{
  "schema": "dvidia.graspability/v3",
  "scope": "Authored direct in-reach pickup with pinned PiPER drives, rigid object proxies and privileged native observations. Shape, explicit load and mounted-tool conditions are diagnostic controls. No learned skill, tool detachment, retrieval or hardware qualification.",
  "source": {
    "commit": "73057dc259c6a19344906f4a43a283553e17ade0",
    "protocol_sha256": "27a4d1dfc4fe49b96311d8e5fea7f0d1897526a37aed824ba8405939c169d3f5",
    "mujoco": "3.15.0",
    "numpy": "2.5.3",
    "robot_assets": {
      "profile": "piper",
      "repository": "https://github.com/google-deepmind/mujoco_menagerie",
      "commit": "0059d4335f8156206f63a35662313385f7ad6d74",
      "files_verified": 90,
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      "lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
      "simulation_asset_license": "MIT"
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  "split": "heldout",
  "host": {
    "system": "Darwin",
    "release": "25.5.0",
    "machine": "arm64",
    "python": "3.12.9",
    "numpy": "2.5.3",
    "mujoco": "3.15.0",
    "compute": "CPU native simulation; browser replay needs WebGL2. No GPU required for native benchmark."
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  "learned_policy": false,
  "hardware_validated": false,
  "attempts": [
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      "policy": "shared-v03",
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        "replicate_id": "grasp-fresh-layout-01",
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        "support_scope": "Finger normal forces each >0.01 N; world, tool and non-finger robot normal forces each <0.01 N on all final 250 native ticks. Synthetic scoring thresholds, not hardware safety limits.",
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    {
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      "task": "in-reach-graspability",
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        "support_scope": "Finger normal forces each >0.01 N; world, tool and non-finger robot normal forces each <0.01 N on all final 250 native ticks. Synthetic scoring thresholds, not hardware safety limits.",
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    {
      "id": "grasp-fresh-01-light-simplified-shoe-absent",
      "task": "in-reach-graspability",
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        "support_scope": "Finger normal forces each >0.01 N; world, tool and non-finger robot normal forces each <0.01 N on all final 250 native ticks. Synthetic scoring thresholds, not hardware safety limits.",
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    {
      "id": "grasp-fresh-01-light-current-shoe-absent",
      "task": "in-reach-graspability",
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    {
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        "support_scope": "Finger normal forces each >0.01 N; world, tool and non-finger robot normal forces each <0.01 N on all final 250 native ticks. Synthetic scoring thresholds, not hardware safety limits.",
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    {
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        "support_scope": "Finger normal forces each >0.01 N; world, tool and non-finger robot normal forces each <0.01 N on all final 250 native ticks. Synthetic scoring thresholds, not hardware safety limits.",
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        "support_scope": "Finger normal forces each >0.01 N; world, tool and non-finger robot normal forces each <0.01 N on all final 250 native ticks. Synthetic scoring thresholds, not hardware safety limits.",
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        "support_scope": "Finger normal forces each >0.01 N; world, tool and non-finger robot normal forces each <0.01 N on all final 250 native ticks. Synthetic scoring thresholds, not hardware safety limits.",
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      "robot_actuator_sha256": "f648770aa6b4014b37288e14ca66a18fb0d272a227290ba654967743de714a26",
      "independent_score": {
        "schema": "dvidia.graspability-score/v3",
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        "strict_retention_pass": false,
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          "window_ticks": 50,
          "window_duration_s": 0.1,
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          "world_supported": true,
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          "at_declared_initial_time": true,
          "valid": true
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        "final_window_complete": true,
        "final_window_ticks": 250,
        "required_final_window_s": 0.5,
        "final_window_start_exclusive_s": 6.1,
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        "strict_passing_ticks": 0,
        "relative_lift_min_m": 0.035,
        "terminal_relative_lift_m": 3.108121725400523e-08,
        "maximum_relative_lift_m": 0.002644837573463385,
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          "world_support",
          "bilateral_contact",
          "relative_lift"
        ],
        "task_scope": "Direct in-reach pickup; no retrieval, tool acquisition, learned skill or hardware transfer claim.",
