{ "aggregates": { "cartesian": { "admissions": 4, "attempts": 8, "combined_qualified_5s_pause": 0, "controller_retained_at_5s": 0, "false_initial_admissions": 0, "false_maintained_grip": 0, "false_maintained_pose": 0, "final_both_qualified": 0, "grip_retention_and_stationarity": 0, "native_5s_pause_success": 4, "native_5s_stationary_success": 0, "valid": 8 }, "incremental": { "admissions": 4, "attempts": 8, "combined_qualified_5s_pause": 0, "controller_retained_at_5s": 0, "false_initial_admissions": 0, "false_maintained_grip": 0, "false_maintained_pose": 0, "final_both_qualified": 0, "grip_retention_and_stationarity": 1, "native_5s_pause_success": 1, "native_5s_stationary_success": 1, "valid": 8 }, "issued_joint": { "admissions": 4, "attempts": 8, "combined_qualified_5s_pause": 0, "controller_retained_at_5s": 4, "false_initial_admissions": 0, "false_maintained_grip": 0, "false_maintained_pose": 1297, "final_both_qualified": 4, "grip_retention_and_stationarity": 0, "native_5s_pause_success": 4, "native_5s_stationary_success": 0, "valid": 8 }, "measured_joint": { "admissions": 4, "attempts": 8, "combined_qualified_5s_pause": 0, "controller_retained_at_5s": 0, "false_initial_admissions": 0, "false_maintained_grip": 0, "false_maintained_pose": 0, "final_both_qualified": 0, "grip_retention_and_stationarity": 0, "native_5s_pause_success": 0, "native_5s_stationary_success": 0, "valid": 8 } }, "attempted": 32, "physical_robot_ready": false, "planned_attempts": 32, "previous_learned_heldout_result": "5/12 unchanged. No learning or full-placement evaluation in this study.", "rows": [ { "error": null, "evaluation": { "claims": { "false_maintained_grip": 0, "false_maintained_pose": 0, "maintained_checks": 248, "scope": "Claimed qualified boundaries after admission, compared with every native row since admission; grip includes correct initial prefix. Counts are diagnostic, not independent trials." }, "corrections": { "bound_refusal_counts": {}, "flag_counts": { "correction_rate_limited": 0 }, "hold_record_count": 417, "input_refusals": [], "maximum_abs_accepted_correction_rate_rad_s": null, "maximum_abs_active_correction_rad": null, "maximum_abs_desired_correction_rad": null, "maximum_abs_pose_error_increment_rad": null, "rate_limited_axis_occurrences": 0, "scope": "Includes recorded final diagnostic checks; only command_issued rows represent issued controls." }, "decomposition": { "elapsed_s": 5.0, "local_offset_change_m": 0.0004996423716339451, "object_world_z_delta_m": -0.001388388335037155, "relative_world_z_delta_m": -0.0004909257647288251, "scope": "Kinematic components, not causal attribution or calibrated physical slip.", "tcp_world_z_delta_m": -0.00089746257030833 }, "final": { "both_qualified": false, "controller_qualified": false, "evidence_admissible": false, "native_qualified": false }, "first_admission": { "native_prefix_qualified": true, "native_qualifying_window_s": 0.10400000000000001, "probe_index": 0, "time_s": 11.679999999998966 }, "grip_only": { "all_native_hold_forces_within_ceiling": true, "combined_qualified_pause": false, "complete_5s": true, "controller_retained_at_5s": false, "first_native_predicate_failure_s": 16.648999999997365, "followup_available_s": 8.320000000002494, "native_pause_success": false, "reason": "native_predicate_lost", "required_s": 5.0, "success": false, "target_time_s": 16.679999999998966 }, "native": { "arrays_sha256": "e4b4d4a31d9d409aa49767d9c89311919877f8f6d1ac7db478ea2e0b85089fd0", "complete": true, "maximum_per_finger_force_n": 0.4455109619488252, "rows": 20000, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "physical_robot_ready": false, "primary": { "all_native_hold_forces_within_ceiling": true, "combined_qualified_pause": false, "complete_5s": true, "controller_retained_at_5s": false, "first_native_predicate_failure_s": 16.648999999997365, "first_tcp_pose_failure_s": null, "followup_available_s": 8.320000000002494, "native_pause_success": false, "reason": "native_predicate_lost", "required_s": 5.0, "success": false, "target_time_s": 16.679999999998966 }, "probes": [ { "claims": [ { "native_prefix_qualified": true, "t_seconds": 11.679999999998966 } ], "disposition": "invalidated_hold", "final_native_qualified_from_origin": false, "probe_index": 0, "start_time_s": 11.079999999999298 } ], "receipt": { "admission": { "observation_origin": "privileged_native_simulation_plus_caller_planning_assumptions", "physical_robot_ready": false, "planning": { "computed": { "conservative_required_load_n": 0.7058488125, "gravity_m_s2": 9.80665, "pose_specific_payload_limit_force_n": 0.980665, "two_finger_friction_capacity_n": 15.600000000000001 }, "observation_origin": "caller_declared_not_verified", "physical_robot_ready": false, "reasons": [ "Run and record a cautious test lift under the same calibrated pose and load conditions before simulated transport planning." ], "schema": "dvidia.task-feasibility-result/v1", "scope": "Planning assessment only. Parallel two-finger vertical-lift approximation; ignores moment, center of mass, deformation, transient impacts and unmodeled contact effects. Unknown values remain unknown; mass is never inferred from images. Probe/test-lift/controller integration is not implemented. No hardware actuation is performed; this is not hardware qualification.", "status": "test_lift_required" }, "probe": { "admissible": false, "historical_qualified": true, "latest_qualified": false, "physical_robot_ready": false, "reasons": [ "latest_native_window_not_qualified", "latest_controller_not_qualified" ], "receipt_sha256": "8563287149772906e933f36286c8308480f3bdd565fed1461cfa5c8f70a07966", "schema": "dvidia.probe-evidence-verification/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.", "verified": true }, "schema": "dvidia.task-feasibility-with-probe/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification. Unknown planning values remain unknown. The unchanged approximate vertical-lift planning gate describes declared loads; it supplies no transport path, geospatial-goal contract or actuator permission. This wrapper never issues controls.", "status": "test_lift_required" }, "context": { "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe", "calibration_id": "synthetic_probe_v01", "calibration_scope": "simulation_assumptions_not_hardware", "command_sha256": "7cef6300a9f5b5ed0ceb88bf743e6bd8f05421a11cfaa069f3453b623d95b79c", "feasibility_sha256": "7c932cfdbaefffa299be3075549eca688e2448f83e90c83319f55b31fb506f42", "grasp_id": "m0475-f78-p0-measured_joint-probe-0", "initial_object_position_m": [ 0.3040000227603607, -0.024000165083053884, 0.07989224451748383 ], "model_sha256": "1f40b4a775c9316f9f825a4bd7d2c47adeb0628e0c4d1ffec52028e1339f857e", "native_status": { "simulation_time_s": 20.00000000000146, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "object_id": "task_block", "per_finger_force_ceiling_n": 10.0, "pose_binding_sha256": "b82062712004992790117a53d882d84ad337f555ead9ce9c50eda639570370c4", "probe_index": 0, "probe_origin_object_position_m": [ 0.3038755731582487, -0.023974484437896904, 0.07992194440271183 ], "probe_origin_tcp_local_offset_m": [ 0.0023596200830591093, 0.000291912041211631, 0.0019339671294990768 ], "probe_start_s": 11.079999999999298, "robot_profile": "piper", "run_id": "m0475-f78-p0-measured_joint", "schema": "dvidia.probe-context/v1", "source_sha256": "d28324843344114f1ee863cee3c48dbca8aa37fd11222623563a0b1d40c364a6" }, "physical_robot_ready": false, "planning_input": { "allowed_pose_tolerance_m": 0.003, "calibration_id": "synthetic_probe_v01", "friction_interval": [ 0.78, 0.78 ], "geometry_known": true, "gripper_max_opening_interval_m": [ 0.07, 0.07 ], "gripper_min_closure_m": 0.0, "mass_interval_kg": [ 0.0475, 0.0475 ], "object_width_interval_m": [ 0.04, 0.04 ], "observations_fresh": true, "per_finger_normal_force_budget_n": 10.0, "planned_upward_accel_m_s2": 0.1, "pose_specific_payload_limit_kg": 0.1, "pose_uncertainty_m": 0.0, "reachability": "reachable", "safety_factor": 1.5, "schema": "dvidia.task-feasibility-input/v1", "slip_detected": false, "test_lift_passed": false }, "receipt": { "audit": { "controller_claim_mismatches": [], "controller_claims_checked": 2, "controller_conservative_abstention_count": 0, "controller_coverage": "Only the supplied claims are checked; omitted decisions are not inferred.", "controller_false_qualification_count": 0, "controller_positive_claims": 1, "force_ceiling_known": true, "maximum_observed_per_finger_force_n": 0.4455109619488252, "reasons": [], "rows": 20000, "unexpected_contact_native_ticks": 0, "valid": true }, "context": { "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe", "calibration_id": "synthetic_probe_v01", "calibration_scope": "simulation_assumptions_not_hardware", "command_sha256": "7cef6300a9f5b5ed0ceb88bf743e6bd8f05421a11cfaa069f3453b623d95b79c", "feasibility_sha256": "7c932cfdbaefffa299be3075549eca688e2448f83e90c83319f55b31fb506f42", "grasp_id": "m0475-f78-p0-measured_joint-probe-0", "initial_object_position_m": [ 0.3040000227603607, -0.024000165083053884, 0.07989224451748383 ], "model_sha256": "1f40b4a775c9316f9f825a4bd7d2c47adeb0628e0c4d1ffec52028e1339f857e", "native_status": { "simulation_time_s": 20.00000000000146, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "object_id": "task_block", "per_finger_force_ceiling_n": 10.0, "pose_binding_sha256": "b82062712004992790117a53d882d84ad337f555ead9ce9c50eda639570370c4", "probe_index": 0, "probe_origin_object_position_m": [ 0.3038755731582487, -0.023974484437896904, 0.07992194440271183 ], "probe_origin_tcp_local_offset_m": [ 0.0023596200830591093, 0.000291912041211631, 0.0019339671294990768 ], "probe_start_s": 11.079999999999298, "robot_profile": "piper", "run_id": "m0475-f78-p0-measured_joint", "schema": "dvidia.probe-context/v1", "source_sha256": "d28324843344114f1ee863cee3c48dbca8aa37fd11222623563a0b1d40c364a6" }, "context_sha256": "219c38dbfc9d6b92811a4822cdece5320dedaed722241ce32242b750864faf86", "controller_qualifications": [ { "probe_index": 0, "qualified": true, "t_seconds": 11.679999999998966 }, { "probe_index": 0, "qualified": false, "t_seconds": 20.00000000000146 } ], "criteria": { "distance_comparison_epsilon": 1e-12, "initial_sample_tolerance_m": 0.001, "maximum_tcp_local_drift_m": 0.003, "minimum_continuous_dwell_s": 0.1, "minimum_per_finger_force_n_exclusive": 0.01, "minimum_rise_m": 0.006, "native_dt_s": 0.001, "origin_tolerance_m": 1e-09, "time_tolerance_s": 1e-08 }, "history": { "ever_qualified": true, "first_qualified_s": 11.675999999998968, "maximum_continuous_qualifying_s": 5.072 }, "latest": { "condition_valid": false, "continuous_qualifying_s": 0.0, "controller_claim": { "probe_index": 0, "qualified": false, "t_seconds": 20.00000000000146 }, "native_tick": 20000, "qualified": false, "rise_m": 0.00480181537428899, "tcp_local_drift_m": 0.0008938460526582594, "time_s": 20.00000000000146 }, "metadata_sha256": "ad8229630cc9f8718829bb8317b1a82480dcf18b9f71bd23666acfe71a003ef7", "native_arrays_sha256": "e4b4d4a31d9d409aa49767d9c89311919877f8f6d1ac7db478ea2e0b85089fd0", "physical_robot_ready": false, "receipt_sha256": "8563287149772906e933f36286c8308480f3bdd565fed1461cfa5c8f70a07966", "schema": "dvidia.probe-evidence/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification." }, "status": "inspected", "verification": { "admissible": false, "historical_qualified": true, "latest_qualified": false, "physical_robot_ready": false, "reasons": [ "latest_native_window_not_qualified", "latest_controller_not_qualified" ], "receipt_sha256": "8563287149772906e933f36286c8308480f3bdd565fed1461cfa5c8f70a07966", "schema": "dvidia.probe-evidence-verification/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.", "verified": true } }, "stationarity": { "complete_5s": true, "grip_retention_and_stationarity": false, "maximum_tcp_orientation_excursion_rad": 0.0033514851527653004, "maximum_tcp_position_excursion_m": 0.0010367011454661228, "orientation_ceiling_rad": 0.05, "position_ceiling_m": 0.004, "required_s": 5.0, "scope": "Common recorded native TCP pose endpoint, not calibrated hardware stationarity.", "tcp_pose_within_bounds": true, "terminal_tcp_orientation_delta_rad": 0.0033514851527653004, "terminal_tcp_position_delta_m": [ -0.0005173650746167491, 4.05410837687227e-05, -0.00089746257030833 ] }, "status": "inspected" }, "files": { "episode.json.gz": { "bytes": 794913, "sha256": "1b13f56a930fd1f2881d666666aa4461d0d2dccf1255cbce52b48cdb654a4c93" }, "evaluation.json": { "bytes": 13754, "sha256": "12f11eb4b14a27048cc68c770f779e943816157f1f0bde1501670b9403bbd9d3" }, "native.json": { "bytes": 13763, "sha256": "19cc1d5998901cbc12da2916add3096763081e9decbfc7193981bfabc4b871e0" }, "native.npz": { "bytes": 4051497, "sha256": "e9d375b692db2e3c54cd944e1ca66383c8bf54697cd49bc073815e12fab170ae" }, "started.json": { "bytes": 153, "sha256": "66544455bd6e4fdb9c48ed734d1d6fab97099819a56607a68e80e861bfd98be1" } }, "friction": 0.78, "id": "m0475-f78-p0-measured_joint", "mass_kg": 0.0475, "metrics": { "carry_complete": false, "carry_contact_loss_events": 0, "carry_contact_loss_tolerance_seconds": 0.04, "dwell_seconds": 0.0, "first_success_time_seconds": null, "grasp_seen": true, "lift_dwell_seconds": 0.0, "lift_seen": false, "max_carry_contact_loss_seconds": 0.0, "max_object_lift_m": 0.00743658701409837, "max_pad_normal_force_n": 0.4455109619488252, "physical_robot_ready": false, "reason": "timeout", "retention_lost": false, "simulation_time": 20.00000000000146, "steps": 1000, "success": false, "target_distance_m": 0.11284914078239622, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "policy": { "abort_reason": "probe_height_not_retained", "acquisition_contract": { "comparison_scope": "Closed-loop variants may acquire different trajectories through early hold/retry. This is not an isolated classifier ablation.", "control_dt_s": 0.02, "evidence_admission": "Current bilateral force >0.01 N, no table support, object rise >=6 mm and TCP-local offset drift <=3 mm continuously across sampled boundaries for elapsed >=100 ms.", "hold": "Latch measured six arm joints and the last issued jaw target at admission/terminal invalidity. No full lift/transfer, no squeeze escalation, no post-admission retry.", "invalidation": "At each subsequent 20 ms observation and final observation, invalidate immediately on lost contact/force, support, insufficient rise, >3 mm local drift or unexpected contact. Never requalify after terminal invalidity.", "observation_origin": "privileged_native_simulator_state", "parameters": { "close_timeout_s": 1.4, "consecutive_alarm_samples": 2, "max_retries": 1, "monitor_min_probe_motion_m": 0.003, "probe_height_m": 0.01, "probe_min_object_rise_m": 0.006, "probe_speed_m_s": 0.02, "probe_timeout_s": 1.4, "qualification_dwell_s": 0.1, "relative_drift_limit_m": 0.003, "retry_clearance_m": 0.012, "retry_open_timeout_s": 1.2, "retry_recenter_timeout_s": 1.5 }, "physical_robot_ready": false, "prefix": "Original GuardedPiperTaskPolicy approach/close and at most one supported open/recenter/retry; already uses authored native state, not a fully blind baseline.", "sampling_limit": "Independent 1 ms evidence may contradict sampled admission; that remains a finding. No sensor or material inference is implemented.", "schema": "dvidia.piper-probe-stop/v1", "stop_scope": "Holding native position targets is not physical arrest or calibrated force limiting; inertia and existing target rate limits can continue motion.", "timer_admission": "Same 10 mm/20 mm/s probe target law, admitted at elapsed >=600 ms from that probe start; no evidence predicate or slip alarm before admission. Unexpected contacts and bounded timeouts still stop.", "timer_admission_s": 0.6, "variants": [ "evidence", "timer" ] }, "acquisition_variant": "evidence", "active_probe_index": 0, "admission_time_s": 11.679999999998966, "admitted": false, "contract": { "acquisition": "Unchanged ProbeStopPolicy evidence acquisition, including its bounded supported retry. All variants share the same prefix through the first admission observation.", "cartesian": "Latch measured TCP position/orientation and preceding issued targets. Fixed joint bias equals issued target minus pose_action at the admission pose. First command repeats the exact issued target; later pose_action updates receive that fixed bias.", "control_dt_s": 0.02, "final_observation": "Repeat force, original eligibility and Cartesian pose-error checks. Do not solve or issue a hypothetical next control at the terminal observation.", "invalid_measurements": "Malformed, nonfinite or noncausal observations terminally refuse and raise without issuing a command. No measured-position stop is claimed from invalid measurements.", "issued_joint": "Latch the preceding issued six joint targets and the same last issued jaw target at admission.", "limits": { "initial_joint_bias_ceiling_rad": 0.08, "joint_correction_ceiling_rad": 0.03, "joint_correction_rate_rad_s": 0.1, "native_joint_target_margin_rad": 0.02, "per_finger_force_ceiling_n": 10.0, "tcp_orientation_error_ceiling_rad": 0.05, "tcp_position_error_ceiling_m": 0.004 }, "measured_joint": "Original hold: latch measured six joint coordinates and the last issued jaw target at admission.", "observation_origin": "privileged_native_simulator_state", "physical_robot_ready": false, "qualifications": "Engineering limits and the 10 N ceiling are authored synthetic assumptions, not damage limits or calibrated physical telemetry. Position targets are not physical stops or force limiters. No load/friction inference, model training or complete placement is implemented.", "rate_scope": "The extra correction slews at at most 0.002 rad per 20 ms per joint. Original native 1 ms target slew, servos, gains and force caps remain unchanged.", "refusal": "Original eligibility loss, unexpected contact or observed pad force >10 N terminally requests measured joint hold and the frozen jaw target. Cartesian error, initial-bias, total-correction or native-margin exhaustion also refuses terminally; it never chases an already failed grip.", "sampling": "Control checks occur at 20 ms boundaries. Independent saved 1 ms native evidence must judge a continuous 5 s hold; missed between-boundary failures remain findings.", "schema": "dvidia.piper-retention/v2", "variants": [ "measured_joint", "issued_joint", "cartesian" ] }, "events": [ { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "continue", "drift_streak": 0, "object_height_delta_m": 0.0, "phase": "probe", "progress_streak": 0, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0, "retry_index": 0, "t_seconds": 11.079999999999298, "table_supported": true, "tcp_probe_height_delta_m": 0.0 }, "observation_origin": "privileged_native_simulator_state", "phase": "guard_probe", "probe_index": 0, "reason": "slow_load_bearing_check", "retention_variant": "measured_joint", "retry_index": 0, "status": "probing", "t_seconds": 11.079999999999298, "type": "probe_started", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "bounded_measured_joint_hold", "drift_streak": 0, "object_height_delta_m": 0.007370585810732064, "phase": "probe", "progress_streak": 0, "qualification_dwell_seconds": 0.09999999999994458, "qualified": true, "relative_offset_error_m": 7.467735799443156e-05, "retry_index": 0, "t_seconds": 11.679999999998966, "table_supported": false, "tcp_probe_height_delta_m": 0.007474940541420783 }, "observation_origin": "privileged_native_simulator_state", "phase": "probe_stop", "probe_index": 0, "reason": "sampled_probe_evidence", "retention_hold_reference": { "fixed_bias_rad": null, "frozen_jaw_target_m": 0.0, "issued_joint_targets_rad": [ -0.08358156413562244, 1.7253311519067327, -1.159898092815617, -0.0001210090230993677, 1.0813518373702553, -0.08678084152842581 ], "measured_joint_position_rad": [ -0.08359397024458642, 1.730249214481843, -1.1551092965874783, -0.00013729535595856273, 1.0544043918391357, -0.08674936128179336 ], "position_m": [ 0.31023273677094276, -0.02459992838012082, 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"probe_height_not_retained", "retention_variant": "measured_joint", "retry_index": 0, "status": "invalidated_hold", "t_seconds": 16.65999999999738, "type": "hold_invalidated", "variant": "evidence" } ], "ever_admitted": true, "final_observed": true, "frozen_jaw_target_m": 0.0, "initial_context": { "object_position_m": [ 0.3040000227603607, -0.024000165083053884, 0.07989224451748383 ], "observation_origin": "privileged_native_simulator_state", "t_seconds": 0.0, "tcp_position_m": [ 0.4890696662845219, 0.0014141975654808877, 0.3665849431043091 ], "tcp_quaternion_wxyz": [ 0.6580840948238629, 2.7730466224793136e-07, 0.7529444362872891, -1.9485471114950535e-06 ] }, "last_observed_s": 20.00000000000146, "observation_origin": "privileged_native_simulator_state", "physical_robot_ready": false, "probes": [ { "admission_time_s": 11.679999999998966, "disposition": "invalidated_hold", "end_time_s": 16.65999999999738, "local_offset_origin_m": [ 0.0023596200830591093, 0.000291912041211631, 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Counts are diagnostic, not independent trials." }, "corrections": { "bound_refusal_counts": {}, "flag_counts": { "correction_rate_limited": 0 }, "hold_record_count": 417, "input_refusals": [], "maximum_abs_accepted_correction_rate_rad_s": null, "maximum_abs_active_correction_rad": null, "maximum_abs_desired_correction_rad": null, "maximum_abs_pose_error_increment_rad": null, "rate_limited_axis_occurrences": 0, "scope": "Includes recorded final diagnostic checks; only command_issued rows represent issued controls." }, "decomposition": { "elapsed_s": 5.0, "local_offset_change_m": 0.0005002985210157201, "object_world_z_delta_m": 0.0012252965822729112, "relative_world_z_delta_m": -0.00045208814703069644, "scope": "Kinematic components, not causal attribution or calibrated physical slip.", "tcp_world_z_delta_m": 0.0016773847293036076 }, "final": { "both_qualified": true, "controller_qualified": true, "evidence_admissible": true, "native_qualified": true }, "first_admission": { "native_prefix_qualified": true, "native_qualifying_window_s": 0.10400000000000001, "probe_index": 0, "time_s": 11.679999999998966 }, "grip_only": { "all_native_hold_forces_within_ceiling": true, "combined_qualified_pause": true, "complete_5s": true, "controller_retained_at_5s": true, "first_native_predicate_failure_s": null, "followup_available_s": 8.320000000002494, "native_pause_success": true, "reason": "success", "required_s": 5.0, "success": true, "target_time_s": 16.679999999998966 }, "native": { "arrays_sha256": "26c8de35ab05c64ad20c3a638a2e1c79689b8b45cce8af9b46569ff639e33c32", "complete": true, "maximum_per_finger_force_n": 0.4455109619488252, "rows": 20000, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "physical_robot_ready": false, "primary": { "all_native_hold_forces_within_ceiling": true, "combined_qualified_pause": false, "complete_5s": true, "controller_retained_at_5s": true, "first_native_predicate_failure_s": null, "first_tcp_pose_failure_s": 13.305999999998065, "followup_available_s": 8.320000000002494, "native_pause_success": true, "reason": "tcp_stationarity_lost", "required_s": 5.0, "success": false, "target_time_s": 16.679999999998966 }, "probes": [ { "claims": [ { "native_prefix_qualified": true, "t_seconds": 11.679999999998966 } ], "disposition": "qualified_hold", "final_native_qualified_from_origin": true, "probe_index": 0, "start_time_s": 11.079999999999298 } ], "receipt": { "admission": { "observation_origin": "privileged_native_simulation_plus_caller_planning_assumptions", "physical_robot_ready": false, "planning": { "computed": { "conservative_required_load_n": 0.7058488125, "gravity_m_s2": 9.80665, "pose_specific_payload_limit_force_n": 0.980665, "two_finger_friction_capacity_n": 15.600000000000001 }, "observation_origin": "caller_declared_not_verified", "physical_robot_ready": false, "reasons": [ "Declared checks pass for simulated transport planning; this is not hardware qualification." ], "schema": "dvidia.task-feasibility-result/v1", "scope": "Planning assessment only. Parallel two-finger vertical-lift approximation; ignores moment, center of mass, deformation, transient impacts and unmodeled contact effects. Unknown values remain unknown; mass is never inferred from images. Probe/test-lift/controller integration is not implemented. No hardware actuation is performed; this is not hardware qualification.", "status": "ready_for_simulated_transport" }, "probe": { "admissible": true, "historical_qualified": true, "latest_qualified": true, "physical_robot_ready": false, "reasons": [], "receipt_sha256": "6cdf6dc9c8ce0641b6c33b1c0f8557da3604acb4cb3243527c74eecb952277ba", "schema": "dvidia.probe-evidence-verification/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.", "verified": true }, "schema": "dvidia.task-feasibility-with-probe/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification. Unknown planning values remain unknown. The unchanged approximate vertical-lift planning gate describes declared loads; it supplies no transport path, geospatial-goal contract or actuator permission. This wrapper never issues controls.", "status": "ready_for_simulated_transport" }, "context": { "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe", "calibration_id": "synthetic_probe_v01", "calibration_scope": "simulation_assumptions_not_hardware", "command_sha256": "c48cf612118a5ce27a4e731ad78026ff2f90534b61a2fcabde0ddb71e8a0444d", "feasibility_sha256": "7c932cfdbaefffa299be3075549eca688e2448f83e90c83319f55b31fb506f42", "grasp_id": "m0475-f78-p0-issued_joint-probe-0", "initial_object_position_m": [ 0.3040000227603607, -0.024000165083053884, 0.07989224451748383 ], "model_sha256": "1f40b4a775c9316f9f825a4bd7d2c47adeb0628e0c4d1ffec52028e1339f857e", "native_status": { "simulation_time_s": 20.00000000000146, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "object_id": "task_block", "per_finger_force_ceiling_n": 10.0, "pose_binding_sha256": "060d3471524df9c34f52e81c579fd02a531ae1d3923d447135c1715541ab7eec", "probe_index": 0, "probe_origin_object_position_m": [ 0.3038755731582487, -0.023974484437896904, 0.07992194440271183 ], "probe_origin_tcp_local_offset_m": [ 0.0023596200830591093, 0.000291912041211631, 0.0019339671294990768 ], "probe_start_s": 11.079999999999298, "robot_profile": "piper", "run_id": "m0475-f78-p0-issued_joint", "schema": "dvidia.probe-context/v1", "source_sha256": "d28324843344114f1ee863cee3c48dbca8aa37fd11222623563a0b1d40c364a6" }, "physical_robot_ready": false, "planning_input": { "allowed_pose_tolerance_m": 0.003, "calibration_id": "synthetic_probe_v01", "friction_interval": [ 0.78, 0.78 ], "geometry_known": true, "gripper_max_opening_interval_m": [ 0.07, 0.07 ], "gripper_min_closure_m": 0.0, "mass_interval_kg": [ 0.0475, 0.0475 ], "object_width_interval_m": [ 0.04, 0.04 ], "observations_fresh": true, "per_finger_normal_force_budget_n": 10.0, "planned_upward_accel_m_s2": 0.1, "pose_specific_payload_limit_kg": 0.1, "pose_uncertainty_m": 0.0, "reachability": "reachable", "safety_factor": 1.5, "schema": "dvidia.task-feasibility-input/v1", "slip_detected": false, "test_lift_passed": false }, "receipt": { "audit": { "controller_claim_mismatches": [], "controller_claims_checked": 2, "controller_conservative_abstention_count": 0, "controller_coverage": "Only the supplied claims are checked; omitted decisions are not inferred.", "controller_false_qualification_count": 0, "controller_positive_claims": 2, "force_ceiling_known": true, "maximum_observed_per_finger_force_n": 0.4455109619488252, "reasons": [], "rows": 20000, "unexpected_contact_native_ticks": 0, "valid": true }, "context": { "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe", "calibration_id": "synthetic_probe_v01", "calibration_scope": "simulation_assumptions_not_hardware", "command_sha256": "c48cf612118a5ce27a4e731ad78026ff2f90534b61a2fcabde0ddb71e8a0444d", "feasibility_sha256": "7c932cfdbaefffa299be3075549eca688e2448f83e90c83319f55b31fb506f42", "grasp_id": "m0475-f78-p0-issued_joint-probe-0", "initial_object_position_m": [ 0.3040000227603607, -0.024000165083053884, 0.07989224451748383 ], "model_sha256": "1f40b4a775c9316f9f825a4bd7d2c47adeb0628e0c4d1ffec52028e1339f857e", "native_status": { "simulation_time_s": 20.00000000000146, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "object_id": "task_block", "per_finger_force_ceiling_n": 10.0, "pose_binding_sha256": "060d3471524df9c34f52e81c579fd02a531ae1d3923d447135c1715541ab7eec", "probe_index": 0, "probe_origin_object_position_m": [ 0.3038755731582487, -0.023974484437896904, 0.07992194440271183 ], "probe_origin_tcp_local_offset_m": [ 0.0023596200830591093, 0.000291912041211631, 0.0019339671294990768 ], "probe_start_s": 11.079999999999298, "robot_profile": "piper", "run_id": "m0475-f78-p0-issued_joint", "schema": "dvidia.probe-context/v1", "source_sha256": "d28324843344114f1ee863cee3c48dbca8aa37fd11222623563a0b1d40c364a6" }, "context_sha256": "6c841687b8966a40bd23478de6e9788063dc97d18f06fe8fca94883b7e93c33a", "controller_qualifications": [ { "probe_index": 0, "qualified": true, "t_seconds": 11.679999999998966 }, { "probe_index": 0, "qualified": true, "t_seconds": 20.00000000000146 } ], "criteria": { "distance_comparison_epsilon": 1e-12, "initial_sample_tolerance_m": 0.001, "maximum_tcp_local_drift_m": 0.003, "minimum_continuous_dwell_s": 0.1, "minimum_per_finger_force_n_exclusive": 0.01, "minimum_rise_m": 0.006, "native_dt_s": 0.001, "origin_tolerance_m": 1e-09, "time_tolerance_s": 1e-08 }, "history": { "ever_qualified": true, "first_qualified_s": 11.675999999998968, "maximum_continuous_qualifying_s": 8.424 }, "latest": { "condition_valid": true, "continuous_qualifying_s": 8.424, "controller_claim": { "probe_index": 0, "qualified": true, "t_seconds": 20.00000000000146 }, "native_tick": 20000, "qualified": true, "rise_m": 0.008267900080454166, "tcp_local_drift_m": 0.0008951869914759662, "time_s": 20.00000000000146 }, "metadata_sha256": "ad8229630cc9f8718829bb8317b1a82480dcf18b9f71bd23666acfe71a003ef7", "native_arrays_sha256": "26c8de35ab05c64ad20c3a638a2e1c79689b8b45cce8af9b46569ff639e33c32", "physical_robot_ready": false, "receipt_sha256": "6cdf6dc9c8ce0641b6c33b1c0f8557da3604acb4cb3243527c74eecb952277ba", "schema": "dvidia.probe-evidence/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification." }, "status": "inspected", "verification": { "admissible": true, "historical_qualified": true, "latest_qualified": true, "physical_robot_ready": false, "reasons": [], "receipt_sha256": "6cdf6dc9c8ce0641b6c33b1c0f8557da3604acb4cb3243527c74eecb952277ba", "schema": "dvidia.probe-evidence-verification/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.", "verified": true } }, "stationarity": { "complete_5s": true, "grip_retention_and_stationarity": false, "maximum_tcp_orientation_excursion_rad": 0.0202254895531073, "maximum_tcp_position_excursion_m": 0.004796602389271861, "orientation_ceiling_rad": 0.05, "position_ceiling_m": 0.004, "required_s": 5.0, "scope": "Common recorded native TCP pose endpoint, not calibrated hardware stationarity.", "tcp_pose_within_bounds": false, "terminal_tcp_orientation_delta_rad": 0.0202254895531073, "terminal_tcp_position_delta_m": [ -0.004477754519303934, 0.00037879996768847013, 0.0016773847293036076 ] }, "status": "inspected" }, "files": { "episode.json.gz": { "bytes": 793777, "sha256": "5bb91ecc77b7b646a01067e9b9e5dede18067e64c9f2fd04879323391e44018b" }, "evaluation.json": { "bytes": 13493, "sha256": "dacd5ccda49c34e0023a6530be88ffe60c97ec693e216217afefae3564970af7" }, "native.json": { "bytes": 13763, "sha256": "19cc1d5998901cbc12da2916add3096763081e9decbfc7193981bfabc4b871e0" }, "native.npz": { "bytes": 4055218, "sha256": "732a104a701d5bc2c4155d4cb976daae5093016d11273b28432524da8d70b2d8" }, "started.json": { "bytes": 151, "sha256": "5d8ba258ca9c8e8a1e24965b31504a92741650506acb166347e81b794786e7b0" } }, "friction": 0.78, "id": "m0475-f78-p0-issued_joint", "mass_kg": 0.0475, "metrics": { "carry_complete": false, "carry_contact_loss_events": 0, "carry_contact_loss_tolerance_seconds": 0.04, "dwell_seconds": 0.0, "first_success_time_seconds": null, "grasp_seen": true, "lift_dwell_seconds": 0.0, "lift_seen": false, "max_carry_contact_loss_seconds": 0.0, "max_object_lift_m": 0.008843355345340018, "max_pad_normal_force_n": 0.4455109619488252, "physical_robot_ready": false, "reason": "timeout", "retention_lost": false, "simulation_time": 20.00000000000146, "steps": 1000, "success": false, "target_distance_m": 0.11415416251518583, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "policy": { "abort_reason": null, "acquisition_contract": { "comparison_scope": "Closed-loop variants may acquire different trajectories through early hold/retry. This is not an isolated classifier ablation.", "control_dt_s": 0.02, "evidence_admission": "Current bilateral force >0.01 N, no table support, object rise >=6 mm and TCP-local offset drift <=3 mm continuously across sampled boundaries for elapsed >=100 ms.", "hold": "Latch measured six arm joints and the last issued jaw target at admission/terminal invalidity. No full lift/transfer, no squeeze escalation, no post-admission retry.", "invalidation": "At each subsequent 20 ms observation and final observation, invalidate immediately on lost contact/force, support, insufficient rise, >3 mm local drift or unexpected contact. Never requalify after terminal invalidity.", "observation_origin": "privileged_native_simulator_state", "parameters": { "close_timeout_s": 1.4, "consecutive_alarm_samples": 2, "max_retries": 1, "monitor_min_probe_motion_m": 0.003, "probe_height_m": 0.01, "probe_min_object_rise_m": 0.006, "probe_speed_m_s": 0.02, "probe_timeout_s": 1.4, "qualification_dwell_s": 0.1, "relative_drift_limit_m": 0.003, "retry_clearance_m": 0.012, "retry_open_timeout_s": 1.2, "retry_recenter_timeout_s": 1.5 }, "physical_robot_ready": false, "prefix": "Original GuardedPiperTaskPolicy approach/close and at most one supported open/recenter/retry; already uses authored native state, not a fully blind baseline.", "sampling_limit": "Independent 1 ms evidence may contradict sampled admission; that remains a finding. No sensor or material inference is implemented.", "schema": "dvidia.piper-probe-stop/v1", "stop_scope": "Holding native position targets is not physical arrest or calibrated force limiting; inertia and existing target rate limits can continue motion.", "timer_admission": "Same 10 mm/20 mm/s probe target law, admitted at elapsed >=600 ms from that probe start; no evidence predicate or slip alarm before admission. Unexpected contacts and bounded timeouts still stop.", "timer_admission_s": 0.6, "variants": [ "evidence", "timer" ] }, "acquisition_variant": "evidence", "active_probe_index": 0, "admission_time_s": 11.679999999998966, "admitted": true, "contract": { "acquisition": "Unchanged ProbeStopPolicy evidence acquisition, including its bounded supported retry. All variants share the same prefix through the first admission observation.", "cartesian": "Latch measured TCP position/orientation and preceding issued targets. Fixed joint bias equals issued target minus pose_action at the admission pose. First command repeats the exact issued target; later pose_action updates receive that fixed bias.", "control_dt_s": 0.02, "final_observation": "Repeat force, original eligibility and Cartesian pose-error checks. Do not solve or issue a hypothetical next control at the terminal observation.", "invalid_measurements": "Malformed, nonfinite or noncausal observations terminally refuse and raise without issuing a command. No measured-position stop is claimed from invalid measurements.", "issued_joint": "Latch the preceding issued six joint targets and the same last issued jaw target at admission.", "limits": { "initial_joint_bias_ceiling_rad": 0.08, "joint_correction_ceiling_rad": 0.03, "joint_correction_rate_rad_s": 0.1, "native_joint_target_margin_rad": 0.02, "per_finger_force_ceiling_n": 10.0, "tcp_orientation_error_ceiling_rad": 0.05, "tcp_position_error_ceiling_m": 0.004 }, "measured_joint": "Original hold: latch measured six joint coordinates and the last issued jaw target at admission.", "observation_origin": "privileged_native_simulator_state", "physical_robot_ready": false, "qualifications": "Engineering limits and the 10 N ceiling are authored synthetic assumptions, not damage limits or calibrated physical telemetry. Position targets are not physical stops or force limiters. No load/friction inference, model training or complete