{
  "schema_version": "2.0",
  "harness": "isolated-process-v1",
  "order_seed": 20260805,
  "planner_seed": 17,
  "repetitions_per_cell": 3,
  "process_timeout_s": 120.0,
  "environment": {
    "python": "3.14.0",
    "implementation": "CPython",
    "package_version": "0.2.0",
    "platform": "macOS-15.6-arm64-arm-64bit-Mach-O",
    "machine": "arm64",
    "processor": "arm",
    "cpu_count": 10
  },
  "records": [
    {
      "case_id": "timing-985cab99e94c7f63",
      "order_index": 0,
      "scene_reference": "open-blocks",
      "algorithm": "rrt-star",
      "timing_repetition": 0,
      "planner_seed": 17,
      "pid": 33790,
      "process_status": "completed",
      "process_returncode": 0,
      "process_wall_time_ms": 1027.825083117932,
      "stderr": null,
      "parse_error": null,
      "planner_record": {
        "run_id": "run-c48084a270bb045c98b7",
        "run_purpose": "timing",
        "timing_repetition": 0,
        "scene_id": "open-blocks",
        "problem_fingerprint": "sha256:cd060091183221f321333a534eb2c9f42957ad18162f9d0d9f781e9696f86db5",
        "algorithm": "rrt-star",
        "configuration_id": "rrt-star@0.2.0|sample-attempts=3000|wall-ms=none|params=901d17ea1542",
        "status": "success",
        "failure_reason": null,
        "planning_time_ms": 969.4750420749187,
        "timing": {
          "planning_ms": 969.4750420749187,
          "setup_ms": 0.027625123038887978,
          "search_ms": 969.4474169518799,
          "smoothing_ms": 1.0612080805003643,
          "validation_ms": 3.0856661032885313
        },
        "budget": {
          "work_unit": "sample-attempts",
          "work_limit": 3000,
          "wall_time_limit_ms": null
        },
        "budget_usage": {
          "work_used": 3000,
          "wall_time_used_ms": 969.4750420749187,
          "termination": "sample-budget-completed"
        }
      }
    },
    {
      "case_id": "timing-2ec48ca3fb9594fe",
      "order_index": 1,
      "scene_reference": "vertical-gate",
      "algorithm": "astar-3d",
      "timing_repetition": 2,
      "planner_seed": null,
      "pid": 33791,
      "process_status": "completed",
      "process_returncode": 0,
      "process_wall_time_ms": 140.0798331014812,
      "stderr": null,
      "parse_error": null,
      "planner_record": {
        "run_id": "run-d5d998f23716d425de06",
        "run_purpose": "timing",
        "timing_repetition": 2,
        "scene_id": "vertical-gate",
        "problem_fingerprint": "sha256:20c84cd97e1fec8d28b8e5aaa18b5a50b8e2252b75c14ad63f2ee7c32003aaa0",
        "algorithm": "astar-3d",
        "configuration_id": "astar-3d@0.2.0|resolution=4|expanded-nodes=120000|wall-ms=none|params=7de53e9d0e62",
        "status": "success",
        "failure_reason": null,
        "planning_time_ms": 87.44616690091789,
        "timing": {
          "planning_ms": 87.44616690091789,
          "setup_ms": 0.5633330438286066,
          "search_ms": 86.88283385708928,
          "smoothing_ms": 1.1118340771645308,
          "validation_ms": 2.078541787341237
        },
        "budget": {
          "work_unit": "expanded-nodes",
          "work_limit": 120000,
          "wall_time_limit_ms": null
        },
        "budget_usage": {
          "work_used": 497,
          "wall_time_used_ms": 87.44616690091789,
          "termination": "goal-reached"
        }
      }
    },
    {
      "case_id": "timing-03441ba3b794f17b",
      "order_index": 2,
      "scene_reference": "restricted-core",
      "algorithm": "rrt-star",
      "timing_repetition": 2,
      "planner_seed": 17,
      "pid": 33792,
      "process_status": "completed",
      "process_returncode": 0,
      "process_wall_time_ms": 868.5557080898434,
      "stderr": null,
      "parse_error": null,
      "planner_record": {
        "run_id": "run-be8d82da67c648fe1d7a",
        "run_purpose": "timing",
        "timing_repetition": 2,
        "scene_id": "restricted-core",
        "problem_fingerprint": "sha256:be76e250e17398b69d44b43e5630bf19b2288dc50e4ae7fc981aaea39cb72924",
        "algorithm": "rrt-star",
        "configuration_id": "rrt-star@0.2.0|sample-attempts=3000|wall-ms=none|params=901d17ea1542",
        "status": "success",
        "failure_reason": null,
        "planning_time_ms": 816.0461669322103,
        "timing": {
          "planning_ms": 816.0461669322103,
          "setup_ms": 0.02670893445611,
          "search_ms": 816.0194579977542,
          "smoothing_ms": 1.3619170058518648,
          "validation_ms": 2.3310838732868433
        },
        "budget": {
          "work_unit": "sample-attempts",
          "work_limit": 3000,
          "wall_time_limit_ms": null
        },
        "budget_usage": {
          "work_used": 3000,
          "wall_time_used_ms": 816.0461669322103,
          "termination": "sample-budget-completed"
        }
      }
    },
    {
      "case_id": "timing-2191a9941ef71959",
      "order_index": 3,
      "scene_reference": "vertical-gate",
      "algorithm": "rrt-star",
      "timing_repetition": 2,
      "planner_seed": 17,
      "pid": 33793,
      "process_status": "completed",
      "process_returncode": 0,
      "process_wall_time_ms": 907.2364580351859,
      "stderr": null,
      "parse_error": null,
      "planner_record": {
        "run_id": "run-bbd94e2b183c87ec6f05",
        "run_purpose": "timing",
        "timing_repetition": 2,
        "scene_id": "vertical-gate",
        "problem_fingerprint": "sha256:20c84cd97e1fec8d28b8e5aaa18b5a50b8e2252b75c14ad63f2ee7c32003aaa0",
        "algorithm": "rrt-star",
        "configuration_id": "rrt-star@0.2.0|sample-attempts=3000|wall-ms=none|params=901d17ea1542",
        "status": "success",
        "failure_reason": null,
        "planning_time_ms": 854.3744168709964,
        "timing": {
          "planning_ms": 854.3744168709964,
          "setup_ms": 0.026957830414175987,
          "search_ms": 854.3474590405822,
          "smoothing_ms": 0.8065828587859869,
          "validation_ms": 1.7472910694777966
        },
        "budget": {
          "work_unit": "sample-attempts",
          "work_limit": 3000,
          "wall_time_limit_ms": null
        },
        "budget_usage": {
          "work_used": 3000,
          "wall_time_used_ms": 854.3744168709964,
          "termination": "sample-budget-completed"
        }
      }
    },
    {
      "case_id": "timing-1b3e032acf9215de",
      "order_index": 4,
      "scene_reference": "open-blocks",
      "algorithm": "lazy-theta-star",
      "timing_repetition": 0,
      "planner_seed": null,
      "pid": 33794,
      "process_status": "completed",
      "process_returncode": 0,
      "process_wall_time_ms": 353.3068341203034,
      "stderr": null,
      "parse_error": null,
      "planner_record": {