        "height_scope": "Object body-origin displacement from a verified initial settled native reference. Lowest collision surface is a separate diagnostic, not the success threshold.",
        "support_scope": "Finger normal forces each >0.01 N; world, tool and non-finger robot normal forces each <0.01 N on all final 250 native ticks. Synthetic scoring thresholds, not hardware safety limits.",
        "world_supported_ticks": 250,
        "tool_supported_ticks": 0,
        "other_robot_supported_ticks": 0,
        "bilateral_contact_missing_ticks": 250,
        "relative_lift_failed_ticks": 250,
        "minimum_final_collision_surface_z_m": -0.00011688122905487153,
        "controller_reported_success": false,
        "controller_claim_agrees": true,
        "compiled_model_sha256": "eef23a9aab93aac2a3c4aeccf5f5ff2ca07f57666d133302072cf1be1fe5f5b2"
      },
      "scored_outcome": "lift_not_retained",
      "replay": {
        "model": "trials/grasp-fresh-02-reference-current-shoe-absent.model.json",
        "motion": "trials/grasp-fresh-02-reference-current-shoe-absent.motion.json"
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    {
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    {
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    {
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    {
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    {
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    {
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    {
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    {
      "task": "in-reach-graspability",
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  "paired_comparisons": [
    {
      "task": "in-reach-graspability",
      "case_id": "grasp-fresh-01-light",
      "object_shape": "easy-block",
      "mass_kg": 0.03,
      "mounted_id": "grasp-fresh-01-light-easy-block-mounted",
      "absent_id": "grasp-fresh-01-light-easy-block-absent",
      "valid_pair": true,
      "mounted_success": true,
      "absent_success": false,
      "same_robot_actuators": true,
      "absent_gain": false,
      "absent_loss": true,
      "comparison_scope": "Same declared object, load, pose and controller. Tool is present or absent from reset; its collision geometry and loading differ."
    },
    {
      "task": "in-reach-graspability",
      "case_id": "grasp-fresh-01-light",
      "object_shape": "simplified-shoe",
      "mass_kg": 0.03,
      "mounted_id": "grasp-fresh-01-light-simplified-shoe-mounted",
      "absent_id": "grasp-fresh-01-light-simplified-shoe-absent",
      "valid_pair": true,
      "mounted_success": false,
      "absent_success": true,
      "same_robot_actuators": true,
      "absent_gain": true,
      "absent_loss": false,
      "comparison_scope": "Same declared object, load, pose and controller. Tool is present or absent from reset; its collision geometry and loading differ."
    },
    {
      "task": "in-reach-graspability",
      "case_id": "grasp-fresh-01-light",
      "object_shape": "current-shoe",
      "mass_kg": 0.03,
      "mounted_id": "grasp-fresh-01-light-current-shoe-mounted",
      "absent_id": "grasp-fresh-01-light-current-shoe-absent",
      "valid_pair": true,
      "mounted_success": false,
      "absent_success": false,
      "same_robot_actuators": true,
      "absent_gain": false,
      "absent_loss": false,
      "comparison_scope": "Same declared object, load, pose and controller. Tool is present or absent from reset; its collision geometry and loading differ."
    },
    {
      "task": "in-reach-graspability",
      "case_id": "grasp-fresh-01-reference",
      "object_shape": "easy-block",
      "mass_kg": 0.3,
      "mounted_id": "grasp-fresh-01-reference-easy-block-mounted",
      "absent_id": "grasp-fresh-01-reference-easy-block-absent",
      "valid_pair": true,
      "mounted_success": false,
      "absent_success": false,
      "same_robot_actuators": true,
      "absent_gain": false,
      "absent_loss": false,
      "comparison_scope": "Same declared object, load, pose and controller. Tool is present or absent from reset; its collision geometry and loading differ."
    },
    {
      "task": "in-reach-graspability",
      "case_id": "grasp-fresh-01-reference",
      "object_shape": "simplified-shoe",
      "mass_kg": 0.3,
      "mounted_id": "grasp-fresh-01-reference-simplified-shoe-mounted",
      "absent_id": "grasp-fresh-01-reference-simplified-shoe-absent",
      "valid_pair": true,
      "mounted_success": false,
      "absent_success": false,
      "same_robot_actuators": true,
      "absent_gain": false,
      "absent_loss": false,
      "comparison_scope": "Same declared object, load, pose and controller. Tool is present or absent from reset; its collision geometry and loading differ."
    },
    {
      "task": "in-reach-graspability",
      "case_id": "grasp-fresh-01-reference",
      "object_shape": "current-shoe",
      "mass_kg": 0.3,
      "mounted_id": "grasp-fresh-01-reference-current-shoe-mounted",
      "absent_id": "grasp-fresh-01-reference-current-shoe-absent",
      "valid_pair": true,
      "mounted_success": false,
      "absent_success": false,
      "same_robot_actuators": true,
      "absent_gain": false,
      "absent_loss": false,
      "comparison_scope": "Same declared object, load, pose and controller. Tool is present or absent from reset; its collision geometry and loading differ."
