{ "public_copy": true, "source_sha256": "7b9f38d44db641c4f7a3d6da04171207cd037ea194179265f49ed7f7968cc1fa", "content": { "schema_version": 1, "status": "PASS", "scope": "Offline motion discrepancy analysis. Analysis PASS means coherent evidence; it does not mean the physical task or real-to-sim reproduction succeeded.", "native_execution_status": "PASS", "native_task_status": "FAIL", "native_task_checks": { "finite": true, "purple_lift": true, "red_lift": true, "bilateral_purple": true, "bilateral_red": true, "three_cup_nesting": false, "upright": false, "stable": true, "penetration_bounded": false }, "independent_task_assessment": { "status": "FAIL", "checks": { "native_execution_complete": true, "cups_all_at_or_above_table": true, "green_rim_on_table_height": true, "three_cup_nesting_xy": false, "three_cup_nesting_height": false, "all_cups_upright": false, "final_no_positive_cup_finger_contacts": true, "both_wrists_clear_of_all_cups": true, "support_chain_positive_native_impulses": true, "complete_half_second_tail": true, "tail_no_positive_cup_finger_contacts": true, "tail_position_drift_below_1mm": true, "tail_linear_speed_below_15mm_s": true, "tail_angular_speed_below_0_15rad_s": true, "both_cups_lifted_with_bilateral_contact": true, "observed_joint_positions_within_configured_usd_limits": true, "observed_joint_velocities_within_urdf_limits": true, "native_penetration_bounded": false }, "metrics": { "final_rim_heights_m": { "purple": 0.8620745539665222, "green": 0.8517364859580994, "red": 0.8801184296607971 }, "table_top_m": 0.8517363933423191, "lowest_rim_heights_m": { "purple": 0.8620514546079097, "green": 0.8517364411296141, "red": 0.8517322362673838 }, "rim_height_gaps_m": [ 0.010338068008422852, 0.018043875694274902 ], "max_stack_xy_offset_m": 0.03451702293724513, "final_tilt_deg": { "purple": 0.04641889035736225, "green": 9.008424637395996e-05, "red": 95.38460547026757 }, "nesting_height_acceptance": { "purple_on_green": { "lower": "green", "upper": "purple", "expected_gap_m": 0.010607211209195494, "tolerance_m": 0.0026518028022988736, "accepted_gap_m": [ 0.007955408406896621, 0.013259014011494367 ], "upper_collision_sidewall_height_m": 0.08005579585998276, "equal_outer_profiles": true }, "red_on_purple": { "lower": "purple", "upper": "red", "expected_gap_m": 0.010607211209195494, "tolerance_m": 0.0026518028022988736, "accepted_gap_m": [ 0.007955408406896621, 0.013259014011494367 ], "upper_collision_sidewall_height_m": 0.08005579585998276, "equal_outer_profiles": true } }, "wrist_to_cup_origin_distance_m": { "left": { "purple": 0.5709743262156269, "green": 0.5739336890839526, "red": 0.5783250852423174 }, "right": { "purple": 0.5414608571807598, "green": 0.5443475364216875, "red": 0.5702058525158549 } }, "support_chain_history": { "green_on_table": { "positive_impulse_history_observed": true, "earliest_required_reference_t_s": 0.0, "last_positive_impulse_reference_t_s": 68.1875 }, "purple_on_green": { "positive_impulse_history_observed": true, "earliest_required_reference_t_s": 36.7, "last_positive_impulse_reference_t_s": 68.1875 }, "red_on_purple": { "positive_impulse_history_observed": true, "earliest_required_reference_t_s": 65.05, "last_positive_impulse_reference_t_s": 65.52083333333333 } } }, "note": "Independently computed final release/support/stability gates. Wrist clearance >150 mm is a conservative proxy, not a full fingertip mesh distance. Positive contact history plus final geometry permits ordinary PhysX sleep; impulses need not persist during sleep.", "uncertainty": "A physical task PASS does not establish agreement with the real video or calibrated material/dynamic