        "run_id": "run-cd1c7bb6e67b10948da1",
        "run_purpose": "timing",
        "timing_repetition": 0,
        "scene_id": "open-blocks",
        "problem_fingerprint": "sha256:cd060091183221f321333a534eb2c9f42957ad18162f9d0d9f781e9696f86db5",
        "algorithm": "lazy-theta-star",
        "configuration_id": "lazy-theta-star@0.2.0|resolution=4|expanded-nodes=120000|wall-ms=none|params=7de53e9d0e62",
        "status": "success",
        "failure_reason": null,
        "planning_time_ms": 299.1529998835176,
        "timing": {
          "planning_ms": 299.1529998835176,
          "setup_ms": 0.5089170299470425,
          "search_ms": 298.6440828535706,
          "smoothing_ms": 0.9702078532427549,
          "validation_ms": 2.799751004204154
        },
        "budget": {
          "work_unit": "expanded-nodes",
          "work_limit": 120000,
          "wall_time_limit_ms": null
        },
        "budget_usage": {
          "work_used": 1241,
          "wall_time_used_ms": 299.1529998835176,
          "termination": "goal-reached"
        }
      }
    },
    {
      "case_id": "timing-c7c47d11cfb64687",
      "order_index": 5,
      "scene_reference": "restricted-core",
      "algorithm": "astar-3d",
      "timing_repetition": 2,
      "planner_seed": null,
      "pid": 33795,
      "process_status": "completed",
      "process_returncode": 0,
      "process_wall_time_ms": 396.0384589154273,
      "stderr": null,
      "parse_error": null,
      "planner_record": {
        "run_id": "run-583a16131bbcece04994",
        "run_purpose": "timing",
        "timing_repetition": 2,
        "scene_id": "restricted-core",
        "problem_fingerprint": "sha256:be76e250e17398b69d44b43e5630bf19b2288dc50e4ae7fc981aaea39cb72924",
        "algorithm": "astar-3d",
        "configuration_id": "astar-3d@0.2.0|resolution=4|expanded-nodes=120000|wall-ms=none|params=7de53e9d0e62",
        "status": "success",
        "failure_reason": null,
        "planning_time_ms": 343.4869581833482,
        "timing": {
          "planning_ms": 343.4869581833482,
          "setup_ms": 0.5632920656353235,
          "search_ms": 342.92366611771286,
          "smoothing_ms": 0.9968748781830072,
          "validation_ms": 2.0371240098029375
        },
        "budget": {
          "work_unit": "expanded-nodes",
          "work_limit": 120000,
          "wall_time_limit_ms": null
        },
        "budget_usage": {
          "work_used": 1798,
          "wall_time_used_ms": 343.4869581833482,
          "termination": "goal-reached"
        }
      }
    },
    {
      "case_id": "timing-45d4bae7922ba61e",
      "order_index": 6,
      "scene_reference": "urban-canyon",
      "algorithm": "astar-3d",
      "timing_repetition": 0,
      "planner_seed": null,
      "pid": 33796,
      "process_status": "completed",
      "process_returncode": 0,
      "process_wall_time_ms": 427.33308393508196,
      "stderr": null,
      "parse_error": null,
      "planner_record": {
        "run_id": "run-a22fd54316c7faf2ceb2",
        "run_purpose": "timing",
        "timing_repetition": 0,
        "scene_id": "urban-canyon",
        "problem_fingerprint": "sha256:91d7800b11953c398432ca16bbae1187fa49480a763bca67ebc8190ec09eff6e",
        "algorithm": "astar-3d",
        "configuration_id": "astar-3d@0.2.0|resolution=4|expanded-nodes=120000|wall-ms=none|params=7de53e9d0e62",
        "status": "success",
        "failure_reason": null,
        "planning_time_ms": 374.35337505303323,
        "timing": {
          "planning_ms": 374.35337505303323,
          "setup_ms": 0.5030408501625061,
          "search_ms": 373.8503342028707,
          "smoothing_ms": 0.905750086531043,
          "validation_ms": 2.594748977571726
        },
        "budget": {
          "work_unit": "expanded-nodes",
          "work_limit": 120000,
          "wall_time_limit_ms": null
        },
        "budget_usage": {
          "work_used": 2247,
          "wall_time_used_ms": 374.35337505303323,
          "termination": "goal-reached"
        }
      }
    },
    {
      "case_id": "timing-8d444e2d049a8346",
      "order_index": 7,
      "scene_reference": "urban-canyon",
      "algorithm": "lazy-theta-star",
      "timing_repetition": 1,
      "planner_seed": null,
      "pid": 33798,
      "process_status": "completed",
      "process_returncode": 0,
      "process_wall_time_ms": 365.0349169038236,
      "stderr": null,
      "parse_error": null,
      "planner_record": {
        "run_id": "run-46635034d60cf6a2a6e2",
        "run_purpose": "timing",
        "timing_repetition": 1,
        "scene_id": "urban-canyon",
        "problem_fingerprint": "sha256:91d7800b11953c398432ca16bbae1187fa49480a763bca67ebc8190ec09eff6e",
        "algorithm": "lazy-theta-star",
        "configuration_id": "lazy-theta-star@0.2.0|resolution=4|expanded-nodes=120000|wall-ms=none|params=7de53e9d0e62",
        "status": "success",
        "failure_reason": null,
        "planning_time_ms": 312.5600419007242,
        "timing": {
          "planning_ms": 312.5600419007242,
          "setup_ms": 0.5071249324828386,
          "search_ms": 312.05291696824133,
          "smoothing_ms": 0.7426661904901266,
          "validation_ms": 2.287750132381916
        },
        "budget": {
          "work_unit": "expanded-nodes",
          "work_limit": 120000,
          "wall_time_limit_ms": null
        },
        "budget_usage": {
          "work_used": 1645,
          "wall_time_used_ms": 312.5600419007242,
          "termination": "goal-reached"
        }
      }
    },
    {
      "case_id": "timing-f18d7e61e30b4d98",
      "order_index": 8,
      "scene_reference": "vertical-gate",
      "algorithm": "rrt-star",
      "timing_repetition": 1,
      "planner_seed": 17,
      "pid": 33799,
      "process_status": "completed",
      "process_returncode": 0,
      "process_wall_time_ms": 905.2172501105815,
      "stderr": null,
      "parse_error": null,
      "planner_record": {
        "run_id": "run-8e173d64c0dae100597e",
        "run_purpose": "timing",
        "timing_repetition": 1,
        "scene_id": "vertical-gate",
        "problem_fingerprint": "sha256:20c84cd97e1fec8d28b8e5aaa18b5a50b8e2252b75c14ad63f2ee7c32003aaa0",
        "algorithm": "rrt-star",
        "configuration_id": "rrt-star@0.2.0|sample-attempts=3000|wall-ms=none|params=901d17ea1542",
        "status": "success",
        "failure_reason": null,
        "planning_time_ms": 853.5124168265611,
        "timing": {
          "planning_ms": 853.5124168265611,
          "setup_ms": 0.026791822165250778,
          "search_ms": 853.4856250043958,
          "smoothing_ms": 0.7937918417155743,
          "validation_ms": 1.756042242050171
        },
        "budget": {
          "work_unit": "sample-attempts",
