": 43.58,
                "liftoff_time_s": 2.955,
                "max_penetration_m": 1.1745406767460498e-06,
                "peak_tilt_deg": 11.913590237969595,
                "touchdown_descent_speed_m_s": 0.04662797227501869,
                "touchdown_horizontal_speed_m_s": 0.12116837685444755,
                "touchdown_time_s": 43.135,
                "unexpected_contact_samples": 0,
                "waypoint_band_m": 0.35,
                "waypoint_reached_s": [
                  7.0,
                  15.0,
                  23.0,
                  31.0
                ]
              },
              "peak_error_m": 0.27848609142780234,
              "position_rmse_m": 0.10672268241272176,
              "recovery_reason": "not_applicable",
              "recovery_time_s": null,
              "samples": 10001,
              "step_response": null
            },
            "profile": "sample-hold",
            "sample_count": 10001,
            "samples_sha256": "048b2109cf6d5b9ff4c268caaa2d5e910d9c3b456bfc54b9523b8099b57027d0",
            "seed": 2,
            "status": "passed",
            "timing": {
              "elapsed_s": 41.9884924999933,
              "late_steps": 0,
              "max_lag_s": 0.002001299993135035,
              "monitor_enabled": true,
              "paced": false,
              "real_time_factor": 1.1908024561731523,
              "simulation_s": 50.0
            }
          },
          {
            "captures": {
              "captures": 2301,
              "held_control_samples": 7700,
              "max_age_s": 2.015,
              "position_discrepancy_peak_m": 0.3238483000058691,
              "position_discrepancy_rmse_m": 0.04358739750683456,
              "velocity_discrepancy_peak_m_s": 0.46628844715432793,
              "velocity_discrepancy_rmse_m_s": 0.06890928451016323,
              "windows": [
                {
                  "end_s": 20.0,
                  "first_capture_after_s": 20.0,
                  "last_capture_before_s": 17.98,
                  "start_s": 18.0
                },
                {
                  "end_s": 42.0,
                  "first_capture_after_s": 42.0,
                  "last_capture_before_s": 39.98,
                  "start_s": 40.0
                }
              ]
            },
            "config_sha256": "10818843dd45b5ce3f10f5ccaf5aa7987038b32e5e4b826d01c513976d2c8548",
            "failure_reason": null,
            "metrics": {
              "measurement_window_s": [
                5.0,
                50.0
              ],
              "mission": {
                "final_support": {
                  "mean_normal_force_n": 9.816688073840819,
                  "mean_vertical_balance_error_n": 8.189593637230626e-06,
                  "peak_height_error_m": 3.270804882077316e-07,
                  "peak_rotor_thrust_n": 2.7877733821108437e-62,
                  "peak_speed_m_s": 0.00014852098860631174,
                  "peak_tilt_deg": 0.00012665524136340386,
                  "peak_xy_error_m": 0.052554749064737984,
                  "samples": 401
                },
                "initial_support": {
                  "mean_normal_force_n": 9.815277452468871,
                  "mean_vertical_balance_error_n": 1.2722017784554395e-05,
                  "peak_height_error_m": 3.233551979092697e-07,
                  "peak_rotor_thrust_n": 0.0,
                  "peak_speed_m_s": 0.0001522171521376773,
                  "peak_tilt_deg": 0.00011909759843994624,
                  "peak_xy_error_m": 0.017212400652644587,
                  "samples": 200
                },
                "landed_time_s": 43.725,
                "liftoff_time_s": 2.92,
                "max_penetration_m": 3.545239552014967e-05,
                "peak_tilt_deg": 10.898248073478658,
                "touchdown_descent_speed_m_s": 0.07351124286651611,
                "touchdown_horizontal_speed_m_s": 0.1049198640267961,
                "touchdown_time_s": 43.66,
                "unexpected_contact_samples": 0,
                "waypoint_band_m": 0.35,
                "waypoint_reached_s": [
                  7.0,
                  15.0,
                  23.0,
                  31.0
                ]
              },
              "peak_error_m": 0.32520820940476836,
              "position_rmse_m": 0.0993027809312521,
              "recovery_reason": "not_applicable",
              "recovery_time_s": null,
              "samples": 10001,
              "step_response": null
            },
            "profile": "hold-dropout-2000ms",
            "sample_count": 10001,
            "samples_sha256": "7a4bed8ce5d29d70ef9e3ecbe8a835864548ea1c809ad916e006062b7e1e3052",
            "seed": 0,
            "status": "passed",
            "timing": {
              "elapsed_s": 50.00015480000002,
              "late_steps": 43,
              "max_lag_s": 0.035103600011207166,
              "monitor_enabled": true,
              "paced": true,
              "real_time_factor": 0.9999969040095849,
              "simulation_s": 50.0
            }
          },
          {
            "captures": {
              "captures": 2301,
              "held_control_samples": 7700,
              "max_age_s": 2.015,
              "position_discrepancy_peak_m": 0.2720482610728529,
              "position_discrepancy_rmse_m": 0.047785632117157695,
              "velocity_discrepancy_peak_m_s": 0.36196377638523636,
              "velocity_discrepancy_rmse_m_s": 0.059272223983845705,
              "windows": [
                {
                  "end_s": 20.0,
                  "first_capture_after_s": 20.0,
                  "last_capture_before_s": 17.98,
                  "start_s": 18.0
                },
                {
                  "end_s": 42.0,
                  "first_capture_after_s": 42.0,
                  "last_capture_before_s": 39.98,
                  "start_s": 40.0
                }
              ]
            },
            "config_sha256": "8d1c399822a4d1be91ed746fd2913ebe7ad752d6d9a0f87dbdb971ad2e07a67c",
            "failure_reason": null,
            "metrics": {
              "measurement_window_s": [
                5.0,
                50.0
              ],
              "mission": {
                "final_support": {
                  "mean_normal_force_n": 9.792586747547634,
                  "mean_vertical_balance_error_n": -6.871409881511534e-06,
                  "peak_height_error_m": 3.270804882077316e-07,
                  "peak_rotor_thrust_n": 4.00785370895835e-95,
                  "peak_speed_m_s": 0.00017601598687699244,
                  "peak_tilt_deg": 0.00012290486062439525,
                  "peak_xy_error_m": 0.07215115070131181,
                  "samples": 401
                },
                "initial_support": {
                  "mean_normal_force_n": 9.825137047767639,
                  "mean_vertical_balance_error_n": 6.458880350761475e-06,
                  "peak_height_error_m": 3.233551979092697e-07,
                  "peak_rotor_thrust_n": 0.0,
                  "peak_speed_m_s": 0.00013415225325245653,
                  "peak_tilt_deg": 0.00011902719259507426,
                  "peak_xy_error_m": 0.020175112403786905,
                  "samples": 200
                },
                "landed_time_s": 41.455,
                "liftoff_time_s": 2.915,
                "max_penetration_m": 8.532563833540951e-07,
                "peak_tilt_deg": 10.023787985482002,
                "touchdown_descent_speed_m_s": 0.11224934458732605,
                "touchdown_horizontal_speed_m_s": 0.06345853199601892,
                "touchdown_time_s": 41.37,
                "unexpected_contact_samples": 0,
                "waypoint_band_m": 0.35,
                "waypoint_reached_s": [
                  7.0,
                  15.0,
                  23.0,
                  31.0
                ]
              },
              "peak_error_m": 0.3141256129004999,
              "position_rmse_m": 0.11316493208483748,
              "recovery_reason": "not_applicable",
              "recovery_time_s": null,
              "samples": 10001,
              "step_response": null
            },
            "profile": "hold-dropout-2000ms",
            "sample_count": 10001,
            "samples_sha256": "82503b8cb36455bdb0cb68248b0ba17e0d5f49a2bc5684704c6e8f179d02919d",
            "seed": 1,
            "status": "passed",
            "timing": {
              "elapsed_s": 50.00004230000195,
              "late_steps": 614,
              "max_lag_s": 0.19953690000227908,
              "monitor_enabled": true,
              "paced": true,
              "real_time_factor": 0.9999991540006767,
              "simulation_s": 50.0
            }
          },
          {
            "captures": {
              "captures": 2301,
              "held_control_samples": 7700,
              "max_age_s": 2.015,
              "position_discrepancy_peak_m": 0.33946418828060343,
              "position_discrepancy_rmse_m": 0.04411731815020176,
              "velocity_discrepancy_peak_m_s": 0.5062039717883029,
              "velocity_discrepancy_rmse_m_s": 0.0836444580018253,
              "windows": [
                {
                  "end_s": 20.0,
                  "first_capture_after_s": 20.0,
                  "last_capture_before_s": 17.98,
                  "start_s": 18.0
                },
                {
                  "end_s": 42.0,
                  "first_capture_after_s": 42.0,
                  "last_capture_before_s": 39.98,
                  "start_s": 40.0
                }
              ]
            },
            "config_sha256": "6d47a3940059474b50c7ad515dc863698a86eab75ef7f9dc651162546332d141",
            "failure_reason": null,
            "metrics": {
              "measurement_window_s": [
                5.0,
                50.0
              ],
              "mission": {
                "final_support": {
                  "mean_normal_force_n": 9.832668264013277,
                  "mean_vertical_balance_error_n": 9.262815073823387e-06,
                  "peak_height_error_m": 3.308057785061935e-07,
                  "peak_rotor_thrust_n": 2.644451328403155e-59,
                  "peak_speed_m_s": 0.00017936030422244508,
                  "peak_tilt_deg": 0.00012487880692372923,
                  "peak_xy_error_m": 0.09140121768683178,
                  "samples": 401
                },
                "initial_support": {
                  "mean_normal_force_n": 9.778471827507019,
                  "mean_vertical_balance_error_n": -2.322220378925266e-07,
                  "peak_height_error_m": 3.270804882077316e-07,
                  "peak_rotor_thrust_n": 0.0,
                  "peak_speed_m_s": 0.00022334205425347066,
                  "peak_tilt_deg": 0.00012356143047313606,
                  "peak_xy_error_m": 0.025566186953618245,
                  "samples": 200
                },
                "landed_time_s": 43.93,
                "liftoff_time_s": 2.955,
                "max_penetration_m": 8.524977435364622e-07,
                "peak_tilt_deg": 11.913594459717963,
                "touchdown_descent_speed_m_s": 0.07612849026918411,
                "touchdown_horizontal_speed_m_s": 0.0640707244495964,
                "touchdown_time_s": 43.825,
                "unexpected_contact_samples": 0,
                "waypoint_band_m": 0.35,
                "waypoint_reached_s": [
                  7.0,
                  15.0,
                  23.0,
                  31.0
                ]
              },
              "peak_error_m": 0.2784864216295438,
              "position_rmse_m": 0.11015902885581519,
              "recovery_reason": "not_applicable",
              "recovery_time_s": null,
              "samples": 10001,
              "step_response": null
            },
            "profile": "hold-dropout-2000ms",
            "sample_count": 10001,
            "samples_sha256": "2fdb42db841fcac54d43d4ca37100270422b0d6ad38ccb5344fd637a8510b1eb",
            "seed": 2,
            "status": "passed",
            "timing": {
              "elapsed_s": 50.00008060000255,
              "late_steps": 0,
              "max_lag_s": 0.002164700000430564,
              "monitor_enabled": true,
              "paced": true,
              "real_time_factor": 0.9999983880025476,
              "simulation_s": 50.0
            }
          }
        ],
        "schema_version": 1,
        "seeds": [
          0,
          1,
          2
        ],
        "source_commit": "0417cc04c3a0111ef6169bf504e7443a2cf0bc99",
        "source_dirty": false,
        "source_tree_sha256": "404ce9d9e8624464ff9694e8a8ef10fbce2cd8d613467a5a3f56a7f1040ca3a6",
        "trials": 6,
        "versions": {
          "isaaclab": "17.0.2",
          "isaacsim": "6.1.0.0",
          "torch": "2.11.0+cu128"
        }
      },
      "cohort": "regression",
      "continuity": [
        {
          "profile": "sample-hold",
          "samples": 6800,
          "seed": 0,
          "unchanged": true
        },
        {
          "profile": "sample-hold",
          "samples": 6800,
          "seed": 1,
          "unchanged": true
        },
        {
          "profile": "sample-hold",
          "samples": 6800,
          "seed": 2,
          "unchanged": true
        },
        {
          "profile": "hold-dropout-2000ms",
          "samples": 6800,
          "seed": 0,
          "unchanged": true
        },
        {
          "profile": "hold-dropout-2000ms",
          "samples": 6800,
          "seed": 1,
          "unchanged": true
        },
        {
          "profile": "hold-dropout-2000ms",
          "samples": 6800,
          "seed": 2,
          "unchanged": true
        }
      ],
      "descriptive": [
        {
          "baseline": {
            "axis_clipped_fraction": 0.0,
            "complete": true,
            "minimum_allocation_scale": 1.0,
            "peak_horizontal_error_m": 0.37510418211599145,
            "samples": 3201,
            "squared_demand_integral_m2_s3": 5.703993174426099,
            "squared_error_integral_m2_s": 0.24696645466831624
          },
          "candidate": {
            "axis_clipped_fraction": 0.0,
            "complete": true,
            "minimum_allocation_scale": 1.0,
            "peak_horizontal_error_m": 0.24052495411965183,
            "samples": 3201,
            "squared_demand_integral_m2_s3": 6.109377828617727,
            "squared_error_integral_m2_s": 0.11194415615998354
          },
          "gates": [
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "model_bounds"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "samples"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "liftoff_start"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "liftoff_end"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "waypoints"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.05011133338450313,
              "id": "peak_error"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.01452709358776072,
              "id": "rmse"
            },
            {
              "change": "unchanged",
              "headroom_delta": -0.6790496780037127,
              "id": "tilt"
            },
            {
              "change": "unchanged",
              "headroom_delta": 3.770445720155391e-07,
              "id": "penetration"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "contact"
            },
            {
              "change": "unchanged",
              "headroom_delta": -0.060000000000002274,
              "id": "touchdown"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.008701950311660767,
              "id": "descent"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.04248728930545176,
              "id": "horizontal"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.2850000000000037,
              "id": "landed"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "initial_support_samples"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "initial_support_mean_vertical_balance_error_n"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "initial_support_peak_rotor_thrust_n"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "final_support_samples"
            },
            {
              "change": "unchanged",
              "headroom_delta": 9.01142352960349e-08,
              "id": "final_support_mean_vertical_balance_error_n"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "final_support_peak_rotor_thrust_n"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "final_support_peak_height_error_m"
            },
            {
              "change": "unchanged",
              "headroom_delta": 2.0724198428884177e-07,
              "id": "final_support_peak_speed_m_s"
            },
            {
              "change": "unchanged",
              "headroom_delta": 1.1573038523504664e-05,
              "id": "final_support_peak_tilt_deg"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.010203434541528833,
              "id": "final_support_peak_xy_error_m"
            }
          ],
          "profile": "sample-hold",
          "seed": 0
        },
        {
          "baseline": {
            "axis_clipped_fraction": 0.0,
            "complete": true,
            "minimum_allocation_scale": 1.0,
            "peak_horizontal_error_m": 0.17960030569909774,
            "samples": 3201,
            "squared_demand_integral_m2_s3": 5.670823031557493,
            "squared_error_integral_m2_s": 0.1338296628334697
          },
          "candidate": {
            "axis_clipped_fraction": 0.0,
            "complete": true,
            "minimum_allocation_scale": 1.0,
            "peak_horizontal_error_m": 0.16803485596779696,
            "samples": 3201,
            "squared_demand_integral_m2_s3": 6.564027866659647,
            "squared_error_integral_m2_s": 0.0759167001992746
          },
          "gates": [
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "model_bounds"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "samples"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "liftoff_start"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "liftoff_end"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "waypoints"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "peak_error"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.005791193878577516,
              "id": "rmse"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "tilt"
            },
            {
              "change": "unchanged",
              "headroom_delta": -4.440519024706546e-07,
              "id": "penetration"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "contact"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.015000000000000568,
              "id": "touchdown"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0014162659645080566,
              "id": "descent"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0052924412372773455,
              "id": "horizontal"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.015000000000000568,
              "id": "landed"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "initial_support_samples"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "initial_support_mean_vertical_balance_error_n"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "initial_support_peak_rotor_thrust_n"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "final_support_samples"
            },
            {
              "change": "unchanged",
              "headroom_delta": 7.149386024862814e-07,
              "id": "final_support_mean_vertical_balance_error_n"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "final_support_peak_rotor_thrust_n"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "final_support_peak_height_error_m"
            },
            {
              "change": "unchanged",
              "headroom_delta": 7.907176393789905e-07,
              "id": "final_support_peak_speed_m_s"
            },
            {
              "change": "unchanged",
              "headroom_delta": -9.766061209948163e-06,
              "id": "final_support_peak_tilt_deg"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.01276157967080932,
              "id": "final_support_peak_xy_error_m"
            }
          ],
          "profile": "sample-hold",
          "seed": 1
        },
        {
          "baseline": {
            "axis_clipped_fraction": 0.0,
            "complete": true,
            "minimum_allocation_scale": 1.0,
            "peak_horizontal_error_m": 0.38928377522659235,
            "samples": 3201,
            "squared_demand_integral_m2_s3": 9.65593663703353,
            "squared_error_integral_m2_s": 0.4662929142907814
          },
          "candidate": {
            "axis_clipped_fraction": 0.0,
            "complete": true,
            "minimum_allocation_scale": 1.0,
            "peak_horizontal_error_m": 0.271637584302201,
            "samples": 3201,
            "squared_demand_integral_m2_s3": 10.851292783798266,
            "squared_error_integral_m2_s": 0.18683404019562844
          },
          "gates": [
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "model_bounds"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "samples"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "liftoff_start"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "liftoff_end"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "waypoints"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.11620077343242285,
              "id": "peak_error"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.025953968825922102,
              "id": "rmse"
            },
            {
              "change": "unchanged",
              "headroom_delta": -0.098185335134918,
              "id": "tilt"
            },
            {
              "change": "unchanged",
              "headroom_delta": 1.7170912645150804e-06,
              "id": "penetration"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "contact"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.21000000000000085,
              "id": "touchdown"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0048672594130039215,
              "id": "descent"
            },
            {
              "change": "unchanged",
              "headroom_delta": -0.03563849347882336,
              "id": "horizontal"
            },
            {
              "change": "unchanged",
              "headroom_delta": -0.0049999999999954525,
              "id": "landed"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "initial_support_samples"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "initial_support_mean_vertical_balance_error_n"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "initial_support_peak_rotor_thrust_n"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "final_support_samples"
            },
            {
              "change": "unchanged",
              "headroom_delta": 5.00874665076978e-08,
              "id": "final_support_mean_vertical_balance_error_n"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "final_support_peak_rotor_thrust_n"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "final_support_peak_height_error_m"
            },
            {
              "change": "unchanged",
              "headroom_delta": 6.657801820270093e-08,
              "id": "final_support_peak_speed_m_s"
            },
            {
              "change": "unchanged",
              "headroom_delta": -1.243171863674064e-06,
              "id": "final_support_peak_tilt_deg"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0790507244215507,
              "id": "final_support_peak_xy_error_m"
            }
          ],
          "profile": "sample-hold",
          "seed": 2
        },
        {
          "baseline": {
            "axis_clipped_fraction": 0.0,
            "complete": true,
            "minimum_allocation_scale": 1.0,
            "peak_horizontal_error_m": 0.37660528443850055,
            "samples": 3201,
            "squared_demand_integral_m2_s3": 5.712213650256147,
            "squared_error_integral_m2_s": 0.2569907420391123
          },
          "candidate": {
            "axis_clipped_fraction": 0.0,
            "complete": true,
            "minimum_allocation_scale": 1.0,
            "peak_horizontal_error_m": 0.24154986621109673,
            "samples": 3201,
            "squared_demand_integral_m2_s3": 6.180340974907367,