parameters." }, "actual_scene_geometry": { "cups": { "purple": { "prim_path": "/World/Cups/purple", "height_m": 0.08105579585998277, "open_radius_m": 0.028512010790301027, "closed_radius_m": 0.020964711666985596, "wall_m": 0.001, "calibrated": false }, "green": { "prim_path": "/World/Cups/green", "height_m": 0.08105579585998277, "open_radius_m": 0.028512010790301027, "closed_radius_m": 0.020964711666985596, "wall_m": 0.001, "calibrated": false }, "red": { "prim_path": "/World/Cups/red", "height_m": 0.08105579585998277, "open_radius_m": 0.028512010790301027, "closed_radius_m": 0.020964711666985596, "wall_m": 0.001, "calibrated": false } }, "table_prim": "/World/Table/Top", "table_top_m": 0.8517363933423191, "nesting_pairs": { "purple_on_green": { "lower": "green", "upper": "purple", "expected_gap_m": 0.010607211209195494, "tolerance_m": 0.0026518028022988736, "accepted_gap_m": [ 0.007955408406896621, 0.013259014011494367 ], "upper_collision_sidewall_height_m": 0.08005579585998276, "equal_outer_profiles": true }, "red_on_purple": { "lower": "purple", "upper": "red", "expected_gap_m": 0.010607211209195494, "tolerance_m": 0.0026518028022988736, "accepted_gap_m": [ 0.007955408406896621, 0.013259014011494367 ], "upper_collision_sidewall_height_m": 0.08005579585998276, "equal_outer_profiles": true } }, "source": "Actual configured-scene.usda cup customData and tabletop world bounds; original inferred cup trajectory is not changed.", "nesting_model": "Nominal coaxial tapered hollow cups with equal outer profiles: upper_wall * (height - upper_wall) / (open_radius - closed_radius), using the authored collision sidewall height. Unequal outer profiles require a separate explicit model.", "acceptance": "Expected geometric gap +/- max(2 mm, 25%); combined with positive native support contacts, XY, upright, release and tail stability gates. 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64.07083333333333, "position_violation_steps": 0, "usd_position_violation_steps": 0, "velocity_violation_steps": 0 }, "left_arm_joint1": { "index": 9, "unit": "rad", "lower": -2.86234670748, "upper": 2.86234670748, "usd_lower": -2.879799923693369, "usd_upper": 2.879799923693369, "velocity_limit": 10.472, "position_tolerance": 0.005, "velocity_tolerance": 0.5236, "observed_min_position": -0.7225784063339233, "observed_max_position": 0.19225464761257172, "observed_max_abs_velocity": 1.2492268085479736, "max_abs_velocity_t_s": 41.5, "position_violation_steps": 0, "usd_position_violation_steps": 0, "velocity_violation_steps": 0 }, "right_arm_joint1": { "index": 10, "unit": "rad", "lower": -2.86234670748, "upper": 2.86234670748, "usd_lower": -2.879799923693369, "usd_upper": 2.879799923693369, "velocity_limit": 10.472, "position_tolerance": 0.005, "velocity_tolerance": 0.5236, "observed_min_position": -0.13320520520210266, "observed_max_position": 0.6349467635154724, "observed_max_abs_velocity": 0.5759251713752747, "max_abs_velocity_t_s": 50.15, "position_violation_steps": 0, "usd_position_violation_steps": 0, "velocity_violation_steps": 0 }, "left_arm_joint2": { "index": 11, "unit": "rad", "lower": 0.01745329252, "upper": 3.12414670748, "usd_lower": 0.0, "usd_upper": 3.1416001104408453, "velocity_limit": 12.5664, "position_tolerance": 0.005, "velocity_tolerance": 0.62832, "observed_min_position": 0.21391108632087708, "observed_max_position": 2.747011423110962, "observed_max_abs_velocity": 1.0299146175384521, "max_abs_velocity_t_s": 41.15, "position_violation_steps": 0, "usd_position_violation_steps": 0, "velocity_violation_steps": 0 }, "right_arm_joint2": { "index": 12, "unit": "rad", "lower": 0.01745329252, "upper": 3.12414670748, "usd_lower": 0.0, "usd_upper": 3.1416001104408453, "velocity_limit": 