{"schema":"dvidia.reference-task-protocol/v1","profile":"ur5e-2f85-rigid-block-task-v0.1","contract":{"profile":"ur5e-2f85-rigid-block-task-v0.1","scope":"Authored native UR5e/Robotiq rigid-block manipulation, privileged state and synthetic commands. No shoe model, learned task policy, camera sensing, calibrated contact or physical qualification.","physical_robot_ready":false,"arm_joint_order":["shoulder_pan_joint","shoulder_lift_joint","elbow_joint","wrist_1_joint","wrist_2_joint","wrist_3_joint"],"gripper_linkage_order":["gripper/right_driver_joint","gripper/right_coupler_joint","gripper/right_spring_link_joint","gripper/right_follower_joint","gripper/left_driver_joint","gripper/left_coupler_joint","gripper/left_spring_link_joint","gripper/left_follower_joint"],"actions":{"joint_targets_rad":"six absolute joint targets, rad; ramped then gravity feedforward","gripper_0_255":"one native tendon servo target; 0 open / 255 close, not measured gap or force"},"observation_origin":"privileged_native_simulator_state","native_sensor_definitions":0,"observations":{"joint_position_rad":[6],"joint_velocity_rad_s":[6],"linkage_position_rad":[8],"tcp_position_m":[3],"tcp_quaternion_wxyz":[4],"object_position_m":[3],"object_quaternion_wxyz":[4],"grasp_contact_counts":"left/right native block contacts","pad_normal_forces_n":"native mj_contactForce, not deployable tactile sensing"},"contacts":"native collision proxies; object priority 1 overrides pad/table friction floors","object":"one free rigid box; no weld, grasp attachment or runtime object pose writes","success":"valid physics, retained bilateral table-free lift and supported destination carry completion, then released/settled destination dwell and tool retreat","carry_retention":{"bilateral_contact_required":"after sustained lift until supported at destination while held","contact_force_threshold_n":0.01,"consecutive_loss_tolerance_seconds":0.04,"loss_at_or_above_tolerance":"permanent failure, independent of teacher 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privileged-state rigid-block task in native reference physics. No learned policy, shoe physics, human-video action recovery or physical robot qualification.","physical_robot_ready":false,"learned_policy":false,"split_note":"Seeded synthetic layouts, not independent physical captures. Confirmation is a user declaration; this tool cannot establish whether a seed/layout was previously inspected.","comparison":"Open-jaw control replays the placement issued arm targets with jaws requested open; hold preserves initial arm targets. All attempts use the same scene timeout.","timing_boundary":"Attempt wall time includes asset checks, compilation, reset, planning, stepping and trace capture; separate inner timings identify narrower boundaries. No rendering, sensing, training, disk serialization, transport or physical actuation."}