{
  "task": "ArmPickPlace-v0",
  "scope": "simulation-only",
  "hardware": {
    "system": "Darwin",
    "machine": "arm64",
    "python": "3.12.9",
    "mujoco": "3.15.0",
    "numpy": "2.5.3"
  },
  "summary": {
    "successes": 6,
    "episodes": 18,
    "simulated_seconds": 289.89999999997985,
    "episode_wall_seconds": 13.607119331369177,
    "by_policy": {
      "placement": {
        "successes": 6,
        "episodes": 6,
        "simulated_seconds": 73.89999999999168,
        "episode_wall_seconds": 3.91412145702634
      },
      "idle": {
        "successes": 0,
        "episodes": 6,
        "simulated_seconds": 107.99999999999409,
        "episode_wall_seconds": 4.776218706043437
      },
      "replay_open_jaw": {
        "successes": 0,
        "episodes": 6,
        "simulated_seconds": 107.99999999999409,
        "episode_wall_seconds": 4.916779168299399
      }
    }
  },
  "timing_scope": "Episode wall clock includes model compilation, reset/settling, IK/controller, native physics, observations and traces; excludes installation, web UI, process startup and output I/O. No GPU benchmark.",
  "protocol": {
    "name": "frozen-six-layout-placement-v0",
    "seeds": [
      400,
      401,
      402,
      403,
      404,
      405
    ],
    "scenes": [
      {
        "id": "default",
        "object_position": [
          0.42,
          -0.04,
          0.31
        ],
        "target_position": [
          0.54,
          0.1,
          0.31
        ]
      },
      {
        "id": "cross_right",
        "object_position": [
          0.38,
          0.09,
          0.31
        ],
        "target_position": [
          0.52,
          -0.09,
          0.31
        ]
      },
      {
        "id": "cross_left",
        "object_position": [
          0.48,
          -0.12,
          0.31
        ],
        "target_position": [
          0.37,
          0.09,
          0.31
        ]
      },
      {
        "id": "forward",
        "object_position": [
          0.35,
          -0.08,
          0.31
        ],
        "target_position": [
          0.54,
          0.08,
          0.31
        ]
      },
      {
        "id": "reverse",
        "object_position": [
          0.46,
          0.1,
          0.31
        ],
        "target_position": [
          0.36,
          -0.1,
          0.31
        ]
      },
      {
        "id": "wide",
        "object_position": [
          0.3,
          -0.15,
          0.31
        ],
        "target_position": [
          0.5,
          0.18,
          0.31
        ]
      }
    ],
    "controller": "same authored controller; no parameter training",
    "negative_control": "Replay identical joint target commands with jaws held open; no object state edits.",
    "selection": "Scene protocol fixed in source before this evaluation; small bounded simulation study."
  },
  "limitations": [
    "Authored simulation controller; the source Skillspace envelope contains no learned robot policy.",
    "One original arm profile, privileged simulator observations, rigid box proxy for placement skills.",
    "Native jaw/object/table contacts; arm links and palm are collision-excluded.",
    "No camera perception, physical arm calibration, selfcollision, cup/handle, cable tying or broad skill qualification.",
    "Installation may fetch one public JSON envelope; installed execution and replay can run offline."
