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    "rendering": "Saved Isaac Sim states at seconds 5–15, nearest 50 Hz state at each 30 fps video frame. MuJoCo is a kinematic renderer, not a new dynamics test. Failed trials hold the last alive state.",
    "style_metric": "Mean reference-consensus cosine over available scored windows and trials; missing scores are not set to zero. No style pass threshold.",
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      720
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    "reference_delivery": "Individual two-second clips; no change in the controller-conditioning reference."
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}