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arm links and palm collision-excluded; no selfcollision qualification", "config": { "timestep": 0.001, "control_dt": 0.02, "horizon": 18.0, "settle_time": 0.4, "object_position": [ 0.27, 0.18, 0.3125 ], "target_position": [ 0.5, -0.12, 0.3125 ], "object_half_size": [ 0.02, 0.015, 0.0225 ], "object_mass": 0.06, "object_friction": 1.2, "table_height": 0.29, "position_tolerance": 0.025, "dwell_seconds": 0.25, "scene_jitter": 0.0, "joint_torque_limit": 5.0, "jaw_force_limit": 2.0, "joint_target_rate_limit": 3.0, "jaw_width_rate_limit": 0.16, "gravity": 9.81 }, "engine": "3.15.0", "scene_sha256": "bb4d722ecd5b37170019ae05eb0e689f28df67ca84df5bae2c6f947d3d2aa705" }, "final_object_position": [ 0.5002594457785026, -0.11941827605050606, 0.31249147829693713 ], "metrics": { "samples": 847, "max_abs_joint_velocity_rad_s": [ 0.23315908467385058, 0.26121459913370826, 0.4170416889246066, 0.0030038555319583213, 0.45402417647803217, 0.3293436319407 ], "max_abs_actuator_force": [ 0.19429754525813792, 2.2418846628129927, 1.3197872144352232, 0.004840089671844012, 0.14745685465875624, 0.043709565472482836, 0.8713885594371318, 0.8563833324634089 ], "max_abs_native_ctrl": [ 0.5917407888443791, 1.7262765693382447, 2.0530409871594584, 0.0001289442231878468, 0.5477594672694689, 0.5917657004363397, 0.04, 0.04 ], "max_abs_commanded_joint_target_rad": [ 0.591736147258423, 1.7245447897450819, 2.0552621916276697, 0.00012946944461978194, 0.547079635130417, 0.5917657020413762 ], "commanded_gripper_width_min_max_m": [ 0.03320967336245455, 0.08 ], "actual_gripper_width_min_max_m": [ 0.039461860880769986, 0.07999914763281077 ], "joint_position_min_rad": [ -0.598001976811448, -1.7243978925319594, 0.8890118730641501, -5.7072399239558586e-05, -0.5470812079320564, -0.5880028888907967 ], "joint_position_max_rad": [ 0.5880032854604582, -0.8808118492654872, 2.0551327114304447, 2.0035791316967807e-05, 0.19625544466744727, 0.5968347372194308 ], "actuator_saturation_samples": [ 0, 0, 0, 0, 0, 0, 0, 0 ], "min_joint_limit_margin_rad": 0.47560210746804077, "max_contact_count_sampled": 12, "max_contact_penetration_m_sampled": 0.0002692699574417273, "retained_lift_control_samples": 301, "max_object_displacement_m": 0.3890892251874871, "max_object_linear_speed_m_s": 0.09237161862116072, "max_object_angular_speed_rad_s": 0.262584998525809, "jaw_contact_sliding_mu": [ 1.2 ], "table_contact_sliding_mu": [ 1.2 ], "retained_object_minus_tcp_range_world_m": [ 0.0005427027249586547, 0.0006018932779096875, 0.0035060305293241334 ], "actuator_force_caps": [ 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 2.0, 2.0 ], "actuator_units": [ "N*m", "N*m", "N*m", "N*m", "N*m", "N*m", "N", "N" ] }, "control_latency_p50_seconds": 0.0022762500448152423, "control_latency_p95_seconds": 0.0036431659711524842, "model": { "nq": 15, "nv": 14, "nu": 8, "nmocap": 0, "neq": 0 }, "warning_counts": {}, "policy_diagnostics": { "revision": "dimension-aware-contact-rates-recovery-round2", "phase": "verify", "action_phase": "verify", "phase_elapsed_seconds": 0.08, "failure_reason": null, "failure_phase": null, "failure_simulation_time": null, "grip_normal_demand_n": 0.8, "grip_normal_target_n": 0.8, "grip_force_limited": false, "pad_normal_forces_n": { "left": 0.0, "right": 0.0 }, "commanded_grip_gap_m": 0.03370078672462204, "loaded_translation_tracking_step_m": 0.006, "recovery_count": 0, "recovery_reason": null, "saturated_joint_indices": [], "actuator_saturation_control_samples": 0, "last_cartesian_goal_m": [ 0.5, -0.12, 0.446 ], "observations": "privileged simulator state", "policy_origin": "authored controller", "recovery_scope": "at most one resettled upright, axis-aligned box on the same table", "command_rate_scope": "native-tick target ramp before gravity feedforward; actual velocity is measured separately" }, "episode_wall_seconds": 2.097031499957666, "simulated_seconds_per_wall_second": 8.074270701388858 } ], "rejection_checks": [ { "id": "reject-radial", "rejected": true, "exception": "ValueError", "message": "Placement lies outside the raised-tool radial reach envelope (0.56 m)", "passed": true }, { "id": "reject-small-object", "rejected": true, "exception": "ValueError", "message": "Object full dimensions must lie in [0.03, 0.05] m", "passed": true }, { "id": "reject-heavy-object", "rejected": true, "exception": "ValueError", "message": "object_mass must lie in [0.02, 0.08]", "passed": true }, { "id": "reject-zero-jaw-force", "rejected": true, "exception": "ValueError", "message": "jaw_force_limit must be finite and positive", "passed": true }, { "id": "unsupported-orientation", "rejected": true, "exception": "TypeError", "message": "ArmConfig.__init__() got an unexpected keyword argument 'object_quaternion'", "passed": true }, { "id": "unsupported-obstacles", "rejected": true, "exception": "TypeError", "message": "ArmConfig.__init__() got an unexpected keyword argument 'obstacles'", "passed": true }, { "id": "unsupported-deformable", "rejected": true, "exception": "TypeError", "message": "ArmConfig.__init__() got an unexpected keyword argument 'deformable'", "passed": true } ], "summary": { "successes": 17, "cases": 20, "groups": { "actuator_stress": { "successes": 3, "cases": 6, "failure_categories": { "failed_grasp": 2, "success": 3, "failed_retained_lift": 1 } }, "nominal": { "successes": 14, "cases": 14, "failure_categories": { "success": 14 } } }, "reasons": { "success": 17, "horizon": 3 }, "episode_wall_seconds": 85.3993549537845, "simulated_seconds": 301.33899999996055 }, "timing_caveat": "Confounded by concurrent root regression suite; development timing excluded from throughput/improvement claims. Correctness scores unaffected." }