placement is implemented.", "rate_scope": "The extra correction slews at at most 0.002 rad per 20 ms per joint. Original native 1 ms target slew, servos, gains and force caps remain unchanged.", "refusal": "Original eligibility loss, unexpected contact or observed pad force >10 N terminally requests measured joint hold and the frozen jaw target. Cartesian error, initial-bias, total-correction or native-margin exhaustion also refuses terminally; it never chases an already failed grip.", "sampling": "Control checks occur at 20 ms boundaries. Independent saved 1 ms native evidence must judge a continuous 5 s hold; missed between-boundary failures remain findings.", "schema": "dvidia.piper-retention/v2", "variants": [ "measured_joint", "issued_joint", "cartesian" ] }, "events": [ { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "continue", "drift_streak": 0, "object_height_delta_m": 0.0, "phase": "probe", "progress_streak": 0, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0, "retry_index": 0, "t_seconds": 11.079999999999298, "table_supported": true, "tcp_probe_height_delta_m": 0.0 }, "observation_origin": "privileged_native_simulator_state", "phase": "guard_probe", "probe_index": 0, "reason": "slow_load_bearing_check", "retention_variant": "issued_joint", "retry_index": 0, "status": "probing", "t_seconds": 11.079999999999298, "type": "probe_started", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "bounded_issued_joint_hold", "drift_streak": 0, "object_height_delta_m": 0.007370585810732064, "phase": "probe", "progress_streak": 0, "qualification_dwell_seconds": 0.09999999999994458, "qualified": true, "relative_offset_error_m": 7.467735799443156e-05, "retry_index": 0, "t_seconds": 11.679999999998966, "table_supported": false, "tcp_probe_height_delta_m": 0.007474940541420783 }, "observation_origin": "privileged_native_simulator_state", "phase": "probe_stop", "probe_index": 0, "reason": "sampled_probe_evidence", "retention_hold_reference": { "fixed_bias_rad": null, "frozen_jaw_target_m": 0.0, "issued_joint_targets_rad": [ -0.08358156413562244, 1.7253311519067327, -1.159898092815617, -0.0001210090230993677, 1.0813518373702553, -0.08678084152842581 ], "measured_joint_position_rad": [ -0.08359397024458642, 1.730249214481843, -1.1551092965874783, -0.00013729535595856273, 1.0544043918391357, -0.08674936128179336 ], "position_m": [ 0.31023273677094276, -0.02459992838012082, 0.08935729560784389 ], "quaternion_wxyz": [ 0.014192020449111832, -0.001606850445500309, 0.9998971887487055, -0.0012714242618944744 ], "raw_pose_joint_targets_rad": null, "t_seconds": 11.679999999998966 }, "retention_variant": "issued_joint", "retry_index": 0, "status": "qualified_hold", "t_seconds": 11.679999999998966, "type": "evidence_qualified", "variant": "evidence" } ], "ever_admitted": true, "final_observed": true, "frozen_jaw_target_m": 0.0, "initial_context": { "object_position_m": [ 0.3040000227603607, -0.024000165083053884, 0.07989224451748383 ], "observation_origin": "privileged_native_simulator_state", "t_seconds": 0.0, "tcp_position_m": [ 0.4890696662845219, 0.0014141975654808877, 0.3665849431043091 ], "tcp_quaternion_wxyz": [ 0.6580840948238629, 2.7730466224793136e-07, 0.7529444362872891, -1.9485471114950535e-06 ] }, "last_observed_s": 20.00000000000146, "observation_origin": "privileged_native_simulator_state", "physical_robot_ready": false, "probes": [ { "admission_time_s": 11.679999999998966, "disposition": "qualified_hold", "end_time_s": null, "local_offset_origin_m": [ 0.0023596200830591093, 0.000291912041211631, 0.0019339671294990768 ], "object_origin_m": [ 0.3038755731582487, -0.023974484437896904, 0.07992194440271183 ], "observation_origin": "privileged_native_simulator_state", "probe_index": 0, "reason": null, "start_time_s": 11.079999999999298, "tcp_origin_m": [ 0.3062144592459923, -0.024256708342500648, 0.08188235506642311 ], "tcp_quaternion_wxyz": [ 0.005563395696731071, -0.0016238670582679772, 0.9999830660365068, -0.0005285114246204658 ] } ], "retention": { "hold_reference": { "fixed_bias_rad": null, "frozen_jaw_target_m": 0.0, "issued_joint_targets_rad": [ -0.08358156413562244, 1.7253311519067327, -1.159898092815617, -0.0001210090230993677, 1.0813518373702553, -0.08678084152842581 ], "measured_joint_position_rad": [ -0.08359397024458642, 1.730249214481843, -1.1551092965874783, -0.00013729535595856273, 1.0544043918391357, -0.08674936128179336 ], "position_m": [ 0.31023273677094276, -0.02459992838012082, 0.08935729560784389 ], "quaternion_wxyz": [ 0.014192020449111832, -0.001606850445500309, 0.9998971887487055, -0.0012714242618944744 ], "raw_pose_joint_targets_rad": null, "t_seconds": 11.679999999998966 }, "input_refusals": [], "native_joint_control_limits_rad": [ [ -2.618, 2.618 ], [ 0.0, 3.14 ], [ -2.697, 0.0 ], [ -1.832, 1.832 ], [ -1.22, 1.22 ], [ -3.14, 3.14 ] ], "variant": "issued_joint" }, "retry_count": 0, "schema": "dvidia.piper-retention/v2", "status": "qualified_hold", "stop_targets_rad": [ -0.08358156413562244, 1.7253311519067327, -1.159898092815617, -0.0001210090230993677, 1.0813518373702553, -0.08678084152842581 ], "variant": "issued_joint" }, "scene_id": "m0475-f78-p0", "timing": { "policy_cpu": { "maximum_s": 0.000556000000000445, "mean_s": 0.00011202099999998615, "over_20ms": 0, "p50_s": 9.700000000023579e-05, "p95_s": 0.0002270500000006059, "p99_s": 0.00034817999999980904, "samples": 1000 }, "policy_wall": { "maximum_s": 0.002050959039479494, "mean_s": 0.0001310567185282707, "over_20ms": 0, "p50_s": 9.795860387384892e-05, "p95_s": 0.0003067038021981713, "p99_s": 0.0007328967377543443, "samples": 1000 }, "step_cpu": { "maximum_s": 0.016463000000000783, "mean_s": 0.003937264999999994, "over_20ms": 0, "p50_s": 0.003341999999999956, "p95_s": 0.007653000000000885, "p99_s": 0.00980820000000035, "samples": 1000 }, "step_wall": { "maximum_s": 0.10885070823132992, "mean_s": 0.004912483770400286, "over_20ms": 10, "p50_s": 0.0034737710375338793, "p95_s": 0.011493380717001851, "p99_s": 0.019881729763001194, "samples": 1000 } }, "valid": true, "variant": "issued_joint" }, { "error": null, "evaluation": { "claims": { "false_maintained_grip": 0, "false_maintained_pose": 0, "maintained_checks": 15, "scope": "Claimed qualified boundaries after admission, compared with every native row since admission; grip includes correct initial prefix. Counts are diagnostic, not independent trials." }, "corrections": { "bound_refusal_counts": { "joint_correction_exhausted": 1 }, "flag_counts": { "correction_rate_limited": 12 }, "hold_record_count": 417, "input_refusals": [], "maximum_abs_accepted_correction_rate_rad_s": 0.10000000000000009, "maximum_abs_active_correction_rad": 0.0272673406766286, "maximum_abs_desired_correction_rad": 0.0314671372373858, "maximum_abs_pose_error_increment_rad": 0.004302050383264477, "rate_limited_axis_occurrences": 12, "scope": "Includes recorded final diagnostic checks; only command_issued rows represent issued controls." }, "decomposition": { "elapsed_s": 5.0, "local_offset_change_m": 0.0004996329612594793, "object_world_z_delta_m": -0.0013563903137573524, "relative_world_z_delta_m": -0.00048163052130087425, "scope": "Kinematic components, not causal attribution or calibrated physical slip.", "tcp_world_z_delta_m": -0.0008747597924564782 }, "final": { "both_qualified": false, "controller_qualified": false, "evidence_admissible": false, "native_qualified": false }, "first_admission": { "native_prefix_qualified": true, "native_qualifying_window_s": 0.10400000000000001, "probe_index": 0, "time_s": 11.679999999998966 }, "grip_only": { "all_native_hold_forces_within_ceiling": true, "combined_qualified_pause": false, "complete_5s": true, "controller_retained_at_5s": false, "first_native_predicate_failure_s": null, "followup_available_s": 8.320000000002494, "native_pause_success": true, "reason": "success", "required_s": 5.0, "success": true, "target_time_s": 16.679999999998966 }, "native": { "arrays_sha256": "48f0b92039b1c021956ab496fd2d0e1353ea09c789e9f1df6524962474e8b719", "complete": true, "maximum_per_finger_force_n": 0.4455109619488252, "rows": 20000, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "physical_robot_ready": false, "primary": { "all_native_hold_forces_within_ceiling": true, "combined_qualified_pause": false, "complete_5s": true, "controller_retained_at_5s": false, "first_native_predicate_failure_s": null, "first_tcp_pose_failure_s": null, "followup_available_s": 8.320000000002494, "native_pause_success": true, "reason": "success", "required_s": 5.0, "success": true, "target_time_s": 16.679999999998966 }, "probes": [ { "claims": [ { "native_prefix_qualified": true, "t_seconds": 11.679999999998966 } ], "disposition": "invalidated_hold", "final_native_qualified_from_origin": false, "probe_index": 0, "start_time_s": 11.079999999999298 } ], "receipt": { "admission": { "observation_origin": "privileged_native_simulation_plus_caller_planning_assumptions", "physical_robot_ready": false, "planning": { "computed": { "conservative_required_load_n": 0.7058488125, "gravity_m_s2": 9.80665, "pose_specific_payload_limit_force_n": 0.980665, "two_finger_friction_capacity_n": 15.600000000000001 }, "observation_origin": "caller_declared_not_verified", "physical_robot_ready": false, "reasons": [ "Run and record a cautious test lift under the same calibrated pose and load conditions before simulated transport planning." ], "schema": "dvidia.task-feasibility-result/v1", "scope": "Planning assessment only. Parallel two-finger vertical-lift approximation; ignores moment, center of mass, deformation, transient impacts and unmodeled contact effects. Unknown values remain unknown; mass is never inferred from images. Probe/test-lift/controller integration is not implemented. No hardware actuation is performed; this is not hardware qualification.", "status": "test_lift_required" }, "probe": { "admissible": false, "historical_qualified": true, "latest_qualified": false, "physical_robot_ready": false, "reasons": [ "latest_native_window_not_qualified", "latest_controller_not_qualified" ], "receipt_sha256": "0d0808a8d16cf99708cdaae28ef325682139d2c96188f4c48f73f32aa319160c", "schema": "dvidia.probe-evidence-verification/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.", "verified": true }, "schema": "dvidia.task-feasibility-with-probe/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification. Unknown planning values remain unknown. The unchanged approximate vertical-lift planning gate describes declared loads; it supplies no transport path, geospatial-goal contract or actuator permission. This wrapper never issues controls.", "status": "test_lift_required" }, "context": { "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe", "calibration_id": "synthetic_probe_v01", "calibration_scope": "simulation_assumptions_not_hardware", "command_sha256": "b34942bfb0730ae9345b5d2058f8e5fbac0744fd4c9865012882f21379ebcc38", "feasibility_sha256": "7c932cfdbaefffa299be3075549eca688e2448f83e90c83319f55b31fb506f42", "grasp_id": "m0475-f78-p0-incremental-probe-0", "initial_object_position_m": [ 0.3040000227603607, -0.024000165083053884, 0.07989224451748383 ], "model_sha256": "1f40b4a775c9316f9f825a4bd7d2c47adeb0628e0c4d1ffec52028e1339f857e", "native_status": { "simulation_time_s": 20.00000000000146, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "object_id": "task_block", "per_finger_force_ceiling_n": 10.0, "pose_binding_sha256": "4d19306a88dcbace658c1840c3f886d07b7430d2e5cf8ca9eb61323493aaea9f", "probe_index": 0, "probe_origin_object_position_m": [ 0.3038755731582487, -0.023974484437896904, 0.07992194440271183 ], "probe_origin_tcp_local_offset_m": [ 0.0023596200830591093, 0.000291912041211631, 0.0019339671294990768 ], "probe_start_s": 11.079999999999298, "robot_profile": "piper", "run_id": "m0475-f78-p0-incremental", "schema": "dvidia.probe-context/v1", "source_sha256": "d28324843344114f1ee863cee3c48dbca8aa37fd11222623563a0b1d40c364a6" }, "physical_robot_ready": false, "planning_input": { "allowed_pose_tolerance_m": 0.003, "calibration_id": "synthetic_probe_v01", "friction_interval": [ 0.78, 0.78 ], "geometry_known": true, "gripper_max_opening_interval_m": [ 0.07, 0.07 ], "gripper_min_closure_m": 0.0, "mass_interval_kg": [ 0.0475, 0.0475 ], "object_width_interval_m": [ 0.04, 0.04 ], "observations_fresh": true, "per_finger_normal_force_budget_n": 10.0, "planned_upward_accel_m_s2": 0.1, "pose_specific_payload_limit_kg": 0.1, "pose_uncertainty_m": 0.0, "reachability": "reachable", "safety_factor": 1.5, "schema": "dvidia.task-feasibility-input/v1", "slip_detected": false, "test_lift_passed": false }, "receipt": { "audit": { "controller_claim_mismatches": [], "controller_claims_checked": 2, "controller_conservative_abstention_count": 0, "controller_coverage": "Only the supplied claims are checked; omitted decisions are not inferred.", "controller_false_qualification_count": 0, "controller_positive_claims": 1, "force_ceiling_known": true, "maximum_observed_per_finger_force_n": 0.4455109619488252, "reasons": [], "rows": 20000, "unexpected_contact_native_ticks": 0, "valid": true }, "context": { "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe", "calibration_id": "synthetic_probe_v01", "calibration_scope": "simulation_assumptions_not_hardware", "command_sha256": "b34942bfb0730ae9345b5d2058f8e5fbac0744fd4c9865012882f21379ebcc38", "feasibility_sha256": "7c932cfdbaefffa299be3075549eca688e2448f83e90c83319f55b31fb506f42", "grasp_id": "m0475-f78-p0-incremental-probe-0", "initial_object_position_m": [ 0.3040000227603607, -0.024000165083053884, 0.07989224451748383 ], "model_sha256": "1f40b4a775c9316f9f825a4bd7d2c47adeb0628e0c4d1ffec52028e1339f857e", "native_status": { "simulation_time_s": 20.00000000000146, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "object_id": "task_block", "per_finger_force_ceiling_n": 10.0, "pose_binding_sha256": "4d19306a88dcbace658c1840c3f886d07b7430d2e5cf8ca9eb61323493aaea9f", "probe_index": 0, "probe_origin_object_position_m": [ 0.3038755731582487, -0.023974484437896904, 0.07992194440271183 ], "probe_origin_tcp_local_offset_m": [ 0.0023596200830591093, 0.000291912041211631, 0.0019339671294990768 ], "probe_start_s": 11.079999999999298, "robot_profile": "piper", "run_id": "m0475-f78-p0-incremental", "schema": "dvidia.probe-context/v1", "source_sha256": "d28324843344114f1ee863cee3c48dbca8aa37fd11222623563a0b1d40c364a6" }, "context_sha256": "ab008bcae70edbf0be3d7ad935181a827621dbe34f28f1350b1d77e19c6a81eb", "controller_qualifications": [ { "probe_index": 0, "qualified": true, "t_seconds": 11.679999999998966 }, { "probe_index": 0, "qualified": false, "t_seconds": 20.00000000000146 } ], "criteria": { "distance_comparison_epsilon": 1e-12, "initial_sample_tolerance_m": 0.001, "maximum_tcp_local_drift_m": 0.003, "minimum_continuous_dwell_s": 0.1, "minimum_per_finger_force_n_exclusive": 0.01, "minimum_rise_m": 0.006, "native_dt_s": 0.001, "origin_tolerance_m": 1e-09, "time_tolerance_s": 1e-08 }, "history": { "ever_qualified": true, "first_qualified_s": 11.675999999998968, "maximum_continuous_qualifying_s": 5.245 }, "latest": { "condition_valid": false, "continuous_qualifying_s": 0.0, "controller_claim": { "probe_index": 0, "qualified": false, "t_seconds": 20.00000000000146 }, "native_tick": 20000, "qualified": false, "rise_m": 0.005683860600846885, "tcp_local_drift_m": 0.0008939970005262983, "time_s": 20.00000000000146 }, "metadata_sha256": "ad8229630cc9f8718829bb8317b1a82480dcf18b9f71bd23666acfe71a003ef7", "native_arrays_sha256": "48f0b92039b1c021956ab496fd2d0e1353ea09c789e9f1df6524962474e8b719", "physical_robot_ready": false, "receipt_sha256": "0d0808a8d16cf99708cdaae28ef325682139d2c96188f4c48f73f32aa319160c", "schema": "dvidia.probe-evidence/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification." }, "status": "inspected", "verification": { "admissible": false, "historical_qualified": true, "latest_qualified": false, "physical_robot_ready": false, "reasons": [ "latest_native_window_not_qualified", "latest_controller_not_qualified" ], "receipt_sha256": "0d0808a8d16cf99708cdaae28ef325682139d2c96188f4c48f73f32aa319160c", "schema": "dvidia.probe-evidence-verification/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.", "verified": true } }, "stationarity": { "complete_5s": true, "grip_retention_and_stationarity": true, "maximum_tcp_orientation_excursion_rad": 0.00733447236267818, "maximum_tcp_position_excursion_m": 0.0015802472235246932, "orientation_ceiling_rad": 0.05, "position_ceiling_m": 0.004, "required_s": 5.0, "scope": "Common recorded native TCP pose endpoint, not calibrated hardware stationarity.", "tcp_pose_within_bounds": true, "terminal_tcp_orientation_delta_rad": 0.00733447236267818, "terminal_tcp_position_delta_m": [ -0.0013117410472203161, 0.00010635797100522898, -0.0008747597924564782 ] }, "status": "inspected" }, "files": { "episode.json.gz": { "bytes": 818572, "sha256": "1b6bbf3b9a962ea009f7c6207e54d2b0ed38b41fc33edbe2632283a6f45489b2" }, "evaluation.json": { "bytes": 13789, "sha256": "0d5b62f9d7cbe41957676533671029437a827cb6e518807aa5f60d52f7ef8a7d" }, "native.json": { "bytes": 13763, "sha256": "19cc1d5998901cbc12da2916add3096763081e9decbfc7193981bfabc4b871e0" }, "native.npz": { "bytes": 3983514, "sha256": "d9f32e4ececb16004484378b14de4be542a0f3c9b690ad7b0669196c2da3d040" }, "started.json": { "bytes": 150, "sha256": "d9b8eb81b4a5a3b57849e6654d15630ea54e24fdb2401c08494ee947083806ef" } }, "friction": 0.78, "id": "m0475-f78-p0-incremental", "mass_kg": 0.0475, "metrics": { "carry_complete": false, "carry_contact_loss_events": 0, "carry_contact_loss_tolerance_seconds": 0.04, "dwell_seconds": 0.0, "first_success_time_seconds": null, "grasp_seen": true, "lift_dwell_seconds": 0.0, "lift_seen": false, "max_carry_contact_loss_seconds": 0.0, "max_object_lift_m": 0.007683510571328281, "max_pad_normal_force_n": 0.4455109619488252, "physical_robot_ready": false, "reason": "timeout", "retention_lost": false, "simulation_time": 20.00000000000146, "steps": 1000, "success": false, "target_distance_m": 0.11297953181182638, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "policy": { "abort_reason": "joint_correction_exhausted", "acquisition_contract": { "comparison_scope": "Closed-loop variants may acquire different trajectories through