12.5664, "position_tolerance": 0.005, "velocity_tolerance": 0.62832, "observed_min_position": 0.2713247835636139, "observed_max_position": 2.72739577293396, "observed_max_abs_velocity": 1.1280509233474731, "max_abs_velocity_t_s": 69.8, "position_violation_steps": 0, "usd_position_violation_steps": 0, "velocity_violation_steps": 0 }, "left_arm_joint3": { "index": 13, "unit": "rad", "lower": -3.29864670748, "upper": -0.01745329252, "usd_lower": -3.3161000124427615, "usd_upper": 0.0, "velocity_limit": 10.472, "position_tolerance": 0.005, "velocity_tolerance": 0.5236, "observed_min_position": -1.2856533527374268, "observed_max_position": -0.0011876804055646062, "observed_max_abs_velocity": 0.9901597499847412, "max_abs_velocity_t_s": 40.05, "position_violation_steps": 9807, "usd_position_violation_steps": 0, "velocity_violation_steps": 0 }, "right_arm_joint3": { "index": 14, "unit": "rad", "lower": -3.29864670748, "upper": -0.01745329252, "usd_lower": -3.3161000124427615, "usd_upper": 0.0, "velocity_limit": 10.472, "position_tolerance": 0.005, "velocity_tolerance": 0.5236, "observed_min_position": -1.2325263023376465, "observed_max_position": -0.00017592923541087657, "observed_max_abs_velocity": 1.6325470209121704, "max_abs_velocity_t_s": 49.6, "position_violation_steps": 13436, "usd_position_violation_steps": 0, "velocity_violation_steps": 0 }, "left_arm_joint4": { "index": 15, "unit": "rad", "lower": -1.55334670748, "upper": 1.55334670748, "usd_lower": -1.5708000552204227, "usd_upper": 1.5708000552204227, "velocity_limit": 32.9867, "position_tolerance": 0.005, "velocity_tolerance": 1.649335, "observed_min_position": -1.5262248516082764, "observed_max_position": 0.01935829222202301, "observed_max_abs_velocity": 1.2979875802993774, "max_abs_velocity_t_s": 41.15, "position_violation_steps": 0, "usd_position_violation_steps": 0, "velocity_violation_steps": 0 }, "right_arm_joint4": { "index": 16, "unit": "rad", "lower": -1.55334670748, "upper": 1.55334670748, "usd_lower": -1.5708000552204227, "usd_upper": 1.5708000552204227, "velocity_limit": 32.9867, "position_tolerance": 0.005, "velocity_tolerance": 1.649335, "observed_min_position": -1.5198390483856201, "observed_max_position": 0.03192621469497681, "observed_max_abs_velocity": 1.603210687637329, "max_abs_velocity_t_s": 63.9375, "position_violation_steps": 0, "usd_position_violation_steps": 0, "velocity_violation_steps": 0 }, "left_arm_joint5": { "index": 17, "unit": "rad", "lower": -1.55334670748, "upper": 1.55334670748, "usd_lower": -1.5708000552204227, "usd_upper": 1.5708000552204227, "velocity_limit": 32.9867, "position_tolerance": 0.005, "velocity_tolerance": 1.649335, "observed_min_position": -0.12008528411388397, "observed_max_position": 0.49460509419441223, "observed_max_abs_velocity": 1.176738977432251, "max_abs_velocity_t_s": 41.9, "position_violation_steps": 0, "usd_position_violation_steps": 0, "velocity_violation_steps": 0 }, "right_arm_joint5": { "index": 18, "unit": "rad", "lower": -1.55334670748, "upper": 1.55334670748, "usd_lower": -1.5708000552204227, "usd_upper": 1.5708000552204227, "velocity_limit": 32.9867, "position_tolerance": 0.005, "velocity_tolerance": 1.649335, "observed_min_position": -0.26360011100769043, "observed_max_position": 0.015741562470793724, "observed_max_abs_velocity": 0.6217551231384277, "max_abs_velocity_t_s": 63.858333333333334, "position_violation_steps": 0, "usd_position_violation_steps": 0, "velocity_violation_steps": 0 }, "left_arm_joint6": { "index": 19, "unit": "rad", "lower": -2.86234670748, "upper": 2.86234670748, "usd_lower": -2.879799923693369, "usd_upper": 2.879799923693369, "velocity_limit": 32.9867, "position_tolerance": 