          "work_limit": 3000,
          "wall_time_limit_ms": null
        },
        "budget_usage": {
          "work_used": 3000,
          "wall_time_used_ms": 853.5124168265611,
          "termination": "sample-budget-completed"
        }
      }
    },
    {
      "case_id": "timing-afead40677cc0823",
      "order_index": 9,
      "scene_reference": "urban-canyon",
      "algorithm": "rrt-star",
      "timing_repetition": 0,
      "planner_seed": 17,
      "pid": 33801,
      "process_status": "completed",
      "process_returncode": 0,
      "process_wall_time_ms": 722.5609170272946,
      "stderr": null,
      "parse_error": null,
      "planner_record": {
        "run_id": "run-f8bccf8cd0c293f84616",
        "run_purpose": "timing",
        "timing_repetition": 0,
        "scene_id": "urban-canyon",
        "problem_fingerprint": "sha256:91d7800b11953c398432ca16bbae1187fa49480a763bca67ebc8190ec09eff6e",
        "algorithm": "rrt-star",
        "configuration_id": "rrt-star@0.2.0|sample-attempts=3000|wall-ms=none|params=901d17ea1542",
        "status": "success",
        "failure_reason": null,
        "planning_time_ms": 669.5567080751061,
        "timing": {
          "planning_ms": 669.5567080751061,
          "setup_ms": 0.02554105594754219,
          "search_ms": 669.5311670191586,
          "smoothing_ms": 0.8309578988701105,
          "validation_ms": 2.628499176353216
        },
        "budget": {
          "work_unit": "sample-attempts",
          "work_limit": 3000,
          "wall_time_limit_ms": null
        },
        "budget_usage": {
          "work_used": 3000,
          "wall_time_used_ms": 669.5567080751061,
          "termination": "sample-budget-completed"
        }
      }
    },
    {
      "case_id": "timing-fcca8529ac4079c4",
      "order_index": 10,
      "scene_reference": "restricted-core",
      "algorithm": "lazy-theta-star",
      "timing_repetition": 2,
      "planner_seed": null,
      "pid": 33802,
      "process_status": "completed",
      "process_returncode": 0,
      "process_wall_time_ms": 299.39449997618794,
      "stderr": null,
      "parse_error": null,
      "planner_record": {
        "run_id": "run-02b2e2f7061e25c48a55",
        "run_purpose": "timing",
        "timing_repetition": 2,
        "scene_id": "restricted-core",
        "problem_fingerprint": "sha256:be76e250e17398b69d44b43e5630bf19b2288dc50e4ae7fc981aaea39cb72924",
        "algorithm": "lazy-theta-star",
        "configuration_id": "lazy-theta-star@0.2.0|resolution=4|expanded-nodes=120000|wall-ms=none|params=7de53e9d0e62",
        "status": "success",
        "failure_reason": null,
        "planning_time_ms": 247.06729198805988,
        "timing": {
          "planning_ms": 247.06729198805988,
          "setup_ms": 0.5617919377982616,
          "search_ms": 246.50550005026162,
          "smoothing_ms": 0.8603748865425587,
          "validation_ms": 1.8994577694684267
        },
        "budget": {
          "work_unit": "expanded-nodes",
          "work_limit": 120000,
          "wall_time_limit_ms": null
        },
        "budget_usage": {
          "work_used": 1104,
          "wall_time_used_ms": 247.06729198805988,
          "termination": "goal-reached"
        }
      }
    },
    {
      "case_id": "timing-95af017d2c075fa2",
      "order_index": 11,
      "scene_reference": "restricted-core",
      "algorithm": "lazy-theta-star",
      "timing_repetition": 0,
      "planner_seed": null,
      "pid": 33803,
      "process_status": "completed",
      "process_returncode": 0,
      "process_wall_time_ms": 301.61783401854336,
      "stderr": null,
      "parse_error": null,
      "planner_record": {
        "run_id": "run-2f10cd5df7f6ae26ebd5",
        "run_purpose": "timing",
        "timing_repetition": 0,
        "scene_id": "restricted-core",
        "problem_fingerprint": "sha256:be76e250e17398b69d44b43e5630bf19b2288dc50e4ae7fc981aaea39cb72924",
        "algorithm": "lazy-theta-star",
        "configuration_id": "lazy-theta-star@0.2.0|resolution=4|expanded-nodes=120000|wall-ms=none|params=7de53e9d0e62",
        "status": "success",
        "failure_reason": null,
        "planning_time_ms": 250.5473329219967,
        "timing": {
          "planning_ms": 250.5473329219967,
          "setup_ms": 0.5625409539788961,
          "search_ms": 249.98479196801782,
          "smoothing_ms": 0.8671667892485857,
          "validation_ms": 1.8786252476274967
        },
        "budget": {
          "work_unit": "expanded-nodes",
          "work_limit": 120000,
          "wall_time_limit_ms": null
        },
        "budget_usage": {
          "work_used": 1104,
          "wall_time_used_ms": 250.5473329219967,
          "termination": "goal-reached"
        }
      }
    },
    {
      "case_id": "timing-3cf8fa9ff3d06015",
      "order_index": 12,
      "scene_reference": "restricted-core",
      "algorithm": "rrt-star",
      "timing_repetition": 1,
      "planner_seed": 17,
      "pid": 33804,
      "process_status": "completed",
      "process_returncode": 0,
      "process_wall_time_ms": 865.5781669076532,
      "stderr": null,
      "parse_error": null,
      "planner_record": {
        "run_id": "run-de38e1bf0b4ab52cd476",
        "run_purpose": "timing",
        "timing_repetition": 1,
        "scene_id": "restricted-core",
        "problem_fingerprint": "sha256:be76e250e17398b69d44b43e5630bf19b2288dc50e4ae7fc981aaea39cb72924",
        "algorithm": "rrt-star",
        "configuration_id": "rrt-star@0.2.0|sample-attempts=3000|wall-ms=none|params=901d17ea1542",
        "status": "success",
        "failure_reason": null,
        "planning_time_ms": 812.3297079000622,
        "timing": {
          "planning_ms": 812.3297079000622,
          "setup_ms": 0.02637505531311035,
          "search_ms": 812.3033328447491,
          "smoothing_ms": 1.3077498879283667,
          "validation_ms": 2.3555010557174683
        },
        "budget": {
          "work_unit": "sample-attempts",
          "work_limit": 3000,
          "wall_time_limit_ms": null
        },
        "budget_usage": {
          "work_used": 3000,
          "wall_time_used_ms": 812.3297079000622,
          "termination": "sample-budget-completed"
        }
      }
    },
    {
      "case_id": "timing-28691a9b8a19b09c",
      "order_index": 13,
      "scene_reference": "open-blocks",
      "algorithm": "rrt-star",
      "timing_repetition": 1,
      "planner_seed": 17,
      "pid": 33805,
      "process_status": "completed",
      "process_returncode": 0,
      "process_wall_time_ms": 1022.9851249605417,
      "stderr": null,
      "parse_error": null,
      "planner_record": {
        "run_id": "run-c34dc609028ccdb51ba1",
        "run_purpose": "timing",
