{
  "revision": "quaternion-recovery-v3-r1",
  "runs": [
    {
      "name": "nominal",
      "case": {
        "id": "browser-2026-10-16T23:45:42.389Z",
        "task": "moving_recovery",
        "mass": 2000,
        "pos": [
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        ],
        "quat": [
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        ],
        "vel": [
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        ],
        "omega": [
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          0,
          0
        ],
        "fuel": 260,
        "thrust_scale": 1,
        "disabled_nozzles": [],
        "sourceCaseId": "development-governor-inverted-9",
        "delivery_mode": "unregulated_blowdown"
      },
      "status": "success",
      "frames": 244,
      "timing": {
        "controller": {
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          "p95": 1.1999999284744263,
          "max": 4.900000095367432,
          "overBudget": 0
        },
        "step": {
          "count": 243,
          "p95": 3.5,
          "max": 7.299999952316284,
          "overBudget": 0
        },
        "windowMs": 20
      },
      "roundTripMs": {
        "count": 61,
        "p95": 13,
        "max": 17
      },
      "recordSha256": "47c148282c7acea492c6d3bb80a29c355cecf276efcad7250ae380e867e9b318"
    },
    {
      "name": "custom",
      "case": {
        "id": "browser-2026-10-16T23:48:10.407Z",
        "task": "moving_recovery",
        "mass": 2050,
        "pos": [
          0,
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        "quat": [
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        "vel": [
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        ],
        "omega": [
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        "fuel": 260,
        "thrust_scale": 1,
        "disabled_nozzles": [],
        "sourceCaseId": "development-governor-inverted-9",
        "delivery_mode": "unregulated_blowdown"
      },
      "status": "success",
      "frames": 252,
      "timing": {
        "controller": {
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          "p95": 1.7999999523162842,
          "max": 4.700000047683716,
          "overBudget": 0
        },
        "step": {
          "count": 251,
          "p95": 4.100000023841858,
          "max": 7.700000047683716,
          "overBudget": 0
        },
        "windowMs": 20
      },
      "roundTripMs": {
        "count": 63,
        "p95": 13.799999952316284,
        "max": 19.399999976158142
      },
      "recordSha256": "6910eddbde846757fbff315c502f4d37ee3cbb5adc000cc2c8a6ff6dbaa67404"
    },
    {
      "name": "failure",
      "case": {
        "id": "browser-2026-10-16T23:51:35.637Z",
        "task": "moving_recovery",
        "mass": 2021.9771175425328,
        "pos": [
          0,
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          15.517290954955223
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        "quat": [
          0.7110778630278072,
          0.03355309000967094,
          -0.7018187034957268,
          -0.026324328788916607
        ],
        "vel": [
          7.03845755348372,
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          -1.680956856726942
        ],
        "omega": [
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          -0.6661016626766926,
          0.7164226252968666
        ],
        "fuel": 260,
        "thrust_scale": 0.9709750511359958,
        "disabled_nozzles": [],
        "sourceCaseId": "moving_recovery-30418017-0",
        "delivery_mode": "unregulated_blowdown"
      },
      "status": "hard_contact",
      "frames": 221,
      "timing": {
        "controller": {
          "count": 220,
          "p95": 7.5,
          "max": 10.5,
          "overBudget": 0
        },
        "step": {
          "count": 220,
          "p95": 8.399999976158142,
          "max": 11.900000095367432,
          "overBudget": 0
        },
        "windowMs": 20
      },
      "roundTripMs": {
        "count": 55,
        "p95": 35.5,
        "max": 39.5
      },
      "recordSha256": "784707ae804a30a123580977ec5cd1f95004e286204fff054a4a33722a8bc3d1"
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  ],
  "controlWindows": 714,
  "maxWholeWindowMs": 11.900000095367432,
  "overBudget": 0,
  "failureNativeDifferences": {
    "pos": 2.886579864025407e-13,
    "vel": 1.2003731342247193e-12,
    "omega": 3.859823051455269e-12,
    "nozzleForces": 1.460102794226259e-08,
    "quaternionRawComponentDifference": 1.9408865542848541,
    "quaternionSignAlignedDifference": 6.886591991106528e-14
  },
  "exportVerified": true,
  "limits": "Actual Ego browser Worker runs on this machine. Each Worker request batches 1–4 internal 20ms windows; round trip is not one-window controller latency. No hard realtime, noisy sensors or hardware timing guarantee.",
  "quaternionComparison": "Euler form roundtrip can choose q instead of -q. These encode the same rotation; orientation agreement uses sign-aligned quaternion difference."
}