early hold/retry. This is not an isolated classifier ablation.", "control_dt_s": 0.02, "evidence_admission": "Current bilateral force >0.01 N, no table support, object rise >=6 mm and TCP-local offset drift <=3 mm continuously across sampled boundaries for elapsed >=100 ms.", "hold": "Latch measured six arm joints and the last issued jaw target at admission/terminal invalidity. No full lift/transfer, no squeeze escalation, no post-admission retry.", "invalidation": "At each subsequent 20 ms observation and final observation, invalidate immediately on lost contact/force, support, insufficient rise, >3 mm local drift or unexpected contact. Never requalify after terminal invalidity.", "observation_origin": "privileged_native_simulator_state", "parameters": { "close_timeout_s": 1.4, "consecutive_alarm_samples": 2, "max_retries": 1, "monitor_min_probe_motion_m": 0.003, "probe_height_m": 0.01, "probe_min_object_rise_m": 0.006, "probe_speed_m_s": 0.02, "probe_timeout_s": 1.4, "qualification_dwell_s": 0.1, "relative_drift_limit_m": 0.003, "retry_clearance_m": 0.012, "retry_open_timeout_s": 1.2, "retry_recenter_timeout_s": 1.5 }, "physical_robot_ready": false, "prefix": "Original GuardedPiperTaskPolicy approach/close and at most one supported open/recenter/retry; already uses authored native state, not a fully blind baseline.", "sampling_limit": "Independent 1 ms evidence may contradict sampled admission; that remains a finding. No sensor or material inference is implemented.", "schema": "dvidia.piper-probe-stop/v1", "stop_scope": "Holding native position targets is not physical arrest or calibrated force limiting; inertia and existing target rate limits can continue motion.", "timer_admission": "Same 10 mm/20 mm/s probe target law, admitted at elapsed >=600 ms from that probe start; no evidence predicate or slip alarm before admission. Unexpected contacts and bounded timeouts still stop.", "timer_admission_s": 0.6, "variants": [ "evidence", "timer" ] }, "acquisition_variant": "evidence", "active_probe_index": 0, "admission_time_s": 11.679999999998966, "admitted": false, "candidate": "incremental", "contract": { "acquisition": "Unchanged ProbeStopPolicy evidence acquisition, including its bounded supported retry. All variants share the same prefix through the first admission observation.", "admission": "Freeze the measured TCP pose and preceding issued target. Check the unchanged 0.08 rad initial bias and 0.02 rad joint margin. Repeat the preceding issued target exactly; initialize cumulative correction to zero.", "anti_windup": "Refuse the unlimited cumulative proposal before slew limiting. Commit correction only after all checks pass. Refusal is terminal and leaves accumulated correction unchanged.", "candidate": "incremental", "control_dt_s": 0.02, "final_observation": "Check force, original eligibility and pose error without solving, integrating or issuing another command.", "invalid_measurements": "Malformed, nonfinite or noncausal observations terminally refuse and raise without issuing a command. No measured-position stop is claimed from invalid measurements.", "limits": { "initial_joint_bias_ceiling_rad": 0.08, "joint_correction_ceiling_rad": 0.03, "joint_correction_rate_rad_s": 0.1, "native_joint_target_margin_rad": 0.02, "per_finger_force_ceiling_n": 10.0, "tcp_orientation_error_ceiling_rad": 0.05, "tcp_position_error_ceiling_m": 0.004 }, "measured_joint_eligibility": "At admission, subsequent updates and final observations, refuse measured joints outside the native 0.02 rad target margin before solving. This prevents absolute-target clipping from manufacturing a nonzero increment at zero pose error.", "observation_origin": "privileged_native_simulator_state", "physical_robot_ready": false, "qualifications": "Engineering limits and the 10 N ceiling are authored synthetic assumptions, not damage limits or calibrated physical telemetry. Position targets are not physical stops or force limiters. No load/friction inference, model training or complete placement is implemented.", "rate_scope": "The extra correction slews at at most 0.002 rad per 20 ms per joint. Original native 1 ms target slew, servos, gains and force caps remain unchanged.", "refusal": "Original grip, force, pose, initial-bias, joint-margin and timeout refusals remain terminal. A valid terminal observation latches measured joints and the frozen jaw; its fallback is not active incremental regulation.", "sampling": "Control checks occur at 20 ms boundaries. Independent saved 1 ms native evidence must judge a continuous 5 s hold; missed between-boundary failures remain findings.", "schema": "dvidia.piper-incremental-hold/v3", "update_gain_per_boundary": 1.0, "update_law": "increment = pose_action(frozen_admission_pose) - current_measured_joints; proposal = previous_correction + 1.0 * increment; refuse unlimited proposal outside +/-0.03 rad; slew accepted correction by at most 0.002 rad per joint per 20 ms; target = admission_issued_target + accepted_correction", "variants": [ "incremental" ] }, "events": [ { "accumulated_correction_rad": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "acquisition_variant": "evidence", "active_regulation": false, "candidate": "incremental", "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "continue", "drift_streak": 0, "object_height_delta_m": 0.0, "phase": "probe", "progress_streak": 0, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0, "retry_index": 0, "t_seconds": 11.079999999999298, "table_supported": true, "tcp_probe_height_delta_m": 0.0 }, "final_observation": false, "observation_origin": "privileged_native_simulator_state", "phase": "guard_probe", "pose_error_increment_rad": null, "probe_index": 0, "proposed_cumulative_correction_rad": null, "reason": "slow_load_bearing_check", "refused_bounds": null, "retention_variant": "incremental", "retry_index": 0, "status": "probing", "t_seconds": 11.079999999999298, "type": "probe_started", "update_gain_per_boundary": 1.0, "update_law": "increment = pose_action(frozen_admission_pose) - current_measured_joints; proposal = previous_correction + 1.0 * increment; refuse unlimited proposal outside +/-0.03 rad; slew accepted correction by at most 0.002 rad per joint per 20 ms; target = admission_issued_target + accepted_correction", "variant": "incremental" }, { "accumulated_correction_rad": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "acquisition_variant": "evidence", "active_regulation": true, "candidate": "incremental", "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "bounded_incremental_hold", "drift_streak": 0, "object_height_delta_m": 0.007370585810732064, "phase": "probe", "progress_streak": 0, "qualification_dwell_seconds": 0.09999999999994458, "qualified": true, "relative_offset_error_m": 7.467735799443156e-05, "retry_index": 0, "t_seconds": 11.679999999998966, "table_supported": false, "tcp_probe_height_delta_m": 0.007474940541420783 }, "final_observation": false, "observation_origin": "privileged_native_simulator_state", "phase": "probe_stop", "pose_error_increment_rad": null, "probe_index": 0, "proposed_cumulative_correction_rad": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "reason": "sampled_probe_evidence", "refused_bounds": null, "retention_hold_reference": { "fixed_bias_rad": [ 1.2406108963983198e-05, -0.0049180625751104046, -0.00478879622813877, 1.628633285919683e-05, 0.026947445531119607, -3.148024663245097e-05 ], "frozen_jaw_target_m": 0.0, "issued_joint_targets_rad": [ -0.08358156413562244, 1.7253311519067327, -1.159898092815617, -0.0001210090230993677, 1.0813518373702553, -0.08678084152842581 ], "measured_joint_position_rad": [ -0.08359397024458642, 1.730249214481843, -1.1551092965874783, -0.00013729535595856273, 1.0544043918391357, -0.08674936128179336 ], "position_m": [ 0.31023273677094276, -0.02459992838012082, 0.08935729560784389 ], "quaternion_wxyz": [ 0.014192020449111832, -0.001606850445500309, 0.9998971887487055, -0.0012714242618944744 ], "raw_pose_joint_targets_rad": [ -0.08359397024458642, 1.730249214481843, -1.1551092965874783, -0.00013729535595856452, 1.0544043918391357, -0.08674936128179336 ], "t_seconds": 11.679999999998966 }, "retention_variant": "incremental", "retry_index": 0, "status": "qualified_hold", "t_seconds": 11.679999999998966, "type": "evidence_qualified", "update_gain_per_boundary": 1.0, "update_law": "increment = pose_action(frozen_admission_pose) - current_measured_joints; proposal = previous_correction + 1.0 * increment; refuse unlimited proposal outside +/-0.03 rad; slew accepted correction by at most 0.002 rad per joint per 20 ms; target = admission_issued_target + accepted_correction", "variant": "incremental" }, { "accumulated_correction_rad": [ -2.7774332053101536e-05, 0.0060252945018286486, 0.00591688020647263, -3.217696714408652e-06, -0.0272673406766286, 5.3427384043874815e-05 ], "acquisition_variant": "evidence", "active_regulation": false, "candidate": "incremental", "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "hold_measured_arm_and_freeze_issued_jaw", "drift_streak": 0, "object_height_delta_m": 0.007347786432759892, "phase": "probe_hold", "progress_streak": 0, "qualification_dwell_seconds": 0.4199999999997672, "qualified": false, "relative_offset_error_m": 0.00010547632864821336, "retry_index": 0, "t_seconds": 11.999999999998789, "table_supported": false, "tcp_probe_height_delta_m": 0.007477197559937421 }, "final_observation": false, "observation_origin": "privileged_native_simulator_state", "phase": "probe_stop", "pose_error_increment_rad": [ -3.297768327442663e-07, -0.00011645200591603455, 0.00024321087060386049, 4.0142040125720735e-06, -0.004199796560757196, 5.738177770400754e-06 ], "probe_index": 0, "proposed_cumulative_correction_rad": [ -2.8104108885845802e-05, 0.005908842495912614, 0.0061600910770764905, 7.965072981634214e-07, -0.0314671372373858, 5.916556181427557e-05 ], "reason": "joint_correction_exhausted", "refused_bounds": "joint_correction_exhausted", "retention_variant": "incremental", "retry_index": 0, "status": "invalidated_hold", "t_seconds": 11.999999999998789, "type": "hold_invalidated", "update_gain_per_boundary": 1.0, "update_law": "increment = pose_action(frozen_admission_pose) - current_measured_joints; proposal = previous_correction + 1.0 * increment; refuse unlimited proposal outside +/-0.03 rad; slew accepted correction by at most 0.002 rad per joint per 20 ms; target = admission_issued_target + accepted_correction", "variant": "incremental" } ], "ever_admitted": true, "final_observed": true, "frozen_jaw_target_m": 0.0, "initial_context": { "object_position_m": [ 0.3040000227603607, -0.024000165083053884, 0.07989224451748383 ], "observation_origin": "privileged_native_simulator_state", "t_seconds": 0.0, "tcp_position_m": [ 0.4890696662845219, 0.0014141975654808877, 0.3665849431043091 ], "tcp_quaternion_wxyz": [ 0.6580840948238629, 2.7730466224793136e-07, 0.7529444362872891, -1.9485471114950535e-06 ] }, "last_observed_s": 20.00000000000146, "observation_origin": "privileged_native_simulator_state", "physical_robot_ready": false, "probes": [ { "admission_time_s": 11.679999999998966, "disposition": "invalidated_hold", "end_time_s": 11.999999999998789, "local_offset_origin_m": [ 0.0023596200830591093, 0.000291912041211631, 0.0019339671294990768 ], "object_origin_m": [ 0.3038755731582487, -0.023974484437896904, 0.07992194440271183 ], "observation_origin": "privileged_native_simulator_state", "probe_index": 0, "reason": "joint_correction_exhausted", "start_time_s": 11.079999999999298, "tcp_origin_m": [ 0.3062144592459923, -0.024256708342500648, 0.08188235506642311 ], "tcp_quaternion_wxyz": [ 0.005563395696731071, -0.0016238670582679772, 0.9999830660365068, -0.0005285114246204658 ] } ], "retention": { "accumulated_correction_rad": [ -2.7774332053101536e-05, 0.0060252945018286486, 0.00591688020647263, -3.217696714408652e-06, -0.0272673406766286, 5.3427384043874815e-05 ], "active_regulation": false, "candidate": "incremental", "final_controller_status": "invalidated_hold", "hold_reference": { "fixed_bias_rad": [ 1.2406108963983198e-05, -0.0049180625751104046, -0.00478879622813877, 1.628633285919683e-05, 0.026947445531119607, -3.148024663245097e-05 ], "frozen_jaw_target_m": 0.0, "issued_joint_targets_rad": [ -0.08358156413562244, 1.7253311519067327, -1.159898092815617, -0.0001210090230993677, 1.0813518373702553, -0.08678084152842581 ], "measured_joint_position_rad": [ -0.08359397024458642, 1.730249214481843, -1.1551092965874783, -0.00013729535595856273, 1.0544043918391357, -0.08674936128179336 ], "position_m": [ 0.31023273677094276, -0.02459992838012082, 0.08935729560784389 ], "quaternion_wxyz": [ 0.014192020449111832, -0.001606850445500309, 0.9998971887487055, -0.0012714242618944744 ], "raw_pose_joint_targets_rad": [ -0.08359397024458642, 1.730249214481843, -1.1551092965874783, -0.00013729535595856452, 1.0544043918391357, -0.08674936128179336 ], "t_seconds": 11.679999999998966 }, "input_refusals": [], "native_joint_control_limits_rad": [ [ -2.618, 2.618 ], [ 0.0, 3.14 ], [ -2.697, 0.0 ], [ -1.832, 1.832 ], [ -1.22, 1.22 ], [ -3.14, 3.14 ] ], "update_gain_per_boundary": 1.0, "update_law": "increment = pose_action(frozen_admission_pose) - current_measured_joints; proposal = previous_correction + 1.0 * increment; refuse unlimited proposal outside +/-0.03 rad; slew accepted correction by at most 0.002 rad per joint per 20 ms; target = admission_issued_target + accepted_correction", "variant": "incremental" }, "retry_count": 0, "schema": "dvidia.piper-incremental-hold/v3", "status": "invalidated_hold", "stop_targets_rad": [ -0.08359359331937088, 1.7303710987675174, -1.155377924007429, -0.00014138645877008907, 1.05863684974044, -0.08675502255421606 ], "variant": "incremental" }, "scene_id": "m0475-f78-p0", "timing": { "policy_cpu": { "maximum_s": 0.0005009999999998627, "mean_s": 6.178600000001211e-05, "over_20ms": 0, "p50_s": 6.899999999987472e-05, "p95_s": 0.0001010499999990699, "p99_s": 0.00018800000000140926, "samples": 1000 }, "policy_wall": { "maximum_s": 0.000601666048169136, "mean_s": 6.305800192058086e-05, "over_20ms": 0, "p50_s": 6.818817928433418e-05, "p95_s": 0.00010442498605698346, "p99_s": 0.00020341793540865183, "samples": 1000 }, "step_cpu": { "maximum_s": 0.012176999999999438, "mean_s": 0.00248192699999999, "over_20ms": 0, "p50_s": 0.002041999999999433, "p95_s": 0.0035654499999999696, "p99_s": 0.004509889999998772, "samples": 1000 }, "step_wall": { "maximum_s": 0.012528874911367893, "mean_s": 0.00251280816225335, "over_20ms": 0, "p50_s": 0.0020718330051749945, "p95_s": 0.0037880624877288938, "p99_s": 0.0046539988694712505, "samples": 1000 } }, "valid": true, "variant": "incremental" }, { "error": null, "evaluation": { "claims": { "false_maintained_grip": 0, "false_maintained_pose": 0, "maintained_checks": 80, "scope": "Claimed qualified boundaries after admission, compared with every native row since admission; grip includes correct initial prefix. Counts are diagnostic, not independent trials." }, "corrections": { "bound_refusal_counts": { "tcp_position_error_exhausted": 1 }, "flag_counts": { "correction_rate_limited": 0 }, "hold_record_count": 417, "input_refusals": [], "maximum_abs_accepted_correction_rate_rad_s": null, "maximum_abs_active_correction_rad": 0.00024003400704630806, "maximum_abs_desired_correction_rad": 0.00024003400704630806, "maximum_abs_pose_error_increment_rad": null, "rate_limited_axis_occurrences": 0, "scope": "Includes recorded final diagnostic checks; only command_issued rows represent issued controls." }, "decomposition": { "elapsed_s": 5.0, "local_offset_change_m": 0.0005002686022574152, "object_world_z_delta_m": 0.0002643198140663272, "relative_world_z_delta_m": -0.0004540464788390791, "scope": "Kinematic components, not causal attribution or calibrated physical slip.", "tcp_world_z_delta_m": 0.0007183662929054063 }, "final": { "both_qualified": false, "controller_qualified": false, "evidence_admissible": false, "native_qualified": true }, "first_admission": { "native_prefix_qualified": true, "native_qualifying_window_s": 0.10400000000000001, "probe_index": 0, "time_s": 11.679999999998966 }, "grip_only": { "all_native_hold_forces_within_ceiling": true, "combined_qualified_pause": false, "complete_5s": true, "controller_retained_at_5s": false, "first_native_predicate_failure_s": null, "followup_available_s": 8.320000000002494, "native_pause_success": true, "reason": "success", "required_s": 5.0, "success": true, "target_time_s": 16.679999999998966 }, "native": { "arrays_sha256": "a22bb6c81699f09fec5077604a8ded951ac51c4504d176f01af8f8b9f69a62f7", "complete": true, "maximum_per_finger_force_n": 0.4455109619488252, "rows": 20000, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "physical_robot_ready": false, "primary": { "all_native_hold_forces_within_ceiling": true, "combined_qualified_pause": false, "complete_5s": true, "controller_retained_at_5s": false, "first_native_predicate_failure_s": null, "first_tcp_pose_failure_s": 13.29599999999807, "followup_available_s": 8.320000000002494, "native_pause_success": true, "reason": "tcp_stationarity_lost", "required_s": 5.0, "success": false, "target_time_s": 16.679999999998966 }, "probes": [ { "claims": [ { "native_prefix_qualified": true, "t_seconds": 11.679999999998966 } ], "disposition": "invalidated_hold", "final_native_qualified_from_origin": true, "probe_index": 0, "start_time_s": 11.079999999999298 } ], "receipt": { "admission": { "observation_origin": "privileged_native_simulation_plus_caller_planning_assumptions", "physical_robot_ready": false, "planning": { "computed": { "conservative_required_load_n": 0.7058488125, "gravity_m_s2": 9.80665, "pose_specific_payload_limit_force_n": 0.980665, "two_finger_friction_capacity_n": 15.600000000000001 }, "observation_origin": "caller_declared_not_verified", "physical_robot_ready": false, "reasons": [ "Run and record a cautious test lift under the same calibrated pose and load conditions before simulated transport planning." ], "schema": "dvidia.task-feasibility-result/v1", "scope": "Planning assessment only. Parallel two-finger vertical-lift approximation; ignores moment, center of mass, deformation, transient impacts and unmodeled contact effects. Unknown values remain unknown; mass