        "timing_repetition": 1,
        "scene_id": "open-blocks",
        "problem_fingerprint": "sha256:cd060091183221f321333a534eb2c9f42957ad18162f9d0d9f781e9696f86db5",
        "algorithm": "rrt-star",
        "configuration_id": "rrt-star@0.2.0|sample-attempts=3000|wall-ms=none|params=901d17ea1542",
        "status": "success",
        "failure_reason": null,
        "planning_time_ms": 968.6892500612885,
        "timing": {
          "planning_ms": 968.6892500612885,
          "setup_ms": 0.025582965463399887,
          "search_ms": 968.6636670958251,
          "smoothing_ms": 1.0556669440120459,
          "validation_ms": 3.130833152681589
        },
        "budget": {
          "work_unit": "sample-attempts",
          "work_limit": 3000,
          "wall_time_limit_ms": null
        },
        "budget_usage": {
          "work_used": 3000,
          "wall_time_used_ms": 968.6892500612885,
          "termination": "sample-budget-completed"
        }
      }
    },
    {
      "case_id": "timing-486c6b970a3d209a",
      "order_index": 14,
      "scene_reference": "urban-canyon",
      "algorithm": "rrt-star",
      "timing_repetition": 1,
      "planner_seed": 17,
      "pid": 33806,
      "process_status": "completed",
      "process_returncode": 0,
      "process_wall_time_ms": 718.7681249342859,
      "stderr": null,
      "parse_error": null,
      "planner_record": {
        "run_id": "run-2187e268c8502b87f3b7",
        "run_purpose": "timing",
        "timing_repetition": 1,
        "scene_id": "urban-canyon",
        "problem_fingerprint": "sha256:91d7800b11953c398432ca16bbae1187fa49480a763bca67ebc8190ec09eff6e",
        "algorithm": "rrt-star",
        "configuration_id": "rrt-star@0.2.0|sample-attempts=3000|wall-ms=none|params=901d17ea1542",
        "status": "success",
        "failure_reason": null,
        "planning_time_ms": 665.9592089708894,
        "timing": {
          "planning_ms": 665.9592089708894,
          "setup_ms": 0.024583889171481133,
          "search_ms": 665.934625081718,
          "smoothing_ms": 0.8282079361379147,
          "validation_ms": 2.6637078262865543
        },
        "budget": {
          "work_unit": "sample-attempts",
          "work_limit": 3000,
          "wall_time_limit_ms": null
        },
        "budget_usage": {
          "work_used": 3000,
          "wall_time_used_ms": 665.9592089708894,
          "termination": "sample-budget-completed"
        }
      }
    },
    {
      "case_id": "timing-c1624ebe3f2203d8",
      "order_index": 15,
      "scene_reference": "open-blocks",
      "algorithm": "lazy-theta-star",
      "timing_repetition": 1,
      "planner_seed": null,
      "pid": 33808,
      "process_status": "completed",
      "process_returncode": 0,
      "process_wall_time_ms": 353.50208287127316,
      "stderr": null,
      "parse_error": null,
      "planner_record": {
        "run_id": "run-9ec827b82b3eb96a2b12",
        "run_purpose": "timing",
        "timing_repetition": 1,
        "scene_id": "open-blocks",
        "problem_fingerprint": "sha256:cd060091183221f321333a534eb2c9f42957ad18162f9d0d9f781e9696f86db5",
        "algorithm": "lazy-theta-star",
        "configuration_id": "lazy-theta-star@0.2.0|resolution=4|expanded-nodes=120000|wall-ms=none|params=7de53e9d0e62",
        "status": "success",
        "failure_reason": null,
        "planning_time_ms": 299.6069169603288,
        "timing": {
          "planning_ms": 299.6069169603288,
          "setup_ms": 0.5048338789492846,
          "search_ms": 299.10208308137953,
          "smoothing_ms": 0.9648751001805067,
          "validation_ms": 2.78291804715991
        },
        "budget": {
          "work_unit": "expanded-nodes",
          "work_limit": 120000,
          "wall_time_limit_ms": null
        },
        "budget_usage": {
          "work_used": 1241,
          "wall_time_used_ms": 299.6069169603288,
          "termination": "goal-reached"
        }
      }
    },
    {
      "case_id": "timing-d3bd316fe083770d",
      "order_index": 16,
      "scene_reference": "urban-canyon",
      "algorithm": "rrt-star",
      "timing_repetition": 2,
      "planner_seed": 17,
      "pid": 33810,
      "process_status": "completed",
      "process_returncode": 0,
      "process_wall_time_ms": 718.8961659558117,
      "stderr": null,
      "parse_error": null,
      "planner_record": {
        "run_id": "run-b4f600e25d2f96a3d5b2",
        "run_purpose": "timing",
        "timing_repetition": 2,
        "scene_id": "urban-canyon",
        "problem_fingerprint": "sha256:91d7800b11953c398432ca16bbae1187fa49480a763bca67ebc8190ec09eff6e",
        "algorithm": "rrt-star",
        "configuration_id": "rrt-star@0.2.0|sample-attempts=3000|wall-ms=none|params=901d17ea1542",
        "status": "success",
        "failure_reason": null,
        "planning_time_ms": 666.3587498478591,
        "timing": {
          "planning_ms": 666.3587498478591,
          "setup_ms": 0.02529192715883255,
          "search_ms": 666.3334579207003,
          "smoothing_ms": 0.8400001097470522,
          "validation_ms": 2.6563736610114574
        },
        "budget": {
          "work_unit": "sample-attempts",
          "work_limit": 3000,
          "wall_time_limit_ms": null
        },
        "budget_usage": {
          "work_used": 3000,
          "wall_time_used_ms": 666.3587498478591,
          "termination": "sample-budget-completed"
        }
      }
    },
    {
      "case_id": "timing-a7c0aad53e28719e",
      "order_index": 17,
      "scene_reference": "vertical-gate",
      "algorithm": "rrt-star",
      "timing_repetition": 0,
      "planner_seed": 17,
      "pid": 33811,
      "process_status": "completed",
      "process_returncode": 0,
      "process_wall_time_ms": 906.0719578992575,
      "stderr": null,
      "parse_error": null,
      "planner_record": {
        "run_id": "run-d0ea44dd1ed4f0ead809",
        "run_purpose": "timing",
        "timing_repetition": 0,
        "scene_id": "vertical-gate",
        "problem_fingerprint": "sha256:20c84cd97e1fec8d28b8e5aaa18b5a50b8e2252b75c14ad63f2ee7c32003aaa0",
        "algorithm": "rrt-star",
        "configuration_id": "rrt-star@0.2.0|sample-attempts=3000|wall-ms=none|params=901d17ea1542",
        "status": "success",
        "failure_reason": null,
        "planning_time_ms": 853.5644579678774,
        "timing": {
          "planning_ms": 853.5644579678774,
          "setup_ms": 0.026207882910966873,
          "search_ms": 853.5382500849664,
          "smoothing_ms": 0.7954169996082783,
          "validation_ms": 1.7665829509496689
        },
        "budget": {
          "work_unit": "sample-attempts",
          "work_limit": 3000,
          "wall_time_limit_ms": null
        },
        "budget_usage": {