  ],
  "episodes": [
    {
      "seed": 400,
      "policy": "placement",
      "success": true,
      "reason": "success",
      "final_distance": 0.0002862948097583906,
      "simulated_seconds": 11.309999999999171,
      "episode_wall_seconds": 0.642286124988459,
      "setup_seconds": 0.014417625032365322,
      "control_latency_p50_seconds": 0.001080208458006382,
      "control_latency_p95_seconds": 0.0015997602604329586,
      "simulated_seconds_per_wall_second": 17.608974505252462,
      "control_steps": 566,
      "reward": 1.1841045919207631,
      "reset_info": {
        "task_id": "ArmPickPlace-v0",
        "arm_profile": "dvidia-authored-6dof-parallel-jaw-v0",
        "adapter_id": "contact-pick-place-box-v0",
        "seed": 400,
        "reason": "running",
        "success": false,
        "valid": true,
        "simulation_time": 0.0,
        "steps": 0,
        "dwell_elapsed": 0.0,
        "grasp_seen": false,
        "lift_seen": false,
        "max_object_lift": 0.0,
        "grasp_contacts": {
          "left": 0,
          "right": 0
        },
        "pad_normal_forces": {
          "left": 0.0,
          "right": 0.0
        },
        "table_contacts": 4,
        "max_pad_normal_force": 0.0,
        "target_distance": 0.18439088673052137,
        "warnings": [],
        "lift_dwell_elapsed": 0.0,
        "effective_sliding_friction": {
          "jaw_object": 1.0,
          "table_object": 0.8,
          "mixing": "maximum at equal geom priority"
        },
        "initial_object_position": [
          0.4200000002042822,
          -0.03999999673455797,
          0.30999147829693857
        ],
        "qualification": "simulation-only",
        "observations": "privileged simulator state",
        "actuation": "six bounded joint position servos and two bounded jaw servos",
        "object_profile": "rigid box; unqualified proxy for cup skills",
        "collision_profile": "jaws/object/table enabled; 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": [
            0.42,
            -0.04,
            0.31
          ],
          "target_position": [
            0.54,
            0.1,
            0.31
          ],
          "object_half_size": [
            0.02,
            0.02,
            0.02
          ],
          "object_mass": 0.04,
          "object_friction": 0.8,
          "table_height": 0.29,
          "position_tolerance": 0.025,
          "dwell_seconds": 0.25,
          "scene_jitter": 0,
          "joint_torque_limit": 40.0,
          "jaw_force_limit": 15.0,
          "gravity": 9.81
        },
        "engine": "3.15.0",
        "scene_sha256": "2fbdf0f987f862da58495b0aef594eac8c03c601a2d9490643b23b80fe89ad41"
      },
      "final_info": {
        "task_id": "ArmPickPlace-v0",
        "arm_profile": "dvidia-authored-6dof-parallel-jaw-v0",
        "adapter_id": "contact-pick-place-box-v0",
        "seed": 400,
        "reason": "success",
        "success": true,
        "valid": true,
        "simulation_time": 11.309999999999171,
        "steps": 566,
        "dwell_elapsed": 0.25000000000000017,
        "grasp_seen": true,
        "lift_seen": true,
        "max_object_lift": 0.12888431537193734,
        "grasp_contacts": {
          "left": 0,
          "right": 0
        },
        "pad_normal_forces": {
          "left": 0.0,
          "right": 0.0
        },
        "table_contacts": 4,
        "max_pad_normal_force": 1.6113886813382758,
        "target_distance": 0.0002862948097583906,
        "warnings": [],
        "lift_dwell_elapsed": 0.0,
        "effective_sliding_friction": {
          "jaw_object": 1.0,
          "table_object": 0.8,
          "mixing": "maximum at equal geom priority"
        },
        "initial_object_position": [
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        "qualification": "simulation-only",
        "observations": "privileged simulator state",
        "actuation": "six bounded joint position servos and two bounded jaw servos",
        "object_profile": "rigid box; unqualified proxy for cup skills",
        "collision_profile": "jaws/object/table enabled; 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": [
            0.42,
            -0.04,
            0.31
          ],
          "target_position": [
            0.54,
            0.1,
            0.31
          ],
          "object_half_size": [
            0.02,
            0.02,
            0.02
          ],
          "object_mass": 0.04,
          "object_friction": 0.8,
          "table_height": 0.29,
          "position_tolerance": 0.025,
          "dwell_seconds": 0.25,
          "scene_jitter": 0,
          "joint_torque_limit": 40.0,
          "jaw_force_limit": 15.0,
          "gravity": 9.81
        },
        "engine": "3.15.0",
        "scene_sha256": "2fbdf0f987f862da58495b0aef594eac8c03c601a2d9490643b23b80fe89ad41"
      },
      "scene_id": "default"
    },
    {
      "seed": 400,
      "policy": "idle",
      "success": false,
      "reason": "horizon",
      "final_distance": 0.18439088673452475,
      "simulated_seconds": 17.999999999999016,
      "episode_wall_seconds": 0.928927208064124,
      "setup_seconds": 0.007484375033527613,