            "squared_error_integral_m2_s": 0.128389157103551
          },
          "gates": [
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "model_bounds"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "samples"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "liftoff_start"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "liftoff_end"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "waypoints"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.06497536463638354,
              "id": "peak_error"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.01350100227910156,
              "id": "rmse"
            },
            {
              "change": "unchanged",
              "headroom_delta": -0.6520478065682145,
              "id": "tilt"
            },
            {
              "change": "unchanged",
              "headroom_delta": -3.4340808267203926e-05,
              "id": "penetration"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "contact"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.035000000000003695,
              "id": "touchdown"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.002483651041984558,
              "id": "descent"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.13205188933673734,
              "id": "horizontal"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.03999999999999915,
              "id": "landed"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "initial_support_samples"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "initial_support_mean_vertical_balance_error_n"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "initial_support_peak_rotor_thrust_n"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "final_support_samples"
            },
            {
              "change": "unchanged",
              "headroom_delta": -3.045243793242669e-07,
              "id": "final_support_mean_vertical_balance_error_n"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "final_support_peak_rotor_thrust_n"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "final_support_peak_height_error_m"
            },
            {
              "change": "unchanged",
              "headroom_delta": 7.066436743391469e-08,
              "id": "final_support_peak_speed_m_s"
            },
            {
              "change": "unchanged",
              "headroom_delta": 1.0369444334745737e-05,
              "id": "final_support_peak_tilt_deg"
            },
            {
              "change": "unchanged",
              "headroom_delta": -0.0018138775190321699,
              "id": "final_support_peak_xy_error_m"
            }
          ],
          "profile": "hold-dropout-2000ms",
          "seed": 0
        },
        {
          "baseline": {
            "axis_clipped_fraction": 0.0,
            "complete": true,
            "minimum_allocation_scale": 1.0,
            "peak_horizontal_error_m": 0.1796001395746264,
            "samples": 3201,
            "squared_demand_integral_m2_s3": 4.738065998135059,
            "squared_error_integral_m2_s": 0.16559022004434548
          },
          "candidate": {
            "axis_clipped_fraction": 0.0,
            "complete": true,
            "minimum_allocation_scale": 1.0,
            "peak_horizontal_error_m": 0.1680350844596235,
            "samples": 3201,
            "squared_demand_integral_m2_s3": 5.713300089508019,
            "squared_error_integral_m2_s": 0.09639385496744488
          },
          "gates": [
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "model_bounds"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "samples"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "liftoff_start"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "liftoff_end"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "waypoints"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "peak_error"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.006650818189630647,
              "id": "rmse"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "tilt"
            },
            {
              "change": "unchanged",
              "headroom_delta": 1.3051783483569723e-06,
              "id": "penetration"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "contact"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.045000000000001705,
              "id": "touchdown"
            },
            {
              "change": "unchanged",
              "headroom_delta": -0.010992884635925293,
              "id": "descent"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0836449221602884,
              "id": "horizontal"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.02499999999999858,
              "id": "landed"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "initial_support_samples"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "initial_support_mean_vertical_balance_error_n"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "initial_support_peak_rotor_thrust_n"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "final_support_samples"
            },
            {
              "change": "unchanged",
              "headroom_delta": 9.124957228712205e-08,
              "id": "final_support_mean_vertical_balance_error_n"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "final_support_peak_rotor_thrust_n"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "final_support_peak_height_error_m"
            },
            {
              "change": "unchanged",
              "headroom_delta": 7.361505115835443e-07,
              "id": "final_support_peak_speed_m_s"
            },
            {
              "change": "unchanged",
              "headroom_delta": 5.058692461812342e-06,
              "id": "final_support_peak_tilt_deg"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.020098093166788122,
              "id": "final_support_peak_xy_error_m"
            }
          ],
          "profile": "hold-dropout-2000ms",
          "seed": 1
        },
        {
          "baseline": {
            "axis_clipped_fraction": 0.0,
            "complete": true,
            "minimum_allocation_scale": 1.0,
            "peak_horizontal_error_m": 0.3892350491591463,
            "samples": 3201,
            "squared_demand_integral_m2_s3": 9.758822838927887,
            "squared_error_integral_m2_s": 0.47776758996161023
          },
          "candidate": {
            "axis_clipped_fraction": 0.0,
            "complete": true,
            "minimum_allocation_scale": 1.0,
            "peak_horizontal_error_m": 0.2716361324723546,
            "samples": 3201,
            "squared_demand_integral_m2_s3": 10.91342242983997,
            "squared_error_integral_m2_s": 0.2062488289168892
          },
          "gates": [
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "model_bounds"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "samples"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "liftoff_start"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "liftoff_end"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "waypoints"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.11619728347160252,
              "id": "peak_error"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.024625528054114776,
              "id": "rmse"
            },
            {
              "change": "unchanged",
              "headroom_delta": -0.09819451433576631,
              "id": "tilt"
            },
            {
              "change": "unchanged",
              "headroom_delta": 1.0692052899996529e-07,
              "id": "penetration"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "contact"
            },
            {
              "change": "unchanged",
              "headroom_delta": -0.015000000000000568,
              "id": "touchdown"
            },
            {
              "change": "unchanged",
              "headroom_delta": -0.0021012350916862488,
              "id": "descent"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.03559406033649548,
              "id": "horizontal"
            },
            {
              "change": "unchanged",
              "headroom_delta": -0.04999999999999716,
              "id": "landed"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "initial_support_samples"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "initial_support_mean_vertical_balance_error_n"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "initial_support_peak_rotor_thrust_n"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "final_support_samples"
            },
            {
              "change": "unchanged",
              "headroom_delta": -2.690799957849599e-07,
              "id": "final_support_mean_vertical_balance_error_n"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "final_support_peak_rotor_thrust_n"
            },
            {
              "change": "unchanged",
              "headroom_delta": -3.725290298461914e-09,
              "id": "final_support_peak_height_error_m"
            },
            {
              "change": "unchanged",
              "headroom_delta": -8.848038622680243e-07,
              "id": "final_support_peak_speed_m_s"
            },
            {
              "change": "unchanged",
              "headroom_delta": -7.228302811856935e-06,
              "id": "final_support_peak_tilt_deg"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.06636629950808262,
              "id": "final_support_peak_xy_error_m"
            }
          ],
          "profile": "hold-dropout-2000ms",
          "seed": 2
        }
      ],
      "seeds": [
        0,
        1,
        2
      ]
    },
    {
      "baseline": {
        "accepted": false,
        "backend": "isaacsim_physx",
        "comparisons": [
          {
            "landed_time_change_s": 0.10000000000000142,
            "passed": true,
            "peak_attitude_difference_rad": 0.22635714917793429,
            "peak_position_difference_m": 0.04699132871760042,
            "position_difference_rmse_m": 0.010782876791660682,
            "position_rmse_change_m": 0.005751032676959644,
            "profile": "hold-dropout-2000ms",
            "recovery_passed": true,
            "recovery_windows": [
              {
                "complete_horizon": true,
                "difference_at_resumed_capture_m": 0.03720150107384109,
                "excursion_observed": false,
                "first_resumed_capture_s": 20.0,
                "horizon_end_s": 39.995,
                "passed": true,
                "peak_position_difference_m": 0.042644099249951946,
                "post_outage_samples_above_band": 0,
                "recovery_time_s": 0.0,
                "samples_above_band": 0,
                "window_end_s": 20.0,
                "window_start_s": 18.0
              },
              {
                "complete_horizon": true,
                "difference_at_resumed_capture_m": 0.019611500619688433,
                "excursion_observed": false,
                "first_resumed_capture_s": 42.0,
                "horizon_end_s": 50.0,
                "passed": true,
                "peak_position_difference_m": 0.04699132871760042,
                "post_outage_samples_above_band": 0,
                "recovery_time_s": 0.0,
                "samples_above_band": 0,
                "window_end_s": 42.0,
                "window_start_s": 40.0
              }
            ],
            "reference_profile": "sample-hold",
            "seed": 401
          },
          {
            "landed_time_change_s": 0.14999999999999858,
            "passed": true,
            "peak_attitude_difference_rad": 0.22500760524286692,
            "peak_position_difference_m": 0.05411333291227465,
            "position_difference_rmse_m": 0.02350905278061539,
            "position_rmse_change_m": 0.019937826387015772,
            "profile": "hold-dropout-2000ms",
            "recovery_passed": false,
            "recovery_windows": [
              {
                "complete_horizon": true,
                "difference_at_resumed_capture_m": 0.030377140284397634,
                "excursion_observed": false,
                "first_resumed_capture_s": 20.0,
                "horizon_end_s": 39.995,
                "passed": true,
                "peak_position_difference_m": 0.03645923933436194,
                "post_outage_samples_above_band": 0,
                "recovery_time_s": 0.0,
                "samples_above_band": 0,
                "window_end_s": 20.0,
                "window_start_s": 18.0
              },
              {
                "complete_horizon": true,
                "difference_at_resumed_capture_m": 0.05410951422535075,
                "excursion_observed": true,
                "first_resumed_capture_s": 42.0,
                "horizon_end_s": 50.0,
                "passed": false,
                "peak_position_difference_m": 0.05411333291227465,
                "post_outage_samples_above_band": 1601,
                "recovery_time_s": null,
                "samples_above_band": 1764,
                "window_end_s": 42.0,
                "window_start_s": 40.0
              }
            ],
            "reference_profile": "sample-hold",
            "seed": 503
          },
          {
            "landed_time_change_s": 0.16499999999999915,
            "passed": true,
            "peak_attitude_difference_rad": 0.06667466459092525,
            "peak_position_difference_m": 0.083250835844629,
            "position_difference_rmse_m": 0.023732946484854342,
            "position_rmse_change_m": 0.000514962335317462,
            "profile": "hold-dropout-2000ms",
            "recovery_passed": true,
            "recovery_windows": [
              {
                "complete_horizon": true,
                "difference_at_resumed_capture_m": 0.07444139991719918,
                "excursion_observed": true,
                "first_resumed_capture_s": 20.0,
                "horizon_end_s": 39.995,
                "passed": true,
                "peak_position_difference_m": 0.083250835844629,
                "post_outage_samples_above_band": 210,
                "recovery_time_s": 1.05,
                "samples_above_band": 280,
                "window_end_s": 20.0,
                "window_start_s": 18.0
              },
              {
                "complete_horizon": true,
                "difference_at_resumed_capture_m": 0.06626912533100189,
                "excursion_observed": true,
                "first_resumed_capture_s": 42.0,
                "horizon_end_s": 50.0,
                "passed": true,
                "peak_position_difference_m": 0.07648183715499042,
                "post_outage_samples_above_band": 198,
                "recovery_time_s": 0.99,
                "samples_above_band": 239,
                "window_end_s": 42.0,
                "window_start_s": 40.0
              }
            ],
            "reference_profile": "sample-hold",
            "seed": 607
          }
        ],
        "complete": true,
        "control_dt_s": 0.005,
        "controller_binary_sha256": "b4543a2973dc424a7f398cf225a3088fefedd4053b2d3658eefd050f73d7c90f",
        "duration_results": [
          {
            "accepted": false,
            "duration_s": 0.0,
            "excursion_windows": 0,
            "mission_passes": 1,
            "pair_count": 0,
            "pair_passes": 0,
            "profile": "sample-hold",
            "recovery_count": 0,
            "recovery_passes": 0
          },
          {
            "accepted": false,
            "duration_s": 2.0,
            "excursion_windows": 3,
            "mission_passes": 1,
            "pair_count": 3,
            "pair_passes": 3,
            "profile": "hold-dropout-2000ms",
            "recovery_count": 6,
            "recovery_passes": 5
          }
        ],
        "kind": "isaac_outage_duration_study",
        "limitations": [
          "Synthetic outages; fixed durations and three seeds do not establish a safe duration or stability proof",
          "Ideal attitude, rates, acceleration, mission supervisor and contact sensing",
          "Paired mission bounds and settled recovery are separate outcomes; failures are retained",
          "Independent yaw refinement remains unresolved; runtime and physics gates unchanged",
          "Soft real-time only; wall timing excludes startup and evidence serialization"
        ],
        "lock_sha256": "e280d5e783d8f42f661aa933223edb7464787da33bd16c964c175aad2c982ce8",
        "passed": 2,
        "physics_dt_s": 0.005,
        "profiles": [
          {
            "capture_period_steps": 4,
            "capture_phase_steps": 0,
            "channels": "position-velocity",
            "control_dt_s": 0.005,
            "dropout_windows_s": [],
            "hold": "last-successful-capture",
            "ideal_channels": "attitude-rates-acceleration-supervisor-contact",
            "noise": "none",
            "profile": "sample-hold",
            "transport_delay_steps": 0
          },
          {
            "capture_period_steps": 4,
            "capture_phase_steps": 0,
            "channels": "position-velocity",
            "control_dt_s": 0.005,
            "dropout_windows_s": [
              [
                18.0,
                20.0
              ],
              [
                40.0,
                42.0
              ]
            ],
            "hold": "last-successful-capture",
            "ideal_channels": "attitude-rates-acceleration-supervisor-contact",
            "noise": "none",
            "profile": "hold-dropout-2000ms",
            "transport_delay_steps": 0
          }
        ],
        "recovery_criteria": {
          "deadline_s": 5.0,
          "dwell_s": 1.0,
          "method": "final-uninterrupted-in-band-suffix",
          "position_difference_m": 0.05
        },
        "reference_profile": "sample-hold",
        "results": [
          {
            "captures": {
              "captures": 2501,
              "held_control_samples": 7500,
              "max_age_s": 0.015,
              "position_discrepancy_peak_m": 0.011431718796751955,
              "position_discrepancy_rmse_m": 0.002602990881084455,
              "velocity_discrepancy_peak_m_s": 0.19595602283941913,
              "velocity_discrepancy_rmse_m_s": 0.00592073278705566,
              "windows": []
            },
            "config_sha256": "a1bfc428b61e62ec2033d7e2fe652960ec473964933dda312eaa6b4d996ef556",
            "failure_reason": "wind_mission_support_threshold",
            "metrics": {
              "measurement_window_s": [
                5.0,
                50.0
              ],
              "mission": {
                "final_support": {
                  "mean_normal_force_n": 9.877087566917972,
                  "mean_vertical_balance_error_n": 8.598431125764769e-07,
                  "peak_height_error_m": 3.308057785061935e-07,
                  "peak_rotor_thrust_n": 7.47445367382453e-92,
                  "peak_speed_m_s": 0.00016866875057579004,
                  "peak_tilt_deg": 0.00012452808874310217,
                  "peak_xy_error_m": 0.6612621761199924,
                  "samples": 401
                },
                "initial_support": {
                  "mean_normal_force_n": 9.724175901412965,
                  "mean_vertical_balance_error_n": 1.1081475642473749e-05,
                  "peak_height_error_m": 3.1590461731234587e-07,
                  "peak_rotor_thrust_n": 0.0,
                  "peak_speed_m_s": 0.0002162903944080586,
                  "peak_tilt_deg": 0.00012219108682606024,
                  "peak_xy_error_m": 0.0028941965704192074,
                  "samples": 200
                },
                "landed_time_s": 41.68,
                "liftoff_time_s": 2.995,
                "max_penetration_m": 8.521910594833093e-07,
                "peak_tilt_deg": 15.412034225683763,
                "touchdown_descent_speed_m_s": 0.05308470129966736,
                "touchdown_horizontal_speed_m_s": 0.3556808068604374,
                "touchdown_time_s": 41.43,
                "unexpected_contact_samples": 0,
                "waypoint_band_m": 0.35,
                "waypoint_reached_s": [
                  7.0,
                  15.0,
                  23.0,
                  31.0
                ]
              },
              "peak_error_m": 0.6612629113681125,
              "position_rmse_m": 0.3163108481733738,
              "recovery_reason": "not_applicable",
              "recovery_time_s": null,
              "samples": 10001,
              "step_response": null
            },
            "profile": "sample-hold",
            "sample_count": 10001,
            "samples_sha256": "fd85fdad7ad483d273cea8e3664cae3929c2208076c0bcbe1d991e7a974f390b",
            "seed": 401,
            "status": "failed",
            "timing": {
              "elapsed_s": 41.27129100000002,
              "late_steps": 59,
              "max_lag_s": 0.03182299999991301,
              "monitor_enabled": true,
              "paced": false,
              "real_time_factor": 1.2114959040171527,
              "simulation_s": 50.0
            }
          },
          {
            "captures": {
              "captures": 2501,
              "held_control_samples": 7500,
              "max_age_s": 0.015,
              "position_discrepancy_peak_m": 0.011918190875883809,
              "position_discrepancy_rmse_m": 0.0023319482765922356,
              "velocity_discrepancy_peak_m_s": 0.19595750117041938,
              "velocity_discrepancy_rmse_m_s": 0.0056629478936599306,
              "windows": []
            },
            "config_sha256": "c4d155eeee4ddf7aa8ee797360a88c19e3b5d60341399f0d6a83a982a85e68d2",
            "failure_reason": "wind_mission_support_threshold",
            "metrics": {
              "measurement_window_s": [
                5.0,
                50.0
              ],
              "mission": {
                "final_support": {
                  "mean_normal_force_n": 9.795061715523204,
                  "mean_vertical_balance_error_n": 1.578443461513425e-06,
                  "peak_height_error_m": 3.270804882077316e-07,
                  "peak_rotor_thrust_n": 9.689097765559996e-101,
                  "peak_speed_m_s": 0.0001739684370839796,
                  "peak_tilt_deg": 0.00012313594626000443,
                  "peak_xy_error_m": 0.42793780477738497,
                  "samples": 401
                },
                "initial_support": {
                  "mean_normal_force_n": 9.775158243179321,
                  "mean_vertical_balance_error_n": -8.967957240813007e-08,
                  "peak_height_error_m": 3.233551979092697e-07,
                  "peak_rotor_thrust_n": 0.0,
                  "peak_speed_m_s": 0.00015321020481540783,
                  "peak_tilt_deg": 0.00011853933016622986,
                  "peak_xy_error_m": 0.01439959240507109,
                  "samples": 200
                },
                "landed_time_s": 41.065,
                "liftoff_time_s": 2.875,
                "max_penetration_m": 1.632915314436767e-06,
                "peak_tilt_deg": 12.992226957115355,
                "touchdown_descent_speed_m_s": 0.08809070289134979,
                "touchdown_horizontal_speed_m_s": 0.3909066203182911,
                "touchdown_time_s": 40.975,
                "unexpected_contact_samples": 0,
                "waypoint_band_m": 0.35,
                "waypoint_reached_s": [
                  7.0,
                  15.0,
                  23.0,
                  31.0
                ]
              },
              "peak_error_m": 0.4279417751982051,
              "position_rmse_m": 0.22397686549013313,
              "recovery_reason": "not_applicable",
              "recovery_time_s": null,
              "samples": 10001,
              "step_response": null
            },
            "profile": "sample-hold",
            "sample_count": 10001,
            "samples_sha256": "e3863a5a40588510be4d64379412a3a70a1182fe41486e15249f5d2c25d2c73c",
            "seed": 503,
            "status": "failed",
            "timing": {
              "elapsed_s": 37.89349519999996,
              "late_steps": 0,
              "max_lag_s": 0.0019411000004038214,
              "monitor_enabled": true,
              "paced": false,
              "real_time_factor": 1.3194876781912706,
              "simulation_s": 50.0
            }
          },
          {
            "captures": {