          "work_used": 3000,
          "wall_time_used_ms": 853.5644579678774,
          "termination": "sample-budget-completed"
        }
      }
    },
    {
      "case_id": "timing-92a1f1b176b6cc1b",
      "order_index": 18,
      "scene_reference": "open-blocks",
      "algorithm": "astar-3d",
      "timing_repetition": 0,
      "planner_seed": null,
      "pid": 33812,
      "process_status": "completed",
      "process_returncode": 0,
      "process_wall_time_ms": 438.14624985679984,
      "stderr": null,
      "parse_error": null,
      "planner_record": {
        "run_id": "run-ad8f64fbb283105cd75a",
        "run_purpose": "timing",
        "timing_repetition": 0,
        "scene_id": "open-blocks",
        "problem_fingerprint": "sha256:cd060091183221f321333a534eb2c9f42957ad18162f9d0d9f781e9696f86db5",
        "algorithm": "astar-3d",
        "configuration_id": "astar-3d@0.2.0|resolution=4|expanded-nodes=120000|wall-ms=none|params=7de53e9d0e62",
        "status": "success",
        "failure_reason": null,
        "planning_time_ms": 384.2155421152711,
        "timing": {
          "planning_ms": 384.2155421152711,
          "setup_ms": 0.501709058880806,
          "search_ms": 383.7138330563903,
          "smoothing_ms": 1.1035841889679432,
          "validation_ms": 3.184458240866661
        },
        "budget": {
          "work_unit": "expanded-nodes",
          "work_limit": 120000,
          "wall_time_limit_ms": null
        },
        "budget_usage": {
          "work_used": 1921,
          "wall_time_used_ms": 384.2155421152711,
          "termination": "goal-reached"
        }
      }
    },
    {
      "case_id": "timing-274ebb3ada1e59fa",
      "order_index": 19,
      "scene_reference": "open-blocks",
      "algorithm": "astar-3d",
      "timing_repetition": 1,
      "planner_seed": null,
      "pid": 33813,
      "process_status": "completed",
      "process_returncode": 0,
      "process_wall_time_ms": 436.27304094843566,
      "stderr": null,
      "parse_error": null,
      "planner_record": {
        "run_id": "run-8a253c2197d73482f229",
        "run_purpose": "timing",
        "timing_repetition": 1,
        "scene_id": "open-blocks",
        "problem_fingerprint": "sha256:cd060091183221f321333a534eb2c9f42957ad18162f9d0d9f781e9696f86db5",
        "algorithm": "astar-3d",
        "configuration_id": "astar-3d@0.2.0|resolution=4|expanded-nodes=120000|wall-ms=none|params=7de53e9d0e62",
        "status": "success",
        "failure_reason": null,
        "planning_time_ms": 382.05145788379014,
        "timing": {
          "planning_ms": 382.05145788379014,
          "setup_ms": 0.5069999024271965,
          "search_ms": 381.54445798136294,
          "smoothing_ms": 1.1141251306980848,
          "validation_ms": 3.16883297637105
        },
        "budget": {
          "work_unit": "expanded-nodes",
          "work_limit": 120000,
          "wall_time_limit_ms": null
        },
        "budget_usage": {
          "work_used": 1921,
          "wall_time_used_ms": 382.05145788379014,
          "termination": "goal-reached"
        }
      }
    },
    {
      "case_id": "timing-29e02ad4f15578b0",
      "order_index": 20,
      "scene_reference": "urban-canyon",
      "algorithm": "lazy-theta-star",
      "timing_repetition": 0,
      "planner_seed": null,
      "pid": 33814,
      "process_status": "completed",
      "process_returncode": 0,
      "process_wall_time_ms": 367.42941685952246,
      "stderr": null,
      "parse_error": null,
      "planner_record": {
        "run_id": "run-f5ecd01f091c5a5726a4",
        "run_purpose": "timing",
        "timing_repetition": 0,
        "scene_id": "urban-canyon",
        "problem_fingerprint": "sha256:91d7800b11953c398432ca16bbae1187fa49480a763bca67ebc8190ec09eff6e",
        "algorithm": "lazy-theta-star",
        "configuration_id": "lazy-theta-star@0.2.0|resolution=4|expanded-nodes=120000|wall-ms=none|params=7de53e9d0e62",
        "status": "success",
        "failure_reason": null,
        "planning_time_ms": 315.09566702879965,
        "timing": {
          "planning_ms": 315.09566702879965,
          "setup_ms": 0.5175420083105564,
          "search_ms": 314.5781250204891,
          "smoothing_ms": 0.7472920697182417,
          "validation_ms": 2.2707502357661724
        },
        "budget": {
          "work_unit": "expanded-nodes",
          "work_limit": 120000,
          "wall_time_limit_ms": null
        },
        "budget_usage": {
          "work_used": 1645,
          "wall_time_used_ms": 315.09566702879965,
          "termination": "goal-reached"
        }
      }
    },
    {
      "case_id": "timing-ef6aacee4e2e6ada",
      "order_index": 21,
      "scene_reference": "restricted-core",
      "algorithm": "astar-3d",
      "timing_repetition": 1,
      "planner_seed": null,
      "pid": 33815,
      "process_status": "completed",
      "process_returncode": 0,
      "process_wall_time_ms": 395.54024999961257,
      "stderr": null,
      "parse_error": null,
      "planner_record": {
        "run_id": "run-ae3e6037d43d08f002e3",
        "run_purpose": "timing",
        "timing_repetition": 1,
        "scene_id": "restricted-core",
        "problem_fingerprint": "sha256:be76e250e17398b69d44b43e5630bf19b2288dc50e4ae7fc981aaea39cb72924",
        "algorithm": "astar-3d",
        "configuration_id": "astar-3d@0.2.0|resolution=4|expanded-nodes=120000|wall-ms=none|params=7de53e9d0e62",
        "status": "success",
        "failure_reason": null,
        "planning_time_ms": 342.474167002365,
        "timing": {
          "planning_ms": 342.474167002365,
          "setup_ms": 0.5554580129683018,
          "search_ms": 341.9187089893967,
          "smoothing_ms": 1.0049580596387386,
          "validation_ms": 2.05820775590837
        },
        "budget": {
          "work_unit": "expanded-nodes",
          "work_limit": 120000,
          "wall_time_limit_ms": null
        },
        "budget_usage": {
          "work_used": 1798,
          "wall_time_used_ms": 342.474167002365,
          "termination": "goal-reached"
        }
      }
    },
    {
      "case_id": "timing-6d5816ab9d8630c2",
      "order_index": 22,
      "scene_reference": "urban-canyon",
      "algorithm": "astar-3d",
      "timing_repetition": 2,
      "planner_seed": null,
      "pid": 33816,
      "process_status": "completed",
      "process_returncode": 0,
      "process_wall_time_ms": 425.49358308315277,
      "stderr": null,
      "parse_error": null,
      "planner_record": {
        "run_id": "run-9b89708bea2c49164528",
        "run_purpose": "timing",
        "timing_repetition": 2,
        "scene_id": "urban-canyon",
        "problem_fingerprint": "sha256:91d7800b11953c398432ca16bbae1187fa49480a763bca67ebc8190ec09eff6e",