    },
    {
      "task": "in-reach-graspability",
      "case_id": "grasp-fresh-02-light",
      "object_shape": "easy-block",
      "mass_kg": 0.03,
      "mounted_id": "grasp-fresh-02-light-easy-block-mounted",
      "absent_id": "grasp-fresh-02-light-easy-block-absent",
      "valid_pair": true,
      "mounted_success": true,
      "absent_success": true,
      "same_robot_actuators": true,
      "absent_gain": false,
      "absent_loss": false,
      "comparison_scope": "Same declared object, load, pose and controller. Tool is present or absent from reset; its collision geometry and loading differ."
    },
    {
      "task": "in-reach-graspability",
      "case_id": "grasp-fresh-02-light",
      "object_shape": "simplified-shoe",
      "mass_kg": 0.03,
      "mounted_id": "grasp-fresh-02-light-simplified-shoe-mounted",
      "absent_id": "grasp-fresh-02-light-simplified-shoe-absent",
      "valid_pair": true,
      "mounted_success": true,
      "absent_success": true,
      "same_robot_actuators": true,
      "absent_gain": false,
      "absent_loss": false,
      "comparison_scope": "Same declared object, load, pose and controller. Tool is present or absent from reset; its collision geometry and loading differ."
    },
    {
      "task": "in-reach-graspability",
      "case_id": "grasp-fresh-02-light",
      "object_shape": "current-shoe",
      "mass_kg": 0.03,
      "mounted_id": "grasp-fresh-02-light-current-shoe-mounted",
      "absent_id": "grasp-fresh-02-light-current-shoe-absent",
      "valid_pair": true,
      "mounted_success": true,
      "absent_success": true,
      "same_robot_actuators": true,
      "absent_gain": false,
      "absent_loss": false,
      "comparison_scope": "Same declared object, load, pose and controller. Tool is present or absent from reset; its collision geometry and loading differ."
    },
    {
      "task": "in-reach-graspability",
      "case_id": "grasp-fresh-02-reference",
      "object_shape": "easy-block",
      "mass_kg": 0.3,
      "mounted_id": "grasp-fresh-02-reference-easy-block-mounted",
      "absent_id": "grasp-fresh-02-reference-easy-block-absent",
      "valid_pair": true,
      "mounted_success": false,
      "absent_success": false,
      "same_robot_actuators": true,
      "absent_gain": false,
      "absent_loss": false,
      "comparison_scope": "Same declared object, load, pose and controller. Tool is present or absent from reset; its collision geometry and loading differ."
    },
    {
      "task": "in-reach-graspability",
      "case_id": "grasp-fresh-02-reference",
      "object_shape": "simplified-shoe",
      "mass_kg": 0.3,
      "mounted_id": "grasp-fresh-02-reference-simplified-shoe-mounted",
      "absent_id": "grasp-fresh-02-reference-simplified-shoe-absent",
      "valid_pair": true,
      "mounted_success": false,
      "absent_success": false,
      "same_robot_actuators": true,
      "absent_gain": false,
      "absent_loss": false,
      "comparison_scope": "Same declared object, load, pose and controller. Tool is present or absent from reset; its collision geometry and loading differ."
    },
    {
      "task": "in-reach-graspability",
      "case_id": "grasp-fresh-02-reference",
      "object_shape": "current-shoe",
      "mass_kg": 0.3,
      "mounted_id": "grasp-fresh-02-reference-current-shoe-mounted",
      "absent_id": "grasp-fresh-02-reference-current-shoe-absent",
      "valid_pair": true,
      "mounted_success": false,
      "absent_success": false,
      "same_robot_actuators": true,
      "absent_gain": false,
      "absent_loss": false,
      "comparison_scope": "Same declared object, load, pose and controller. Tool is present or absent from reset; its collision geometry and loading differ."
    }
  ],
  "timing_scope": "Native wall time includes model setup and recording. Export and independent auditing are separate. Rendering, downloads and hardware sensing/actuation are excluded.",
  "success_scope": "Every result is independently rescored from dense native traces; author-reported completion cannot override it.",
  "robot_fingerprint_scope": "Compiled robot joints, actuator settings and coupling; excludes tool and object inertia. Full model hashes are condition-specific."
}