0.005, "velocity_tolerance": 1.649335, "observed_min_position": -0.08447951823472977, "observed_max_position": 0.10506056994199753, "observed_max_abs_velocity": 0.2486758828163147, "max_abs_velocity_t_s": 6.35, "position_violation_steps": 0, "usd_position_violation_steps": 0, "velocity_violation_steps": 0 }, "right_arm_joint6": { "index": 20, "unit": "rad", "lower": -2.86234670748, "upper": 2.86234670748, "usd_lower": -2.879799923693369, "usd_upper": 2.879799923693369, "velocity_limit": 32.9867, "position_tolerance": 0.005, "velocity_tolerance": 1.649335, "observed_min_position": 0.009585471823811531, "observed_max_position": 0.29990077018737793, "observed_max_abs_velocity": 4.611351013183594, "max_abs_velocity_t_s": 65.89166666666667, "position_violation_steps": 0, "usd_position_violation_steps": 0, "velocity_violation_steps": 0 }, "left_gripper_finger_joint1": { "index": 21, "unit": "m", "lower": 0.0, "upper": 0.05, "usd_lower": 0.0, "usd_upper": 0.05000000074505806, "velocity_limit": 0.25, "position_tolerance": 0.0005, "velocity_tolerance": 0.0125, "observed_min_position": 0.00893244706094265, "observed_max_position": 0.04900664463639259, "observed_max_abs_velocity": 0.1818544864654541, "max_abs_velocity_t_s": 21.8, "position_violation_steps": 0, "usd_position_violation_steps": 0, "velocity_violation_steps": 0 }, "left_gripper_finger_joint2": { "index": 22, "unit": "m", "lower": -0.05, "upper": 0.0, "usd_lower": -0.05000000074505806, "usd_upper": 0.0, "velocity_limit": 0.25, "position_tolerance": 0.0005, "velocity_tolerance": 0.0125, "observed_min_position": -0.04907175898551941, "observed_max_position": -0.02331906370818615, "observed_max_abs_velocity": 0.1866445094347, "max_abs_velocity_t_s": 21.8, "position_violation_steps": 0, "usd_position_violation_steps": 0, "velocity_violation_steps": 0 }, "right_gripper_finger_joint1": { "index": 23, "unit": "m", "lower": 0.0, "upper": 0.05, "usd_lower": 0.0, "usd_upper": 0.05000000074505806, "velocity_limit": 0.25, "position_tolerance": 0.0005, "velocity_tolerance": 0.0125, "observed_min_position": 0.016010962426662445, "observed_max_position": 0.05000237002968788, "observed_max_abs_velocity": 0.2516956329345703, "max_abs_velocity_t_s": 66.475, "position_violation_steps": 0, "usd_position_violation_steps": 0, "velocity_violation_steps": 0 }, "right_gripper_finger_joint2": { "index": 24, "unit": "m", "lower": -0.05, "upper": 0.0, "usd_lower": -0.05000000074505806, "usd_upper": 0.0, "velocity_limit": 0.25, "position_tolerance": 0.0005, "velocity_tolerance": 0.0125, "observed_min_position": -0.049242760986089706, "observed_max_position": -0.02297881245613098, "observed_max_abs_velocity": 0.1887059360742569, "max_abs_velocity_t_s": 65.42083333333333, "position_violation_steps": 0, "usd_position_violation_steps": 0, "velocity_violation_steps": 0 } }, "positions_within_tolerance": false, "configured_usd_joint_coverage_complete": true, "usd_positions_within_tolerance": true, "velocities_within_tolerance": true, "worst_velocity_joint": "right_gripper_finger_joint1", "max_velocity_to_urdf_limit_ratio": 1.0067825317382812, "usd_urdf_differences": { "torso_joint1": { "lower": -1.55334670748, "upper": 0.24434605748, "usd_lower": -1.5708000552204227, "usd_upper": 0.43633301207836855, "unit": "rad" }, "torso_joint2": { "lower": -2.68780870748, "upper": 2.68780870748, "usd_lower": -2.705261938487865, "usd_upper": 2.705261938487865, "unit": "rad" }, "torso_joint3": { "lower": -1.55334670748, "upper": 1.55334670748, "usd_lower": -1.5708000552204227, "usd_upper": 1.5708000552204227, "unit": "rad" }, "left_arm_joint1": { "lower": -2.86234670748, "upper": 2.86234670748, "usd_lower": -2.879799923693369, "usd_upper": 