        "algorithm": "astar-3d",
        "configuration_id": "astar-3d@0.2.0|resolution=4|expanded-nodes=120000|wall-ms=none|params=7de53e9d0e62",
        "status": "success",
        "failure_reason": null,
        "planning_time_ms": 371.8834170140326,
        "timing": {
          "planning_ms": 371.8834170140326,
          "setup_ms": 0.5055000074207783,
          "search_ms": 371.3779170066118,
          "smoothing_ms": 0.8887499570846558,
          "validation_ms": 2.50708288513124
        },
        "budget": {
          "work_unit": "expanded-nodes",
          "work_limit": 120000,
          "wall_time_limit_ms": null
        },
        "budget_usage": {
          "work_used": 2247,
          "wall_time_used_ms": 371.8834170140326,
          "termination": "goal-reached"
        }
      }
    },
    {
      "case_id": "timing-55444ccff179fd1e",
      "order_index": 23,
      "scene_reference": "urban-canyon",
      "algorithm": "lazy-theta-star",
      "timing_repetition": 2,
      "planner_seed": null,
      "pid": 33817,
      "process_status": "completed",
      "process_returncode": 0,
      "process_wall_time_ms": 369.10424986854196,
      "stderr": null,
      "parse_error": null,
      "planner_record": {
        "run_id": "run-e3e62d70cd899423264e",
        "run_purpose": "timing",
        "timing_repetition": 2,
        "scene_id": "urban-canyon",
        "problem_fingerprint": "sha256:91d7800b11953c398432ca16bbae1187fa49480a763bca67ebc8190ec09eff6e",
        "algorithm": "lazy-theta-star",
        "configuration_id": "lazy-theta-star@0.2.0|resolution=4|expanded-nodes=120000|wall-ms=none|params=7de53e9d0e62",
        "status": "success",
        "failure_reason": null,
        "planning_time_ms": 316.3042499218136,
        "timing": {
          "planning_ms": 316.3042499218136,
          "setup_ms": 0.5128749180585146,
          "search_ms": 315.7913750037551,
          "smoothing_ms": 0.7425828371196985,
          "validation_ms": 2.283291192725301
        },
        "budget": {
          "work_unit": "expanded-nodes",
          "work_limit": 120000,
          "wall_time_limit_ms": null
        },
        "budget_usage": {
          "work_used": 1645,
          "wall_time_used_ms": 316.3042499218136,
          "termination": "goal-reached"
        }
      }
    },
    {
      "case_id": "timing-697477f38f8497fe",
      "order_index": 24,
      "scene_reference": "restricted-core",
      "algorithm": "rrt-star",
      "timing_repetition": 0,
      "planner_seed": 17,
      "pid": 33818,
      "process_status": "completed",
      "process_returncode": 0,
      "process_wall_time_ms": 863.7518750037998,
      "stderr": null,
      "parse_error": null,
      "planner_record": {
        "run_id": "run-fa2ebff03c73e1615630",
        "run_purpose": "timing",
        "timing_repetition": 0,
        "scene_id": "restricted-core",
        "problem_fingerprint": "sha256:be76e250e17398b69d44b43e5630bf19b2288dc50e4ae7fc981aaea39cb72924",
        "algorithm": "rrt-star",
        "configuration_id": "rrt-star@0.2.0|sample-attempts=3000|wall-ms=none|params=901d17ea1542",
        "status": "success",
        "failure_reason": null,
        "planning_time_ms": 809.8844159394503,
        "timing": {
          "planning_ms": 809.8844159394503,
          "setup_ms": 0.026499852538108826,
          "search_ms": 809.8579160869122,
          "smoothing_ms": 1.297457842156291,
          "validation_ms": 2.3360000923275948
        },
        "budget": {
          "work_unit": "sample-attempts",
          "work_limit": 3000,
          "wall_time_limit_ms": null
        },
        "budget_usage": {
          "work_used": 3000,
          "wall_time_used_ms": 809.8844159394503,
          "termination": "sample-budget-completed"
        }
      }
    },
    {
      "case_id": "timing-5c02444e1df34ff1",
      "order_index": 25,
      "scene_reference": "vertical-gate",
      "algorithm": "lazy-theta-star",
      "timing_repetition": 1,
      "planner_seed": null,
      "pid": 33820,
      "process_status": "completed",
      "process_returncode": 0,
      "process_wall_time_ms": 117.19941697083414,
      "stderr": null,
      "parse_error": null,
      "planner_record": {
        "run_id": "run-69594504d1318848b7f8",
        "run_purpose": "timing",
        "timing_repetition": 1,
        "scene_id": "vertical-gate",
        "problem_fingerprint": "sha256:20c84cd97e1fec8d28b8e5aaa18b5a50b8e2252b75c14ad63f2ee7c32003aaa0",
        "algorithm": "lazy-theta-star",
        "configuration_id": "lazy-theta-star@0.2.0|resolution=4|expanded-nodes=120000|wall-ms=none|params=7de53e9d0e62",
        "status": "success",
        "failure_reason": null,
        "planning_time_ms": 64.54966706223786,
        "timing": {
          "planning_ms": 64.54966706223786,
          "setup_ms": 0.5761249922215939,
          "search_ms": 63.973542070016265,
          "smoothing_ms": 0.8412080351263285,
          "validation_ms": 1.913165906444192
        },
        "budget": {
          "work_unit": "expanded-nodes",
          "work_limit": 120000,
          "wall_time_limit_ms": null
        },
        "budget_usage": {
          "work_used": 305,
          "wall_time_used_ms": 64.54966706223786,
          "termination": "goal-reached"
        }
      }
    },
    {
      "case_id": "timing-21bb3a79b51aef2e",
      "order_index": 26,
      "scene_reference": "open-blocks",
      "algorithm": "astar-3d",
      "timing_repetition": 2,
      "planner_seed": null,
      "pid": 33822,
      "process_status": "completed",
      "process_returncode": 0,
      "process_wall_time_ms": 435.1272920612246,
      "stderr": null,
      "parse_error": null,
      "planner_record": {
        "run_id": "run-0ab01bac701df3f52e9b",
        "run_purpose": "timing",
        "timing_repetition": 2,
        "scene_id": "open-blocks",
        "problem_fingerprint": "sha256:cd060091183221f321333a534eb2c9f42957ad18162f9d0d9f781e9696f86db5",
        "algorithm": "astar-3d",
        "configuration_id": "astar-3d@0.2.0|resolution=4|expanded-nodes=120000|wall-ms=none|params=7de53e9d0e62",
        "status": "success",
        "failure_reason": null,
        "planning_time_ms": 381.0587921179831,
        "timing": {
          "planning_ms": 381.0587921179831,
          "setup_ms": 0.4999591037631035,
          "search_ms": 380.55883301422,
          "smoothing_ms": 1.1070838663727045,
          "validation_ms": 3.119958098977804
        },
        "budget": {
          "work_unit": "expanded-nodes",
          "work_limit": 120000,
          "wall_time_limit_ms": null
        },
        "budget_usage": {
          "work_used": 1921,
          "wall_time_used_ms": 381.0587921179831,