is never inferred from images. Probe/test-lift/controller integration is not implemented. No hardware actuation is performed; this is not hardware qualification.", "status": "test_lift_required" }, "probe": { "admissible": false, "historical_qualified": true, "latest_qualified": true, "physical_robot_ready": false, "reasons": [ "latest_controller_not_qualified" ], "receipt_sha256": "336d8e8d331b4f1df9cfed3cf4f586759f9f611ab558f96741b8fd590f04a9a1", "schema": "dvidia.probe-evidence-verification/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.", "verified": true }, "schema": "dvidia.task-feasibility-with-probe/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification. Unknown planning values remain unknown. The unchanged approximate vertical-lift planning gate describes declared loads; it supplies no transport path, geospatial-goal contract or actuator permission. This wrapper never issues controls.", "status": "test_lift_required" }, "context": { "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe", "calibration_id": "synthetic_probe_v01", "calibration_scope": "simulation_assumptions_not_hardware", "command_sha256": "c289005fa761d10971cff0280a032848bafc1b9620a4b6822f3f18f6d6344e39", "feasibility_sha256": "7c932cfdbaefffa299be3075549eca688e2448f83e90c83319f55b31fb506f42", "grasp_id": "m0475-f78-p0-cartesian-probe-0", "initial_object_position_m": [ 0.3040000227603607, -0.024000165083053884, 0.07989224451748383 ], "model_sha256": "1f40b4a775c9316f9f825a4bd7d2c47adeb0628e0c4d1ffec52028e1339f857e", "native_status": { "simulation_time_s": 20.00000000000146, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "object_id": "task_block", "per_finger_force_ceiling_n": 10.0, "pose_binding_sha256": "524f653ab016649ae235ae2ee0eb845f36469cdddeb4e0458a80c29d2fa2f00a", "probe_index": 0, "probe_origin_object_position_m": [ 0.3038755731582487, -0.023974484437896904, 0.07992194440271183 ], "probe_origin_tcp_local_offset_m": [ 0.0023596200830591093, 0.000291912041211631, 0.0019339671294990768 ], "probe_start_s": 11.079999999999298, "robot_profile": "piper", "run_id": "m0475-f78-p0-cartesian", "schema": "dvidia.probe-context/v1", "source_sha256": "d28324843344114f1ee863cee3c48dbca8aa37fd11222623563a0b1d40c364a6" }, "physical_robot_ready": false, "planning_input": { "allowed_pose_tolerance_m": 0.003, "calibration_id": "synthetic_probe_v01", "friction_interval": [ 0.78, 0.78 ], "geometry_known": true, "gripper_max_opening_interval_m": [ 0.07, 0.07 ], "gripper_min_closure_m": 0.0, "mass_interval_kg": [ 0.0475, 0.0475 ], "object_width_interval_m": [ 0.04, 0.04 ], "observations_fresh": true, "per_finger_normal_force_budget_n": 10.0, "planned_upward_accel_m_s2": 0.1, "pose_specific_payload_limit_kg": 0.1, "pose_uncertainty_m": 0.0, "reachability": "reachable", "safety_factor": 1.5, "schema": "dvidia.task-feasibility-input/v1", "slip_detected": false, "test_lift_passed": false }, "receipt": { "audit": { "controller_claim_mismatches": [ { "classification": "conservative_abstention", "controller_qualified": false, "native_prefix_qualified": true, "t_seconds": 20.00000000000146 } ], "controller_claims_checked": 2, "controller_conservative_abstention_count": 1, "controller_coverage": "Only the supplied claims are checked; omitted decisions are not inferred.", "controller_false_qualification_count": 0, "controller_positive_claims": 1, "force_ceiling_known": true, "maximum_observed_per_finger_force_n": 0.4455109619488252, "reasons": [], "rows": 20000, "unexpected_contact_native_ticks": 0, "valid": true }, "context": { "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe", "calibration_id": "synthetic_probe_v01", "calibration_scope": "simulation_assumptions_not_hardware", "command_sha256": "c289005fa761d10971cff0280a032848bafc1b9620a4b6822f3f18f6d6344e39", "feasibility_sha256": "7c932cfdbaefffa299be3075549eca688e2448f83e90c83319f55b31fb506f42", "grasp_id": "m0475-f78-p0-cartesian-probe-0", "initial_object_position_m": [ 0.3040000227603607, -0.024000165083053884, 0.07989224451748383 ], "model_sha256": "1f40b4a775c9316f9f825a4bd7d2c47adeb0628e0c4d1ffec52028e1339f857e", "native_status": { "simulation_time_s": 20.00000000000146, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "object_id": "task_block", "per_finger_force_ceiling_n": 10.0, "pose_binding_sha256": "524f653ab016649ae235ae2ee0eb845f36469cdddeb4e0458a80c29d2fa2f00a", "probe_index": 0, "probe_origin_object_position_m": [ 0.3038755731582487, -0.023974484437896904, 0.07992194440271183 ], "probe_origin_tcp_local_offset_m": [ 0.0023596200830591093, 0.000291912041211631, 0.0019339671294990768 ], "probe_start_s": 11.079999999999298, "robot_profile": "piper", "run_id": "m0475-f78-p0-cartesian", "schema": "dvidia.probe-context/v1", "source_sha256": "d28324843344114f1ee863cee3c48dbca8aa37fd11222623563a0b1d40c364a6" }, "context_sha256": "32c57baa9d06c158daee264a00fff09b91d880756e1f2fb7e2eb2d3bebc302fc", "controller_qualifications": [ { "probe_index": 0, "qualified": true, "t_seconds": 11.679999999998966 }, { "probe_index": 0, "qualified": false, "t_seconds": 20.00000000000146 } ], "criteria": { "distance_comparison_epsilon": 1e-12, "initial_sample_tolerance_m": 0.001, "maximum_tcp_local_drift_m": 0.003, "minimum_continuous_dwell_s": 0.1, "minimum_per_finger_force_n_exclusive": 0.01, "minimum_rise_m": 0.006, "native_dt_s": 0.001, "origin_tolerance_m": 1e-09, "time_tolerance_s": 1e-08 }, "history": { "ever_qualified": true, "first_qualified_s": 11.675999999998968, "maximum_continuous_qualifying_s": 8.424 }, "latest": { "condition_valid": true, "continuous_qualifying_s": 8.424, "controller_claim": { "probe_index": 0, "qualified": false, "t_seconds": 20.00000000000146 }, "native_tick": 20000, "qualified": true, "rise_m": 0.0073000208096329205, "tcp_local_drift_m": 0.0008951124345498345, "time_s": 20.00000000000146 }, "metadata_sha256": "ad8229630cc9f8718829bb8317b1a82480dcf18b9f71bd23666acfe71a003ef7", "native_arrays_sha256": "a22bb6c81699f09fec5077604a8ded951ac51c4504d176f01af8f8b9f69a62f7", "physical_robot_ready": false, "receipt_sha256": "336d8e8d331b4f1df9cfed3cf4f586759f9f611ab558f96741b8fd590f04a9a1", "schema": "dvidia.probe-evidence/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification." }, "status": "inspected", "verification": { "admissible": false, "historical_qualified": true, "latest_qualified": true, "physical_robot_ready": false, "reasons": [ "latest_controller_not_qualified" ], "receipt_sha256": "336d8e8d331b4f1df9cfed3cf4f586759f9f611ab558f96741b8fd590f04a9a1", "schema": "dvidia.probe-evidence-verification/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.", "verified": true } }, "stationarity": { "complete_5s": true, "grip_retention_and_stationarity": false, "maximum_tcp_orientation_excursion_rad": 0.01937517513276175, "maximum_tcp_position_excursion_m": 0.00420650244146808, "orientation_ceiling_rad": 0.05, "position_ceiling_m": 0.004, "required_s": 5.0, "scope": "Common recorded native TCP pose endpoint, not calibrated hardware stationarity.", "tcp_pose_within_bounds": false, "terminal_tcp_orientation_delta_rad": 0.01937517513276175, "terminal_tcp_position_delta_m": [ -0.004130178826800945, 0.0003467499357453843, 0.0007183662929054063 ] }, "status": "inspected" }, "files": { "episode.json.gz": { "bytes": 819075, "sha256": "42d309071a55d4e03e2c794ab173afa91cc84cb5ae1f632272d61acf5e0f330b" }, "evaluation.json": { "bytes": 13904, "sha256": "f06c03d6594d8d011ac2bd3653f83f91e5036d30351af9253d5164e417aaf391" }, "native.json": { "bytes": 13763, "sha256": "19cc1d5998901cbc12da2916add3096763081e9decbfc7193981bfabc4b871e0" }, "native.npz": { "bytes": 4037633, "sha256": "ec813d1b787086e1c0bbc3cb8ff63894002666058cb55b1f3847a590c73ecdde" }, "started.json": { "bytes": 148, "sha256": "205905711b32664535483d2edba6bfba6fe8ee233b21ad00a2e0098009ef17c6" } }, "friction": 0.78, "id": "m0475-f78-p0-cartesian", "mass_kg": 0.0475, "metrics": { "carry_complete": false, "carry_contact_loss_events": 0, "carry_contact_loss_tolerance_seconds": 0.04, "dwell_seconds": 0.0, "first_success_time_seconds": null, "grasp_seen": true, "lift_dwell_seconds": 0.0, "lift_seen": false, "max_carry_contact_loss_seconds": 0.0, "max_object_lift_m": 0.008850016973007122, "max_pad_normal_force_n": 0.4455109619488252, "physical_robot_ready": false, "reason": "timeout", "retention_lost": false, "simulation_time": 20.00000000000146, "steps": 1000, "success": false, "target_distance_m": 0.11397062991101262, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "policy": { "abort_reason": "tcp_position_error_exhausted", "acquisition_contract": { "comparison_scope": "Closed-loop variants may acquire different trajectories through early hold/retry. This is not an isolated classifier ablation.", "control_dt_s": 0.02, "evidence_admission": "Current bilateral force >0.01 N, no table support, object rise >=6 mm and TCP-local offset drift <=3 mm continuously across sampled boundaries for elapsed >=100 ms.", "hold": "Latch measured six arm joints and the last issued jaw target at admission/terminal invalidity. No full lift/transfer, no squeeze escalation, no post-admission retry.", "invalidation": "At each subsequent 20 ms observation and final observation, invalidate immediately on lost contact/force, support, insufficient rise, >3 mm local drift or unexpected contact. Never requalify after terminal invalidity.", "observation_origin": "privileged_native_simulator_state", "parameters": { "close_timeout_s": 1.4, "consecutive_alarm_samples": 2, "max_retries": 1, "monitor_min_probe_motion_m": 0.003, "probe_height_m": 0.01, "probe_min_object_rise_m": 0.006, "probe_speed_m_s": 0.02, "probe_timeout_s": 1.4, "qualification_dwell_s": 0.1, "relative_drift_limit_m": 0.003, "retry_clearance_m": 0.012, "retry_open_timeout_s": 1.2, "retry_recenter_timeout_s": 1.5 }, "physical_robot_ready": false, "prefix": "Original GuardedPiperTaskPolicy approach/close and at most one supported open/recenter/retry; already uses authored native state, not a fully blind baseline.", "sampling_limit": "Independent 1 ms evidence may contradict sampled admission; that remains a finding. No sensor or material inference is implemented.", "schema": "dvidia.piper-probe-stop/v1", "stop_scope": "Holding native position targets is not physical arrest or calibrated force limiting; inertia and existing target rate limits can continue motion.", "timer_admission": "Same 10 mm/20 mm/s probe target law, admitted at elapsed >=600 ms from that probe start; no evidence predicate or slip alarm before admission. Unexpected contacts and bounded timeouts still stop.", "timer_admission_s": 0.6, "variants": [ "evidence", "timer" ] }, "acquisition_variant": "evidence", "active_probe_index": 0, "admission_time_s": 11.679999999998966, "admitted": false, "contract": { "acquisition": "Unchanged ProbeStopPolicy evidence acquisition, including its bounded supported retry. All variants share the same prefix through the first admission observation.", "cartesian": "Latch measured TCP position/orientation and preceding issued targets. Fixed joint bias equals issued target minus pose_action at the admission pose. First command repeats the exact issued target; later pose_action updates receive that fixed bias.", "control_dt_s": 0.02, "final_observation": "Repeat force, original eligibility and Cartesian pose-error checks. Do not solve or issue a hypothetical next control at the terminal observation.", "invalid_measurements": "Malformed, nonfinite or noncausal observations terminally refuse and raise without issuing a command. No measured-position stop is claimed from invalid measurements.", "issued_joint": "Latch the preceding issued six joint targets and the same last issued jaw target at admission.", "limits": { "initial_joint_bias_ceiling_rad": 0.08, "joint_correction_ceiling_rad": 0.03, "joint_correction_rate_rad_s": 0.1, "native_joint_target_margin_rad": 0.02, "per_finger_force_ceiling_n": 10.0, "tcp_orientation_error_ceiling_rad": 0.05, "tcp_position_error_ceiling_m": 0.004 }, "measured_joint": "Original hold: latch measured six joint coordinates and the last issued jaw target at admission.", "observation_origin": "privileged_native_simulator_state", "physical_robot_ready": false, "qualifications": "Engineering limits and the 10 N ceiling are authored synthetic assumptions, not damage limits or calibrated physical telemetry. Position targets are not physical stops or force limiters. No load/friction inference, model training or complete placement is implemented.", "rate_scope": "The extra correction slews at at most 0.002 rad per 20 ms per joint. Original native 1 ms target slew, servos, gains and force caps remain unchanged.", "refusal": "Original eligibility loss, unexpected contact or observed pad force >10 N terminally requests measured joint hold and the frozen jaw target. Cartesian error, initial-bias, total-correction or native-margin exhaustion also refuses terminally; it never chases an already failed grip.", "sampling": "Control checks occur at 20 ms boundaries. Independent saved 1 ms native evidence must judge a continuous 5 s hold; missed between-boundary failures remain findings.", "schema": "dvidia.piper-retention/v2", "variants": [ "measured_joint", "issued_joint", "cartesian" ] }, "events": [ { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "continue", "drift_streak": 0, "object_height_delta_m": 0.0, "phase": "probe", "progress_streak": 0, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0, "retry_index": 0, "t_seconds": 11.079999999999298, "table_supported": true, "tcp_probe_height_delta_m": 0.0 }, "observation_origin": "privileged_native_simulator_state", "phase": "guard_probe", "probe_index": 0, "reason": "slow_load_bearing_check", "retention_variant": "cartesian", "retry_index": 0, "status": "probing", "t_seconds": 11.079999999999298, "type": "probe_started", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "bounded_cartesian_hold", "drift_streak": 0, "object_height_delta_m": 0.007370585810732064, "phase": "probe", "progress_streak": 0, "qualification_dwell_seconds": 0.09999999999994458, "qualified": true, "relative_offset_error_m": 7.467735799443156e-05, "retry_index": 0, "t_seconds": 11.679999999998966, "table_supported": false, "tcp_probe_height_delta_m": 0.007474940541420783 }, "observation_origin": "privileged_native_simulator_state", "phase": "probe_stop", "probe_index": 0, "reason": "sampled_probe_evidence", "retention_hold_reference": { "fixed_bias_rad": [ 1.2406108963983198e-05, -0.0049180625751104046, -0.00478879622813877, 1.628633285919683e-05, 0.026947445531119607, -3.148024663245097e-05 ], "frozen_jaw_target_m": 0.0, "issued_joint_targets_rad": [ -0.08358156413562244, 1.7253311519067327, -1.159898092815617, -0.0001210090230993677, 1.0813518373702553, -0.08678084152842581 ], "measured_joint_position_rad": [ -0.08359397024458642, 1.730249214481843, -1.1551092965874783, -0.00013729535595856273, 1.0544043918391357, -0.08674936128179336 ], "position_m": [ 0.31023273677094276, -0.02459992838012082, 0.08935729560784389 ], "quaternion_wxyz": [ 0.014192020449111832, -0.001606850445500309, 0.9998971887487055, -0.0012714242618944744 ], "raw_pose_joint_targets_rad": [ -0.08359397024458642, 1.730249214481843, -1.1551092965874783, -0.00013729535595856452, 1.0544043918391357, -0.08674936128179336 ], "t_seconds": 11.679999999998966 }, "retention_variant": "cartesian", "retry_index": 0, "status": "qualified_hold", "t_seconds": 11.679999999998966, "type": "evidence_qualified", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "hold_measured_arm_and_freeze_issued_jaw", "drift_streak": 0, "object_height_delta_m": 0.008820295384392607, "phase": "probe_hold", "progress_streak": 0, "qualification_dwell_seconds": 1.7199999999990467, "qualified": false, "relative_offset_error_m": 0.000230054843282509, "retry_index": 0, "t_seconds": 13.299999999998068, "table_supported": false, "tcp_probe_height_delta_m": 0.009049966427963088 }, "observation_origin": "privileged_native_simulator_state", "phase": "probe_stop", "probe_index": 0, "reason": "tcp_position_error_exhausted", "retention_variant": "cartesian", "retry_index": 0, "status": "invalidated_hold", "t_seconds": 13.299999999998068, "type": "hold_invalidated", "variant": "evidence" } ], "ever_admitted": true, "final_observed": true, "frozen_jaw_target_m": 0.0, "initial_context": { "object_position_m": [ 0.3040000227603607, -0.024000165083053884, 0.07989224451748383 ], "observation_origin": "privileged_native_simulator_state", "t_seconds": 0.0, "tcp_position_m": [ 0.4890696662845219, 0.0014141975654808877, 0.3665849431043091 ], "tcp_quaternion_wxyz": [ 0.6580840948238629, 2.7730466224793136e-07, 0.7529444362872891, -1.9485471114950535e-06 ] }, "last_observed_s": 20.00000000000146, "observation_origin": "privileged_native_simulator_state", "physical_robot_ready": false, "probes": [ { "admission_time_s": 11.679999999998966, "disposition": "invalidated_hold", "end_time_s": 13.299999999998068, "local_offset_origin_m": [ 0.0023596200830591093, 0.000291912041211631, 0.0019339671294990768 ], "object_origin_m": [ 0.3038755731582487, -0.023974484437896904, 0.07992194440271183 ], "observation_origin": "privileged_native_simulator_state", "probe_index": 0, "reason": "tcp_position_error_exhausted", "start_time_s": 11.079999999999298, "tcp_origin_m": [ 0.3062144592459923, -0.024256708342500648, 0.08188235506642311 ], "tcp_quaternion_wxyz": [ 0.005563395696731071, -0.0016238670582679772, 0.9999830660365068, -0.0005285114246204658 ] } ], "retention": { "hold_reference": { "fixed_bias_rad": [ 1.2406108963983198e-05, -0.0049180625751104046, -0.00478879622813877, 1.628633285919683e-05, 0.026947445531119607, -3.148024663245097e-05 ], "frozen_jaw_target_m": 0.0, "issued_joint_targets_rad": [ -0.08358156413562244, 1.7253311519067327, -1.159898092815617, -0.0001210090230993677, 1.0813518373702553, -0.08678084152842581 ], "measured_joint_position_rad": [ -0.08359397024458642, 1.730249214481843, -1.1551092965874783, -0.00013729535595856273, 1.0544043918391357, -0.08674936128179336 ], "position_m": [ 0.31023273677094276, -0.02459992838012082, 0.08935729560784389 ], "quaternion_wxyz": [ 0.014192020449111832, -0.001606850445500309, 0.9998971887487055, -0.0012714242618944744 ], "raw_pose_joint_targets_rad": [ -0.08359397024458642, 1.730249214481843, -1.1551092965874783, -0.00013729535595856452, 1.0544043918391357, -0.08674936128179336 ], "t_seconds": 11.679999999998966 }, "input_refusals": [], "native_joint_control_limits_rad": [ [ -2.618, 2.618 ], [ 0.0, 3.14 ], [ -2.697, 0.0 ], [ -1.832, 1.832 ], [ -1.22, 1.22 ], [ -3.14, 3.14 ] ], "variant": "cartesian" }, "retry_count": 0, "schema": "dvidia.piper-retention/v2", "status": "invalidated_hold", "stop_targets_rad": [ -0.08358172919218311, 1.7271958884595444, -1.1581834170287557, -0.00013679518447483127, 1.076819591364622, -0.08677718312655741 ], "variant": "cartesian" }, "scene_id": "m0475-f78-p0", "timing": { "policy_cpu": { "maximum_s": 0.00029399999999846216, "mean_s": 7.038900000001291e-05, "over_20ms": 0, "p50_s": 7.500000000248974e-05, "p95_s": 0.00011300000000247223, "p99_s": 0.00016404000000157733, "samples": 1000 }, "policy_wall": { "maximum_s": 0.001475249882787466, "mean_s": 7.339575653895736e-05, "over_20ms": 0, "p50_s": 7.529184222221375e-05, "p95_s": 0.00011497330851852892, "p99_s": 0.00020683029666542998, "samples": 1000 }, "step_cpu": { "maximum_s": 0.01839000000000013, "mean_s": 0.0026701010000000414, "over_20ms": 0, "p50_s": 0.0022639999999984894, "p95_s": 0.004235849999997753, "p99_s": 0.005082880000001565, "samples": 1000 }, "step_wall": { "maximum_s": 0.018394332844763994, "mean_s": 0.002752293713390827, "over_20ms": 0, "p50_s": 0.002324666827917099, "p95_s": 0.004486583382822573, "p99_s": 0.006783634303137659, "samples": 1000 } }, "valid": true, "variant": "cartesian" }, { "error": null, "evaluation": { "claims": { "false_maintained_grip": 0, "false_maintained_pose": 319, "maintained_checks": 401, "scope": "Claimed qualified boundaries after admission, compared with every native row since admission; grip includes correct initial prefix. Counts are diagnostic, not independent trials." }, "corrections": { "bound_refusal_counts": {}, "flag_counts": { "correction_rate_limited": 0 }, "hold_record_count": 402, "input_refusals": [], "maximum_abs_accepted_correction_rate_rad_s": null, "maximum_abs_active_correction_rad": null, "maximum_abs_desired_correction_rad": null, "maximum_abs_pose_error_increment_rad": null, "rate_limited_axis_occurrences": 0, "scope": "Includes recorded final diagnostic checks; only command_issued rows represent issued controls." }, "decomposition": { "elapsed_s": 5.0, "local_offset_change_m": 0.0005005315366364572, "object_world_z_delta_m": 0.0012399322991741013, "relative_world_z_delta_m": -0.00045338914811463016, "scope": "Kinematic components, not causal attribution or calibrated physical slip.", "tcp_world_z_delta_m": 0.0016933214472887315 }, "final": { "both_qualified": true, "controller_qualified": true, "evidence_admissible": true, "native_qualified": true }, "first_admission": { "native_prefix_qualified": true, "native_qualifying_window_s": 0.101, "probe_index": 0, "time_s": 11.9799999999988 }, "grip_only": { "all_native_hold_forces_within_ceiling": true, "combined_qualified_pause": true, "complete_5s": true, "controller_retained_at_5s": true, "first_native_predicate_failure_s": null, "followup_available_s": 8.02000000000266, "native_pause_success": true, "reason": "success", "required_s": 5.0, "success": true, "target_time_s": 16.9799999999988 }, "native": { "arrays_sha256": "b096e3213e46b931550132c08e5ab835cd39f5989a01704fceea6f69a2ed06ea", "complete": true, "maximum_per_finger_force_n": 0.442304943832759, "rows": 20000, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "physical_robot_ready": false, "primary": { "all_native_hold_forces_within_ceiling": true, "combined_qualified_pause": false, "complete_5s": true, "controller_retained_at_5s": true, "first_native_predicate_failure_s": null, "first_tcp_pose_failure_s": 13.634999999997882, "followup_available_s": 8.02000000000266, "native_pause_success": true, "reason": "tcp_stationarity_lost", "required_s": 5.0, "success": false, "target_time_s": 16.9799999999988 }, "probes": [ { "claims": [ { "native_prefix_qualified": true, "t_seconds": 11.9799999999988 } ], "disposition": "qualified_hold", "final_native_qualified_from_origin": true, "probe_index": 0, "start_time_s": 11.379999999999132 } ], "receipt": { "admission": { "observation_origin": "privileged_native_simulation_plus_caller_planning_assumptions", "physical_robot_ready": false, "planning": { "computed": { "conservative_required_load_n": 0.7058488125, "gravity_m_s2": 9.80665, "pose_specific_payload_limit_force_n": 0.980665, "two_finger_friction_capacity_n": 15.600000000000001 }, "observation_origin": "caller_declared_not_verified", "physical_robot_ready": false, "reasons": [ "Declared checks pass for simulated transport planning; this is not hardware qualification." ], "schema": "dvidia.task-feasibility-result/v1", "scope": "Planning assessment only. Parallel two-finger vertical-lift approximation; ignores moment, center of mass, deformation, transient impacts and unmodeled contact effects. Unknown values remain unknown; mass is never inferred from images. Probe/test-lift/controller integration is not implemented. No hardware actuation is performed; this is not hardware qualification.", "status": "ready_for_simulated_transport" }, "probe": { "admissible": true, "historical_qualified": true, "latest_qualified": true, "physical_robot_ready": false, "reasons": [], "receipt_sha256": "774c6e42cf3831affadd4b89094f59171bfc17c50cd9f9a84b6e2226fc9abaef", "schema": "dvidia.probe-evidence-verification/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.", "verified": true }, "schema": "dvidia.task-feasibility-with-probe/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification. Unknown planning values remain unknown. The unchanged approximate vertical-lift planning gate describes declared loads; it supplies no transport path, geospatial-goal contract or actuator permission. This wrapper never issues controls.", "status": "ready_for_simulated_transport" }, "context": { "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe", "calibration_id": "synthetic_probe_v01", "calibration_scope": "simulation_assumptions_not_hardware", "command_sha256": "4fe81a164d50d93b6bf90a0b1ec16431bbdc123afb156829e95fea940754ed65", "feasibility_sha256": "7c932cfdbaefffa299be3075549eca688e2448f83e90c83319f55b31fb506f42", "grasp_id": "m0475-f78-p1-issued_joint-probe-0", "initial_object_position_m": [ 0.3080000286688259, -0.03499983588880944, 0.07989224451748382 ], "model_sha256": "2e3228cb9371772e702c65a348fe668a4f2f811c3c8ba5d690d61b26559b7318", "native_status": { "simulation_time_s": 20.00000000000146, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "object_id": "task_block", "per_finger_force_ceiling_n": 10.0, "pose_binding_sha256": "2060a480568688e6897713e0a821869cffbd91b41f7c901362f0b344121681b4", "probe_index": 0, "probe_origin_object_position_m": [ 0.30787362021770925, -0.034987413713962315, 0.07992209918586446 ], "probe_origin_tcp_local_offset_m": [ 0.002323419275196195, 0.0002987063550665962, 0.0019231907030548329 ], "probe_start_s": 11.379999999999132, "robot_profile": "piper", "run_id": "m0475-f78-p1-issued_joint", "schema": "dvidia.probe-context/v1", "source_sha256": "d28324843344114f1ee863cee3c48dbca8aa37fd11222623563a0b1d40c364a6" }, "physical_robot_ready": false, "planning_input": { "allowed_pose_tolerance_m": 0.003, "calibration_id": "synthetic_probe_v01", "friction_interval": [ 0.78, 0.78 ], "geometry_known": true, "gripper_max_opening_interval_m": [ 0.07, 0.07 ], "gripper_min_closure_m": 0.0, "mass_interval_kg": [ 0.0475, 0.0475 ], "object_width_interval_m": [ 0.04, 0.04 ], "observations_fresh": true, "per_finger_normal_force_budget_n": 10.0, "planned_upward_accel_m_s2": 0.1, "pose_specific_payload_limit_kg": 0.1, "pose_uncertainty_m": 0.0, "reachability": "reachable", "safety_factor": 1.5, "schema": "dvidia.task-feasibility-input/v1", "slip_detected": false, "test_lift_passed": false }, "receipt": { "audit": { "controller_claim_mismatches": [], "controller_claims_checked": 2, "controller_conservative_abstention_count": 0, "controller_coverage": "Only the supplied claims are checked; omitted decisions are not inferred.", "controller_false_qualification_count": 0, "controller_positive_claims": 2, "force_ceiling_known": true, "maximum_observed_per_finger_force_n": 0.442304943832759, "reasons": [], "rows": 20000, "unexpected_contact_native_ticks": 0, "valid": true }, "context": { "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe", "calibration_id": "synthetic_probe_v01", "calibration_scope": "simulation_assumptions_not_hardware", "command_sha256": "4fe81a164d50d93b6bf90a0b1ec16431bbdc123afb156829e95fea940754ed65", "feasibility_sha256": "7c932cfdbaefffa299be3075549eca688e2448f83e90c83319f55b31fb506f42", "grasp_id": "m0475-f78-p1-issued_joint-probe-0", "initial_object_position_m": [ 0.3080000286688259, -0.03499983588880944, 0.07989224451748382 ], "model_sha256": "2e3228cb9371772e702c65a348fe668a4f2f811c3c8ba5d690d61b26559b7318", "native_status": { "simulation_time_s": 20.00000000000146, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "object_id": "task_block", "per_finger_force_ceiling_n": 10.0, "pose_binding_sha256": "2060a480568688e6897713e0a821869cffbd91b41f7c901362f0b344121681b4", "probe_index": 0, "probe_origin_object_position_m": [ 0.30787362021770925, -0.034987413713962315, 0.07992209918586446 ], "probe_origin_tcp_local_offset_m": [ 0.002323419275196195, 0.0002987063550665962, 0.0019231907030548329 ], "probe_start_s": 11.379999999999132, "robot_profile": "piper", "run_id": "m0475-f78-p1-issued_joint", "schema": "dvidia.probe-context/v1", "source_sha256": "d28324843344114f1ee863cee3c48dbca8aa37fd11222623563a0b1d40c364a6" }, "context_sha256": "0c778b1410e2cc6bbc31017e28a597d33f140a3949d2b1b84752938c513f7ded", "controller_qualifications": [ { "probe_index": 0, "qualified": true, "t_seconds": 11.9799999999988 }, { "probe_index": 0, "qualified": true, "t_seconds": 20.00000000000146 } ], "criteria": { "distance_comparison_epsilon": 1e-12, "initial_sample_tolerance_m": 0.001, "maximum_tcp_local_drift_m": 0.003, "minimum_continuous_dwell_s": 0.1, "minimum_per_finger_force_n_exclusive": 0.01, "minimum_rise_m": 0.006, "native_dt_s": 0.001, "origin_tolerance_m": 1e-09, "time_tolerance_s": 1e-08 }, "history": { "ever_qualified": true, "first_qualified_s": 11.9789999999988, "maximum_continuous_qualifying_s": 8.121 }, "latest": { "condition_valid": true, "continuous_qualifying_s": 8.121, "controller_claim": { "probe_index": 0, "qualified": true, "t_seconds": 20.00000000000146 }, "native_tick": 20000, "qualified": true, "rise_m": 0.008265286302599498, "tcp_local_drift_m": 0.0008773636788746795, "time_s": 20.00000000000146 }, "metadata_sha256": "ad8229630cc9f8718829bb8317b1a82480dcf18b9f71bd23666acfe71a003ef7", "native_arrays_sha256": "b096e3213e46b931550132c08e5ab835cd39f5989a01704fceea6f69a2ed06ea", "physical_robot_ready": false, "receipt_sha256": "774c6e42cf3831affadd4b89094f59171bfc17c50cd9f9a84b6e2226fc9abaef", "schema": "dvidia.probe-evidence/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification." }, "status": "inspected", "verification": { "admissible": true, "historical_qualified": true, "latest_qualified": true, "physical_robot_ready": false, "reasons": [], "receipt_sha256": "774c6e42cf3831affadd4b89094f59171bfc17c50cd9f9a84b6e2226fc9abaef", "schema": "dvidia.probe-evidence-verification/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.", "verified": true } }, "stationarity": { "complete_5s": true, "grip_retention_and_stationarity": false, "maximum_tcp_orientation_excursion_rad": 0.020033146040205157, "maximum_tcp_position_excursion_m": 0.004765254898303611, "orientation_ceiling_rad": 0.05, "position_ceiling_m": 0.004, "required_s": 5.0, "scope": "Common recorded native TCP pose endpoint, not calibrated hardware stationarity.", "tcp_pose_within_bounds": false, "terminal_tcp_orientation_delta_rad": 0.020033146040205157, "terminal_tcp_position_delta_m": [ -0.004423067701866623, 0.0005261072387478249, 0.0016933214472887315 ] }, "status": "inspected" }, "files": { "episode.json.gz": { "bytes": 795182, "sha256": "cf69cd2fc8bab1752f5633333b4aea1dd8e89f8acf9974b0fc0a5b275c26633d" }, "evaluation.json": { "bytes": 13466, "sha256": "7e78a84da4dbe4474f2ed7d78a23a55368626f72bab553333e112184fa045a4c" }, "native.json": { "bytes": 13763, "sha256": "19cc1d5998901cbc12da2916add3096763081e9decbfc7193981bfabc4b871e0" }, "native.npz": { "bytes": 4060752, "sha256": "420385368b4468abecbe5af9a9be3b79bf659e592249124cbae6442ec7b9f11f" }, "started.json": { "bytes": 151, "sha256": "f63059fee463a0039c4a9caae329df737b9995103ccf82c210500af87b5f0237" } }, "friction": 0.78, "id": "m0475-f78-p1-issued_joint", "mass_kg": 0.0475, "metrics": { "carry_complete": false, "carry_contact_loss_events": 0, "carry_contact_loss_tolerance_seconds": 0.04, "dwell_seconds": 0.0, "first_success_time_seconds": null, "grasp_seen": true, "lift_dwell_seconds": 0.0, "lift_seen": false, "max_carry_contact_loss_seconds": 0.0, "max_object_lift_m": 0.008810638994524472, "max_pad_normal_force_n": 0.442304943832759, "physical_robot_ready": false, "reason": "timeout", "retention_lost": false, "simulation_time": 20.00000000000146, "steps": 1000, "success": false, "target_distance_m": 0.12281181481448936, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "policy": { "abort_reason": null, "acquisition_contract": { "comparison_scope": "Closed-loop variants may acquire different trajectories through early hold/retry. This is not an isolated classifier ablation.", "control_dt_s": 0.02, "evidence_admission": "Current bilateral force >0.01 N, no table support, object rise >=6 mm and TCP-local offset drift <=3 mm continuously across sampled boundaries for elapsed >=100 ms.", "hold": "Latch measured six arm joints and the last issued jaw target at admission/terminal invalidity. No full lift/transfer, no squeeze escalation, no post-admission retry.", "invalidation": "At each subsequent 20 ms observation and final observation, invalidate immediately on lost contact/force, support, insufficient rise, >3 mm local drift or unexpected contact. Never requalify after terminal invalidity.", "observation_origin": "privileged_native_simulator_state", "parameters": { "close_timeout_s": 1.4, "consecutive_alarm_samples": 2, "max_retries": 1, "monitor_min_probe_motion_m": 0.003, "probe_height_m": 0.01, "probe_min_object_rise_m": 0.006, "probe_speed_m_s": 0.02, "probe_timeout_s": 1.4, "qualification_dwell_s": 0.1, "relative_drift_limit_m": 0.003, "retry_clearance_m": 0.012, "retry_open_timeout_s": 1.2, "retry_recenter_timeout_s": 1.5 }, "physical_robot_ready": false, "prefix": "Original GuardedPiperTaskPolicy approach/close and at most one supported open/recenter/retry; already uses authored native state, not a fully blind baseline.", "sampling_limit": "Independent 1 ms evidence may contradict sampled admission; that remains a finding. No sensor or material inference is implemented.", "schema": "dvidia.piper-probe-stop/v1", "stop_scope": "Holding native position targets is not physical arrest or calibrated force limiting; inertia and existing target rate limits can continue motion.", "timer_admission": "Same 10 mm/20 mm/s probe target law, admitted at elapsed >=600 ms from that probe start; no evidence predicate or slip alarm before admission. Unexpected contacts and bounded timeouts still stop.", "timer_admission_s": 0.6, "variants": [ "evidence", "timer" ] }, "acquisition_variant": "evidence", "active_probe_index": 0, "admission_time_s": 11.9799999999988, "admitted": true, "contract": { "acquisition": "Unchanged ProbeStopPolicy evidence acquisition, including its bounded supported retry. All variants share the same prefix through the first admission observation.", "cartesian": "Latch measured TCP position/orientation and preceding issued targets. Fixed joint bias equals issued target minus pose_action at the admission pose. First command repeats the exact issued target; later pose_action updates receive that fixed bias.", "control_dt_s": 0.02, "final_observation": "Repeat force, original eligibility and Cartesian pose-error checks. Do not solve or issue a hypothetical next control at the terminal observation.", "invalid_measurements": "Malformed, nonfinite or noncausal observations terminally refuse and raise without issuing a command. No measured-position stop is claimed from invalid measurements.", "issued_joint": "Latch the preceding issued six joint targets and the same last issued jaw target at admission.", "limits": { "initial_joint_bias_ceiling_rad": 0.08, "joint_correction_ceiling_rad": 0.03, "joint_correction_rate_rad_s": 0.1, "native_joint_target_margin_rad": 0.02, "per_finger_force_ceiling_n": 10.0, "tcp_orientation_error_ceiling_rad": 0.05, "tcp_position_error_ceiling_m": 0.004 }, "measured_joint": "Original hold: latch measured six joint coordinates and the last issued jaw target at admission.", "observation_origin": "privileged_native_simulator_state", "physical_robot_ready": false, "qualifications": "Engineering limits and the 10 N ceiling are authored synthetic assumptions, not damage limits or calibrated physical telemetry. Position targets are not physical stops or force limiters. No load/friction inference, model training or complete placement is implemented.", "rate_scope": "The extra correction slews at at most 0.002 rad per 20 ms per joint. Original native 1 ms target slew, servos, gains and force caps remain unchanged.", "refusal": "Original eligibility loss, unexpected contact or observed pad force >10 N terminally requests measured joint hold and the frozen jaw target. Cartesian error, initial-bias, total-correction or native-margin exhaustion also refuses terminally; it never chases an already failed grip.", "sampling": "Control checks occur at 20 ms boundaries. Independent saved 1 ms native evidence must judge a continuous 5 s hold; missed between-boundary failures remain findings.", "schema": "dvidia.piper-retention/v2", "variants": [ "measured_joint", "issued_joint", "cartesian" ] }, "events": [ { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "continue", "drift_streak": 0, "object_height_delta_m": 0.0, "phase": "probe", "progress_streak": 0, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0, "retry_index": 