2.879799923693369, "unit": "rad" }, "right_arm_joint1": { "lower": -2.86234670748, "upper": 2.86234670748, "usd_lower": -2.879799923693369, "usd_upper": 2.879799923693369, "unit": "rad" }, "left_arm_joint2": { "lower": 0.01745329252, "upper": 3.12414670748, "usd_lower": 0.0, "usd_upper": 3.1416001104408453, "unit": "rad" }, "right_arm_joint2": { "lower": 0.01745329252, "upper": 3.12414670748, "usd_lower": 0.0, "usd_upper": 3.1416001104408453, "unit": "rad" }, "left_arm_joint3": { "lower": -3.29864670748, "upper": -0.01745329252, "usd_lower": -3.3161000124427615, "usd_upper": 0.0, "unit": "rad" }, "right_arm_joint3": { "lower": -3.29864670748, "upper": -0.01745329252, "usd_lower": -3.3161000124427615, "usd_upper": 0.0, "unit": "rad" }, "left_arm_joint4": { "lower": -1.55334670748, "upper": 1.55334670748, "usd_lower": -1.5708000552204227, "usd_upper": 1.5708000552204227, "unit": "rad" }, "right_arm_joint4": { "lower": -1.55334670748, "upper": 1.55334670748, "usd_lower": -1.5708000552204227, "usd_upper": 1.5708000552204227, "unit": "rad" }, "left_arm_joint5": { "lower": -1.55334670748, "upper": 1.55334670748, "usd_lower": -1.5708000552204227, "usd_upper": 1.5708000552204227, "unit": "rad" }, "right_arm_joint5": { "lower": -1.55334670748, "upper": 1.55334670748, "usd_lower": -1.5708000552204227, "usd_upper": 1.5708000552204227, "unit": "rad" }, "left_arm_joint6": { "lower": -2.86234670748, "upper": 2.86234670748, "usd_lower": -2.879799923693369, "usd_upper": 2.879799923693369, "unit": "rad" }, "right_arm_joint6": { "lower": -2.86234670748, "upper": 2.86234670748, "usd_lower": -2.879799923693369, "usd_upper": 2.879799923693369, "unit": "rad" } }, "note": "Native observed q/qd at every recorded physics step, not just commanded targets. Position tolerance is 0.005 rad / 0.0005 m; velocity tolerance is max(5% of URDF limit, 0.02 rad/s / 0.002 m/s).", "contract_warning": "Manufacturer USD and URDF bounds differ (notably arm joint3 upper 0 versus -1 degree). The task position gate uses the actual configured USD articulation bounds; URDF disagreement remains a separate source-asset diagnostic. Velocity constraints use the explicitly selected URDF limits. Original feedback remains unchanged." }, "deepest_native_contact": { "t_s": 64.675, "reference_t_s": 64.675, "actors": [ "/World/Cups/purple", "/World/Cups/red" ], "separation_m": -0.003442244604229927, "impulse_Ns": 0.004922420545563201, "step": 15521 }, "final_half_second": { "available": true, "samples": 121, "first_t_s": 74.8, "last_t_s": 75.3, "cups": { "purple": { "max_position_drift_from_tail_start_m": 0.0, "max_rotation_drift_from_tail_start_deg": 0.0, "max_linear_speed_m_s": 0.0, "max_angular_speed_rad_s": 0.0 }, "green": { "max_position_drift_from_tail_start_m": 0.0, "max_rotation_drift_from_tail_start_deg": 0.0, "max_linear_speed_m_s": 0.0, "max_angular_speed_rad_s": 0.0 }, "red": { "max_position_drift_from_tail_start_m": 0.0, "max_rotation_drift_from_tail_start_deg": 0.0, "max_linear_speed_m_s": 0.0, "max_angular_speed_rad_s": 0.0 } }, "positive_cup_finger_contact_steps": 0 } }, "head_left_pixel_diagnostics": { "available": true, "camera": "head_left", "unit": "original image pixels", "by_cup": { "purple": { "native_projection_error_px": { "samples": 1507, "rmse": 34.887724658679616, "p95": 69.11273027318938, "max": 79.09909782728256, "mean": 25.729696327429266, "worst_frame": 608, "worst_t_s": 30.4, "worst_reference_t_s": 30.4 }, "original_estimate_projection_error_px": { "samples": 1507, "rmse": 35.049475500063096, "p95": 59.491952992045675, "max": 105.16859369952842, "mean": 26.491620049811793, "worst_frame": 742, "worst_t_s": 37.1, "worst_reference_t_s": 