          "termination": "goal-reached"
        }
      }
    },
    {
      "case_id": "timing-82df08c1c113a06d",
      "order_index": 27,
      "scene_reference": "vertical-gate",
      "algorithm": "lazy-theta-star",
      "timing_repetition": 0,
      "planner_seed": null,
      "pid": 33823,
      "process_status": "completed",
      "process_returncode": 0,
      "process_wall_time_ms": 116.77141604013741,
      "stderr": null,
      "parse_error": null,
      "planner_record": {
        "run_id": "run-fffaf245d994e4fa5042",
        "run_purpose": "timing",
        "timing_repetition": 0,
        "scene_id": "vertical-gate",
        "problem_fingerprint": "sha256:20c84cd97e1fec8d28b8e5aaa18b5a50b8e2252b75c14ad63f2ee7c32003aaa0",
        "algorithm": "lazy-theta-star",
        "configuration_id": "lazy-theta-star@0.2.0|resolution=4|expanded-nodes=120000|wall-ms=none|params=7de53e9d0e62",
        "status": "success",
        "failure_reason": null,
        "planning_time_ms": 64.40329109318554,
        "timing": {
          "planning_ms": 64.40329109318554,
          "setup_ms": 0.5653330590575933,
          "search_ms": 63.83795803412795,
          "smoothing_ms": 0.836291816085577,
          "validation_ms": 1.895209075883031
        },
        "budget": {
          "work_unit": "expanded-nodes",
          "work_limit": 120000,
          "wall_time_limit_ms": null
        },
        "budget_usage": {
          "work_used": 305,
          "wall_time_used_ms": 64.40329109318554,
          "termination": "goal-reached"
        }
      }
    },
    {
      "case_id": "timing-1993c50daa9c0431",
      "order_index": 28,
      "scene_reference": "open-blocks",
      "algorithm": "lazy-theta-star",
      "timing_repetition": 2,
      "planner_seed": null,
      "pid": 33824,
      "process_status": "completed",
      "process_returncode": 0,
      "process_wall_time_ms": 353.5754999611527,
      "stderr": null,
      "parse_error": null,
      "planner_record": {
        "run_id": "run-d73287520e733f9fbbc3",
        "run_purpose": "timing",
        "timing_repetition": 2,
        "scene_id": "open-blocks",
        "problem_fingerprint": "sha256:cd060091183221f321333a534eb2c9f42957ad18162f9d0d9f781e9696f86db5",
        "algorithm": "lazy-theta-star",
        "configuration_id": "lazy-theta-star@0.2.0|resolution=4|expanded-nodes=120000|wall-ms=none|params=7de53e9d0e62",
        "status": "success",
        "failure_reason": null,
        "planning_time_ms": 299.8652921523899,
        "timing": {
          "planning_ms": 299.8652921523899,
          "setup_ms": 0.5065831355750561,
          "search_ms": 299.3587090168148,
          "smoothing_ms": 1.0679590050131083,
          "validation_ms": 2.8486251831054688
        },
        "budget": {
          "work_unit": "expanded-nodes",
          "work_limit": 120000,
          "wall_time_limit_ms": null
        },
        "budget_usage": {
          "work_used": 1241,
          "wall_time_used_ms": 299.8652921523899,
          "termination": "goal-reached"
        }
      }
    },
    {
      "case_id": "timing-95214c7d056c96e4",
      "order_index": 29,
      "scene_reference": "vertical-gate",
      "algorithm": "astar-3d",
      "timing_repetition": 0,
      "planner_seed": null,
      "pid": 33825,
      "process_status": "completed",
      "process_returncode": 0,
      "process_wall_time_ms": 139.62662499397993,
      "stderr": null,
      "parse_error": null,
      "planner_record": {
        "run_id": "run-f86e1e9b650e3fff951b",
        "run_purpose": "timing",
        "timing_repetition": 0,
        "scene_id": "vertical-gate",
        "problem_fingerprint": "sha256:20c84cd97e1fec8d28b8e5aaa18b5a50b8e2252b75c14ad63f2ee7c32003aaa0",
        "algorithm": "astar-3d",
        "configuration_id": "astar-3d@0.2.0|resolution=4|expanded-nodes=120000|wall-ms=none|params=7de53e9d0e62",
        "status": "success",
        "failure_reason": null,
        "planning_time_ms": 87.17045793309808,
        "timing": {
          "planning_ms": 87.17045793309808,
          "setup_ms": 0.5616659764200449,
          "search_ms": 86.60879195667803,
          "smoothing_ms": 1.1227079667150974,
          "validation_ms": 2.07116617821157
        },
        "budget": {
          "work_unit": "expanded-nodes",
          "work_limit": 120000,
          "wall_time_limit_ms": null
        },
        "budget_usage": {
          "work_used": 497,
          "wall_time_used_ms": 87.17045793309808,
          "termination": "goal-reached"
        }
      }
    },
    {
      "case_id": "timing-f17d0caf45653bfc",
      "order_index": 30,
      "scene_reference": "restricted-core",
      "algorithm": "lazy-theta-star",
      "timing_repetition": 1,
      "planner_seed": null,
      "pid": 33826,
      "process_status": "completed",
      "process_returncode": 0,
      "process_wall_time_ms": 305.3537090308964,
      "stderr": null,
      "parse_error": null,
      "planner_record": {
        "run_id": "run-10910b521cb47e97a873",
        "run_purpose": "timing",
        "timing_repetition": 1,
        "scene_id": "restricted-core",
        "problem_fingerprint": "sha256:be76e250e17398b69d44b43e5630bf19b2288dc50e4ae7fc981aaea39cb72924",
        "algorithm": "lazy-theta-star",
        "configuration_id": "lazy-theta-star@0.2.0|resolution=4|expanded-nodes=120000|wall-ms=none|params=7de53e9d0e62",
        "status": "success",
        "failure_reason": null,
        "planning_time_ms": 251.99200003407896,
        "timing": {
          "planning_ms": 251.99200003407896,
          "setup_ms": 0.576250022277236,
          "search_ms": 251.41575001180172,
          "smoothing_ms": 0.8793340530246496,
          "validation_ms": 1.8712079618126154
        },
        "budget": {
          "work_unit": "expanded-nodes",
          "work_limit": 120000,
          "wall_time_limit_ms": null
        },
        "budget_usage": {
          "work_used": 1104,
          "wall_time_used_ms": 251.99200003407896,
          "termination": "goal-reached"
        }
      }
    },
    {
      "case_id": "timing-c9f30c4d857e30e9",
      "order_index": 31,
      "scene_reference": "restricted-core",
      "algorithm": "astar-3d",
      "timing_repetition": 0,
      "planner_seed": null,
      "pid": 33827,
      "process_status": "completed",
      "process_returncode": 0,
      "process_wall_time_ms": 397.20450015738606,
      "stderr": null,
      "parse_error": null,
      "planner_record": {
        "run_id": "run-e2a78f0ebd529702e7a1",
        "run_purpose": "timing",
        "timing_repetition": 0,
        "scene_id": "restricted-core",
        "problem_fingerprint": "sha256:be76e250e17398b69d44b43e5630bf19b2288dc50e4ae7fc981aaea39cb72924",
        "algorithm": "astar-3d",