              "captures": 2501,
              "held_control_samples": 7500,
              "max_age_s": 0.015,
              "position_discrepancy_peak_m": 0.010463248081990848,
              "position_discrepancy_rmse_m": 0.0023359302857950174,
              "velocity_discrepancy_peak_m_s": 0.3399361978305559,
              "velocity_discrepancy_rmse_m_s": 0.00698112135686501,
              "windows": []
            },
            "config_sha256": "7f174ac8846e54f7adaca293c9706ced10f17a955da2b54ad1bd606a026aad45",
            "failure_reason": null,
            "metrics": {
              "measurement_window_s": [
                5.0,
                50.0
              ],
              "mission": {
                "final_support": {
                  "mean_normal_force_n": 9.84857826993947,
                  "mean_vertical_balance_error_n": 3.6012434476302324e-06,
                  "peak_height_error_m": 3.270804882077316e-07,
                  "peak_rotor_thrust_n": 6.156729013458482e-59,
                  "peak_speed_m_s": 0.000163278170258011,
                  "peak_tilt_deg": 0.00012054243832652452,
                  "peak_xy_error_m": 0.12358163274943042,
                  "samples": 401
                },
                "initial_support": {
                  "mean_normal_force_n": 9.78142005443573,
                  "mean_vertical_balance_error_n": 1.1718501251678504e-05,
                  "peak_height_error_m": 3.233551979092697e-07,
                  "peak_rotor_thrust_n": 0.0,
                  "peak_speed_m_s": 0.00019788852930427084,
                  "peak_tilt_deg": 0.00011871752483825815,
                  "peak_xy_error_m": 0.020703043249161477,
                  "samples": 200
                },
                "landed_time_s": 43.955,
                "liftoff_time_s": 2.96,
                "max_penetration_m": 1.1836645225915543e-06,
                "peak_tilt_deg": 10.852596634668751,
                "touchdown_descent_speed_m_s": 0.04905493184924126,
                "touchdown_horizontal_speed_m_s": 0.11265245266705431,
                "touchdown_time_s": 43.865,
                "unexpected_contact_samples": 0,
                "waypoint_band_m": 0.35,
                "waypoint_reached_s": [
                  7.0,
                  15.0,
                  23.0,
                  31.0
                ]
              },
              "peak_error_m": 0.26967980439484524,
              "position_rmse_m": 0.10962165303917767,
              "recovery_reason": "not_applicable",
              "recovery_time_s": null,
              "samples": 10001,
              "step_response": null
            },
            "profile": "sample-hold",
            "sample_count": 10001,
            "samples_sha256": "9c913ee95a8c52878d7b3b77ad9dc579bfec2aae25c00649f9abd7ea751209a8",
            "seed": 607,
            "status": "passed",
            "timing": {
              "elapsed_s": 37.81086269999969,
              "late_steps": 0,
              "max_lag_s": 0.0005241000000023631,
              "monitor_enabled": true,
              "paced": false,
              "real_time_factor": 1.3223713089201854,
              "simulation_s": 50.0
            }
          },
          {
            "captures": {
              "captures": 2301,
              "held_control_samples": 7700,
              "max_age_s": 2.015,
              "position_discrepancy_peak_m": 0.6602571764706971,
              "position_discrepancy_rmse_m": 0.09136127094100444,
              "velocity_discrepancy_peak_m_s": 0.646609792848388,
              "velocity_discrepancy_rmse_m_s": 0.09925658924323626,
              "windows": [
                {
                  "end_s": 20.0,
                  "first_capture_after_s": 20.0,
                  "last_capture_before_s": 17.98,
                  "start_s": 18.0
                },
                {
                  "end_s": 42.0,
                  "first_capture_after_s": 42.0,
                  "last_capture_before_s": 39.98,
                  "start_s": 40.0
                }
              ]
            },
            "config_sha256": "5a37d66e4bad884f976661c3a101618fea5c2b79d5c265855e871be8d7ee7f83",
            "failure_reason": "wind_mission_support_threshold",
            "metrics": {
              "measurement_window_s": [
                5.0,
                50.0
              ],
              "mission": {
                "final_support": {
                  "mean_normal_force_n": 9.87708755264853,
                  "mean_vertical_balance_error_n": 8.441980451038519e-07,
                  "peak_height_error_m": 3.308057785061935e-07,
                  "peak_rotor_thrust_n": 2.6876504356485365e-93,
                  "peak_speed_m_s": 0.00016847308038551,
                  "peak_tilt_deg": 0.00012387958459723436,
                  "peak_xy_error_m": 0.6456238610668843,
                  "samples": 401
                },
                "initial_support": {
                  "mean_normal_force_n": 9.724175901412965,
                  "mean_vertical_balance_error_n": 1.1081475642473749e-05,
                  "peak_height_error_m": 3.1590461731234587e-07,
                  "peak_rotor_thrust_n": 0.0,
                  "peak_speed_m_s": 0.0002162903944080586,
                  "peak_tilt_deg": 0.00012219108682606024,
                  "peak_xy_error_m": 0.0028941965704192074,
                  "samples": 200
                },
                "landed_time_s": 41.58,
                "liftoff_time_s": 2.995,
                "max_penetration_m": 0.0015108568978427356,
                "peak_tilt_deg": 15.908153093371071,
                "touchdown_descent_speed_m_s": 0.12202543020248413,
                "touchdown_horizontal_speed_m_s": 0.2780735868374247,
                "touchdown_time_s": 41.515,
                "unexpected_contact_samples": 0,
                "waypoint_band_m": 0.35,
                "waypoint_reached_s": [
                  7.0,
                  15.0,
                  23.0,
                  31.0
                ]
              },
              "peak_error_m": 0.6456650107205202,
              "position_rmse_m": 0.31055981549641415,
              "recovery_reason": "not_applicable",
              "recovery_time_s": null,
              "samples": 10001,
              "step_response": null
            },
            "profile": "hold-dropout-2000ms",
            "sample_count": 10001,
            "samples_sha256": "20e57808fba2997e660c1f2fcafca7ae2389c11fe5029374cfe25b7c55b7a5e4",
            "seed": 401,
            "status": "failed",
            "timing": {
              "elapsed_s": 50.00050310000006,
              "late_steps": 36,
              "max_lag_s": 0.027963699999982054,
              "monitor_enabled": true,
              "paced": true,
              "real_time_factor": 0.9999899381012416,
              "simulation_s": 50.0
            }
          },
          {
            "captures": {
              "captures": 2301,
              "held_control_samples": 7700,
              "max_age_s": 2.015,
              "position_discrepancy_peak_m": 0.45744840387714936,
              "position_discrepancy_rmse_m": 0.06821361486440689,
              "velocity_discrepancy_peak_m_s": 0.6953553791370107,
              "velocity_discrepancy_rmse_m_s": 0.08136066128077761,
              "windows": [
                {
                  "end_s": 20.0,
                  "first_capture_after_s": 20.0,
                  "last_capture_before_s": 17.98,
                  "start_s": 18.0
                },
                {
                  "end_s": 42.0,
                  "first_capture_after_s": 42.0,
                  "last_capture_before_s": 39.98,
                  "start_s": 40.0
                }
              ]
            },
            "config_sha256": "5cec2a70de291b3c6d506b9d1d424598b5547e6a3c43a63c090ba105d4edb1b8",
            "failure_reason": "wind_mission_support_threshold",
            "metrics": {
              "measurement_window_s": [
                5.0,
                50.0
              ],
              "mission": {
                "final_support": {
                  "mean_normal_force_n": 9.79506168698432,
                  "mean_vertical_balance_error_n": 1.5718481014315775e-06,
                  "peak_height_error_m": 3.270804882077316e-07,
                  "peak_rotor_thrust_n": 6.951423911040388e-103,
                  "peak_speed_m_s": 0.00017445659783708425,
                  "peak_tilt_deg": 0.00012717215679482782,
                  "peak_xy_error_m": 0.3738567145025875,
                  "samples": 401
                },
                "initial_support": {
                  "mean_normal_force_n": 9.775158243179321,
                  "mean_vertical_balance_error_n": -8.967957240813007e-08,
                  "peak_height_error_m": 3.233551979092697e-07,
                  "peak_rotor_thrust_n": 0.0,
                  "peak_speed_m_s": 0.00015321020481540783,
                  "peak_tilt_deg": 0.00011853933016622986,
                  "peak_xy_error_m": 0.01439959240507109,
                  "samples": 200
                },
                "landed_time_s": 40.915,
                "liftoff_time_s": 2.875,
                "max_penetration_m": 0.0002522344904124507,
                "peak_tilt_deg": 11.325184784404094,
                "touchdown_descent_speed_m_s": 0.16953715682029724,
                "touchdown_horizontal_speed_m_s": 0.4697015260141415,
                "touchdown_time_s": 40.865,
                "unexpected_contact_samples": 0,
                "waypoint_band_m": 0.35,
                "waypoint_reached_s": [
                  7.0,
                  15.0,
                  23.0,
                  31.0
                ]
              },
              "peak_error_m": 0.37393943739612023,
              "position_rmse_m": 0.20403903910311735,
              "recovery_reason": "not_applicable",
              "recovery_time_s": null,
              "samples": 10001,
              "step_response": null
            },
            "profile": "hold-dropout-2000ms",
            "sample_count": 10001,
            "samples_sha256": "7698eefb182d49359bd7f160c4b4e81383ea7ae4cd0997a3ad85fc3b472689b2",
            "seed": 503,
            "status": "failed",
            "timing": {
              "elapsed_s": 50.000195200000235,
              "late_steps": 58,
              "max_lag_s": 0.06591130000002465,
              "monitor_enabled": true,
              "paced": true,
              "real_time_factor": 0.9999960960152364,
              "simulation_s": 50.0
            }
          },
          {
            "captures": {
              "captures": 2301,
              "held_control_samples": 7700,
              "max_age_s": 2.015,
              "position_discrepancy_peak_m": 0.3249645175350536,
              "position_discrepancy_rmse_m": 0.047058832949682945,
              "velocity_discrepancy_peak_m_s": 0.48208628038773993,
              "velocity_discrepancy_rmse_m_s": 0.08683067702140536,
              "windows": [
                {
                  "end_s": 20.0,
                  "first_capture_after_s": 20.0,
                  "last_capture_before_s": 17.98,
                  "start_s": 18.0
                },
                {
                  "end_s": 42.0,
                  "first_capture_after_s": 42.0,
                  "last_capture_before_s": 39.98,
                  "start_s": 40.0
                }
              ]
            },
            "config_sha256": "ac3b00f5eea0f2e963dcebdc0eba2147e02edb14894a817446ed4b42177e0dbb",
            "failure_reason": null,
            "metrics": {
              "measurement_window_s": [
                5.0,
                50.0
              ],
              "mission": {
                "final_support": {
                  "mean_normal_force_n": 9.848578215239947,
                  "mean_vertical_balance_error_n": 3.4689710891995917e-06,
                  "peak_height_error_m": 3.270804882077316e-07,
                  "peak_rotor_thrust_n": 1.6011336656055004e-56,
                  "peak_speed_m_s": 0.0001631414110164219,
                  "peak_tilt_deg": 0.00012553666584673898,
                  "peak_xy_error_m": 0.1031165826870843,
                  "samples": 401
                },
                "initial_support": {
                  "mean_normal_force_n": 9.78142005443573,
                  "mean_vertical_balance_error_n": 1.1718501251678504e-05,
                  "peak_height_error_m": 3.233551979092697e-07,
                  "peak_rotor_thrust_n": 0.0,
                  "peak_speed_m_s": 0.00019788852930427084,
                  "peak_tilt_deg": 0.00011871752483825815,
                  "peak_xy_error_m": 0.020703043249161477,
                  "samples": 200
                },
                "landed_time_s": 44.12,
                "liftoff_time_s": 2.96,
                "max_penetration_m": 9.158680798621033e-07,
                "peak_tilt_deg": 10.726336647700528,
                "touchdown_descent_speed_m_s": 0.07993503659963608,
                "touchdown_horizontal_speed_m_s": 0.2403361530873917,
                "touchdown_time_s": 44.06,
                "unexpected_contact_samples": 0,
                "waypoint_band_m": 0.35,
                "waypoint_reached_s": [
                  7.0,
                  15.0,
                  23.0,
                  31.0
                ]
              },
              "peak_error_m": 0.26968330743948865,
              "position_rmse_m": 0.10910669070386021,
              "recovery_reason": "not_applicable",
              "recovery_time_s": null,
              "samples": 10001,
              "step_response": null
            },
            "profile": "hold-dropout-2000ms",
            "sample_count": 10001,
            "samples_sha256": "d0be49d47eba50b0938707645878d4a736803db8bf88448ea5e8757250ccb64c",
            "seed": 607,
            "status": "passed",
            "timing": {
              "elapsed_s": 50.000476900000194,
              "late_steps": 12,
              "max_lag_s": 0.008752599999859001,
              "monitor_enabled": true,
              "paced": true,
              "real_time_factor": 0.9999904620909686,
              "simulation_s": 50.0
            }
          }
        ],
        "schema_version": 1,
        "seeds": [
          401,
          503,
          607
        ],
        "source_commit": "b75bcc85474626e60beee3f6a83b6f0e27874b40",
        "source_dirty": false,
        "source_tree_sha256": "ee1f83b3e9e3809e5654a29c452d05ad7666537679e29402de3cef9e1d2db32e",
        "trials": 6,
        "versions": {
          "isaaclab": "17.0.2",
          "isaacsim": "6.1.0.0",
          "torch": "2.11.0+cu128"
        }
      },
      "candidate": {
        "accepted": false,
        "backend": "isaacsim_physx",
        "comparisons": [
          {
            "landed_time_change_s": 0.11500000000000199,
            "passed": true,
            "peak_attitude_difference_rad": 0.20663290424664602,
            "peak_position_difference_m": 0.04826559482225752,
            "position_difference_rmse_m": 0.008580310788111372,
            "position_rmse_change_m": 0.000900393307288111,
            "profile": "hold-dropout-2000ms",
            "recovery_passed": true,
            "recovery_windows": [
              {
                "complete_horizon": true,
                "difference_at_resumed_capture_m": 0.03720150107384109,
                "excursion_observed": false,
                "first_resumed_capture_s": 20.0,
                "horizon_end_s": 39.995,
                "passed": true,
                "peak_position_difference_m": 0.042644099249951946,
                "post_outage_samples_above_band": 0,
                "recovery_time_s": 0.0,
                "samples_above_band": 0,
                "window_end_s": 20.0,
                "window_start_s": 18.0
              },
              {
                "complete_horizon": true,
                "difference_at_resumed_capture_m": 0.011021852252276428,
                "excursion_observed": false,
                "first_resumed_capture_s": 42.0,
                "horizon_end_s": 50.0,
                "passed": true,
                "peak_position_difference_m": 0.04826559482225752,
                "post_outage_samples_above_band": 0,
                "recovery_time_s": 0.0,
                "samples_above_band": 0,
                "window_end_s": 42.0,
                "window_start_s": 40.0
              }
            ],
            "reference_profile": "sample-hold",
            "seed": 401
          },
          {
            "landed_time_change_s": 0.11500000000000199,
            "passed": true,
            "peak_attitude_difference_rad": 0.2704415604559814,
            "peak_position_difference_m": 0.05452143909291261,
            "position_difference_rmse_m": 0.015855248001768418,
            "position_rmse_change_m": 0.012070279542637619,
            "profile": "hold-dropout-2000ms",
            "recovery_passed": true,
            "recovery_windows": [
              {
                "complete_horizon": true,
                "difference_at_resumed_capture_m": 0.030377140284397634,
                "excursion_observed": false,
                "first_resumed_capture_s": 20.0,
                "horizon_end_s": 39.995,
                "passed": true,
                "peak_position_difference_m": 0.03645923933436194,
                "post_outage_samples_above_band": 0,
                "recovery_time_s": 0.0,
                "samples_above_band": 0,
                "window_end_s": 20.0,
                "window_start_s": 18.0
              },
              {
                "complete_horizon": true,
                "difference_at_resumed_capture_m": 0.03509109992903713,
                "excursion_observed": true,
                "first_resumed_capture_s": 42.0,
                "horizon_end_s": 50.0,
                "passed": true,
                "peak_position_difference_m": 0.05452143909291261,
                "post_outage_samples_above_band": 0,
                "recovery_time_s": 0.0,
                "samples_above_band": 4,
                "window_end_s": 42.0,
                "window_start_s": 40.0
              }
            ],
            "reference_profile": "sample-hold",
            "seed": 503
          },
          {
            "landed_time_change_s": 0.17500000000000426,
            "passed": true,
            "peak_attitude_difference_rad": 0.07060292318173497,
            "peak_position_difference_m": 0.083250835844629,
            "position_difference_rmse_m": 0.023810068829451653,
            "position_rmse_change_m": 0.0011187036549685364,
            "profile": "hold-dropout-2000ms",
            "recovery_passed": true,
            "recovery_windows": [
              {
                "complete_horizon": true,
                "difference_at_resumed_capture_m": 0.07444139991719918,
                "excursion_observed": true,
                "first_resumed_capture_s": 20.0,
                "horizon_end_s": 39.995,
                "passed": true,
                "peak_position_difference_m": 0.083250835844629,
                "post_outage_samples_above_band": 210,
                "recovery_time_s": 1.05,
                "samples_above_band": 280,
                "window_end_s": 20.0,
                "window_start_s": 18.0
              },
              {
                "complete_horizon": true,
                "difference_at_resumed_capture_m": 0.06680568806282068,
                "excursion_observed": true,
                "first_resumed_capture_s": 42.0,
                "horizon_end_s": 50.0,
                "passed": true,
                "peak_position_difference_m": 0.07702711700154828,
                "post_outage_samples_above_band": 199,
                "recovery_time_s": 0.995,
                "samples_above_band": 241,
                "window_end_s": 42.0,
                "window_start_s": 40.0
              }
            ],
            "reference_profile": "sample-hold",
            "seed": 607
          }
        ],
        "complete": true,
        "control_dt_s": 0.005,
        "controller_binary_sha256": "b4543a2973dc424a7f398cf225a3088fefedd4053b2d3658eefd050f73d7c90f",
        "duration_results": [
          {
            "accepted": false,
            "duration_s": 0.0,
            "excursion_windows": 0,
            "mission_passes": 2,
            "pair_count": 0,
            "pair_passes": 0,
            "profile": "sample-hold",
            "recovery_count": 0,
            "recovery_passes": 0
          },
          {
            "accepted": false,
            "duration_s": 2.0,
            "excursion_windows": 3,
            "mission_passes": 2,
            "pair_count": 3,
            "pair_passes": 3,
            "profile": "hold-dropout-2000ms",
            "recovery_count": 6,
            "recovery_passes": 6
          }
        ],
        "kind": "isaac_outage_duration_study",
        "limitations": [
          "Synthetic outages; fixed durations and three seeds do not establish a safe duration or stability proof",
          "Ideal attitude, rates, acceleration, mission supervisor and contact sensing",
          "Paired mission bounds and settled recovery are separate outcomes; failures are retained",
          "Independent yaw refinement remains unresolved; runtime and physics gates unchanged",
          "Soft real-time only; wall timing excludes startup and evidence serialization"
        ],
        "lock_sha256": "e280d5e783d8f42f661aa933223edb7464787da33bd16c964c175aad2c982ce8",
        "passed": 4,
        "physics_dt_s": 0.005,
        "profiles": [
          {
            "capture_period_steps": 4,
            "capture_phase_steps": 0,
            "channels": "position-velocity",
            "control_dt_s": 0.005,
            "dropout_windows_s": [],
            "hold": "last-successful-capture",
            "ideal_channels": "attitude-rates-acceleration-supervisor-contact",
            "noise": "none",
            "profile": "sample-hold",
            "transport_delay_steps": 0
          },
          {
            "capture_period_steps": 4,
            "capture_phase_steps": 0,
            "channels": "position-velocity",
            "control_dt_s": 0.005,
            "dropout_windows_s": [
              [
                18.0,
                20.0
              ],
              [
                40.0,
                42.0
              ]
            ],
            "hold": "last-successful-capture",
            "ideal_channels": "attitude-rates-acceleration-supervisor-contact",
            "noise": "none",
            "profile": "hold-dropout-2000ms",
            "transport_delay_steps": 0
          }
        ],
        "recovery_criteria": {
          "deadline_s": 5.0,
          "dwell_s": 1.0,
          "method": "final-uninterrupted-in-band-suffix",
          "position_difference_m": 0.05
        },
        "reference_profile": "sample-hold",
        "results": [
          {
            "captures": {
              "captures": 2501,
              "held_control_samples": 7500,
              "max_age_s": 0.015,
              "position_discrepancy_peak_m": 0.011431718796751955,
              "position_discrepancy_rmse_m": 0.0025660800898733476,
              "velocity_discrepancy_peak_m_s": 0.7377297390465404,
              "velocity_discrepancy_rmse_m_s": 0.010237172102990617,
              "windows": []
            },
            "config_sha256": "9b1cbf967020c33238083ca196e289062597704640c6310ad734f7c5d94e5756",
            "failure_reason": "wind_mission_support_threshold",
            "metrics": {
              "measurement_window_s": [
                5.0,
                50.0
              ],
              "mission": {
                "final_support": {
                  "mean_normal_force_n": 9.877087509840207,
                  "mean_vertical_balance_error_n": 8.026884928750108e-07,
                  "peak_height_error_m": 3.308057785061935e-07,
                  "peak_rotor_thrust_n": 7.739526337194532e-92,
                  "peak_speed_m_s": 0.00016789859778989263,
                  "peak_tilt_deg": 0.00012611308984512127,
                  "peak_xy_error_m": 0.45748109114222796,
                  "samples": 401
                },
                "initial_support": {
                  "mean_normal_force_n": 9.724175901412965,
                  "mean_vertical_balance_error_n": 1.1081475642473749e-05,
                  "peak_height_error_m": 3.1590461731234587e-07,
