{ "schema": "dvidia.piper-v04-failure-forensics/v1", "source_report_sha256": "2ca43a89d2c8afe2d62af6179f5be2893ad61cc05193e029a5b8887d2b0eff80", "source_bundle_integrity_sha256": "a539d7d9ab37a18007135915e2702fe3ebb33cc2d9f6ede98f759892b7179740", "method": "All 12 history placements and six matched baseline/probe-only failures read from sealed v0.3 evidence. Event snapshots use t/20ms row mapping. Probe statistics inclusive endpoints. No thresholds changed or new integrated episodes run.", "important_limits": [ "\u03bc\u00b7\u03a3N is a flat-side Coulomb capacity approximation, not a measured tangential wrench or global proof that all grasps are infeasible.", "Recorded normal forces omit contacts \u2264.01N; small force contributions below that logging threshold are not included.", "This is a limitation of pinned position-servo settings + side-pinch geometry, not evidence of PiPER hardware weakness.", "Existing 12-scene cohort is known development evidence for v0.4, not fresh confirmation." ], "history_attempts": [ { "id": "friction015-mass040-layout00--history_placement", "scene_id": "friction015-mass040-layout00", "source_path": "benchmarks/piper-contact-v03-20261011/receipt/attempts/friction015-mass040-layout00--history_placement.json.gz", "source_sha256": "c4044b186437f756a0734a5af8afdcb823d52bbdf6c6bde29b8bb53db83b97a7", "friction": 0.15, "mass_kg": 0.04, "weight_n": 0.3924, "success": false, "metrics": { "valid": true, "success": false, "reason": "timeout", "simulation_time": 20.00000000000146, "steps": 1000, "lift_seen": false, "grasp_seen": true, "max_object_lift_m": 8.014702883017699e-05, "dwell_seconds": 0.0, "lift_dwell_seconds": 0.0, "max_pad_normal_force_n": 0.4245965346311907, "unexpected_contact_native_ticks": 0, "carry_complete": false, "retention_lost": false, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "carry_contact_loss_tolerance_seconds": 0.04, "first_success_time_seconds": null, "target_distance_m": 0.11273899431536097, "warnings": [], "physical_robot_ready": false, "contact_pair_native_ticks": { "1:90": 20000, "88:90": 7262, "89:90": 1193, "86:90": 1195, "85:90": 7212 } }, "native_gripper": { "gain_kp": 40.0, "bias": [ 0.0, -40.0, -5.0 ], "control_limits_m": [ 0.0, 0.035 ], "force_limits_n": [ -10.0, 10.0 ], "note": "Target minimum 0 m and kp40 produce about -0.784 N at a stationary 0.0196 m slide; the \u00b110 N cap is not reached." }, 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"id": "friction015-mass060-layout01--history_placement", "scene_id": "friction015-mass060-layout01", "source_path": "benchmarks/piper-contact-v03-20261011/receipt/attempts/friction015-mass060-layout01--history_placement.json.gz", "source_sha256": "a3cbf8868e7c91b9044dbdbd2ae842892ac86965414885877bdd8c346e2a1ce3", "friction": 0.15, "mass_kg": 0.06, "weight_n": 0.5886, "success": false, "metrics": { "valid": true, "success": false, "reason": "timeout", "simulation_time": 20.00000000000146, "steps": 1000, "lift_seen": false, "grasp_seen": true, "max_object_lift_m": 3.965225030025388e-05, "dwell_seconds": 0.0, "lift_dwell_seconds": 0.0, "max_pad_normal_force_n": 0.4353160451482456, "unexpected_contact_native_ticks": 0, "carry_complete": false, "retention_lost": false, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "carry_contact_loss_tolerance_seconds": 0.04, "first_success_time_seconds": null, "target_distance_m": 0.1137163894040418, "warnings": [], 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Contact parameters/frames only.", "contacts": [ { "geom_ids": [ 85, 90 ], "dim": 4, "friction": [ 0.55, 0.55, 0.005, 0.0001, 0.0001 ], "normal_z": -0.0011326228700716087 }, { "geom_ids": [ 85, 90 ], "dim": 4, "friction": [ 0.55, 0.55, 0.005, 0.0001, 0.0001 ], "normal_z": -0.0011326228700716087 }, { "geom_ids": [ 85, 90 ], "dim": 4, "friction": [ 0.55, 0.55, 0.005, 0.0001, 0.0001 ], "normal_z": -0.0011326228700716087 }, { "geom_ids": [ 85, 90 ], "dim": 4, "friction": [ 0.55, 0.55, 0.005, 0.0001, 0.0001 ], "normal_z": -0.0011326228700716087 }, { "geom_ids": [ 88, 90 ], "dim": 4, "friction": [ 0.55, 0.55, 0.005, 0.0001, 0.0001 ], "normal_z": 0.0011326228700716087 }, { "geom_ids": [ 88, 90 ], "dim": 4, "friction": [ 0.55, 0.55, 0.005, 0.0001, 0.0001 ], "normal_z": 0.0011326228700716087 } ], "all_mu_match_scene": true, "max_abs_normal_z": 0.0011326228700716087 } }, { "id": "friction055-mass060-layout01--history_placement", "scene_id": "friction055-mass060-layout01", "source_path": 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