        "configuration_id": "astar-3d@0.2.0|resolution=4|expanded-nodes=120000|wall-ms=none|params=7de53e9d0e62",
        "status": "success",
        "failure_reason": null,
        "planning_time_ms": 344.21479096636176,
        "timing": {
          "planning_ms": 344.21479096636176,
          "setup_ms": 0.5584578029811382,
          "search_ms": 343.6563331633806,
          "smoothing_ms": 0.9856249671429396,
          "validation_ms": 2.0299158059060574
        },
        "budget": {
          "work_unit": "expanded-nodes",
          "work_limit": 120000,
          "wall_time_limit_ms": null
        },
        "budget_usage": {
          "work_used": 1798,
          "wall_time_used_ms": 344.21479096636176,
          "termination": "goal-reached"
        }
      }
    },
    {
      "case_id": "timing-efff99653eb7ebb2",
      "order_index": 32,
      "scene_reference": "vertical-gate",
      "algorithm": "astar-3d",
      "timing_repetition": 1,
      "planner_seed": null,
      "pid": 33828,
      "process_status": "completed",
      "process_returncode": 0,
      "process_wall_time_ms": 141.10337500460446,
      "stderr": null,
      "parse_error": null,
      "planner_record": {
        "run_id": "run-e70cc2a9fe35a33c050e",
        "run_purpose": "timing",
        "timing_repetition": 1,
        "scene_id": "vertical-gate",
        "problem_fingerprint": "sha256:20c84cd97e1fec8d28b8e5aaa18b5a50b8e2252b75c14ad63f2ee7c32003aaa0",
        "algorithm": "astar-3d",
        "configuration_id": "astar-3d@0.2.0|resolution=4|expanded-nodes=120000|wall-ms=none|params=7de53e9d0e62",
        "status": "success",
        "failure_reason": null,
        "planning_time_ms": 87.60074991732836,
        "timing": {
          "planning_ms": 87.60074991732836,
          "setup_ms": 0.5597500130534172,
          "search_ms": 87.04099990427494,
          "smoothing_ms": 1.1373329907655716,
          "validation_ms": 2.117583993822336
        },
        "budget": {
          "work_unit": "expanded-nodes",
          "work_limit": 120000,
          "wall_time_limit_ms": null
        },
        "budget_usage": {
          "work_used": 497,
          "wall_time_used_ms": 87.60074991732836,
          "termination": "goal-reached"
        }
      }
    },
    {
      "case_id": "timing-a3547329ced3ddca",
      "order_index": 33,
      "scene_reference": "urban-canyon",
      "algorithm": "astar-3d",
      "timing_repetition": 1,
      "planner_seed": null,
      "pid": 33829,
      "process_status": "completed",
      "process_returncode": 0,
      "process_wall_time_ms": 423.6440409440547,
      "stderr": null,
      "parse_error": null,
      "planner_record": {
        "run_id": "run-cef56b495c67c72c85ef",
        "run_purpose": "timing",
        "timing_repetition": 1,
        "scene_id": "urban-canyon",
        "problem_fingerprint": "sha256:91d7800b11953c398432ca16bbae1187fa49480a763bca67ebc8190ec09eff6e",
        "algorithm": "astar-3d",
        "configuration_id": "astar-3d@0.2.0|resolution=4|expanded-nodes=120000|wall-ms=none|params=7de53e9d0e62",
        "status": "success",
        "failure_reason": null,
        "planning_time_ms": 370.75983406975865,
        "timing": {
          "planning_ms": 370.75983406975865,
          "setup_ms": 0.4979169461876154,
          "search_ms": 370.26191712357104,
          "smoothing_ms": 0.8786669932305813,
          "validation_ms": 2.522458089515567
        },
        "budget": {
          "work_unit": "expanded-nodes",
          "work_limit": 120000,
          "wall_time_limit_ms": null
        },
        "budget_usage": {
          "work_used": 2247,
          "wall_time_used_ms": 370.75983406975865,
          "termination": "goal-reached"
        }
      }
    },
    {
      "case_id": "timing-23b0955c145cc847",
      "order_index": 34,
      "scene_reference": "open-blocks",
      "algorithm": "rrt-star",
      "timing_repetition": 2,
      "planner_seed": 17,
      "pid": 33830,
      "process_status": "completed",
      "process_returncode": 0,
      "process_wall_time_ms": 1030.7465000078082,
      "stderr": null,
      "parse_error": null,
      "planner_record": {
        "run_id": "run-e35cc5a140da784ad0d2",
        "run_purpose": "timing",
        "timing_repetition": 2,
        "scene_id": "open-blocks",
        "problem_fingerprint": "sha256:cd060091183221f321333a534eb2c9f42957ad18162f9d0d9f781e9696f86db5",
        "algorithm": "rrt-star",
        "configuration_id": "rrt-star@0.2.0|sample-attempts=3000|wall-ms=none|params=901d17ea1542",
        "status": "success",
        "failure_reason": null,
        "planning_time_ms": 973.7062910571694,
        "timing": {
          "planning_ms": 973.7062910571694,
          "setup_ms": 0.029708025977015495,
          "search_ms": 973.6765830311924,
          "smoothing_ms": 1.067749923095107,
          "validation_ms": 3.066541161388159
        },
        "budget": {
          "work_unit": "sample-attempts",
          "work_limit": 3000,
          "wall_time_limit_ms": null
        },
        "budget_usage": {
          "work_used": 3000,
          "wall_time_used_ms": 973.7062910571694,
          "termination": "sample-budget-completed"
        }
      }
    },
    {
      "case_id": "timing-2b83e158f7f7989b",
      "order_index": 35,
      "scene_reference": "vertical-gate",
      "algorithm": "lazy-theta-star",
      "timing_repetition": 2,
      "planner_seed": null,
      "pid": 33831,
      "process_status": "completed",
      "process_returncode": 0,
      "process_wall_time_ms": 116.89729196950793,
      "stderr": null,
      "parse_error": null,
      "planner_record": {
        "run_id": "run-870be081b3beacca38bd",
        "run_purpose": "timing",
        "timing_repetition": 2,
        "scene_id": "vertical-gate",
        "problem_fingerprint": "sha256:20c84cd97e1fec8d28b8e5aaa18b5a50b8e2252b75c14ad63f2ee7c32003aaa0",
        "algorithm": "lazy-theta-star",
        "configuration_id": "lazy-theta-star@0.2.0|resolution=4|expanded-nodes=120000|wall-ms=none|params=7de53e9d0e62",
        "status": "success",
        "failure_reason": null,
        "planning_time_ms": 64.18670807033777,
        "timing": {
          "planning_ms": 64.18670807033777,
          "setup_ms": 0.5752078723162413,
          "search_ms": 63.61150019802153,
          "smoothing_ms": 0.8367500267922878,
          "validation_ms": 1.8987918738275766
        },
        "budget": {
          "work_unit": "expanded-nodes",
          "work_limit": 120000,
          "wall_time_limit_ms": null
        },
        "budget_usage": {
          "work_used": 305,
          "wall_time_used_ms": 64.18670807033777,
          "termination": "goal-reached"
        }
      }
    }
  ]
}