                  "peak_rotor_thrust_n": 0.0,
                  "peak_speed_m_s": 0.0002162903944080586,
                  "peak_tilt_deg": 0.00012219108682606024,
                  "peak_xy_error_m": 0.0028941965704192074,
                  "samples": 200
                },
                "landed_time_s": 41.68,
                "liftoff_time_s": 2.995,
                "max_penetration_m": 0.0008989658203061579,
                "peak_tilt_deg": 16.12492340093461,
                "touchdown_descent_speed_m_s": 0.0664534866809845,
                "touchdown_horizontal_speed_m_s": 0.1753171442238941,
                "touchdown_time_s": 41.425,
                "unexpected_contact_samples": 0,
                "waypoint_band_m": 0.35,
                "waypoint_reached_s": [
                  7.0,
                  15.0,
                  23.0,
                  31.0
                ]
              },
              "peak_error_m": 0.45768080115435583,
              "position_rmse_m": 0.2362490933972107,
              "recovery_reason": "not_applicable",
              "recovery_time_s": null,
              "samples": 10001,
              "step_response": null
            },
            "profile": "sample-hold",
            "sample_count": 10001,
            "samples_sha256": "31e1e7067246edaa1e7de1cc990a253b57bf8fb4151799d5445844cd92eb6b92",
            "seed": 401,
            "status": "failed",
            "timing": {
              "elapsed_s": 38.16272339998977,
              "late_steps": 13,
              "max_lag_s": 0.020987599990912712,
              "monitor_enabled": true,
              "paced": false,
              "real_time_factor": 1.3101790319297129,
              "simulation_s": 50.0
            }
          },
          {
            "captures": {
              "captures": 2501,
              "held_control_samples": 7500,
              "max_age_s": 0.015,
              "position_discrepancy_peak_m": 0.011175569610809385,
              "position_discrepancy_rmse_m": 0.0023205506048928647,
              "velocity_discrepancy_peak_m_s": 1.0270214647339129,
              "velocity_discrepancy_rmse_m_s": 0.013352890265405653,
              "windows": []
            },
            "config_sha256": "a47bd81855b0efc2c7618e8f880a26a2e0fee5815bce7376c76e4c3625f8fe98",
            "failure_reason": null,
            "metrics": {
              "measurement_window_s": [
                5.0,
                50.0
              ],
              "mission": {
                "final_support": {
                  "mean_normal_force_n": 9.79506168698432,
                  "mean_vertical_balance_error_n": 1.5520280301017737e-06,
                  "peak_height_error_m": 3.270804882077316e-07,
                  "peak_rotor_thrust_n": 6.726083684925669e-102,
                  "peak_speed_m_s": 0.00017395611900794522,
                  "peak_tilt_deg": 0.00012772408091500168,
                  "peak_xy_error_m": 0.3382194108397101,
                  "samples": 401
                },
                "initial_support": {
                  "mean_normal_force_n": 9.775158243179321,
                  "mean_vertical_balance_error_n": -8.967957240813007e-08,
                  "peak_height_error_m": 3.233551979092697e-07,
                  "peak_rotor_thrust_n": 0.0,
                  "peak_speed_m_s": 0.00015321020481540783,
                  "peak_tilt_deg": 0.00011853933016622986,
                  "peak_xy_error_m": 0.01439959240507109,
                  "samples": 200
                },
                "landed_time_s": 40.985,
                "liftoff_time_s": 2.875,
                "max_penetration_m": 0.002717961102692623,
                "peak_tilt_deg": 15.043672962813213,
                "touchdown_descent_speed_m_s": 0.08850204944610596,
                "touchdown_horizontal_speed_m_s": 0.38316624494447615,
                "touchdown_time_s": 40.905,
                "unexpected_contact_samples": 0,
                "waypoint_band_m": 0.35,
                "waypoint_reached_s": [
                  7.0,
                  15.0,
                  23.0,
                  31.0
                ]
              },
              "peak_error_m": 0.3382229858647539,
              "position_rmse_m": 0.18736967114135997,
              "recovery_reason": "not_applicable",
              "recovery_time_s": null,
              "samples": 10001,
              "step_response": null
            },
            "profile": "sample-hold",
            "sample_count": 10001,
            "samples_sha256": "07d3e619529222dab9506fac2fc87287aa98c5ccd0a01b021927c3ea8e866dd4",
            "seed": 503,
            "status": "passed",
            "timing": {
              "elapsed_s": 36.66846099999384,
              "late_steps": 0,
              "max_lag_s": 0.0006658999918727204,
              "monitor_enabled": true,
              "paced": false,
              "real_time_factor": 1.3635696354970666,
              "simulation_s": 50.0
            }
          },
          {
            "captures": {
              "captures": 2501,
              "held_control_samples": 7500,
              "max_age_s": 0.015,
              "position_discrepancy_peak_m": 0.010463248081990848,
              "position_discrepancy_rmse_m": 0.0023082670857329534,
              "velocity_discrepancy_peak_m_s": 0.19595710952001844,
              "velocity_discrepancy_rmse_m_s": 0.005212820549432619,
              "windows": []
            },
            "config_sha256": "ccac0a5abceeb6874a95b120af7fcb062716d3fe2f65bf0d7f73fc16710f58bc",
            "failure_reason": null,
            "metrics": {
              "measurement_window_s": [
                5.0,
                50.0
              ],
              "mission": {
                "final_support": {
                  "mean_normal_force_n": 9.848578298478353,
                  "mean_vertical_balance_error_n": 3.5515141308792693e-06,
                  "peak_height_error_m": 3.270804882077316e-07,
                  "peak_rotor_thrust_n": 2.2870600315379185e-59,
                  "peak_speed_m_s": 0.00016300170182903225,
                  "peak_tilt_deg": 0.00012924170416496865,
                  "peak_xy_error_m": 0.07897569159080245,
                  "samples": 401
                },
                "initial_support": {
                  "mean_normal_force_n": 9.78142005443573,
                  "mean_vertical_balance_error_n": 1.1718501251678504e-05,
                  "peak_height_error_m": 3.233551979092697e-07,
                  "peak_rotor_thrust_n": 0.0,
                  "peak_speed_m_s": 0.00019788852930427084,
                  "peak_tilt_deg": 0.00011871752483825815,
                  "peak_xy_error_m": 0.020703043249161477,
                  "samples": 200
                },
                "landed_time_s": 43.925,
                "liftoff_time_s": 2.96,
                "max_penetration_m": 7.08897825227317e-06,
                "peak_tilt_deg": 12.586729486546492,
                "touchdown_descent_speed_m_s": 0.04800772666931152,
                "touchdown_horizontal_speed_m_s": 0.10869593708994865,
                "touchdown_time_s": 43.855,
                "unexpected_contact_samples": 0,
                "waypoint_band_m": 0.35,
                "waypoint_reached_s": [
                  7.0,
                  15.0,
                  23.0,
                  31.0
                ]
              },
              "peak_error_m": 0.26967980439484524,
              "position_rmse_m": 0.09775383994868952,
              "recovery_reason": "not_applicable",
              "recovery_time_s": null,
              "samples": 10001,
              "step_response": null
            },
            "profile": "sample-hold",
            "sample_count": 10001,
            "samples_sha256": "4c9d17c15acfae91dd89dabbbf525dae2c508e77d54e1a686dae1d9000a473b7",
            "seed": 607,
            "status": "passed",
            "timing": {
              "elapsed_s": 36.760145300009754,
              "late_steps": 0,
              "max_lag_s": 0.0005866000038804485,
              "monitor_enabled": true,
              "paced": false,
              "real_time_factor": 1.360168725992134,
              "simulation_s": 50.0
            }
          },
          {
            "captures": {
              "captures": 2301,
              "held_control_samples": 7700,
              "max_age_s": 2.015,
              "position_discrepancy_peak_m": 0.5033644800170314,
              "position_discrepancy_rmse_m": 0.07623001620018016,
              "velocity_discrepancy_peak_m_s": 0.6141869615984881,
              "velocity_discrepancy_rmse_m_s": 0.08802573250061156,
              "windows": [
                {
                  "end_s": 20.0,
                  "first_capture_after_s": 20.0,
                  "last_capture_before_s": 17.98,
                  "start_s": 18.0
                },
                {
                  "end_s": 42.0,
                  "first_capture_after_s": 42.0,
                  "last_capture_before_s": 39.98,
                  "start_s": 40.0
                }
              ]
            },
            "config_sha256": "074374750bed0b343ae125fe9a8192797ee2dc7dae5e0d37519dc003e30f720b",
            "failure_reason": "wind_mission_support_threshold",
            "metrics": {
              "measurement_window_s": [
                5.0,
                50.0
              ],
              "mission": {
                "final_support": {
                  "mean_normal_force_n": 9.877087585943892,
                  "mean_vertical_balance_error_n": 8.776600065737641e-07,
                  "peak_height_error_m": 3.308057785061935e-07,
                  "peak_rotor_thrust_n": 1.63346691811293e-93,
                  "peak_speed_m_s": 0.00016808564828869554,
                  "peak_tilt_deg": 0.0001288293227389101,
                  "peak_xy_error_m": 0.45910310597562226,
                  "samples": 401
                },
                "initial_support": {
                  "mean_normal_force_n": 9.724175901412965,
                  "mean_vertical_balance_error_n": 1.1081475642473749e-05,
                  "peak_height_error_m": 3.1590461731234587e-07,
                  "peak_rotor_thrust_n": 0.0,
                  "peak_speed_m_s": 0.0002162903944080586,
                  "peak_tilt_deg": 0.00012219108682606024,
                  "peak_xy_error_m": 0.0028941965704192074,
                  "samples": 200
                },
                "landed_time_s": 41.565,
                "liftoff_time_s": 2.995,
                "max_penetration_m": 0.0016022105705249326,
                "peak_tilt_deg": 16.51776334954005,
                "touchdown_descent_speed_m_s": 0.13785193860530853,
                "touchdown_horizontal_speed_m_s": 0.13218863686193238,
                "touchdown_time_s": 41.505,
                "unexpected_contact_samples": 0,
                "waypoint_band_m": 0.35,
                "waypoint_reached_s": [
                  7.0,
                  15.0,
                  23.0,
                  31.0
                ]
              },
              "peak_error_m": 0.45910344777069373,
              "position_rmse_m": 0.2371494867044988,
              "recovery_reason": "not_applicable",
              "recovery_time_s": null,
              "samples": 10001,
              "step_response": null
            },
            "profile": "hold-dropout-2000ms",
            "sample_count": 10001,
            "samples_sha256": "67aa63cc624eff5cd0c9e514a5afee62f23b872190341d59a1d48b591f2704cd",
            "seed": 401,
            "status": "failed",
            "timing": {
              "elapsed_s": 50.000032199997804,
              "late_steps": 796,
              "max_lag_s": 0.2794901000033132,
              "monitor_enabled": true,
              "paced": true,
              "real_time_factor": 0.9999993560004586,
              "simulation_s": 50.0
            }
          },
          {
            "captures": {
              "captures": 2301,
              "held_control_samples": 7700,
              "max_age_s": 2.015,
              "position_discrepancy_peak_m": 0.45744840387714936,
              "position_discrepancy_rmse_m": 0.06876186413613106,
              "velocity_discrepancy_peak_m_s": 0.7573027388263751,
              "velocity_discrepancy_rmse_m_s": 0.08929688529013585,
              "windows": [
                {
                  "end_s": 20.0,
                  "first_capture_after_s": 20.0,
                  "last_capture_before_s": 17.98,
                  "start_s": 18.0
                },
                {
                  "end_s": 42.0,
                  "first_capture_after_s": 42.0,
                  "last_capture_before_s": 39.98,
                  "start_s": 40.0
                }
              ]
            },
            "config_sha256": "ff932d881592b513bf3b3ad687947700db6e2149ddc93fef8df0b7b4e754e32d",
            "failure_reason": null,
            "metrics": {
              "measurement_window_s": [
                5.0,
                50.0
              ],
              "mission": {
                "final_support": {
                  "mean_normal_force_n": 9.795061627528316,
                  "mean_vertical_balance_error_n": 1.5244822563467064e-06,
                  "peak_height_error_m": 3.270804882077316e-07,
                  "peak_rotor_thrust_n": 1.5553789759056144e-103,
                  "peak_speed_m_s": 0.00017473995917271392,
                  "peak_tilt_deg": 0.0001273983629782266,
                  "peak_xy_error_m": 0.3035058185663813,
                  "samples": 401
                },
                "initial_support": {
                  "mean_normal_force_n": 9.775158243179321,
                  "mean_vertical_balance_error_n": -8.967957240813007e-08,
                  "peak_height_error_m": 3.233551979092697e-07,
                  "peak_rotor_thrust_n": 0.0,
                  "peak_speed_m_s": 0.00015321020481540783,
                  "peak_tilt_deg": 0.00011853933016622986,
                  "peak_xy_error_m": 0.01439959240507109,
                  "samples": 200
                },
                "landed_time_s": 40.87,
                "liftoff_time_s": 2.875,
                "max_penetration_m": 0.0021487151145191258,
                "peak_tilt_deg": 13.222360420069819,
                "touchdown_descent_speed_m_s": 0.15719786286354065,
                "touchdown_horizontal_speed_m_s": 0.46398032940672224,
                "touchdown_time_s": 40.82,
                "unexpected_contact_samples": 0,
                "waypoint_band_m": 0.35,
                "waypoint_reached_s": [
                  7.0,
                  15.0,
                  23.0,
                  31.0
                ]
              },
              "peak_error_m": 0.30366870273558155,
              "position_rmse_m": 0.17529939159872235,
              "recovery_reason": "not_applicable",
              "recovery_time_s": null,
              "samples": 10001,
              "step_response": null
            },
            "profile": "hold-dropout-2000ms",
            "sample_count": 10001,
            "samples_sha256": "5005e736a9f0a7f7d3700be47a938cb48247abfdfecdfb81d51c7f73c12bd171",
            "seed": 503,
            "status": "passed",
            "timing": {
              "elapsed_s": 50.00047889999405,
              "late_steps": 55,
              "max_lag_s": 0.05752839999797388,
              "monitor_enabled": true,
              "paced": true,
              "real_time_factor": 0.9999904220918562,
              "simulation_s": 50.0
            }
          },
          {
            "captures": {
              "captures": 2301,
              "held_control_samples": 7700,
              "max_age_s": 2.015,
              "position_discrepancy_peak_m": 0.24285150849257375,
              "position_discrepancy_rmse_m": 0.03624821022778801,
              "velocity_discrepancy_peak_m_s": 0.48208628038773993,
              "velocity_discrepancy_rmse_m_s": 0.08725008105564667,
              "windows": [
                {
                  "end_s": 20.0,
                  "first_capture_after_s": 20.0,
                  "last_capture_before_s": 17.98,
                  "start_s": 18.0
                },
                {
                  "end_s": 42.0,
                  "first_capture_after_s": 42.0,
                  "last_capture_before_s": 39.98,
                  "start_s": 40.0
                }
              ]
            },
            "config_sha256": "65f883f15c154af52d865205db570e6a62e68005c468cba66c3c540f56dc68b9",
            "failure_reason": null,
            "metrics": {
              "measurement_window_s": [
                5.0,
                50.0
              ],
              "mission": {
                "final_support": {
                  "mean_normal_force_n": 9.848578210483465,
                  "mean_vertical_balance_error_n": 3.4650962544135023e-06,
                  "peak_height_error_m": 3.270804882077316e-07,
                  "peak_rotor_thrust_n": 8.244280487431175e-57,
                  "peak_speed_m_s": 0.00016331158242023633,
                  "peak_tilt_deg": 0.00012903285363416843,
                  "peak_xy_error_m": 0.0649687809385116,
                  "samples": 401
                },
                "initial_support": {
                  "mean_normal_force_n": 9.78142005443573,
                  "mean_vertical_balance_error_n": 1.1718501251678504e-05,
                  "peak_height_error_m": 3.233551979092697e-07,
                  "peak_rotor_thrust_n": 0.0,
                  "peak_speed_m_s": 0.00019788852930427084,
                  "peak_tilt_deg": 0.00011871752483825815,
                  "peak_xy_error_m": 0.020703043249161477,
                  "samples": 200
                },
                "landed_time_s": 44.1,
                "liftoff_time_s": 2.96,
                "max_penetration_m": 2.7962845992532404e-06,
                "peak_tilt_deg": 12.433292742730826,
                "touchdown_descent_speed_m_s": 0.07869989424943924,
                "touchdown_horizontal_speed_m_s": 0.22785298251458608,
                "touchdown_time_s": 44.04,
                "unexpected_contact_samples": 0,
                "waypoint_band_m": 0.35,
                "waypoint_reached_s": [
                  7.0,
                  15.0,
                  23.0,
                  31.0
                ]
              },
              "peak_error_m": 0.26968330743948865,
              "position_rmse_m": 0.09887254360365806,
              "recovery_reason": "not_applicable",
              "recovery_time_s": null,
              "samples": 10001,
              "step_response": null
            },
            "profile": "hold-dropout-2000ms",
            "sample_count": 10001,
            "samples_sha256": "3713c45900127b63642e501b14e5b0c60369b91b7f29d6afad6abe917dccfffb",
            "seed": 607,
            "status": "passed",
            "timing": {
              "elapsed_s": 50.000087100008386,
              "late_steps": 1727,
              "max_lag_s": 0.1607494999968928,
              "monitor_enabled": true,
              "paced": true,
              "real_time_factor": 0.9999982580028668,
              "simulation_s": 50.0
            }
          }
        ],
        "schema_version": 1,
        "seeds": [
          401,
          503,
          607
        ],
        "source_commit": "0417cc04c3a0111ef6169bf504e7443a2cf0bc99",
        "source_dirty": false,
        "source_tree_sha256": "404ce9d9e8624464ff9694e8a8ef10fbce2cd8d613467a5a3f56a7f1040ca3a6",
        "trials": 6,
        "versions": {
          "isaaclab": "17.0.2",
          "isaacsim": "6.1.0.0",
          "torch": "2.11.0+cu128"
        }
      },
      "cohort": "stress",
      "continuity": [
        {
          "profile": "sample-hold",
          "samples": 6800,
          "seed": 401,
          "unchanged": true
        },
        {
          "profile": "sample-hold",
          "samples": 6800,
          "seed": 503,
          "unchanged": true
        },
        {
          "profile": "sample-hold",
          "samples": 6800,
          "seed": 607,
          "unchanged": true
        },
        {
          "profile": "hold-dropout-2000ms",
          "samples": 6800,
          "seed": 401,
          "unchanged": true
        },
        {
          "profile": "hold-dropout-2000ms",
          "samples": 6800,
          "seed": 503,
          "unchanged": true
        },
        {
          "profile": "hold-dropout-2000ms",
          "samples": 6800,
          "seed": 607,
          "unchanged": true
        }
      ],
      "descriptive": [
        {
          "baseline": {
            "axis_clipped_fraction": 0.0,
            "complete": true,
            "minimum_allocation_scale": 1.0,
            "peak_horizontal_error_m": 0.6612629113680433,
            "samples": 3201,
            "squared_demand_integral_m2_s3": 9.863840777270676,
            "squared_error_integral_m2_s": 3.892753086180389
          },
          "candidate": {
            "axis_clipped_fraction": 0.0,
            "complete": true,
            "minimum_allocation_scale": 1.0,
            "peak_horizontal_error_m": 0.4576808011487181,
            "samples": 3201,
            "squared_demand_integral_m2_s3": 11.591659559258636,
            "squared_error_integral_m2_s": 1.9027507153780905
          },
          "gates": [
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "model_bounds"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "samples"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "liftoff_start"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "liftoff_end"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "waypoints"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.20358211021375672,
              "id": "peak_error"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.08006175477616312,
              "id": "rmse"
            },
            {
              "change": "unchanged",
              "headroom_delta": -0.7128891752508455,
              "id": "tilt"
            },
            {
              "change": "unchanged",
              "headroom_delta": -0.0008981136292466746,
              "id": "penetration"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "contact"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.005000000000002558,
              "id": "touchdown"
            },
            {
              "change": "unchanged",
              "headroom_delta": -0.013368785381317139,
              "id": "descent"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.1803636626365433,
              "id": "horizontal"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "landed"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "initial_support_samples"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "initial_support_mean_vertical_balance_error_n"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "initial_support_peak_rotor_thrust_n"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "final_support_samples"
            },
            {
              "change": "unchanged",
              "headroom_delta": 5.7154619703680964e-08,
              "id": "final_support_mean_vertical_balance_error_n"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "final_support_peak_rotor_thrust_n"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "final_support_peak_height_error_m"
            },
            {
              "change": "unchanged",
              "headroom_delta": 7.701527858991475e-07,
              "id": "final_support_peak_speed_m_s"
            },
            {
              "change": "unchanged",
              "headroom_delta": -1.58500110236659e-06,
              "id": "final_support_peak_tilt_deg"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.20378108497776443,
              "id": "final_support_peak_xy_error_m"
            }
          ],
          "profile": "sample-hold",
          "seed": 401
        },
        {
          "baseline": {
            "axis_clipped_fraction": 0.0,
            "complete": true,
            "minimum_allocation_scale": 1.0,
            "peak_horizontal_error_m": 0.42794177519820226,
            "samples": 3201,
            "squared_demand_integral_m2_s3": 7.136477459871893,
            "squared_error_integral_m2_s": 1.7790284000156822
          },
          "candidate": {
            "axis_clipped_fraction": 0.0,
            "complete": true,