      "control_latency_p50_seconds": 0.0009191670105792582,
      "control_latency_p95_seconds": 0.0015534496807958925,
      "simulated_seconds_per_wall_second": 19.377191069159075,
      "control_steps": 900,
      "reward": -4.003380960071468e-12,
      "reset_info": {
        "task_id": "ArmPickPlace-v0",
        "arm_profile": "dvidia-authored-6dof-parallel-jaw-v0",
        "adapter_id": "contact-pick-place-box-v0",
        "seed": 400,
        "reason": "running",
        "success": false,
        "valid": true,
        "simulation_time": 0.0,
        "steps": 0,
        "dwell_elapsed": 0.0,
        "grasp_seen": false,
        "lift_seen": false,
        "max_object_lift": 0.0,
        "grasp_contacts": {
          "left": 0,
          "right": 0
        },
        "pad_normal_forces": {
          "left": 0.0,
          "right": 0.0
        },
        "table_contacts": 4,
        "max_pad_normal_force": 0.0,
        "target_distance": 0.18439088673052137,
        "warnings": [],
        "lift_dwell_elapsed": 0.0,
        "effective_sliding_friction": {
          "jaw_object": 1.0,
          "table_object": 0.8,
          "mixing": "maximum at equal geom priority"
        },
        "initial_object_position": [
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        ],
        "qualification": "simulation-only",
        "observations": "privileged simulator state",
        "actuation": "six bounded joint position servos and two bounded jaw servos",
        "object_profile": "rigid box; unqualified proxy for cup skills",
        "collision_profile": "jaws/object/table enabled; 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": [
            0.42,
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            0.31
          ],
          "target_position": [
            0.54,
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            0.31
          ],
          "object_half_size": [
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            0.02,
            0.02
          ],
          "object_mass": 0.04,
          "object_friction": 0.8,
          "table_height": 0.29,
          "position_tolerance": 0.025,
          "dwell_seconds": 0.25,
          "scene_jitter": 0,
          "joint_torque_limit": 40.0,
          "jaw_force_limit": 15.0,
          "gravity": 9.81
        },
        "engine": "3.15.0",
        "scene_sha256": "2fbdf0f987f862da58495b0aef594eac8c03c601a2d9490643b23b80fe89ad41"
      },
      "final_info": {
        "task_id": "ArmPickPlace-v0",
        "arm_profile": "dvidia-authored-6dof-parallel-jaw-v0",
        "adapter_id": "contact-pick-place-box-v0",
        "seed": 400,
        "reason": "horizon",
        "success": false,
        "valid": true,
        "simulation_time": 17.999999999999016,
        "steps": 900,
        "dwell_elapsed": 0.0,
        "grasp_seen": false,
        "lift_seen": false,
        "max_object_lift": 3.3306690738754696e-16,
        "grasp_contacts": {
          "left": 0,
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        },
        "pad_normal_forces": {
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        },
        "table_contacts": 4,
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        "warnings": [],
        "lift_dwell_elapsed": 0.0,
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        },
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        "qualification": "simulation-only",
        "observations": "privileged simulator state",
        "actuation": "six bounded joint position servos and two bounded jaw servos",
        "object_profile": "rigid box; unqualified proxy for cup skills",
        "collision_profile": "jaws/object/table enabled; 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": [
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          "object_half_size": [
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          "object_mass": 0.04,
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          "table_height": 0.29,
          "position_tolerance": 0.025,
          "dwell_seconds": 0.25,
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        "scene_sha256": "2fbdf0f987f862da58495b0aef594eac8c03c601a2d9490643b23b80fe89ad41"
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      "scene_id": "default"
    },
    {
      "seed": 400,
      "policy": "replay_open_jaw",
      "success": false,
      "reason": "horizon",
      "final_distance": 0.18439088673440412,
      "simulated_seconds": 17.999999999999016,
      "episode_wall_seconds": 0.8634222920518368,
      "setup_seconds": 0.005889708991162479,
      "control_latency_p50_seconds": 0.0009115415159612894,
      "control_latency_p95_seconds": 0.001161949709057808,
      "simulated_seconds_per_wall_second": 20.847272725868375,
      "control_steps": 900,
      "reward": -3.882755228445944e-12,
      "reset_info": {
        "task_id": "ArmPickPlace-v0",
        "arm_profile": "dvidia-authored-6dof-parallel-jaw-v0",
        "adapter_id": "contact-pick-place-box-v0",
        "seed": 400,
        "reason": "running",
        "success": false,
        "valid": true,
        "simulation_time": 0.0,
        "steps": 0,