0, "t_seconds": 11.379999999999132, "table_supported": true, "tcp_probe_height_delta_m": 0.0 }, "observation_origin": "privileged_native_simulator_state", "phase": "guard_probe", "probe_index": 0, "reason": "slow_load_bearing_check", "retention_variant": "issued_joint", "retry_index": 0, "status": "probing", "t_seconds": 11.379999999999132, "type": "probe_started", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "bounded_issued_joint_hold", "drift_streak": 0, "object_height_delta_m": 0.007323442183804568, "phase": "probe", "progress_streak": 0, "qualification_dwell_seconds": 0.09999999999994458, "qualified": true, "relative_offset_error_m": 8.294944029777419e-05, "retry_index": 0, "t_seconds": 11.9799999999988, "table_supported": false, "tcp_probe_height_delta_m": 0.007439046558910881 }, "observation_origin": "privileged_native_simulator_state", "phase": "probe_stop", "probe_index": 0, "reason": "sampled_probe_evidence", "retention_hold_reference": { "fixed_bias_rad": null, "frozen_jaw_target_m": 0.0, "issued_joint_targets_rad": [ -0.11774879832060996, 1.7418194646008565, -1.1815941286990628, -2.3766804789319465e-05, 1.0867066893195885, -0.12239296564887402 ], "measured_joint_position_rad": [ -0.11775929648252306, 1.746752431609857, -1.176798526969168, -3.6601467658055826e-05, 1.0599625764998168, -0.12235233086739825 ], "position_m": [ 0.31414161747070474, -0.035747447734792534, 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11.9799999999988, "disposition": "qualified_hold", "end_time_s": null, "local_offset_origin_m": [ 0.002323419275196195, 0.0002987063550665962, 0.0019231907030548329 ], "object_origin_m": [ 0.30787362021770925, -0.034987413713962315, 0.07992209918586446 ], "observation_origin": "privileged_native_simulator_state", "probe_index": 0, "reason": null, "start_time_s": 11.379999999999132, "tcp_origin_m": [ 0.31017720224606304, -0.03527277103526157, 0.08187100814552709 ], "tcp_quaternion_wxyz": [ 0.005473532499736363, -0.0023236707515525796, 0.9999820953926055, -0.0006707387174668057 ] } ], "retention": { "hold_reference": { "fixed_bias_rad": null, "frozen_jaw_target_m": 0.0, "issued_joint_targets_rad": [ -0.11774879832060996, 1.7418194646008565, -1.1815941286990628, -2.3766804789319465e-05, 1.0867066893195885, -0.12239296564887402 ], "measured_joint_position_rad": [ -0.11775929648252306, 1.746752431609857, -1.176798526969168, -3.6601467658055826e-05, 1.0599625764998168, -0.12235233086739825 ], "position_m": [ 0.31414161747070474, -0.035747447734792534, 0.08931005470443797 ], "quaternion_wxyz": [ 0.013959595153392144, -0.002301287725715159, 0.9998984674555892, -0.00169957580623238 ], "raw_pose_joint_targets_rad": null, "t_seconds": 11.9799999999988 }, "input_refusals": [], "native_joint_control_limits_rad": [ [ -2.618, 2.618 ], [ 0.0, 3.14 ], [ -2.697, 0.0 ], [ -1.832, 1.832 ], [ -1.22, 1.22 ], [ -3.14, 3.14 ] ], "variant": "issued_joint" }, "retry_count": 0, "schema": "dvidia.piper-retention/v2", "status": "qualified_hold", "stop_targets_rad": [ -0.11774879832060996, 1.7418194646008565, -1.1815941286990628, -2.3766804789319465e-05, 1.0867066893195885, -0.12239296564887402 ], "variant": "issued_joint" }, "scene_id": "m0475-f78-p1", "timing": { "policy_cpu": { "maximum_s": 0.0007560000000026434, "mean_s": 0.00010096200000000977, "over_20ms": 0, "p50_s": 9.000000000014552e-05, "p95_s": 0.00022705000000229343, "p99_s": 0.00030501000000086263, "samples": 1000 }, "policy_wall": { "maximum_s": 0.0023001250810921192, "mean_s": 0.00011273300787433982, "over_20ms": 0, "p50_s": 9.008357301354408e-05, "p95_s": 0.0002800682326778765, "p99_s": 0.0005433343444019553, "samples": 1000 }, "step_cpu": { "maximum_s": 0.009152999999997746, "mean_s": 0.0033793439999999287, "over_20ms": 0, "p50_s": 0.0033389999999986486, "p95_s": 0.00601329999999951, "p99_s": 0.00755889999999951, "samples": 1000 }, "step_wall": { "maximum_s": 0.02558558387681842, "mean_s": 0.003923654977232217, "over_20ms": 4, "p50_s": 0.003424020716920495, "p95_s": 0.007994446414522818, "p99_s": 0.015688617881387472, "samples": 1000 } }, "valid": true, "variant": "issued_joint" }, { "error": null, "evaluation": { "claims": { "false_maintained_grip": 0, "false_maintained_pose": 0, "maintained_checks": 82, "scope": "Claimed qualified boundaries after admission, compared with every native row since admission; grip includes correct initial prefix. Counts are diagnostic, not independent trials." }, "corrections": { "bound_refusal_counts": { "tcp_position_error_exhausted": 1 }, "flag_counts": { "correction_rate_limited": 0 }, "hold_record_count": 402, "input_refusals": [], "maximum_abs_accepted_correction_rate_rad_s": null, "maximum_abs_active_correction_rad": 0.0002407466026088656, "maximum_abs_desired_correction_rad": 0.0002407466026088656, "maximum_abs_pose_error_increment_rad": null, "rate_limited_axis_occurrences": 0, "scope": "Includes recorded final diagnostic checks; only command_issued rows represent issued controls." }, "decomposition": { "elapsed_s": 5.0, "local_offset_change_m": 0.0005005310366919805, "object_world_z_delta_m": 0.00026749548905559417, "relative_world_z_delta_m": -0.00045482089891345223, "scope": "Kinematic components, not causal attribution or calibrated physical slip.", "tcp_world_z_delta_m": 0.0007223163879690464 }, "final": { "both_qualified": false, "controller_qualified": false, "evidence_admissible": false, "native_qualified": true }, "first_admission": { "native_prefix_qualified": true, "native_qualifying_window_s": 0.101, "probe_index": 0, "time_s": 11.9799999999988 }, "grip_only": { "all_native_hold_forces_within_ceiling": true, "combined_qualified_pause": false, "complete_5s": true, "controller_retained_at_5s": false, "first_native_predicate_failure_s": null, "followup_available_s": 8.02000000000266, "native_pause_success": true, "reason": "success", "required_s": 5.0, "success": true, "target_time_s": 16.9799999999988 }, "native": { "arrays_sha256": "941d65a0ac243a87224b706962aa86f184e43b70201909223bc02e8e34469522", "complete": true, "maximum_per_finger_force_n": 0.442304943832759, "rows": 20000, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "physical_robot_ready": false, "primary": { "all_native_hold_forces_within_ceiling": true, "combined_qualified_pause": false, "complete_5s": true, "controller_retained_at_5s": false, "first_native_predicate_failure_s": null, "first_tcp_pose_failure_s": 13.623999999997888, "followup_available_s": 8.02000000000266, "native_pause_success": true, "reason": "tcp_stationarity_lost", "required_s": 5.0, "success": false, "target_time_s": 16.9799999999988 }, "probes": [ { "claims": [ { "native_prefix_qualified": true, "t_seconds": 11.9799999999988 } ], "disposition": "invalidated_hold", "final_native_qualified_from_origin": true, "probe_index": 0, "start_time_s": 11.379999999999132 } ], "receipt": { "admission": { "observation_origin": "privileged_native_simulation_plus_caller_planning_assumptions", "physical_robot_ready": false, "planning": { "computed": { "conservative_required_load_n": 0.7058488125, "gravity_m_s2": 9.80665, "pose_specific_payload_limit_force_n": 0.980665, "two_finger_friction_capacity_n": 15.600000000000001 }, "observation_origin": "caller_declared_not_verified", "physical_robot_ready": false, "reasons": [ "Run and record a cautious test lift under the same calibrated pose and load conditions before simulated transport planning." ], "schema": "dvidia.task-feasibility-result/v1", "scope": "Planning assessment only. Parallel two-finger vertical-lift approximation; ignores moment, center of mass, deformation, transient impacts and unmodeled contact effects. Unknown values remain unknown; mass is never inferred from images. Probe/test-lift/controller integration is not implemented. No hardware actuation is performed; this is not hardware qualification.", "status": "test_lift_required" }, "probe": { "admissible": false, "historical_qualified": true, "latest_qualified": true, "physical_robot_ready": false, "reasons": [ "latest_controller_not_qualified" ], "receipt_sha256": "a9d75cb33bd089a024e620e8b8db465bfc72c79f52705e779e162f8bf6aa9638", "schema": "dvidia.probe-evidence-verification/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.", "verified": true }, "schema": "dvidia.task-feasibility-with-probe/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification. Unknown planning values remain unknown. The unchanged approximate vertical-lift planning gate describes declared loads; it supplies no transport path, geospatial-goal contract or actuator permission. This wrapper never issues controls.", "status": "test_lift_required" }, "context": { "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe", "calibration_id": "synthetic_probe_v01", "calibration_scope": "simulation_assumptions_not_hardware", "command_sha256": "1b2eb0e8dbff78f40a71c6a31b9981c2a141185f9af8dd42a64494cbea818b21", "feasibility_sha256": "7c932cfdbaefffa299be3075549eca688e2448f83e90c83319f55b31fb506f42", "grasp_id": "m0475-f78-p1-cartesian-probe-0", "initial_object_position_m": [ 0.3080000286688259, -0.03499983588880944, 0.07989224451748382 ], "model_sha256": "2e3228cb9371772e702c65a348fe668a4f2f811c3c8ba5d690d61b26559b7318", "native_status": { "simulation_time_s": 20.00000000000146, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "object_id": "task_block", "per_finger_force_ceiling_n": 10.0, "pose_binding_sha256": "4c775bf7da94d8c06befb4fd1377744ba80dbcfe06137f25bc16b58f5c322b92", "probe_index": 0, "probe_origin_object_position_m": [ 0.30787362021770925, -0.034987413713962315, 0.07992209918586446 ], "probe_origin_tcp_local_offset_m": [ 0.002323419275196195, 0.0002987063550665962, 0.0019231907030548329 ], "probe_start_s": 11.379999999999132, "robot_profile": "piper", "run_id": "m0475-f78-p1-cartesian", "schema": "dvidia.probe-context/v1", "source_sha256": "d28324843344114f1ee863cee3c48dbca8aa37fd11222623563a0b1d40c364a6" }, "physical_robot_ready": false, "planning_input": { "allowed_pose_tolerance_m": 0.003, "calibration_id": "synthetic_probe_v01", "friction_interval": [ 0.78, 0.78 ], "geometry_known": true, "gripper_max_opening_interval_m": [ 0.07, 0.07 ], "gripper_min_closure_m": 0.0, "mass_interval_kg": [ 0.0475, 0.0475 ], "object_width_interval_m": [ 0.04, 0.04 ], "observations_fresh": true, "per_finger_normal_force_budget_n": 10.0, "planned_upward_accel_m_s2": 0.1, "pose_specific_payload_limit_kg": 0.1, "pose_uncertainty_m": 0.0, "reachability": "reachable", "safety_factor": 1.5, "schema": "dvidia.task-feasibility-input/v1", "slip_detected": false, "test_lift_passed": false }, "receipt": { "audit": { "controller_claim_mismatches": [ { "classification": "conservative_abstention", "controller_qualified": false, "native_prefix_qualified": true, "t_seconds": 20.00000000000146 } ], "controller_claims_checked": 2, "controller_conservative_abstention_count": 1, "controller_coverage": "Only the supplied claims are checked; omitted decisions are not inferred.", "controller_false_qualification_count": 0, "controller_positive_claims": 1, "force_ceiling_known": true, "maximum_observed_per_finger_force_n": 0.442304943832759, "reasons": [], "rows": 20000, "unexpected_contact_native_ticks": 0, "valid": true }, "context": { "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe", "calibration_id": "synthetic_probe_v01", "calibration_scope": "simulation_assumptions_not_hardware", "command_sha256": "1b2eb0e8dbff78f40a71c6a31b9981c2a141185f9af8dd42a64494cbea818b21", "feasibility_sha256": "7c932cfdbaefffa299be3075549eca688e2448f83e90c83319f55b31fb506f42", "grasp_id": "m0475-f78-p1-cartesian-probe-0", "initial_object_position_m": [ 0.3080000286688259, -0.03499983588880944, 0.07989224451748382 ], "model_sha256": "2e3228cb9371772e702c65a348fe668a4f2f811c3c8ba5d690d61b26559b7318", "native_status": { "simulation_time_s": 20.00000000000146, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "object_id": "task_block", "per_finger_force_ceiling_n": 10.0, "pose_binding_sha256": "4c775bf7da94d8c06befb4fd1377744ba80dbcfe06137f25bc16b58f5c322b92", "probe_index": 0, "probe_origin_object_position_m": [ 0.30787362021770925, -0.034987413713962315, 0.07992209918586446 ], "probe_origin_tcp_local_offset_m": [ 0.002323419275196195, 0.0002987063550665962, 0.0019231907030548329 ], "probe_start_s": 11.379999999999132, "robot_profile": "piper", "run_id": "m0475-f78-p1-cartesian", "schema": "dvidia.probe-context/v1", "source_sha256": "d28324843344114f1ee863cee3c48dbca8aa37fd11222623563a0b1d40c364a6" }, "context_sha256": "2b829f83d9d1e040c6755e0f29c296454e2021312b3e413cb4df0385dc68da37", "controller_qualifications": [ { "probe_index": 0, "qualified": true, "t_seconds": 11.9799999999988 }, { "probe_index": 0, "qualified": false, "t_seconds": 20.00000000000146 } ], "criteria": { "distance_comparison_epsilon": 1e-12, "initial_sample_tolerance_m": 0.001, "maximum_tcp_local_drift_m": 0.003, "minimum_continuous_dwell_s": 0.1, "minimum_per_finger_force_n_exclusive": 0.01, "minimum_rise_m": 0.006, "native_dt_s": 0.001, "origin_tolerance_m": 1e-09, "time_tolerance_s": 1e-08 }, "history": { "ever_qualified": true, "first_qualified_s": 11.9789999999988, "maximum_continuous_qualifying_s": 8.121 }, "latest": { "condition_valid": true, "continuous_qualifying_s": 8.121, "controller_claim": { "probe_index": 0, "qualified": false, "t_seconds": 20.00000000000146 }, "native_tick": 20000, "qualified": true, "rise_m": 0.007285682916558234, "tcp_local_drift_m": 0.0008773325399136968, "time_s": 20.00000000000146 }, "metadata_sha256": "ad8229630cc9f8718829bb8317b1a82480dcf18b9f71bd23666acfe71a003ef7", "native_arrays_sha256": "941d65a0ac243a87224b706962aa86f184e43b70201909223bc02e8e34469522", "physical_robot_ready": false, "receipt_sha256": "a9d75cb33bd089a024e620e8b8db465bfc72c79f52705e779e162f8bf6aa9638", "schema": "dvidia.probe-evidence/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification." }, "status": "inspected", "verification": { "admissible": false, "historical_qualified": true, "latest_qualified": true, "physical_robot_ready": false, "reasons": [ "latest_controller_not_qualified" ], "receipt_sha256": "a9d75cb33bd089a024e620e8b8db465bfc72c79f52705e779e162f8bf6aa9638", "schema": "dvidia.probe-evidence-verification/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.", "verified": true } }, "stationarity": { "complete_5s": true, "grip_retention_and_stationarity": false, "maximum_tcp_orientation_excursion_rad": 0.01941168048510466, "maximum_tcp_position_excursion_m": 0.0042079000131897215, "orientation_ceiling_rad": 0.05, "position_ceiling_m": 0.004, "required_s": 5.0, "scope": "Common recorded native TCP pose endpoint, not calibrated hardware stationarity.", "tcp_pose_within_bounds": false, "terminal_tcp_orientation_delta_rad": 0.01941168048510466, "terminal_tcp_position_delta_m": [ -0.004116734803389366, 0.00048700730511577056, 0.0007223163879690464 ] }, "status": "inspected" }, "files": { "episode.json.gz": { "bytes": 824445, "sha256": "4c1a63206b0ab531350958c03b3943a41d81a3752cd7a943b65de3a356e04baa" }, "evaluation.json": { "bytes": 13877, "sha256": "9049516c674353d7166ef556ce56641baf5fae0583229f3c513280e18788ce91" }, "native.json": { "bytes": 13763, "sha256": "19cc1d5998901cbc12da2916add3096763081e9decbfc7193981bfabc4b871e0" }, "native.npz": { "bytes": 4046687, "sha256": "25fd4587e4c9f5a1dd76aad2f1caa0fc23a29d85a6cc847d82cf8fd14c1ab66f" }, "started.json": { "bytes": 148, "sha256": "e93f8ce60b84c7012efdcbab6833d19ef1062f22e612d489fc384c5eaee689b5" } }, "friction": 0.78, "id": "m0475-f78-p1-cartesian", "mass_kg": 0.0475, "metrics": { "carry_complete": false, "carry_contact_loss_events": 0, "carry_contact_loss_tolerance_seconds": 0.04, "dwell_seconds": 0.0, "first_success_time_seconds": null, "grasp_seen": true, "lift_dwell_seconds": 0.0, "lift_seen": false, "max_carry_contact_loss_seconds": 0.0, "max_object_lift_m": 0.008820870549620316, "max_pad_normal_force_n": 0.442304943832759, "physical_robot_ready": false, "reason": "timeout", "retention_lost": false, "simulation_time": 20.00000000000146, "steps": 1000, "success": false, "target_distance_m": 0.1226771798473147, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "policy": { "abort_reason": "tcp_position_error_exhausted", "acquisition_contract": { "comparison_scope": "Closed-loop variants may acquire different trajectories through early hold/retry. This is not an isolated classifier ablation.", "control_dt_s": 0.02, "evidence_admission": "Current bilateral force >0.01 N, no table support, object rise >=6 mm and TCP-local offset drift <=3 mm continuously across sampled boundaries for elapsed >=100 ms.", "hold": "Latch measured six arm joints and the last issued jaw target at admission/terminal invalidity. No full lift/transfer, no squeeze escalation, no post-admission retry.", "invalidation": "At each subsequent 20 ms observation and final observation, invalidate immediately on lost contact/force, support, insufficient rise, >3 mm local drift or unexpected contact. Never requalify after terminal invalidity.", "observation_origin": "privileged_native_simulator_state", "parameters": { "close_timeout_s": 1.4, "consecutive_alarm_samples": 2, "max_retries": 1, "monitor_min_probe_motion_m": 0.003, "probe_height_m": 0.01, "probe_min_object_rise_m": 0.006, "probe_speed_m_s": 0.02, "probe_timeout_s": 1.4, "qualification_dwell_s": 0.1, "relative_drift_limit_m": 0.003, "retry_clearance_m": 0.012, "retry_open_timeout_s": 1.2, "retry_recenter_timeout_s": 1.5 }, "physical_robot_ready": false, "prefix": "Original GuardedPiperTaskPolicy approach/close and at most one supported open/recenter/retry; already uses authored native state, not a fully blind baseline.", "sampling_limit": "Independent 1 ms evidence may contradict sampled admission; that remains a finding. No sensor or material inference is implemented.", "schema": "dvidia.piper-probe-stop/v1", "stop_scope": "Holding native position targets is not physical arrest or calibrated force limiting; inertia and existing target rate limits can continue motion.", "timer_admission": "Same 10 mm/20 mm/s probe target law, admitted at elapsed >=600 ms from that probe start; no evidence predicate or slip alarm before admission. Unexpected contacts and bounded timeouts still