            "minimum_allocation_scale": 1.0,
            "peak_horizontal_error_m": 0.338222985864709,
            "samples": 3201,
            "squared_demand_integral_m2_s3": 8.34226223949049,
            "squared_error_integral_m2_s": 1.101735146677885
          },
          "gates": [
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "model_bounds"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "samples"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "liftoff_start"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "liftoff_end"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "waypoints"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.08971878933345123,
              "id": "peak_error"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.03660719434877319,
              "id": "rmse"
            },
            {
              "change": "unchanged",
              "headroom_delta": -2.0514460056978585,
              "id": "tilt"
            },
            {
              "change": "unchanged",
              "headroom_delta": -0.0027163281873781864,
              "id": "penetration"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "contact"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.07000000000000028,
              "id": "touchdown"
            },
            {
              "change": "unchanged",
              "headroom_delta": -0.00041134655475616455,
              "id": "descent"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.007740375373814945,
              "id": "horizontal"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0799999999999983,
              "id": "landed"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "initial_support_samples"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "initial_support_mean_vertical_balance_error_n"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "initial_support_peak_rotor_thrust_n"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "final_support_samples"
            },
            {
              "change": "unchanged",
              "headroom_delta": 2.641543139780822e-08,
              "id": "final_support_mean_vertical_balance_error_n"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "final_support_peak_rotor_thrust_n"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "final_support_peak_height_error_m"
            },
            {
              "change": "unchanged",
              "headroom_delta": 1.2318076031414549e-08,
              "id": "final_support_peak_speed_m_s"
            },
            {
              "change": "unchanged",
              "headroom_delta": -4.588134655314491e-06,
              "id": "final_support_peak_tilt_deg"
            },
            {
              "change": "improved",
              "headroom_delta": 0.08971839393767489,
              "id": "final_support_peak_xy_error_m"
            }
          ],
          "profile": "sample-hold",
          "seed": 503
        },
        {
          "baseline": {
            "axis_clipped_fraction": 0.0,
            "complete": true,
            "minimum_allocation_scale": 1.0,
            "peak_horizontal_error_m": 0.24206142251118967,
            "samples": 3201,
            "squared_demand_integral_m2_s3": 5.695558836182193,
            "squared_error_integral_m2_s": 0.2303421058676306
          },
          "candidate": {
            "axis_clipped_fraction": 0.0,
            "complete": true,
            "minimum_allocation_scale": 1.0,
            "peak_horizontal_error_m": 0.24206142251118967,
            "samples": 3201,
            "squared_demand_integral_m2_s3": 6.429735264776096,
            "squared_error_integral_m2_s": 0.11973166829043991
          },
          "gates": [
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "model_bounds"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "samples"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "liftoff_start"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "liftoff_end"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "waypoints"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "peak_error"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.011867813090488177,
              "id": "rmse"
            },
            {
              "change": "unchanged",
              "headroom_delta": -1.7341328518777406,
              "id": "tilt"
            },
            {
              "change": "unchanged",
              "headroom_delta": -5.905313729681616e-06,
              "id": "penetration"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "contact"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.010000000000005116,
              "id": "touchdown"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0010472051799297333,
              "id": "descent"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.00395651557710569,
              "id": "horizontal"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.030000000000001137,
              "id": "landed"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "initial_support_samples"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "initial_support_mean_vertical_balance_error_n"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "initial_support_peak_rotor_thrust_n"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "final_support_samples"
            },
            {
              "change": "unchanged",
              "headroom_delta": 4.972931672009295e-08,
              "id": "final_support_mean_vertical_balance_error_n"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "final_support_peak_rotor_thrust_n"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "final_support_peak_height_error_m"
            },
            {
              "change": "unchanged",
              "headroom_delta": 2.7646842897660617e-07,
              "id": "final_support_peak_speed_m_s"
            },
            {
              "change": "unchanged",
              "headroom_delta": -8.699265838352233e-06,
              "id": "final_support_peak_tilt_deg"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.04460594115862798,
              "id": "final_support_peak_xy_error_m"
            }
          ],
          "profile": "sample-hold",
          "seed": 607
        },
        {
          "baseline": {
            "axis_clipped_fraction": 0.0,
            "complete": true,
            "minimum_allocation_scale": 1.0,
            "peak_horizontal_error_m": 0.6456649898802823,
            "samples": 3201,
            "squared_demand_integral_m2_s3": 9.21304948445255,
            "squared_error_integral_m2_s": 3.7269509378489936
          },
          "candidate": {
            "axis_clipped_fraction": 0.0,
            "complete": true,
            "minimum_allocation_scale": 1.0,
            "peak_horizontal_error_m": 0.4591034477645262,
            "samples": 3201,
            "squared_demand_integral_m2_s3": 11.03187642872047,
            "squared_error_integral_m2_s": 1.9182046014912326
          },
          "gates": [
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "model_bounds"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "samples"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "liftoff_start"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "liftoff_end"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "waypoints"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.1865615629498265,
              "id": "peak_error"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.07341032879191534,
              "id": "rmse"
            },
            {
              "change": "unchanged",
              "headroom_delta": -0.6096102561689793,
              "id": "tilt"
            },
            {
              "change": "unchanged",
              "headroom_delta": -9.135367268219702e-05,
              "id": "penetration"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "contact"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.00999999999999801,
              "id": "touchdown"
            },
            {
              "change": "unchanged",
              "headroom_delta": -0.015826508402824402,
              "id": "descent"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.14588494997549234,
              "id": "horizontal"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.015000000000000568,
              "id": "landed"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "initial_support_samples"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "initial_support_mean_vertical_balance_error_n"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "initial_support_peak_rotor_thrust_n"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "final_support_samples"
            },
            {
              "change": "unchanged",
              "headroom_delta": -3.346196147946401e-08,
              "id": "final_support_mean_vertical_balance_error_n"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "final_support_peak_rotor_thrust_n"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "final_support_peak_height_error_m"
            },
            {
              "change": "unchanged",
              "headroom_delta": 3.8743209681418866e-07,
              "id": "final_support_peak_speed_m_s"
            },
            {
              "change": "unchanged",
              "headroom_delta": -4.9497381420238185e-06,
              "id": "final_support_peak_tilt_deg"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.18652075509126204,
              "id": "final_support_peak_xy_error_m"
            }
          ],
          "profile": "hold-dropout-2000ms",
          "seed": 401
        },
        {
          "baseline": {
            "axis_clipped_fraction": 0.0,
            "complete": true,
            "minimum_allocation_scale": 1.0,
            "peak_horizontal_error_m": 0.3739394373935413,
            "samples": 3201,
            "squared_demand_integral_m2_s3": 6.028881862816157,
            "squared_error_integral_m2_s": 1.3939263154836077
          },
          "candidate": {
            "axis_clipped_fraction": 0.0,
            "complete": true,
            "minimum_allocation_scale": 1.0,
            "peak_horizontal_error_m": 0.30366870262680884,
            "samples": 3201,
            "squared_demand_integral_m2_s3": 7.176731623119375,
            "squared_error_integral_m2_s": 0.9036076010515209
          },
          "gates": [
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "model_bounds"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "samples"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "liftoff_start"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "liftoff_end"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "waypoints"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.07027073466053868,
              "id": "peak_error"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.02873964750439506,
              "id": "rmse"
            },
            {
              "change": "unchanged",
              "headroom_delta": -1.8971756356657252,
              "id": "tilt"
            },
            {
              "change": "unchanged",
              "headroom_delta": -0.001896480624106675,
              "id": "penetration"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "contact"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.045000000000001705,
              "id": "touchdown"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.012339293956756592,
              "id": "descent"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0057211966074192655,
              "id": "horizontal"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.045000000000001705,
              "id": "landed"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "initial_support_samples"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "initial_support_mean_vertical_balance_error_n"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "initial_support_peak_rotor_thrust_n"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "final_support_samples"
            },
            {
              "change": "unchanged",
              "headroom_delta": 4.736584513498343e-08,
              "id": "final_support_mean_vertical_balance_error_n"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "final_support_peak_rotor_thrust_n"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "final_support_peak_height_error_m"
            },
            {
              "change": "unchanged",
              "headroom_delta": -2.833613356317821e-07,
              "id": "final_support_peak_speed_m_s"
            },
            {
              "change": "unchanged",
              "headroom_delta": -2.2620618311819385e-07,
              "id": "final_support_peak_tilt_deg"
            },
            {
              "change": "improved",
              "headroom_delta": 0.07035089593620619,
              "id": "final_support_peak_xy_error_m"
            }
          ],
          "profile": "hold-dropout-2000ms",
          "seed": 503
        },
        {
          "baseline": {
            "axis_clipped_fraction": 0.0,
            "complete": true,
            "minimum_allocation_scale": 1.0,
            "peak_horizontal_error_m": 0.2420646457605687,
            "samples": 3201,
            "squared_demand_integral_m2_s3": 5.860816722703065,
            "squared_error_integral_m2_s": 0.2029608053332782
          },
          "candidate": {
            "axis_clipped_fraction": 0.0,
            "complete": true,
            "minimum_allocation_scale": 1.0,
            "peak_horizontal_error_m": 0.2420646457605687,
            "samples": 3201,
            "squared_demand_integral_m2_s3": 6.633791717675335,
            "squared_error_integral_m2_s": 0.10769338536218094
          },
          "gates": [
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "model_bounds"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "samples"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "liftoff_start"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "liftoff_end"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "waypoints"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "peak_error"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.010234147100202151,
              "id": "rmse"
            },
            {
              "change": "unchanged",
              "headroom_delta": -1.7069560950302982,
              "id": "tilt"
            },
            {
              "change": "unchanged",
              "headroom_delta": -1.880416519391137e-06,
              "id": "penetration"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "contact"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.020000000000003126,
              "id": "touchdown"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0012351423501968384,
              "id": "descent"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.012483170572805624,
              "id": "horizontal"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.01999999999999602,
              "id": "landed"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "initial_support_samples"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "initial_support_mean_vertical_balance_error_n"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "initial_support_peak_rotor_thrust_n"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "final_support_samples"
            },
            {
              "change": "unchanged",
              "headroom_delta": 3.874834786365966e-09,
              "id": "final_support_mean_vertical_balance_error_n"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "final_support_peak_rotor_thrust_n"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "final_support_peak_height_error_m"
            },
            {
              "change": "unchanged",
              "headroom_delta": -1.701714038154778e-07,
              "id": "final_support_peak_speed_m_s"
            },
            {
              "change": "unchanged",
              "headroom_delta": -3.4961877877215386e-06,
              "id": "final_support_peak_tilt_deg"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.038147801748572685,
              "id": "final_support_peak_xy_error_m"
            }
          ],
          "profile": "hold-dropout-2000ms",
          "seed": 607
        }
      ],
      "seeds": [
        401,
        503,
        607
      ]
    },
    {
      "baseline": {
        "accepted": false,
        "backend": "isaacsim_physx",
        "comparisons": [
          {
            "landed_time_change_s": 0.3100000000000023,
            "passed": false,
            "peak_attitude_difference_rad": 0.21058905061683125,
            "peak_position_difference_m": 0.19487248249682323,
            "position_difference_rmse_m": 0.07966433065065959,
            "position_rmse_change_m": 0.06736505768062986,
            "profile": "hold-dropout-2000ms",
            "recovery_passed": false,
            "recovery_windows": [
              {
                "complete_horizon": true,
                "difference_at_resumed_capture_m": 0.058728847992244426,
                "excursion_observed": true,
                "first_resumed_capture_s": 20.0,
                "horizon_end_s": 39.995,
                "passed": true,
                "peak_position_difference_m": 0.059717543336867386,
                "post_outage_samples_above_band": 108,
                "recovery_time_s": 0.54,
                "samples_above_band": 186,
                "window_end_s": 20.0,
                "window_start_s": 18.0
              },
              {
                "complete_horizon": true,
                "difference_at_resumed_capture_m": 0.19406568350498035,
                "excursion_observed": true,
                "first_resumed_capture_s": 42.0,
                "horizon_end_s": 50.0,
                "passed": false,
                "peak_position_difference_m": 0.19487248249682323,
                "post_outage_samples_above_band": 1601,
                "recovery_time_s": null,
                "samples_above_band": 1694,
                "window_end_s": 42.0,
                "window_start_s": 40.0
              }
            ],
            "reference_profile": "sample-hold",
            "seed": 709
          },
          {
            "landed_time_change_s": 0.1699999999999946,
            "passed": true,
            "peak_attitude_difference_rad": 0.03231316822638139,
            "peak_position_difference_m": 0.042211140392132564,
            "position_difference_rmse_m": 0.014703840781847855,
            "position_rmse_change_m": 0.005079839823060761,
            "profile": "hold-dropout-2000ms",
            "recovery_passed": true,
            "recovery_windows": [
              {
                "complete_horizon": true,
                "difference_at_resumed_capture_m": 0.022812158535195644,
                "excursion_observed": false,
                "first_resumed_capture_s": 20.0,
                "horizon_end_s": 39.995,
                "passed": true,
                "peak_position_difference_m": 0.025794805226432786,
                "post_outage_samples_above_band": 0,
                "recovery_time_s": 0.0,
                "samples_above_band": 0,
                "window_end_s": 20.0,
                "window_start_s": 18.0
              },
              {
                "complete_horizon": true,
                "difference_at_resumed_capture_m": 0.036656800044176596,
                "excursion_observed": false,
                "first_resumed_capture_s": 42.0,
                "horizon_end_s": 50.0,
                "passed": true,
                "peak_position_difference_m": 0.042211140392132564,
                "post_outage_samples_above_band": 0,
                "recovery_time_s": 0.0,
                "samples_above_band": 0,
                "window_end_s": 42.0,
                "window_start_s": 40.0
              }
            ],
            "reference_profile": "sample-hold",
            "seed": 811
          },
          {
            "landed_time_change_s": 0.125,
            "passed": true,
            "peak_attitude_difference_rad": 0.015777559898332176,
            "peak_position_difference_m": 0.11825479782013595,
            "position_difference_rmse_m": 0.022628729263538646,
            "position_rmse_change_m": 0.003179411816006228,
            "profile": "hold-dropout-2000ms",
            "recovery_passed": true,
            "recovery_windows": [
              {
                "complete_horizon": true,
                "difference_at_resumed_capture_m": 0.10567944498052942,
                "excursion_observed": true,
                "first_resumed_capture_s": 20.0,
                "horizon_end_s": 39.995,
                "passed": true,
                "peak_position_difference_m": 0.11825479782013595,
                "post_outage_samples_above_band": 273,
                "recovery_time_s": 1.365,
                "samples_above_band": 386,
                "window_end_s": 20.0,
                "window_start_s": 18.0
              },
              {
                "complete_horizon": true,
                "difference_at_resumed_capture_m": 0.06790936805611218,
                "excursion_observed": true,
                "first_resumed_capture_s": 42.0,
                "horizon_end_s": 50.0,
                "passed": true,
                "peak_position_difference_m": 0.08299858354657713,
                "post_outage_samples_above_band": 221,
                "recovery_time_s": 1.105,
                "samples_above_band": 256,
                "window_end_s": 42.0,
                "window_start_s": 40.0
              }
            ],
            "reference_profile": "sample-hold",
            "seed": 907
          }
        ],
        "complete": true,
        "control_dt_s": 0.005,
        "controller_binary_sha256": "b4543a2973dc424a7f398cf225a3088fefedd4053b2d3658eefd050f73d7c90f",
        "duration_results": [
          {
            "accepted": false,
            "duration_s": 0.0,
            "excursion_windows": 0,
            "mission_passes": 2,
            "pair_count": 0,
            "pair_passes": 0,
            "profile": "sample-hold",
            "recovery_count": 0,
            "recovery_passes": 0
          },
          {
            "accepted": false,
            "duration_s": 2.0,
            "excursion_windows": 4,
            "mission_passes": 2,
            "pair_count": 3,
            "pair_passes": 2,
            "profile": "hold-dropout-2000ms",
            "recovery_count": 6,
            "recovery_passes": 5
          }
        ],
        "kind": "isaac_outage_duration_study",
        "limitations": [
          "Synthetic outages; fixed durations and three seeds do not establish a safe duration or stability proof",
          "Ideal attitude, rates, acceleration, mission supervisor and contact sensing",
          "Paired mission bounds and settled recovery are separate outcomes; failures are retained",
          "Independent yaw refinement remains unresolved; runtime and physics gates unchanged",
          "Soft real-time only; wall timing excludes startup and evidence serialization"
        ],
        "lock_sha256": "e280d5e783d8f42f661aa933223edb7464787da33bd16c964c175aad2c982ce8",
        "passed": 4,
        "physics_dt_s": 0.005,
        "profiles": [
          {
            "capture_period_steps": 4,
            "capture_phase_steps": 0,
            "channels": "position-velocity",
            "control_dt_s": 0.005,
            "dropout_windows_s": [],
            "hold": "last-successful-capture",
            "ideal_channels": "attitude-rates-acceleration-supervisor-contact",
            "noise": "none",
            "profile": "sample-hold",
            "transport_delay_steps": 0
          },
          {
            "capture_period_steps": 4,
            "capture_phase_steps": 0,
            "channels": "position-velocity",
            "control_dt_s": 0.005,
            "dropout_windows_s": [
              [
                18.0,
                20.0
              ],
              [
                40.0,
                42.0
              ]
            ],
            "hold": "last-successful-capture",
            "ideal_channels": "attitude-rates-acceleration-supervisor-contact",
            "noise": "none",
            "profile": "hold-dropout-2000ms",
            "transport_delay_steps": 0
          }
        ],
        "recovery_criteria": {
          "deadline_s": 5.0,