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        "max_object_lift": 0.0,
        "grasp_contacts": {
          "left": 0,
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        },
        "pad_normal_forces": {
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        "table_contacts": 4,
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        "target_distance": 0.18439088673052137,
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        "effective_sliding_friction": {
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        "qualification": "simulation-only",
        "observations": "privileged simulator state",
        "actuation": "six bounded joint position servos and two bounded jaw servos",
        "object_profile": "rigid box; unqualified proxy for cup skills",
        "collision_profile": "jaws/object/table enabled; 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": [
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          "object_mass": 0.04,
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          "position_tolerance": 0.025,
          "dwell_seconds": 0.25,
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          "joint_torque_limit": 40.0,
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      "final_info": {
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        "adapter_id": "contact-pick-place-box-v0",
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        "target_distance": 0.18439088673440412,
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        "lift_dwell_elapsed": 0.0,
        "effective_sliding_friction": {
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        },
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        "object_profile": "rigid box; unqualified proxy for cup skills",
        "collision_profile": "jaws/object/table enabled; arm links and palm collision-excluded; no selfcollision qualification",
        "config": {
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          "dwell_seconds": 0.25,
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        "scene_sha256": "2fbdf0f987f862da58495b0aef594eac8c03c601a2d9490643b23b80fe89ad41"
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    },
    {
      "seed": 401,
      "policy": "placement",
      "success": true,
      "reason": "success",
      "final_distance": 0.0004001095323778411,
      "simulated_seconds": 13.355999999998037,
      "episode_wall_seconds": 0.738930291030556,
      "setup_seconds": 0.006179833086207509,
      "control_latency_p50_seconds": 0.0010702084982767701,
      "control_latency_p95_seconds": 0.0014304771786555646,
      "simulated_seconds_per_wall_second": 18.074776690194913,
      "control_steps": 668,
      "reward": 1.227634978082459,
      "reset_info": {
        "task_id": "ArmPickPlace-v0",
        "arm_profile": "dvidia-authored-6dof-parallel-jaw-v0",
        "adapter_id": "contact-pick-place-box-v0",
        "seed": 401,
        "reason": "running",
        "success": false,
        "valid": true,
        "simulation_time": 0.0,
        "steps": 0,
        "dwell_elapsed": 0.0,
        "grasp_seen": false,
        "lift_seen": false,
        "max_object_lift": 0.0,
        "grasp_contacts": {
          "left": 0,
          "right": 0
        },
        "pad_normal_forces": {
          "left": 0.0,
          "right": 0.0
        },
        "table_contacts": 4,
        "max_pad_normal_force": 0.0,
        "target_distance": 0.22803508761483676,
        "warnings": [],
        "lift_dwell_elapsed": 0.0,
        "effective_sliding_friction": {
          "jaw_object": 1.0,
          "table_object": 0.8,
          "mixing": "maximum at equal geom priority"
        },
        "initial_object_position": [
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          0.09000000322870635,
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        ],
        "qualification": "simulation-only",
        "observations": "privileged simulator state",
        "actuation": "six bounded joint position servos and two bounded jaw servos",
        "object_profile": "rigid box; unqualified proxy for cup skills",
        "collision_profile": "jaws/object/table enabled; 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": [
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          ],
          "target_position": [
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            0.31
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          "object_half_size": [
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            0.02
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          "object_mass": 0.04,
          "object_friction": 0.8,
          "table_height": 0.29,
          "position_tolerance": 0.025,
          "dwell_seconds": 0.25,
          "scene_jitter": 0,
          "joint_torque_limit": 40.0,
          "jaw_force_limit": 15.0,
          "gravity": 9.81
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        "engine": "3.15.0",
        "scene_sha256": "06a2639116798aecb2ebfb8b52c873690bcbd1bebc8e6d0e404d9e6f0b3c8b57"
      },
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