{
  "status": "PASS",
  "engine": "Isaac Sim native PhysX",
  "calibrated": false,
  "scope": "Native cup tests and one-second scene ready hold. Full robot cup-nesting video is measurement-driven replay, not a dynamically executed robot task.",
  "source_report_sha256": "6c6472776f7aaba7f5e8f1a0c1641409fcf298f5a82ed222de5c842c22f52aa9",
  "cup_asset_sha256": "d0e13ab49c89003a6d27e360671f5466558a3959f92c8a414e18b1bad4cf8f88",
  "scene_sha256": "f6c7404dfdb484745462db961b5a5df3b22e48e6fdd97d15240cf32678f86ac7",
  "protocol": {
    "dt_s": 0.004166666666666667,
    "gravity_m_s2": 9.81,
    "freefall_clearance_m": 0.1,
    "freefall_duration_s": 2.0,
    "push_force_weight_multiple": 1.2,
    "push_duration_s": 0.05,
    "push_follow_duration_s": 2.0,
    "settled_linear_speed_m_s_max": 0.015,
    "settled_angular_speed_rad_s_max": 0.15,
    "contact_penetration_m_max": 0.003,
    "ground_final_height_error_m_max": 0.004,
    "bounded_push_displacement_m": [
      0.00025,
      0.2
    ],
    "nesting_initial_separation_height_multiple": 1.35,
    "nesting_duration_s": 3.0,
    "nesting_final_separation_height_fraction": [
      0.025,
      0.75
    ],
    "nesting_final_xy_offset_m_max": 0.01,
    "nesting_final_tilt_deg_max": 10,
    "axis_clearance_height_fractions": [
      0.15,
      0.3,
      0.5,
      0.7,
      0.85
    ],
    "axis_clearance_m_min": 0.005,
    "scene_hold_duration_s": 1.0,
    "scene_hold_revolute_error_rad_max": 0.025,
    "scene_hold_prismatic_error_m_max": 0.003,
    "scene_hold_dof_speed_max": 0.15,
    "scene_hold_drive_cap_max_N_or_Nm": 1000,
    "scene_hold_cup_displacement_m_max": 0.01,
    "estimated_parameters": true,
    "real_robot_task_executed": false
  },
  "checks": {
    "asset_structure": {
      "passed": true,
      "checks": {
        "units_metres": true,
        "z_up": true,
        "finite_scale": true,
        "hollow_segmented_collision": true,
        "axis_clearance": true,
        "mass_positive": true
      },
      "dimensions_m": [
        0.057024020701646805,
        0.057024020701646805,
        0.08105579763650894
      ],
      "authored_mass_kg": 0.017999999225139618,
      "authored_principal_inertia": [
        1.6438116290373728e-05,
        1.6438116290373728e-05,
        9.93577214103425e-06
      ]
    },
    "effective_inertia": {
      "passed": true,
      "mass_kg": 0.017999999225139618,
      "principal_inertia_kg_m2": [
        9.93577214103425e-06,
        1.6438116290373728e-05,
        1.6438116290373728e-05
      ],
      "calibrated": false
    },
    "freefall_settle": {
      "passed": true,
      "checks": {
        "settled": true,
        "support_height": true,
        "contact_observed": true,
        "penetration": true
      },
      "min_separation_m": -3.8821948322720345e-08
    },
    "bounded_push": {
      "passed": true,
      "checks": {
        "settled": true,
        "bounded_response": true,
        "remains_on_support": true
      },
      "displacement_m": 0.020608313908423565,
      "applied_force_N": [
        0.21189599087834357,
        0,
        0
      ]
    },
    "gravity_nesting": {
      "passed": true,
      "checks": {
        "settled": true,
        "vertically_nested": true,
        "centred": true,
        "upright": true,
        "cup_contact_observed": true,
        "penetration": true
      },
      "cup_origin_separation_m": 0.017314020544290543,
      "overlap_m": 0.0637417770922184,
      "separation_fraction_of_height": 0.21360619535118863,
      "min_separation_m": -5.142657755641267e-05,
      "lower_cup_fixture": "static same source cup; upper cup freely dynamic throughout"
    },
    "scene_ready_hold": {
      "passed": true,
      "checks": {
        "finite": true,
        "expected_25_coordinates": true,
        "bounded_recorded_pose_drift": true,
        "final_slow": true,
        "finite_bounded_drive_caps": true,
        "cups_stable": true
      },
      "max_dof_errors_rad_or_m": [
        7.148339211379207e-16,
        5.230301394353216e-16,
        5.230301394353216e-16,
        0.00018177986169143345,
        5.590787397350672e-24,
        2.733103092741979e-21,
        6.167005791929186e-26,
        0.00016637359835303123,
        0.0003085663578837883,
        8.705966577171945e-07,
        4.339176949294532e-06,
        0.0001300654440641591,
        9.89535677670128e-06,
        0.0008821946872562565,
        0.0008266842446169186,
        0.00018363942777207057,
        9.839287575866967e-06,
        3.6914058800865956e-06,
        1.5879748209365885e-06,
        4.316967326896404e-06,
        6.925238028587799e-07,
        1.8142163753509521e-06,
        1.8961727619171143e-06,
        6.51925802230835e-07,
        6.854534149169922e-07
      ],
      "allowed_dof_errors_rad_or_m": [
        0.025,
        0.025,
        0.025,
        0.025,
        0.025,
        0.025,
        0.025,
        0.025,
        0.025,
        0.025,
        0.025,
        0.025,
        0.025,
        0.025,
        0.025,
        0.025,
        0.025,
        0.025,
        0.025,
        0.025,
        0.025,
        0.003,
        0.003,
        0.003,
        0.003
      ],
      "final_max_dof_speed": 0.0,
      "max_cup_displacement_m": 1.997700564970728e-06,
      "pose_or_joint_writes_after_attach": 0,
      "scope": "One-second native ready-pose hold only; not a robot grasp, nesting or full-recording physics execution."
    }
  },
  "asset_scope": "Purple cup dynamically tested; green and red variants share an equivalent physical structure. Color variants do not establish additional task successes.",
  "assumptions": [
    "Robot motion follows recorded feedback. Cup poses are fitted to image evidence and hand poses; this is not an autonomous contact-driven robot rollout.",
    "Cups, blue adapters, table dimensions, mass, friction and camera calibration are estimates. No measured K/D or object material calibration was provided.",
    "The upper room uses one source frame projected onto estimated geometry. Other background geometry is procedural; novel-view room accuracy is not validated.",
    "Source sensors are asynchronous. Duplicate wrist frames and source timestamp skew are retained in the data audit.",
    "Base motion is fixed; self-collisions are disabled for this manufacturer articulation. Physical cup validation and robot ready-hold do not establish successful dynamic grasping or nesting."
  ]
}