          "dwell_s": 1.0,
          "method": "final-uninterrupted-in-band-suffix",
          "position_difference_m": 0.05
        },
        "reference_profile": "sample-hold",
        "results": [
          {
            "captures": {
              "captures": 2501,
              "held_control_samples": 7500,
              "max_age_s": 0.015,
              "position_discrepancy_peak_m": 0.012672222777103117,
              "position_discrepancy_rmse_m": 0.0024707168076829682,
              "velocity_discrepancy_peak_m_s": 0.48479250970454485,
              "velocity_discrepancy_rmse_m_s": 0.00823641806407798,
              "windows": []
            },
            "config_sha256": "d68556821f2a5e11ed1ad16157fb8b57e537df1529c2b50a7a777c5340c5e0e1",
            "failure_reason": "wind_mission_threshold",
            "metrics": {
              "measurement_window_s": [
                5.0,
                50.0
              ],
              "mission": {
                "final_support": {
                  "mean_normal_force_n": 9.884310192003511,
                  "mean_vertical_balance_error_n": 6.283110643341372e-06,
                  "peak_height_error_m": 3.270804882077316e-07,
                  "peak_rotor_thrust_n": 2.066552617422235e-91,
                  "peak_speed_m_s": 0.0001539980291347665,
                  "peak_tilt_deg": 0.00012201199094102076,
                  "peak_xy_error_m": 0.44555201338594447,
                  "samples": 401
                },
                "initial_support": {
                  "mean_normal_force_n": 9.933628273010253,
                  "mean_vertical_balance_error_n": -1.1898523242965808e-05,
                  "peak_height_error_m": 3.308057785061935e-07,
                  "peak_rotor_thrust_n": 0.0,
                  "peak_speed_m_s": 0.0002832147928191593,
                  "peak_tilt_deg": 0.00012562373324769024,
                  "peak_xy_error_m": 0.009335828516000469,
                  "samples": 200
                },
                "landed_time_s": 41.71,
                "liftoff_time_s": 3.025,
                "max_penetration_m": 0.002145869619912033,
                "peak_tilt_deg": 12.065164343986394,
                "touchdown_descent_speed_m_s": 0.018569938838481903,
                "touchdown_horizontal_speed_m_s": 0.6105183156099498,
                "touchdown_time_s": 41.59,
                "unexpected_contact_samples": 0,
                "waypoint_band_m": 0.35,
                "waypoint_reached_s": [
                  7.0,
                  15.0,
                  23.0,
                  31.0
                ]
              },
              "peak_error_m": 0.446351909198212,
              "position_rmse_m": 0.21664102043303338,
              "recovery_reason": "not_applicable",
              "recovery_time_s": null,
              "samples": 10001,
              "step_response": null
            },
            "profile": "sample-hold",
            "sample_count": 10001,
            "samples_sha256": "c5b1abceb21a5513d8dd246d396f2ea7e55b11fa45f3beea7a47222a587122e0",
            "seed": 709,
            "status": "failed",
            "timing": {
              "elapsed_s": 39.594023099998594,
              "late_steps": 24,
              "max_lag_s": 0.02344569999433588,
              "monitor_enabled": true,
              "paced": false,
              "real_time_factor": 1.2628168618713003,
              "simulation_s": 50.0
            }
          },
          {
            "captures": {
              "captures": 2501,
              "held_control_samples": 7500,
              "max_age_s": 0.015,
              "position_discrepancy_peak_m": 0.009383106947153863,
              "position_discrepancy_rmse_m": 0.002331285049805744,
              "velocity_discrepancy_peak_m_s": 0.19595563047430528,
              "velocity_discrepancy_rmse_m_s": 0.0049806549118140125,
              "windows": []
            },
            "config_sha256": "7540c74e76800d5740db9138536210b6cf3f86e0bd886daa743dcbac456b2654",
            "failure_reason": null,
            "metrics": {
              "measurement_window_s": [
                5.0,
                50.0
              ],
              "mission": {
                "final_support": {
                  "mean_normal_force_n": 9.816414764099882,
                  "mean_vertical_balance_error_n": -5.962197633092191e-06,
                  "peak_height_error_m": 3.308057785061935e-07,
                  "peak_rotor_thrust_n": 1.180342679523876e-64,
                  "peak_speed_m_s": 0.00013670922210278676,
                  "peak_tilt_deg": 0.00011391401087523407,
                  "peak_xy_error_m": 0.14667446619354477,
                  "samples": 401
                },
                "initial_support": {
                  "mean_normal_force_n": 9.770762758255005,
                  "mean_vertical_balance_error_n": -6.563491015318945e-06,
                  "peak_height_error_m": 3.233551979092697e-07,
                  "peak_rotor_thrust_n": 0.0,
                  "peak_speed_m_s": 0.00018993030889144892,
                  "peak_tilt_deg": 0.00011909759843994624,
                  "peak_xy_error_m": 0.02470179457819964,
                  "samples": 200
                },
                "landed_time_s": 43.56,
                "liftoff_time_s": 2.98,
                "max_penetration_m": 9.572414511049843e-07,
                "peak_tilt_deg": 11.196919209454576,
                "touchdown_descent_speed_m_s": 0.05466245859861374,
                "touchdown_horizontal_speed_m_s": 0.07203131368090326,
                "touchdown_time_s": 43.49,
                "unexpected_contact_samples": 0,
                "waypoint_band_m": 0.35,
                "waypoint_reached_s": [
                  7.0,
                  15.0,
                  23.0,
                  31.0
                ]
              },
              "peak_error_m": 0.32459869818931025,
              "position_rmse_m": 0.11797639121248678,
              "recovery_reason": "not_applicable",
              "recovery_time_s": null,
              "samples": 10001,
              "step_response": null
            },
            "profile": "sample-hold",
            "sample_count": 10001,
            "samples_sha256": "dcf7d9197a255684ce776c33459340d2260baf9b7222a205f60309076aa4e545",
            "seed": 811,
            "status": "passed",
            "timing": {
              "elapsed_s": 41.10562539999955,
              "late_steps": 0,
              "max_lag_s": 0.0012689000042155384,
              "monitor_enabled": true,
              "paced": false,
              "real_time_factor": 1.216378525164114,
              "simulation_s": 50.0
            }
          },
          {
            "captures": {
              "captures": 2501,
              "held_control_samples": 7500,
              "max_age_s": 0.015,
              "position_discrepancy_peak_m": 0.008478033029593128,
              "position_discrepancy_rmse_m": 0.0024322019226625754,
              "velocity_discrepancy_peak_m_s": 0.1959570597005816,
              "velocity_discrepancy_rmse_m_s": 0.00519373794298538,
              "windows": []
            },
            "config_sha256": "4c6d5b18ec1fd28495258bdfaca7ffb2938a406b63098e283f3f238840940f98",
            "failure_reason": null,
            "metrics": {
              "measurement_window_s": [
                5.0,
                50.0
              ],
              "mission": {
                "final_support": {
                  "mean_normal_force_n": 9.839924838477536,
                  "mean_vertical_balance_error_n": 5.966322401639968e-06,
                  "peak_height_error_m": 3.308057785061935e-07,
                  "peak_rotor_thrust_n": 1.0820645632852245e-56,
                  "peak_speed_m_s": 0.00018494432559098788,
                  "peak_tilt_deg": 0.00011757303211978812,
                  "peak_xy_error_m": 0.1398609023619536,
                  "samples": 401
                },
                "initial_support": {
                  "mean_normal_force_n": 9.761886534690857,
                  "mean_vertical_balance_error_n": 7.762161544988544e-07,
                  "peak_height_error_m": 3.270804882077316e-07,
                  "peak_rotor_thrust_n": 0.0,
                  "peak_speed_m_s": 0.0001447590058557581,
                  "peak_tilt_deg": 0.0001186530369838999,
                  "peak_xy_error_m": 0.01958600652619875,
                  "samples": 200
                },
                "landed_time_s": 44.11,
                "liftoff_time_s": 2.97,
                "max_penetration_m": 8.531514651133332e-07,
                "peak_tilt_deg": 14.46054540510598,
                "touchdown_descent_speed_m_s": 0.09274929761886597,
                "touchdown_horizontal_speed_m_s": 0.07288474687796935,
                "touchdown_time_s": 44.06,
                "unexpected_contact_samples": 0,
                "waypoint_band_m": 0.35,
                "waypoint_reached_s": [
                  7.0,
                  15.0,
                  23.0,
                  31.0
                ]
              },
              "peak_error_m": 0.5000565857954541,
              "position_rmse_m": 0.14422179680739974,
              "recovery_reason": "not_applicable",
              "recovery_time_s": null,
              "samples": 10001,
              "step_response": null
            },
            "profile": "sample-hold",
            "sample_count": 10001,
            "samples_sha256": "c4958902d8d57d3ef9b0defa78ae16aadba705c41f2b9b181924e1000c304a69",
            "seed": 907,
            "status": "passed",
            "timing": {
              "elapsed_s": 40.085492599988356,
              "late_steps": 260,
              "max_lag_s": 0.04041329999454324,
              "monitor_enabled": true,
              "paced": false,
              "real_time_factor": 1.2473340542162759,
              "simulation_s": 50.0
            }
          },
          {
            "captures": {
              "captures": 2301,
              "held_control_samples": 7700,
              "max_age_s": 2.015,
              "position_discrepancy_peak_m": 0.3446039713453447,
              "position_discrepancy_rmse_m": 0.05001318241199303,
              "velocity_discrepancy_peak_m_s": 0.7621723119647331,
              "velocity_discrepancy_rmse_m_s": 0.09744977044502025,
              "windows": [
                {
                  "end_s": 20.0,
                  "first_capture_after_s": 20.0,
                  "last_capture_before_s": 17.98,
                  "start_s": 18.0
                },
                {
                  "end_s": 42.0,
                  "first_capture_after_s": 42.0,
                  "last_capture_before_s": 39.98,
                  "start_s": 40.0
                }
              ]
            },
            "config_sha256": "24d20d23e37c106b869ff00305c615f22b87b2128a704b8ef23ce087c7d71325",
            "failure_reason": "wind_mission_threshold",
            "metrics": {
              "measurement_window_s": [
                5.0,
                50.0
              ],
              "mission": {
                "final_support": {
                  "mean_normal_force_n": 9.884310056443821,
                  "mean_vertical_balance_error_n": 6.075657249240579e-06,
                  "peak_height_error_m": 3.308057785061935e-07,
                  "peak_rotor_thrust_n": 7.258473853422382e-96,
                  "peak_speed_m_s": 0.0001529059312320708,
                  "peak_tilt_deg": 0.00012922478291268693,
                  "peak_xy_error_m": 0.2532932103639282,
                  "samples": 401
                },
                "initial_support": {
                  "mean_normal_force_n": 9.933628273010253,
                  "mean_vertical_balance_error_n": -1.1898523242965808e-05,
                  "peak_height_error_m": 3.308057785061935e-07,
                  "peak_rotor_thrust_n": 0.0,
                  "peak_speed_m_s": 0.0002832147928191593,
                  "peak_tilt_deg": 0.00012562373324769024,
                  "peak_xy_error_m": 0.009335828516000469,
                  "samples": 200
                },
                "landed_time_s": 41.4,
                "liftoff_time_s": 3.025,
                "max_penetration_m": 9.75106462387798e-07,
                "peak_tilt_deg": 11.83761894511667,
                "touchdown_descent_speed_m_s": 0.1265806257724762,
                "touchdown_horizontal_speed_m_s": 0.5336664422553592,
                "touchdown_time_s": 41.35,
                "unexpected_contact_samples": 0,
                "waypoint_band_m": 0.35,
                "waypoint_reached_s": [
                  7.0,
                  15.0,
                  23.0,
                  31.0
                ]
              },
              "peak_error_m": 0.4239272800170246,
              "position_rmse_m": 0.1492759627524035,
              "recovery_reason": "not_applicable",
              "recovery_time_s": null,
              "samples": 10001,
              "step_response": null
            },
            "profile": "hold-dropout-2000ms",
            "sample_count": 10001,
            "samples_sha256": "17d1b25e20be5cc9104cdfdacb89f7e616267d0b5a680c8e02b627fdd8ccd4a8",
            "seed": 709,
            "status": "failed",
            "timing": {
              "elapsed_s": 50.00019659999816,
              "late_steps": 31,
              "max_lag_s": 0.03111309999541845,
              "monitor_enabled": true,
              "paced": true,
              "real_time_factor": 0.9999960680154973,
              "simulation_s": 50.0
            }
          },
          {
            "captures": {
              "captures": 2301,
              "held_control_samples": 7700,
              "max_age_s": 2.015,
              "position_discrepancy_peak_m": 0.3093135784411073,
              "position_discrepancy_rmse_m": 0.050591379581228314,
              "velocity_discrepancy_peak_m_s": 0.5129795761769258,
              "velocity_discrepancy_rmse_m_s": 0.05952706339545029,
              "windows": [
                {
                  "end_s": 20.0,
                  "first_capture_after_s": 20.0,
                  "last_capture_before_s": 17.98,
                  "start_s": 18.0
                },
                {
                  "end_s": 42.0,
                  "first_capture_after_s": 42.0,
                  "last_capture_before_s": 39.98,
                  "start_s": 40.0
                }
              ]
            },
            "config_sha256": "42bccc0a6e15ee1e449ee742d268fa09951b209de4409b8fa69a1f2828f862bd",
            "failure_reason": null,
            "metrics": {
              "measurement_window_s": [
                5.0,
                50.0
              ],
              "mission": {
                "final_support": {
                  "mean_normal_force_n": 9.816415082784067,
                  "mean_vertical_balance_error_n": -5.660965183204227e-06,
                  "peak_height_error_m": 3.308057785061935e-07,
                  "peak_rotor_thrust_n": 3.469066798358188e-62,
                  "peak_speed_m_s": 0.00013599714561848478,
                  "peak_tilt_deg": 0.00012834748300114972,
                  "peak_xy_error_m": 0.11155923750622482,
                  "samples": 401
                },
                "initial_support": {
                  "mean_normal_force_n": 9.770762758255005,
                  "mean_vertical_balance_error_n": -6.563491015318945e-06,
                  "peak_height_error_m": 3.233551979092697e-07,
                  "peak_rotor_thrust_n": 0.0,
                  "peak_speed_m_s": 0.00018993030889144892,
                  "peak_tilt_deg": 0.00011909759843994624,
                  "peak_xy_error_m": 0.02470179457819964,
                  "samples": 200
                },
                "landed_time_s": 43.73,
                "liftoff_time_s": 2.98,
                "max_penetration_m": 8.704600919021144e-07,
                "peak_tilt_deg": 11.197034843280262,
                "touchdown_descent_speed_m_s": 0.07401654869318008,
                "touchdown_horizontal_speed_m_s": 0.1826604310527755,
                "touchdown_time_s": 43.665,
                "unexpected_contact_samples": 0,
                "waypoint_band_m": 0.35,
                "waypoint_reached_s": [
                  7.0,
                  15.0,
                  23.0,
                  31.0
                ]
              },
              "peak_error_m": 0.3264795976664997,
              "position_rmse_m": 0.11289655138942602,
              "recovery_reason": "not_applicable",
              "recovery_time_s": null,
              "samples": 10001,
              "step_response": null
            },
            "profile": "hold-dropout-2000ms",
            "sample_count": 10001,
            "samples_sha256": "63edc15cc386b706c47ef67afb10498f2a7f7bb175cbded34c34a1169bc9727d",
            "seed": 811,
            "status": "passed",
            "timing": {
              "elapsed_s": 50.00017470000603,
              "late_steps": 172,
              "max_lag_s": 0.06607510000991113,
              "monitor_enabled": true,
              "paced": true,
              "real_time_factor": 0.9999965060120874,
              "simulation_s": 50.0
            }
          },
          {
            "captures": {
              "captures": 2301,
              "held_control_samples": 7700,
              "max_age_s": 2.015,
              "position_discrepancy_peak_m": 0.529651887873186,
              "position_discrepancy_rmse_m": 0.07314448710378178,
              "velocity_discrepancy_peak_m_s": 0.4445502931126931,
              "velocity_discrepancy_rmse_m_s": 0.07183208763326371,
              "windows": [
                {
                  "end_s": 20.0,
                  "first_capture_after_s": 20.0,
                  "last_capture_before_s": 17.98,
                  "start_s": 18.0
                },
                {
                  "end_s": 42.0,
                  "first_capture_after_s": 42.0,
                  "last_capture_before_s": 39.98,
                  "start_s": 40.0
                }
              ]
            },
            "config_sha256": "31664300637a1847031ff311c74611f0d6a8f352d5210519df29887c7309601a",
            "failure_reason": null,
            "metrics": {
              "measurement_window_s": [
                5.0,
                50.0
              ],
              "mission": {
                "final_support": {
                  "mean_normal_force_n": 9.839925050140913,
                  "mean_vertical_balance_error_n": 6.20852988462433e-06,
                  "peak_height_error_m": 3.308057785061935e-07,
                  "peak_rotor_thrust_n": 7.055369575954683e-55,
                  "peak_speed_m_s": 0.00018592860590011906,
                  "peak_tilt_deg": 0.00012821679156231776,
                  "peak_xy_error_m": 0.13894262104243704,
                  "samples": 401
                },
                "initial_support": {
                  "mean_normal_force_n": 9.761886534690857,
                  "mean_vertical_balance_error_n": 7.762161544988544e-07,
                  "peak_height_error_m": 3.270804882077316e-07,
                  "peak_rotor_thrust_n": 0.0,
                  "peak_speed_m_s": 0.0001447590058557581,
                  "peak_tilt_deg": 0.0001186530369838999,
                  "peak_xy_error_m": 0.01958600652619875,
                  "samples": 200
                },
                "landed_time_s": 44.235,
                "liftoff_time_s": 2.97,
                "max_penetration_m": 8.898862482939474e-07,
                "peak_tilt_deg": 14.230183425030864,
                "touchdown_descent_speed_m_s": 0.10968628525733948,
                "touchdown_horizontal_speed_m_s": 0.06412714088460753,
                "touchdown_time_s": 44.185,
                "unexpected_contact_samples": 0,
                "waypoint_band_m": 0.35,
                "waypoint_reached_s": [
                  7.0,
                  15.0,
                  23.0,
                  31.0
                ]
              },
              "peak_error_m": 0.5087257433115321,
              "position_rmse_m": 0.14740120862340597,
              "recovery_reason": "not_applicable",
              "recovery_time_s": null,
              "samples": 10001,
              "step_response": null
            },
            "profile": "hold-dropout-2000ms",
            "sample_count": 10001,
            "samples_sha256": "8ffd0d5526ac308018c68fcdb1a5d90f1d006c0e40bffef8053488aef2609ed0",
            "seed": 907,
            "status": "passed",
            "timing": {
              "elapsed_s": 50.23828999999387,
              "late_steps": 1494,
              "max_lag_s": 0.24156700000341402,
              "monitor_enabled": true,
              "paced": true,
              "real_time_factor": 0.9952568051182893,
              "simulation_s": 50.0
            }
          }
        ],
        "schema_version": 1,
        "seeds": [
          709,
          811,
          907
        ],
        "source_commit": "0417cc04c3a0111ef6169bf504e7443a2cf0bc99",
        "source_dirty": false,
        "source_tree_sha256": "404ce9d9e8624464ff9694e8a8ef10fbce2cd8d613467a5a3f56a7f1040ca3a6",
        "trials": 6,
        "versions": {
          "isaaclab": "17.0.2",
          "isaacsim": "6.1.0.0",
          "torch": "2.11.0+cu128"
        }
      },
      "candidate": {
        "accepted": false,
        "backend": "isaacsim_physx",
        "comparisons": [
          {
            "landed_time_change_s": 0.25499999999999545,
            "passed": true,
            "peak_attitude_difference_rad": 0.21879708485899174,
            "peak_position_difference_m": 0.13520905895296945,
            "position_difference_rmse_m": 0.056227483120383115,
            "position_rmse_change_m": 0.044925617954360175,
            "profile": "hold-dropout-2000ms",
            "recovery_passed": false,
            "recovery_windows": [
              {
                "complete_horizon": true,
                "difference_at_resumed_capture_m": 0.058728847992244426,
                "excursion_observed": true,
                "first_resumed_capture_s": 20.0,
                "horizon_end_s": 39.995,
                "passed": true,
                "peak_position_difference_m": 0.059717543336867386,
                "post_outage_samples_above_band": 108,
                "recovery_time_s": 0.54,
                "samples_above_band": 186,
                "window_end_s": 20.0,
                "window_start_s": 18.0
              },
              {
                "complete_horizon": true,
                "difference_at_resumed_capture_m": 0.1352090425844358,
                "excursion_observed": true,
                "first_resumed_capture_s": 42.0,
                "horizon_end_s": 50.0,
                "passed": false,
                "peak_position_difference_m": 0.13520905895296945,
                "post_outage_samples_above_band": 1601,
                "recovery_time_s": null,
                "samples_above_band": 1695,
                "window_end_s": 42.0,
                "window_start_s": 40.0
              }
            ],
            "reference_profile": "sample-hold",
            "seed": 709
          },
          {
            "landed_time_change_s": 0.1599999999999966,
            "passed": true,
            "peak_attitude_difference_rad": 0.040799384762208006,
            "peak_position_difference_m": 0.04260011920179274,
            "position_difference_rmse_m": 0.01497646832020757,
            "position_rmse_change_m": 0.00206454601677962,
            "profile": "hold-dropout-2000ms",
            "recovery_passed": true,
            "recovery_windows": [
              {
                "complete_horizon": true,
                "difference_at_resumed_capture_m": 0.022812158535195644,
                "excursion_observed": false,
                "first_resumed_capture_s": 20.0,
                "horizon_end_s": 39.995,
                "passed": true,
                "peak_position_difference_m": 0.025794805226432786,
                "post_outage_samples_above_band": 0,
                "recovery_time_s": 0.0,
                "samples_above_band": 0,
                "window_end_s": 20.0,
                "window_start_s": 18.0
              },
              {
                "complete_horizon": true,
                "difference_at_resumed_capture_m": 0.03696908502254834,
                "excursion_observed": false,