37.1 }, "by_task_phase": { "Approach": { "native_projection_error_px": { "samples": 436, "rmse": 19.44994733415866, "p95": 40.86315912742779, "max": 51.48118421929825, "mean": 14.118064027483108, "worst_frame": 345, "worst_t_s": 17.25, "worst_reference_t_s": 17.25 }, "original_estimate_projection_error_px": { "samples": 436, "rmse": 19.75177320689123, "p95": 41.343993187835814, "max": 51.50309069585752, "mean": 14.31248563476678, "worst_frame": 345, "worst_t_s": 17.25, "worst_reference_t_s": 17.25 } }, "Purple transfer": { "native_projection_error_px": { "samples": 308, "rmse": 60.12394559663832, "p95": 76.70627475594215, "max": 79.09909782728256, "mean": 58.335184545115595, "worst_frame": 608, "worst_t_s": 30.4, "worst_reference_t_s": 30.4 }, "original_estimate_projection_error_px": { "samples": 308, "rmse": 50.09019787363374, "p95": 66.90616082253341, "max": 105.16859369952842, "mean": 47.07085562878321, "worst_frame": 742, "worst_t_s": 37.1, "worst_reference_t_s": 37.1 } }, "Retract / approach red": { "native_projection_error_px": { "samples": 401, "rmse": 16.668759743013414, "p95": 44.16068330216295, "max": 69.79076581898727, "mean": 9.083493924447335, "worst_frame": 749, "worst_t_s": 37.45, "worst_reference_t_s": 37.45 }, "original_estimate_projection_error_px": { "samples": 401, "rmse": 17.807436544739836, "p95": 51.258152695778996, "max": 60.2118522302997, "mean": 11.224305058901953, "worst_frame": 744, "worst_t_s": 37.2, "worst_reference_t_s": 37.2 } }, "Red transfer": { 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"count": 0, "native_projection_error_px": { "samples": 0, "rmse": null, "p95": null, "max": null, "worst_frame": null, "worst_t_s": null, "worst_reference_t_s": null } }, "low_area": { "count": 0, "native_projection_error_px": { "samples": 0, "rmse": null, "p95": null, "max": null, "worst_frame": null, "worst_t_s": null, "worst_reference_t_s": null } }, "visible_candidate": { "count": 1507, "native_projection_error_px": { "samples": 1507, "rmse": 20.849698226913638, "p95": 43.138524364022025, "max": 57.62689903942514, "mean": 14.053246104641508, "worst_frame": 1334, "worst_t_s": 66.7, "worst_reference_t_s": 66.7 } } } } }, "temporal_matching": "Nearest original presentation frame to reference_t_s, no optimized lag/per-view FK alignment. Async source exposure offsets remain in reference arrays.", "feature_note": "Projected geometric cup center versus largest HSV color-component centroid; these are not identical physical features. Partial occlusion, highlights and color association can bias residuals.", "visibility_note": "No manual visibility/occlusion annotation exists. Categories are only detection quality heuristics; visible_candidate can remain partially occluded.", "calibration_note": "Optics and reference geometry were fitted to this recording; baseline reference residual is an in-source diagnostic, not held-out validation." }, "per_frame": [ { "frame_index": 0, "t_s": 0.0, "reference_t_s": 0.0, "source_frame_index": 0, "phase": "Approach", "cup_position_error_m": { "purple": 8.683631304451244e-07, "green": 8.679129223747218e-07, "red": 8.692995402008631e-07 }, "cup_orientation_error_deg": { "purple": 2.3617169104414213e-10, "green": 8.379920912973657e-07, "red": 2.8376675354000023e-10 }, "cup_axis_tilt_error_deg": { "purple": 0.0, "green": 0.0, "red": 0.0 }, "wrist_position_error_m": { "left": 2.7818492984733974e-07, "right": 3.3969740924579787e-07 }, "wrist_orientation_error_deg": { "left": 2.7323976219185905e-05, "right": 3.547735314521673e-05 } }, { "frame_index": 1, "t_s": 0.05, "reference_t_s": 0.05, "source_frame_index": 1, "phase": 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