                "first_resumed_capture_s": 42.0,
                "horizon_end_s": 50.0,
                "passed": true,
                "peak_position_difference_m": 0.04260011920179274,
                "post_outage_samples_above_band": 0,
                "recovery_time_s": 0.0,
                "samples_above_band": 0,
                "window_end_s": 42.0,
                "window_start_s": 40.0
              }
            ],
            "reference_profile": "sample-hold",
            "seed": 811
          },
          {
            "landed_time_change_s": 0.09000000000000341,
            "passed": true,
            "peak_attitude_difference_rad": 0.0340378881577882,
            "peak_position_difference_m": 0.11825479782013595,
            "position_difference_rmse_m": 0.022985393819522908,
            "position_rmse_change_m": 0.003381234046973894,
            "profile": "hold-dropout-2000ms",
            "recovery_passed": true,
            "recovery_windows": [
              {
                "complete_horizon": true,
                "difference_at_resumed_capture_m": 0.10567944498052942,
                "excursion_observed": true,
                "first_resumed_capture_s": 20.0,
                "horizon_end_s": 39.995,
                "passed": true,
                "peak_position_difference_m": 0.11825479782013595,
                "post_outage_samples_above_band": 273,
                "recovery_time_s": 1.365,
                "samples_above_band": 386,
                "window_end_s": 20.0,
                "window_start_s": 18.0
              },
              {
                "complete_horizon": true,
                "difference_at_resumed_capture_m": 0.06867292917259826,
                "excursion_observed": true,
                "first_resumed_capture_s": 42.0,
                "horizon_end_s": 50.0,
                "passed": true,
                "peak_position_difference_m": 0.08369771308660265,
                "post_outage_samples_above_band": 223,
                "recovery_time_s": 1.115,
                "samples_above_band": 259,
                "window_end_s": 42.0,
                "window_start_s": 40.0
              }
            ],
            "reference_profile": "sample-hold",
            "seed": 907
          }
        ],
        "complete": true,
        "control_dt_s": 0.005,
        "controller_binary_sha256": "b4543a2973dc424a7f398cf225a3088fefedd4053b2d3658eefd050f73d7c90f",
        "duration_results": [
          {
            "accepted": false,
            "duration_s": 0.0,
            "excursion_windows": 0,
            "mission_passes": 2,
            "pair_count": 0,
            "pair_passes": 0,
            "profile": "sample-hold",
            "recovery_count": 0,
            "recovery_passes": 0
          },
          {
            "accepted": false,
            "duration_s": 2.0,
            "excursion_windows": 4,
            "mission_passes": 3,
            "pair_count": 3,
            "pair_passes": 3,
            "profile": "hold-dropout-2000ms",
            "recovery_count": 6,
            "recovery_passes": 5
          }
        ],
        "kind": "isaac_outage_duration_study",
        "limitations": [
          "Synthetic outages; fixed durations and three seeds do not establish a safe duration or stability proof",
          "Ideal attitude, rates, acceleration, mission supervisor and contact sensing",
          "Paired mission bounds and settled recovery are separate outcomes; failures are retained",
          "Independent yaw refinement remains unresolved; runtime and physics gates unchanged",
          "Soft real-time only; wall timing excludes startup and evidence serialization"
        ],
        "lock_sha256": "e280d5e783d8f42f661aa933223edb7464787da33bd16c964c175aad2c982ce8",
        "passed": 5,
        "physics_dt_s": 0.005,
        "profiles": [
          {
            "capture_period_steps": 4,
            "capture_phase_steps": 0,
            "channels": "position-velocity",
            "control_dt_s": 0.005,
            "dropout_windows_s": [],
            "hold": "last-successful-capture",
            "ideal_channels": "attitude-rates-acceleration-supervisor-contact",
            "noise": "none",
            "profile": "sample-hold",
            "transport_delay_steps": 0
          },
          {
            "capture_period_steps": 4,
            "capture_phase_steps": 0,
            "channels": "position-velocity",
            "control_dt_s": 0.005,
            "dropout_windows_s": [
              [
                18.0,
                20.0
              ],
              [
                40.0,
                42.0
              ]
            ],
            "hold": "last-successful-capture",
            "ideal_channels": "attitude-rates-acceleration-supervisor-contact",
            "noise": "none",
            "profile": "hold-dropout-2000ms",
            "transport_delay_steps": 0
          }
        ],
        "recovery_criteria": {
          "deadline_s": 5.0,
          "dwell_s": 1.0,
          "method": "final-uninterrupted-in-band-suffix",
          "position_difference_m": 0.05
        },
        "reference_profile": "sample-hold",
        "results": [
          {
            "captures": {
              "captures": 2501,
              "held_control_samples": 7500,
              "max_age_s": 0.015,
              "position_discrepancy_peak_m": 0.012672222777103117,
              "position_discrepancy_rmse_m": 0.0024337029036189165,
              "velocity_discrepancy_peak_m_s": 0.8908722331439389,
              "velocity_discrepancy_rmse_m_s": 0.01648889790272939,
              "windows": []
            },
            "config_sha256": "08507c2d2017ae98431620105aba898769c749edbfb5375f63a5b4867196b978",
            "failure_reason": "wind_mission_support_threshold",
            "metrics": {
              "measurement_window_s": [
                5.0,
                50.0
              ],
              "mission": {
                "final_support": {
                  "mean_normal_force_n": 9.884310104008625,
                  "mean_vertical_balance_error_n": 6.118922245516679e-06,
                  "peak_height_error_m": 3.308057785061935e-07,
                  "peak_rotor_thrust_n": 1.7329266945515178e-92,
                  "peak_speed_m_s": 0.0001530647156488489,
                  "peak_tilt_deg": 0.0001306413176814419,
                  "peak_xy_error_m": 0.36128732752408715,
                  "samples": 401
                },
                "initial_support": {
                  "mean_normal_force_n": 9.933628273010253,
                  "mean_vertical_balance_error_n": -1.1898523242965808e-05,
                  "peak_height_error_m": 3.308057785061935e-07,
                  "peak_rotor_thrust_n": 0.0,
                  "peak_speed_m_s": 0.0002832147928191593,
                  "peak_tilt_deg": 0.00012562373324769024,
                  "peak_xy_error_m": 0.009335828516000469,
                  "samples": 200
                },
                "landed_time_s": 41.635,
                "liftoff_time_s": 3.025,
                "max_penetration_m": 8.696516060890946e-07,
                "peak_tilt_deg": 12.530554119926688,
                "touchdown_descent_speed_m_s": 0.018282338976860046,
                "touchdown_horizontal_speed_m_s": 0.49222184899838506,
                "touchdown_time_s": 41.55,
                "unexpected_contact_samples": 0,
                "waypoint_band_m": 0.35,
                "waypoint_reached_s": [
                  7.0,
                  15.0,
                  23.0,
                  31.0
                ]
              },
              "peak_error_m": 0.4239272800170246,
              "position_rmse_m": 0.18418637518014191,
              "recovery_reason": "not_applicable",
              "recovery_time_s": null,
              "samples": 10001,
              "step_response": null
            },
            "profile": "sample-hold",
            "sample_count": 10001,
            "samples_sha256": "8ff0323958c2c93a93d2ebbf623a88ec96e394d62db846d33d25f1882b263d4e",
            "seed": 709,
            "status": "failed",
            "timing": {
              "elapsed_s": 37.13125609999406,
              "late_steps": 25,
              "max_lag_s": 0.026508499989286064,
              "monitor_enabled": true,
              "paced": false,
              "real_time_factor": 1.3465744295143303,
              "simulation_s": 50.0
            }
          },
          {
            "captures": {
              "captures": 2501,
              "held_control_samples": 7500,
              "max_age_s": 0.015,
              "position_discrepancy_peak_m": 0.009383106947153863,
              "position_discrepancy_rmse_m": 0.0022995597777208435,
              "velocity_discrepancy_peak_m_s": 0.19595563047430528,
              "velocity_discrepancy_rmse_m_s": 0.0049657487353037995,
              "windows": []
            },
            "config_sha256": "dace30e0bf01fb158a8b4e52af420bf14ffd76932a26b4ef05b8eaeb27878c8f",
            "failure_reason": null,
            "metrics": {
              "measurement_window_s": [
                5.0,
                50.0
              ],
              "mission": {
                "final_support": {
                  "mean_normal_force_n": 9.816415030462784,
                  "mean_vertical_balance_error_n": -5.713790245854774e-06,
                  "peak_height_error_m": 3.308057785061935e-07,
                  "peak_rotor_thrust_n": 1.180276399782728e-64,
                  "peak_speed_m_s": 0.00013625106270886416,
                  "peak_tilt_deg": 0.0001286509690702215,
                  "peak_xy_error_m": 0.0681764676078243,
                  "samples": 401
                },
                "initial_support": {
                  "mean_normal_force_n": 9.770762758255005,
                  "mean_vertical_balance_error_n": -6.563491015318945e-06,
                  "peak_height_error_m": 3.233551979092697e-07,
                  "peak_rotor_thrust_n": 0.0,
                  "peak_speed_m_s": 0.00018993030889144892,
                  "peak_tilt_deg": 0.00011909759843994624,
                  "peak_xy_error_m": 0.02470179457819964,
                  "samples": 200
                },
                "landed_time_s": 43.56,
                "liftoff_time_s": 2.98,
                "max_penetration_m": 8.904250767341471e-07,
                "peak_tilt_deg": 12.44344931460906,
                "touchdown_descent_speed_m_s": 0.054696325212717056,
                "touchdown_horizontal_speed_m_s": 0.10151604408424271,
                "touchdown_time_s": 43.49,
                "unexpected_contact_samples": 0,
                "waypoint_band_m": 0.35,
                "waypoint_reached_s": [
                  7.0,
                  15.0,
                  23.0,
                  31.0
                ]
              },
              "peak_error_m": 0.2872109176749072,
              "position_rmse_m": 0.09966345453491447,
              "recovery_reason": "not_applicable",
              "recovery_time_s": null,
              "samples": 10001,
              "step_response": null
            },
            "profile": "sample-hold",
            "sample_count": 10001,
            "samples_sha256": "649d890478f25bc9b80036bd8a4914a571126d58076b3c9700110c6f012ec394",
            "seed": 811,
            "status": "passed",
            "timing": {
              "elapsed_s": 37.714433400004054,
              "late_steps": 0,
              "max_lag_s": 0.0005068000027677044,
              "monitor_enabled": true,
              "paced": false,
              "real_time_factor": 1.3257523842316195,
              "simulation_s": 50.0
            }
          },
          {
            "captures": {
              "captures": 2501,
              "held_control_samples": 7500,
              "max_age_s": 0.015,
              "position_discrepancy_peak_m": 0.008478033029593128,
              "position_discrepancy_rmse_m": 0.0023780382838904505,
              "velocity_discrepancy_peak_m_s": 0.1959570597005816,
              "velocity_discrepancy_rmse_m_s": 0.005331446658542309,
              "windows": []
            },
            "config_sha256": "d5515353e6bea134a78190d391cf39a647166e64131c0c3e7820cb30d36262d9",
            "failure_reason": null,
            "metrics": {
              "measurement_window_s": [
                5.0,
                50.0
              ],
              "mission": {
                "final_support": {
                  "mean_normal_force_n": 9.839924914581223,
                  "mean_vertical_balance_error_n": 5.9960010224533265e-06,
                  "peak_height_error_m": 3.308057785061935e-07,
                  "peak_rotor_thrust_n": 6.712698333662368e-57,
                  "peak_speed_m_s": 0.0001857516263239611,
                  "peak_tilt_deg": 0.0001243347720592822,
                  "peak_xy_error_m": 0.08668901174046449,
                  "samples": 401
                },
                "initial_support": {
                  "mean_normal_force_n": 9.761886534690857,
                  "mean_vertical_balance_error_n": 7.762161544988544e-07,
                  "peak_height_error_m": 3.270804882077316e-07,
                  "peak_rotor_thrust_n": 0.0,
                  "peak_speed_m_s": 0.0001447590058557581,
                  "peak_tilt_deg": 0.0001186530369838999,
                  "peak_xy_error_m": 0.01958600652619875,
                  "samples": 200
                },
                "landed_time_s": 44.095,
                "liftoff_time_s": 2.97,
                "max_penetration_m": 1.1356402586093495e-06,
                "peak_tilt_deg": 16.024918860333635,
                "touchdown_descent_speed_m_s": 0.08805462718009949,
                "touchdown_horizontal_speed_m_s": 0.0649787111513958,
                "touchdown_time_s": 44.0,
                "unexpected_contact_samples": 0,
                "waypoint_band_m": 0.35,
                "waypoint_reached_s": [
                  7.0,
                  15.0,
                  23.0,
                  31.0
                ]
              },
              "peak_error_m": 0.3698474678367879,
              "position_rmse_m": 0.1219022918082834,
              "recovery_reason": "not_applicable",
              "recovery_time_s": null,
              "samples": 10001,
              "step_response": null
            },
            "profile": "sample-hold",
            "sample_count": 10001,
            "samples_sha256": "060ccae3a069764f98141bf95fe81414f0e700107117b3d67b31e0687ccbcef5",
            "seed": 907,
            "status": "passed",
            "timing": {
              "elapsed_s": 37.22928070000489,
              "late_steps": 0,
              "max_lag_s": 0.0006295999966096132,
              "monitor_enabled": true,
              "paced": false,
              "real_time_factor": 1.3430289025163311,
              "simulation_s": 50.0
            }
          },
          {
            "captures": {
              "captures": 2301,
              "held_control_samples": 7700,
              "max_age_s": 2.015,
              "position_discrepancy_peak_m": 0.3446039713453447,
              "position_discrepancy_rmse_m": 0.04937730966630073,
              "velocity_discrepancy_peak_m_s": 0.6883503554563553,
              "velocity_discrepancy_rmse_m_s": 0.09521077813649163,
              "windows": [
                {
                  "end_s": 20.0,
                  "first_capture_after_s": 20.0,
                  "last_capture_before_s": 17.98,
                  "start_s": 18.0
                },
                {
                  "end_s": 42.0,
                  "first_capture_after_s": 42.0,
                  "last_capture_before_s": 39.98,
                  "start_s": 40.0
                }
              ]
            },
            "config_sha256": "597e3025706b61dcc848d854e53c0f31459b98306d0131f78da013a299d7ec08",
            "failure_reason": null,
            "metrics": {
              "measurement_window_s": [
                5.0,
                50.0
              ],
              "mission": {
                "final_support": {
                  "mean_normal_force_n": 9.884310004122536,
                  "mean_vertical_balance_error_n": 6.029618962853759e-06,
                  "peak_height_error_m": 3.308057785061935e-07,
                  "peak_rotor_thrust_n": 3.772976585841447e-96,
                  "peak_speed_m_s": 0.00015267081886373074,
                  "peak_tilt_deg": 0.0001288830634983042,
                  "peak_xy_error_m": 0.22691225311156027,
                  "samples": 401
                },
                "initial_support": {
                  "mean_normal_force_n": 9.933628273010253,
                  "mean_vertical_balance_error_n": -1.1898523242965808e-05,
                  "peak_height_error_m": 3.308057785061935e-07,
                  "peak_rotor_thrust_n": 0.0,
                  "peak_speed_m_s": 0.0002832147928191593,
                  "peak_tilt_deg": 0.00012562373324769024,
                  "peak_xy_error_m": 0.009335828516000469,
                  "samples": 200
                },
                "landed_time_s": 41.38,
                "liftoff_time_s": 3.025,
                "max_penetration_m": 0.0006418557526213578,
                "peak_tilt_deg": 11.83761894511667,
                "touchdown_descent_speed_m_s": 0.12332361936569214,
                "touchdown_horizontal_speed_m_s": 0.43901265238472786,
                "touchdown_time_s": 41.33,
                "unexpected_contact_samples": 0,
                "waypoint_band_m": 0.35,
                "waypoint_reached_s": [
                  7.0,
                  15.0,
                  23.0,
                  31.0
                ]
              },
              "peak_error_m": 0.4239272800170246,
              "position_rmse_m": 0.13926075722578174,
              "recovery_reason": "not_applicable",
              "recovery_time_s": null,
              "samples": 10001,
              "step_response": null
            },
            "profile": "hold-dropout-2000ms",
            "sample_count": 10001,
            "samples_sha256": "5e068a4d49c397d6683630d0ff3135424238f95b4eff2a209d492e6289f9f57e",
            "seed": 709,
            "status": "passed",
            "timing": {
              "elapsed_s": 50.00019880000036,
              "late_steps": 46,
              "max_lag_s": 0.024122299994924105,
              "monitor_enabled": true,
              "paced": true,
              "real_time_factor": 0.9999960240158012,
              "simulation_s": 50.0
            }
          },
          {
            "captures": {
              "captures": 2301,
              "held_control_samples": 7700,
              "max_age_s": 2.015,
              "position_discrepancy_peak_m": 0.29185720411540883,
              "position_discrepancy_rmse_m": 0.04119496201259581,
              "velocity_discrepancy_peak_m_s": 0.39769968925485705,
              "velocity_discrepancy_rmse_m_s": 0.05881614213954987,
              "windows": [
                {
                  "end_s": 20.0,
                  "first_capture_after_s": 20.0,
                  "last_capture_before_s": 17.98,
                  "start_s": 18.0
                },
                {
                  "end_s": 42.0,
                  "first_capture_after_s": 42.0,
                  "last_capture_before_s": 39.98,
                  "start_s": 40.0
                }
              ]
            },
            "config_sha256": "a19da1da4b0f460345220b38e161337c4fa90f90e97917f964f13b6fea2925b9",
            "failure_reason": null,
            "metrics": {
              "measurement_window_s": [
                5.0,
                50.0
              ],
              "mission": {
                "final_support": {
                  "mean_normal_force_n": 9.816414761721642,
                  "mean_vertical_balance_error_n": -5.964109445388915e-06,
                  "peak_height_error_m": 3.308057785061935e-07,
                  "peak_rotor_thrust_n": 2.4662142651193305e-62,
                  "peak_speed_m_s": 0.00013684478134817866,
                  "peak_tilt_deg": 0.00011936964720663597,
                  "peak_xy_error_m": 0.032447230090075184,
                  "samples": 401
                },
                "initial_support": {
                  "mean_normal_force_n": 9.770762758255005,
                  "mean_vertical_balance_error_n": -6.563491015318945e-06,
                  "peak_height_error_m": 3.233551979092697e-07,
                  "peak_rotor_thrust_n": 0.0,
                  "peak_speed_m_s": 0.00018993030889144892,
                  "peak_tilt_deg": 0.00011909759843994624,
                  "peak_xy_error_m": 0.02470179457819964,
                  "samples": 200
                },
                "landed_time_s": 43.72,
                "liftoff_time_s": 2.98,
                "max_penetration_m": 8.90412519556627e-07,
                "peak_tilt_deg": 12.442199150246504,
                "touchdown_descent_speed_m_s": 0.07378686964511871,
                "touchdown_horizontal_speed_m_s": 0.20512282271458127,
                "touchdown_time_s": 43.67,
                "unexpected_contact_samples": 0,
                "waypoint_band_m": 0.35,
                "waypoint_reached_s": [
                  7.0,
                  15.0,
                  23.0,
                  31.0
                ]
              },
              "peak_error_m": 0.2872109176749072,
              "position_rmse_m": 0.09759890851813485,
              "recovery_reason": "not_applicable",
              "recovery_time_s": null,
              "samples": 10001,
              "step_response": null
            },
            "profile": "hold-dropout-2000ms",
            "sample_count": 10001,
            "samples_sha256": "2879897120c318d0a2822d5477aee49b788544fb70379887ba14c0ee6ac7a109",
            "seed": 811,
            "status": "passed",
            "timing": {
              "elapsed_s": 50.00034670000605,
              "late_steps": 80,
              "max_lag_s": 0.09134240000741656,
              "monitor_enabled": true,
              "paced": true,
              "real_time_factor": 0.999993066047959,
              "simulation_s": 50.0
            }
          },
          {
            "captures": {
              "captures": 2301,
              "held_control_samples": 7700,
              "max_age_s": 2.015,
              "position_discrepancy_peak_m": 0.36866831431893454,
              "position_discrepancy_rmse_m": 0.057584654872651866,
              "velocity_discrepancy_peak_m_s": 0.5291465175556223,
              "velocity_discrepancy_rmse_m_s": 0.07374891554108118,
              "windows": [
                {
                  "end_s": 20.0,
                  "first_capture_after_s": 20.0,
                  "last_capture_before_s": 17.98,
                  "start_s": 18.0
                },
                {
                  "end_s": 42.0,
                  "first_capture_after_s": 42.0,
                  "last_capture_before_s": 39.98,
                  "start_s": 40.0
                }
              ]
            },
            "config_sha256": "73602905943c83d919a37c30cc1c227c36bc2df2f39ac6eef8cf3708d700a5cb",
            "failure_reason": null,
            "metrics": {
              "measurement_window_s": [
                5.0,
                50.0
              ],
              "mission": {
                "final_support": {
                  "mean_normal_force_n": 9.839924828964575,
                  "mean_vertical_balance_error_n": 5.902421478237732e-06,
                  "peak_height_error_m": 3.308057785061935e-07,
                  "peak_rotor_thrust_n": 1.3771450338014362e-55,
                  "peak_speed_m_s": 0.0001849551390271847,
                  "peak_tilt_deg": 0.0001229018951670925,
                  "peak_xy_error_m": 0.08317140515498465,
                  "samples": 401
                },
                "initial_support": {
                  "mean_normal_force_n": 9.761886534690857,
                  "mean_vertical_balance_error_n": 7.762161544988544e-07,
                  "peak_height_error_m": 3.270804882077316e-07,
                  "peak_rotor_thrust_n": 0.0,
                  "peak_speed_m_s": 0.0001447590058557581,
                  "peak_tilt_deg": 0.0001186530369838999,
                  "peak_xy_error_m": 0.01958600652619875,
                  "samples": 200
                },
                "landed_time_s": 44.185,
                "liftoff_time_s": 2.97,
                "max_penetration_m": 8.656217281230449e-07,
                "peak_tilt_deg": 15.715454011971211,
                "touchdown_descent_speed_m_s": 0.11062660813331604,
                "touchdown_horizontal_speed_m_s": 0.1039338687101357,
                "touchdown_time_s": 44.125,
                "unexpected_contact_samples": 0,
                "waypoint_band_m": 0.35,
                "waypoint_reached_s": [
                  7.0,
                  15.0,
                  23.0,
                  31.0
                ]
              },
              "peak_error_m": 0.3773328443054587,
              "position_rmse_m": 0.1252835258552573,
              "recovery_reason": "not_applicable",
              "recovery_time_s": null,
              "samples": 10001,
              "step_response": null
            },
            "profile": "hold-dropout-2000ms",
            "sample_count": 10001,
            "samples_sha256": "1873456e696a80466c06348f9121d043c5e20b8803bd138cae93b8adb01ac915",
            "seed": 907,
            "status": "passed",
            "timing": {
              "elapsed_s": 50.00014390000433,
              "late_steps": 6,
              "max_lag_s": 0.00692850000166878,
              "monitor_enabled": true,
              "paced": true,
              "real_time_factor": 0.9999971220081962,
              "simulation_s": 50.0
            }
          }
        ],
        "schema_version": 1,
        "seeds": [
          709,
          811,
          907
        ],
        "source_commit": "0417cc04c3a0111ef6169bf504e7443a2cf0bc99",
        "source_dirty": false,
        "source_tree_sha256": "404ce9d9e8624464ff9694e8a8ef10fbce2cd8d613467a5a3f56a7f1040ca3a6",
        "trials": 6,
        "versions": {
          "isaaclab": "17.0.2",
          "isaacsim": "6.1.0.0",
          "torch": "2.11.0+cu128"
        }
      },
      "cohort": "additional",
      "continuity": [
        {
          "profile": "sample-hold",
          "samples": 6800,
          "seed": 709,
          "unchanged": true
        },
        {
          "profile": "sample-hold",
          "samples": 6800,
          "seed": 811,
          "unchanged": true
        },
        {
          "profile": "sample-hold",
          "samples": 6800,
          "seed": 907,
          "unchanged": true
        },
        {
          "profile": "hold-dropout-2000ms",
          "samples": 6800,
          "seed": 709,
          "unchanged": true
        },
        {
          "profile": "hold-dropout-2000ms",
          "samples": 6800,
          "seed": 811,
          "unchanged": true
        },
        {
          "profile": "hold-dropout-2000ms",
          "samples": 6800,
          "seed": 907,
          "unchanged": true
        }
      ],
      "descriptive": [
        {
          "baseline": {
            "axis_clipped_fraction": 0.0,
            "complete": true,
            "minimum_allocation_scale": 1.0,
            "peak_horizontal_error_m": 0.4463511703031349,
            "samples": 3201,
            "squared_demand_integral_m2_s3": 6.031914544678452,
            "squared_error_integral_m2_s": 1.7255850735552494
          },
          "candidate": {
            "axis_clipped_fraction": 0.0,
            "complete": true,
            "minimum_allocation_scale": 1.0,
            "peak_horizontal_error_m": 0.36128741395488284,
            "samples": 3201,
            "squared_demand_integral_m2_s3": 6.751286082729525,
            "squared_error_integral_m2_s": 1.1404439253909948
          },
          "gates": [
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "model_bounds"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "samples"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "liftoff_start"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "liftoff_end"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "waypoints"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.022424629181187372,
              "id": "peak_error"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.032454645252891434,
              "id": "rmse"
            },
            {
              "change": "unchanged",
              "headroom_delta": -0.4653897759402934,
              "id": "tilt"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.002144999968305944,
              "id": "penetration"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "contact"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.04000000000000625,
              "id": "touchdown"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0002875998616218567,
              "id": "descent"
            },
            {
              "change": "improved",
              "headroom_delta": 0.11829646661156479,
              "id": "horizontal"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.07500000000000284,
              "id": "landed"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "initial_support_samples"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "initial_support_mean_vertical_balance_error_n"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "initial_support_peak_rotor_thrust_n"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "final_support_samples"
            },
            {
              "change": "unchanged",
              "headroom_delta": 1.6418839782206263e-07,
              "id": "final_support_mean_vertical_balance_error_n"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "final_support_peak_rotor_thrust_n"
            },
            {
              "change": "unchanged",
              "headroom_delta": -3.725290298461914e-09,
              "id": "final_support_peak_height_error_m"
            },
            {
              "change": "unchanged",
              "headroom_delta": 9.333134859193515e-07,
              "id": "final_support_peak_speed_m_s"
            },
            {
              "change": "unchanged",
              "headroom_delta": -8.629326740727805e-06,
              "id": "final_support_peak_tilt_deg"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.08426468586185731,
              "id": "final_support_peak_xy_error_m"
            }
          ],
          "profile": "sample-hold",
          "seed": 709
        },
        {
          "baseline": {
            "axis_clipped_fraction": 0.0,
            "complete": true,
            "minimum_allocation_scale": 1.0,
            "peak_horizontal_error_m": 0.32406824203460577,
            "samples": 3201,
            "squared_demand_integral_m2_s3": 5.895851312257398,
            "squared_error_integral_m2_s": 0.2948384843907968
          },
          "candidate": {
            "axis_clipped_fraction": 0.0,
            "complete": true,
            "minimum_allocation_scale": 1.0,
            "peak_horizontal_error_m": 0.25930632836960266,
            "samples": 3201,
            "squared_demand_integral_m2_s3": 6.565799494440642,
            "squared_error_integral_m2_s": 0.11550239726283407
          },
          "gates": [
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "model_bounds"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "samples"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "liftoff_start"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "liftoff_end"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "waypoints"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.03738778051440317,
              "id": "peak_error"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.018312936677572278,
              "id": "rmse"
            },
            {
              "change": "unchanged",
              "headroom_delta": -1.2465301051544841,
              "id": "tilt"
            },
            {
              "change": "unchanged",
              "headroom_delta": 6.68163743708372e-08,
              "id": "penetration"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "contact"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "touchdown"
            },
            {
              "change": "unchanged",
              "headroom_delta": -3.386661410331726e-05,
              "id": "descent"
            },
            {
              "change": "unchanged",
              "headroom_delta": -0.029484730403339432,
              "id": "horizontal"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "landed"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "initial_support_samples"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "initial_support_mean_vertical_balance_error_n"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "initial_support_peak_rotor_thrust_n"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "final_support_samples"
            },
            {
              "change": "unchanged",
              "headroom_delta": 2.484073872710546e-07,
              "id": "final_support_mean_vertical_balance_error_n"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "final_support_peak_rotor_thrust_n"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "final_support_peak_height_error_m"
            },
            {
              "change": "unchanged",
              "headroom_delta": 4.5815939392346294e-07,
              "id": "final_support_peak_speed_m_s"
            },
            {
              "change": "unchanged",
              "headroom_delta": -1.4736958195094019e-05,
              "id": "final_support_peak_tilt_deg"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.07849799858572046,
              "id": "final_support_peak_xy_error_m"
            }
          ],
          "profile": "sample-hold",
          "seed": 811
        },
        {
          "baseline": {
            "axis_clipped_fraction": 0.0,
            "complete": true,
            "minimum_allocation_scale": 1.0,
            "peak_horizontal_error_m": 0.49741452603242775,
            "samples": 3201,
            "squared_demand_integral_m2_s3": 10.320838069966362,
            "squared_error_integral_m2_s": 0.5127972685929425
          },
          "candidate": {
            "axis_clipped_fraction": 0.0,
            "complete": true,
            "minimum_allocation_scale": 1.0,
            "peak_horizontal_error_m": 0.365547409936684,
            "samples": 3201,
            "squared_demand_integral_m2_s3": 11.587323475777483,
            "squared_error_integral_m2_s": 0.2460977451476846
          },
          "gates": [
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "model_bounds"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "samples"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "liftoff_start"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "liftoff_end"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "waypoints"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.1302091179586662,
              "id": "peak_error"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.02231950499911639,
              "id": "rmse"
            },
            {
              "change": "unchanged",
              "headroom_delta": -1.5643734552276545,
              "id": "tilt"
            },
            {
              "change": "unchanged",
              "headroom_delta": -2.824887934960163e-07,
              "id": "penetration"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "contact"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.060000000000002274,
              "id": "touchdown"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0046946704387664795,
              "id": "descent"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.007906035726573557,
              "id": "horizontal"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.015000000000000568,
              "id": "landed"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "initial_support_samples"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "initial_support_mean_vertical_balance_error_n"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "initial_support_peak_rotor_thrust_n"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "final_support_samples"
            },
            {
              "change": "unchanged",
              "headroom_delta": -2.9678620838691216e-08,
              "id": "final_support_mean_vertical_balance_error_n"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "final_support_peak_rotor_thrust_n"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "final_support_peak_height_error_m"
            },
            {
              "change": "unchanged",
              "headroom_delta": -8.073007329717496e-07,
              "id": "final_support_peak_speed_m_s"
            },
            {
              "change": "unchanged",
              "headroom_delta": -6.761739939520339e-06,
              "id": "final_support_peak_tilt_deg"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.05317189062148908,
              "id": "final_support_peak_xy_error_m"
            }
          ],
          "profile": "sample-hold",
          "seed": 907
        },
        {
          "baseline": {
            "axis_clipped_fraction": 0.0,
            "complete": true,
            "minimum_allocation_scale": 1.0,
            "peak_horizontal_error_m": 0.2532933310269737,
            "samples": 3201,
            "squared_demand_integral_m2_s3": 3.7398456305888144,
            "squared_error_integral_m2_s": 0.6097435719601189
          },
          "candidate": {
            "axis_clipped_fraction": 0.0,
            "complete": true,
            "minimum_allocation_scale": 1.0,
            "peak_horizontal_error_m": 0.2269126052993657,
            "samples": 3201,
            "squared_demand_integral_m2_s3": 4.518179224303924,
            "squared_error_integral_m2_s": 0.4797800133304766
          },
          "gates": [
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "model_bounds"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "samples"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "liftoff_start"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "liftoff_end"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "waypoints"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "peak_error"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.010015205526621773,
              "id": "rmse"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "tilt"
            },
            {
              "change": "unchanged",
              "headroom_delta": -0.00064088064615897,
              "id": "penetration"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "contact"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.020000000000003126,
              "id": "touchdown"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0032570064067840576,
              "id": "descent"
            },
            {
              "change": "improved",
              "headroom_delta": 0.09465378987063133,
              "id": "horizontal"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.01999999999999602,
              "id": "landed"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "initial_support_samples"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "initial_support_mean_vertical_balance_error_n"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "initial_support_peak_rotor_thrust_n"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "final_support_samples"
            },
            {
              "change": "unchanged",
              "headroom_delta": 4.603828640536989e-08,
              "id": "final_support_mean_vertical_balance_error_n"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "final_support_peak_rotor_thrust_n"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "final_support_peak_height_error_m"
            },
            {
              "change": "unchanged",
              "headroom_delta": 2.3511236834500293e-07,
              "id": "final_support_peak_speed_m_s"
            },
            {
              "change": "unchanged",
              "headroom_delta": 3.4171941409866236e-07,
              "id": "final_support_peak_tilt_deg"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.026380957252367943,
              "id": "final_support_peak_xy_error_m"
            }
          ],
          "profile": "hold-dropout-2000ms",
          "seed": 709
        },
        {
          "baseline": {
            "axis_clipped_fraction": 0.0,
            "complete": true,
            "minimum_allocation_scale": 1.0,
            "peak_horizontal_error_m": 0.3244116118092786,
            "samples": 3201,
            "squared_demand_integral_m2_s3": 5.986441402590776,
            "squared_error_integral_m2_s": 0.23765170150721548
          },
          "candidate": {
            "axis_clipped_fraction": 0.0,
            "complete": true,
            "minimum_allocation_scale": 1.0,
            "peak_horizontal_error_m": 0.25962189008771824,
            "samples": 3201,
            "squared_demand_integral_m2_s3": 6.711887454226534,
            "squared_error_integral_m2_s": 0.09286759210182398
          },
          "gates": [
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "model_bounds"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "samples"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "liftoff_start"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "liftoff_end"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "waypoints"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.03926867999159256,
              "id": "peak_error"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.01529764287129115,
              "id": "rmse"
            },
            {
              "change": "unchanged",
              "headroom_delta": -1.2451643069662417,
              "id": "tilt"
            },
            {
              "change": "unchanged",
              "headroom_delta": -1.995242765451266e-08,
              "id": "penetration"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "contact"
            },
            {
              "change": "unchanged",
              "headroom_delta": -0.005000000000002558,
              "id": "touchdown"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.00022967904806137085,
              "id": "descent"
            },
            {
              "change": "unchanged",
              "headroom_delta": -0.022462391661805747,
              "id": "horizontal"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.00999999999999801,
              "id": "landed"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "initial_support_samples"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "initial_support_mean_vertical_balance_error_n"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "initial_support_peak_rotor_thrust_n"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "final_support_samples"
            },
            {
              "change": "unchanged",
              "headroom_delta": -3.0314426213706724e-07,
              "id": "final_support_mean_vertical_balance_error_n"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "final_support_peak_rotor_thrust_n"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "final_support_peak_height_error_m"
            },
            {
              "change": "unchanged",
              "headroom_delta": -8.476357296963166e-07,
              "id": "final_support_peak_speed_m_s"
            },
            {
              "change": "unchanged",
              "headroom_delta": 8.977835794343747e-06,
              "id": "final_support_peak_tilt_deg"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.07911200741614965,
              "id": "final_support_peak_xy_error_m"
            }
          ],
          "profile": "hold-dropout-2000ms",
          "seed": 811
        },
        {
          "baseline": {
            "axis_clipped_fraction": 0.0,
            "complete": true,
            "minimum_allocation_scale": 1.0,
            "peak_horizontal_error_m": 0.497735070609711,
            "samples": 3201,
            "squared_demand_integral_m2_s3": 10.390512759531106,
            "squared_error_integral_m2_s": 0.5135863838809449
          },
          "candidate": {
            "axis_clipped_fraction": 0.0,
            "complete": true,
            "minimum_allocation_scale": 1.0,
            "peak_horizontal_error_m": 0.36516622860141124,
            "samples": 3201,
            "squared_demand_integral_m2_s3": 11.64602337457567,
            "squared_error_integral_m2_s": 0.24338981074390495
          },
          "gates": [
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "model_bounds"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "samples"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "liftoff_start"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "liftoff_end"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "waypoints"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.13139289900607343,
              "id": "peak_error"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.02211768276814874,
              "id": "rmse"
            },
            {
              "change": "unchanged",
              "headroom_delta": -1.4852705869403469,
              "id": "tilt"
            },
            {
              "change": "unchanged",
              "headroom_delta": 2.4264520170902415e-08,
              "id": "penetration"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "contact"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.060000000000002274,
              "id": "touchdown"
            },
            {
              "change": "unchanged",
              "headroom_delta": -0.0009403228759765625,
              "id": "descent"
            },
            {
              "change": "unchanged",
              "headroom_delta": -0.03980672782552819,
              "id": "horizontal"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.04999999999999716,
              "id": "landed"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "initial_support_samples"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "initial_support_mean_vertical_balance_error_n"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "initial_support_peak_rotor_thrust_n"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0,
              "id": "final_support_samples"
            },
            {
              "change": "unchanged",
              "headroom_delta": 3.0610840640044046e-07,
              "id": "final_support_mean_vertical_balance_error_n"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "final_support_peak_rotor_thrust_n"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.0,
              "id": "final_support_peak_height_error_m"
            },
            {
              "change": "unchanged",
              "headroom_delta": 9.734668729305396e-07,
              "id": "final_support_peak_speed_m_s"
            },
            {
              "change": "unchanged",
              "headroom_delta": 5.3148963949922745e-06,
              "id": "final_support_peak_tilt_deg"
            },
            {
              "change": "unchanged",
              "headroom_delta": 0.055771215887452374,
              "id": "final_support_peak_xy_error_m"
            }
          ],
          "profile": "hold-dropout-2000ms",
          "seed": 907
        }
      ],
      "seeds": [
        709,
        811,
        907
      ]
    }
  ],
  "configuration": {
    "acceleration_limit_m_s2": 4.0,
    "feedforward": true,
    "freeze_on_allocation_saturation": true,
    "horizontal_position_kp": 4.0,
    "horizontal_velocity_kd": 3.6,
    "integral_ki": [
      0.6,
      0.6,
      0.0
    ],
    "integral_limit_m_s2": [
      1.5,
      1.5,
      0.0
    ],
    "kind": "approach-gains-v1",
    "position_kp": 2.5,
    "ramp": "quintic",
    "ramp_duration_s": 1.0,
    "ramp_start_s": 34.0,
    "reset_when_disarmed": true,
    "velocity_kd": 2.8
  },
  "demo_index_sha256": "e7f4214d26f3ec65d263278e9d5a3aae1aab4a1d37bc685f3a1de57ff9fb0b83",
  "kind": "isaac_approach_gain_study",
  "limitations": [
    "Fixed small cohorts; stress seeds were previously observed; additional seeds predeclared",
    "Higher gains are an engineering hypothesis; synthetic wind and sensors are not calibrated",
    "Original mission, same-mode outage pair and recovery limits retained; default unchanged",
    "Ideal attitude, rates and contact supervisor; AL-010 yaw refinement remains open",
    "Command-demand integral is not physical energy; soft real-time simulation only"
  ],
  "new_flights": 24,
  "retained_flights": 12,
  "schema_version": 1
}