stop.", "timer_admission_s": 0.6, "variants": [ "evidence", "timer" ] }, "acquisition_variant": "evidence", "active_probe_index": 0, "admission_time_s": 11.9799999999988, "admitted": false, "contract": { "acquisition": "Unchanged ProbeStopPolicy evidence acquisition, including its bounded supported retry. All variants share the same prefix through the first admission observation.", "cartesian": "Latch measured TCP position/orientation and preceding issued targets. Fixed joint bias equals issued target minus pose_action at the admission pose. First command repeats the exact issued target; later pose_action updates receive that fixed bias.", "control_dt_s": 0.02, "final_observation": "Repeat force, original eligibility and Cartesian pose-error checks. Do not solve or issue a hypothetical next control at the terminal observation.", "invalid_measurements": "Malformed, nonfinite or noncausal observations terminally refuse and raise without issuing a command. No measured-position stop is claimed from invalid measurements.", "issued_joint": "Latch the preceding issued six joint targets and the same last issued jaw target at admission.", "limits": { "initial_joint_bias_ceiling_rad": 0.08, "joint_correction_ceiling_rad": 0.03, "joint_correction_rate_rad_s": 0.1, "native_joint_target_margin_rad": 0.02, "per_finger_force_ceiling_n": 10.0, "tcp_orientation_error_ceiling_rad": 0.05, "tcp_position_error_ceiling_m": 0.004 }, "measured_joint": "Original hold: latch measured six joint coordinates and the last issued jaw target at admission.", "observation_origin": "privileged_native_simulator_state", "physical_robot_ready": false, "qualifications": "Engineering limits and the 10 N ceiling are authored synthetic assumptions, not damage limits or calibrated physical telemetry. Position targets are not physical stops or force limiters. No load/friction inference, model training or complete placement is implemented.", "rate_scope": "The extra correction slews at at most 0.002 rad per 20 ms per joint. Original native 1 ms target slew, servos, gains and force caps remain unchanged.", "refusal": "Original eligibility loss, unexpected contact or observed pad force >10 N terminally requests measured joint hold and the frozen jaw target. Cartesian error, initial-bias, total-correction or native-margin exhaustion also refuses terminally; it never chases an already failed grip.", "sampling": "Control checks occur at 20 ms boundaries. Independent saved 1 ms native evidence must judge a continuous 5 s hold; missed between-boundary failures remain findings.", "schema": "dvidia.piper-retention/v2", "variants": [ "measured_joint", "issued_joint", "cartesian" ] }, "events": [ { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "continue", "drift_streak": 0, "object_height_delta_m": 0.0, "phase": "probe", "progress_streak": 0, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0, "retry_index": 0, "t_seconds": 11.379999999999132, "table_supported": true, "tcp_probe_height_delta_m": 0.0 }, "observation_origin": "privileged_native_simulator_state", "phase": "guard_probe", "probe_index": 0, "reason": "slow_load_bearing_check", "retention_variant": "cartesian", "retry_index": 0, "status": "probing", "t_seconds": 11.379999999999132, "type": "probe_started", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": 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1000 } }, "valid": true, "variant": "cartesian" }, { "error": null, "evaluation": { "claims": { "false_maintained_grip": 0, "false_maintained_pose": 0, "maintained_checks": 215, "scope": "Claimed qualified boundaries after admission, compared with every native row since admission; grip includes correct initial prefix. 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Parallel two-finger vertical-lift approximation; ignores moment, center of mass, deformation, transient impacts and unmodeled contact effects. Unknown values remain unknown; mass is never inferred from images. Probe/test-lift/controller integration is not implemented. No hardware actuation is performed; this is not hardware qualification.", "status": "test_lift_required" }, "probe": { "admissible": false, "historical_qualified": true, "latest_qualified": false, "physical_robot_ready": false, "reasons": [ "latest_native_window_not_qualified", "latest_controller_not_qualified" ], "receipt_sha256": "d1bc0e84b4d4e3a99cbda2bf29bc3b4feced549d4e3bc1d1f1a3df96b6676db2", "schema": "dvidia.probe-evidence-verification/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.", "verified": true }, "schema": "dvidia.task-feasibility-with-probe/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification. Unknown planning values remain unknown. The unchanged approximate vertical-lift planning gate describes declared loads; it supplies no transport path, geospatial-goal contract or actuator permission. This wrapper never issues controls.", "status": "test_lift_required" }, "context": { "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe", "calibration_id": "synthetic_probe_v01", "calibration_scope": "simulation_assumptions_not_hardware", "command_sha256": "d4b036411f98dc3d4586e791da9454769ced68929e750cce3656665962672146", "feasibility_sha256": "7c932cfdbaefffa299be3075549eca688e2448f83e90c83319f55b31fb506f42", "grasp_id": "m0475-f78-p1-measured_joint-probe-0", "initial_object_position_m": [ 0.3080000286688259, -0.03499983588880944, 0.07989224451748382 ], "model_sha256": "2e3228cb9371772e702c65a348fe668a4f2f811c3c8ba5d690d61b26559b7318", "native_status": { "simulation_time_s": 20.00000000000146, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "object_id": "task_block", "per_finger_force_ceiling_n": 10.0, "pose_binding_sha256": "9d626b9677e894afaa27b017466c49488d3576974e4af4fc4238f1ac4d012d61", "probe_index": 0, "probe_origin_object_position_m": [ 0.30787362021770925, -0.034987413713962315, 0.07992209918586446 ], "probe_origin_tcp_local_offset_m": [ 0.002323419275196195, 0.0002987063550665962, 0.0019231907030548329 ], "probe_start_s": 11.379999999999132, "robot_profile": "piper", "run_id": "m0475-f78-p1-measured_joint", "schema": "dvidia.probe-context/v1", "source_sha256": "d28324843344114f1ee863cee3c48dbca8aa37fd11222623563a0b1d40c364a6" }, "physical_robot_ready": false, "planning_input": { "allowed_pose_tolerance_m": 0.003, "calibration_id": "synthetic_probe_v01", "friction_interval": [ 0.78, 0.78 ], "geometry_known": true, "gripper_max_opening_interval_m": [ 0.07, 0.07 ], "gripper_min_closure_m": 0.0, "mass_interval_kg": [ 0.0475, 0.0475 ], "object_width_interval_m": [ 0.04, 0.04 ], "observations_fresh": true, "per_finger_normal_force_budget_n": 10.0, "planned_upward_accel_m_s2": 0.1, "pose_specific_payload_limit_kg": 0.1, "pose_uncertainty_m": 0.0, "reachability": "reachable", "safety_factor": 1.5, "schema": "dvidia.task-feasibility-input/v1", "slip_detected": false, "test_lift_passed": false }, "receipt": { "audit": { "controller_claim_mismatches": [], "controller_claims_checked": 2, "controller_conservative_abstention_count": 0, "controller_coverage": "Only the supplied claims are checked; 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Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification." }, "status": "inspected", "verification": { "admissible": false, "historical_qualified": true, "latest_qualified": false, "physical_robot_ready": false, "reasons": [ "latest_native_window_not_qualified", "latest_controller_not_qualified" ], "receipt_sha256": "d1bc0e84b4d4e3a99cbda2bf29bc3b4feced549d4e3bc1d1f1a3df96b6676db2", "schema": "dvidia.probe-evidence-verification/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.", "verified": true } }, "stationarity": { "complete_5s": true, "grip_retention_and_stationarity": false, "maximum_tcp_orientation_excursion_rad": 0.00554912414572606, "maximum_tcp_position_excursion_m": 0.001724306943471216, "orientation_ceiling_rad": 0.05, "position_ceiling_m": 0.004, "required_s": 5.0, "scope": "Common recorded native TCP pose endpoint, not calibrated hardware stationarity.", "tcp_pose_within_bounds": true, "terminal_tcp_orientation_delta_rad": 0.00554912414572606, "terminal_tcp_position_delta_m": [ -0.0008062695701975264, 9.012594940064483e-05, -0.0015215259211466547 ] }, "status": "inspected" }, "files": { "episode.json.gz": { "bytes": 794802, "sha256": "b27e648db15a47308346c611826bd2eabcd51a46c7f0734cf574477903e10211" }, "evaluation.json": { "bytes": 13738, "sha256": "5be5c27d032508c06b345013f885f4751e9fb7b08161bb10a9b20cb68120a41f" }, "native.json": { "bytes": 13763, "sha256": "19cc1d5998901cbc12da2916add3096763081e9decbfc7193981bfabc4b871e0" }, "native.npz": { "bytes": 4059721, "sha256": "0ecd289bafc55e5de0e8449efa0356d9457df9f26b4f9e7c7e8d0417772f56fc" }, "started.json": { "bytes": 153, "sha256": "26a208eed42c814f3e40aa8b088d59017a6fa0b149432bf15c016b967f9918f2" } }, "friction": 0.78, "id": "m0475-f78-p1-measured_joint", "mass_kg": 0.0475, "metrics": { "carry_complete": false, "carry_contact_loss_events": 0, "carry_contact_loss_tolerance_seconds": 0.04, "dwell_seconds": 0.0, "first_success_time_seconds": null, "grasp_seen": true, "lift_dwell_seconds": 0.0, "lift_seen": false, "max_carry_contact_loss_seconds": 0.0, "max_object_lift_m": 0.007390537378154538, "max_pad_normal_force_n": 0.442304943832759, "physical_robot_ready": false, "reason": "timeout", "retention_lost": false, "simulation_time": 20.00000000000146, "steps": 1000, "success": false, "target_distance_m": 0.12186582361558289, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "policy": { "abort_reason": "probe_height_not_retained", "acquisition_contract": { "comparison_scope": "Closed-loop variants may acquire different trajectories through early hold/retry. This is not an isolated classifier ablation.", "control_dt_s": 0.02, "evidence_admission": "Current bilateral force >0.01 N, no table support, object rise >=6 mm and TCP-local offset drift <=3 mm continuously across sampled boundaries for elapsed >=100 ms.", "hold": "Latch measured six arm joints and the last issued jaw target at admission/terminal invalidity. No full lift/transfer, no squeeze escalation, no post-admission retry.", "invalidation": "At each subsequent 20 ms observation and final observation, invalidate immediately on lost contact/force, support, insufficient rise, >3 mm local drift or unexpected contact. Never requalify after terminal invalidity.", "observation_origin": "privileged_native_simulator_state", "parameters": { "close_timeout_s": 1.4, "consecutive_alarm_samples": 2, "max_retries": 1, "monitor_min_probe_motion_m": 0.003, "probe_height_m": 0.01, "probe_min_object_rise_m": 0.006, "probe_speed_m_s": 0.02, "probe_timeout_s": 1.4, "qualification_dwell_s": 0.1, "relative_drift_limit_m": 0.003, "retry_clearance_m": 0.012, "retry_open_timeout_s": 1.2, "retry_recenter_timeout_s": 1.5 }, "physical_robot_ready": false, "prefix": "Original GuardedPiperTaskPolicy approach/close and at most one supported open/recenter/retry; already uses authored native state, not a fully blind baseline.", "sampling_limit": "Independent 1 ms evidence may contradict sampled admission; that remains a finding. No sensor or material inference is implemented.", "schema": "dvidia.piper-probe-stop/v1", "stop_scope": "Holding native position targets is not physical arrest or calibrated force limiting; inertia and existing target rate limits can continue motion.", "timer_admission": "Same 10 mm/20 mm/s probe target law, admitted at elapsed >=600 ms from that probe start; no evidence predicate or slip alarm before admission. Unexpected contacts and bounded timeouts still stop.", "timer_admission_s": 0.6, "variants": [ "evidence", "timer" ] }, "acquisition_variant": "evidence", "active_probe_index": 0, "admission_time_s": 11.9799999999988, "admitted": false, "contract": { "acquisition": "Unchanged ProbeStopPolicy evidence acquisition, including its bounded supported retry. All variants share the same prefix through the first admission observation.", "cartesian": "Latch measured TCP position/orientation and preceding issued targets. Fixed joint bias equals issued target minus pose_action at the admission pose. First command repeats the exact issued target; later pose_action updates receive that fixed bias.", "control_dt_s": 0.02, "final_observation": "Repeat force, original eligibility and Cartesian pose-error checks. Do not solve or issue a hypothetical next control at the terminal observation.", "invalid_measurements": "Malformed, nonfinite or noncausal observations terminally refuse and raise without issuing a command. No measured-position stop is claimed from invalid measurements.", "issued_joint": "Latch the preceding issued six joint targets and the same last issued jaw target at admission.", "limits": { "initial_joint_bias_ceiling_rad": 0.08, "joint_correction_ceiling_rad": 0.03, "joint_correction_rate_rad_s": 0.1, "native_joint_target_margin_rad": 0.02, "per_finger_force_ceiling_n": 10.0, "tcp_orientation_error_ceiling_rad": 0.05, "tcp_position_error_ceiling_m": 0.004 }, "measured_joint": "Original hold: latch measured six joint coordinates and the last issued jaw target at admission.", "observation_origin": "privileged_native_simulator_state", "physical_robot_ready": false, "qualifications": "Engineering limits and the 10 N ceiling are authored synthetic assumptions, not damage limits or calibrated physical telemetry. Position targets are not physical stops or force limiters. No load/friction inference, model training or complete placement is implemented.", "rate_scope": "The extra correction slews at at most 0.002 rad per 20 ms per joint. Original native 1 ms target slew, servos, gains and force caps remain unchanged.", "refusal": "Original eligibility loss, unexpected contact or observed pad force >10 N terminally requests measured joint hold and the frozen jaw target. Cartesian error, initial-bias, total-correction or native-margin exhaustion also refuses terminally; it never chases an already failed grip.", "sampling": "Control checks occur at 20 ms boundaries. Independent saved 1 ms native evidence must judge a continuous 5 s hold; missed between-boundary failures remain findings.", "schema": "dvidia.piper-retention/v2", "variants": [ "measured_joint", "issued_joint", "cartesian" ] }, "events": [ { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "continue", "drift_streak": 0, "object_height_delta_m": 0.0, "phase": "probe", "progress_streak": 0, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0, "retry_index": 0, "t_seconds": 11.379999999999132, "table_supported": true, "tcp_probe_height_delta_m": 0.0 }, "observation_origin": "privileged_native_simulator_state", "phase": "guard_probe", "probe_index": 0, "reason": "slow_load_bearing_check", "retention_variant": "measured_joint", "retry_index": 0, "status": "probing", "t_seconds": 11.379999999999132, "type": "probe_started", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "bounded_measured_joint_hold", "drift_streak": 0, "object_height_delta_m": 0.007323442183804568, "phase": "probe", "progress_streak": 0, "qualification_dwell_seconds": 0.09999999999994458, "qualified": true, "relative_offset_error_m": 8.294944029777419e-05, "retry_index": 0, "t_seconds": 11.9799999999988, "table_supported": false, "tcp_probe_height_delta_m": 0.007439046558910881 }, "observation_origin": "privileged_native_simulator_state", "phase": "probe_stop", "probe_index": 0, "reason": "sampled_probe_evidence", "retention_hold_reference": { "fixed_bias_rad": null, "frozen_jaw_target_m": 0.0, "issued_joint_targets_rad": [ -0.11774879832060996, 1.7418194646008565, -1.1815941286990628, -2.3766804789319465e-05, 1.0867066893195885, -0.12239296564887402 ], "measured_joint_position_rad": [ -0.11775929648252306, 1.746752431609857, -1.176798526969168, -3.6601467658055826e-05, 1.0599625764998168, -0.12235233086739825 ], "position_m": [ 0.31414161747070474, -0.035747447734792534, 0.08931005470443797 ], "quaternion_wxyz": [ 0.013959595153392144, -0.002301287725715159, 0.9998984674555892, -0.00169957580623238 ], "raw_pose_joint_targets_rad": null, "t_seconds": 11.9799999999988 }, "retention_variant": "measured_joint", "retry_index": 0, "status": "qualified_hold", "t_seconds": 11.9799999999988, "type": "evidence_qualified", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "hold_measured_arm_and_freeze_issued_jaw", "drift_streak": 0, "object_height_delta_m": 0.005998271367540192, "phase": "probe_hold", "progress_streak": 0, "qualification_dwell_seconds": 4.419999999998083, "qualified": false, "relative_offset_error_m": 0.0005093045612832301, "retry_index": 0, "t_seconds": 16.29999999999694, "table_supported": false, "tcp_probe_height_delta_m": 0.0065379667429663335 }, "observation_origin": "privileged_native_simulator_state", "phase": "probe_stop", "probe_index": 0, "reason": "probe_height_not_retained", "retention_variant": "measured_joint", "retry_index": 0, "status": "invalidated_hold", "t_seconds": 16.29999999999694, "type": "hold_invalidated", "variant": "evidence" } ], "ever_admitted": true, "final_observed": true, "frozen_jaw_target_m": 0.0, "initial_context": { "object_position_m": [ 0.3080000286688259, -0.03499983588880944, 0.07989224451748382 ], "observation_origin": "privileged_native_simulator_state", "t_seconds": 0.0, "tcp_position_m": [ 0.4890696662845219, 0.0014141975654808877, 0.3665849431043091 ], "tcp_quaternion_wxyz": [ 0.6580840948238629, 2.7730466224793136e-07, 0.7529444362872891, -1.9485471114950535e-06 ] }, "last_observed_s": 20.00000000000146, "observation_origin": "privileged_native_simulator_state", "physical_robot_ready": false, "probes": [ { "admission_time_s": 11.9799999999988, "disposition": "invalidated_hold", "end_time_s": 16.29999999999694, "local_offset_origin_m": [ 0.002323419275196195, 0.0002987063550665962, 0.0019231907030548329 ], "object_origin_m": [ 0.30787362021770925, -0.034987413713962315, 0.07992209918586446 ], "observation_origin": "privileged_native_simulator_state", "probe_index": 0, "reason": "probe_height_not_retained", "start_time_s": 11.379999999999132, "tcp_origin_m": [ 0.31017720224606304, -0.03527277103526157, 0.08187100814552709 ], "tcp_quaternion_wxyz": [ 0.005473532499736363, -0.0023236707515525796, 0.9999820953926055, -0.0006707387174668057 ] } ], "retention": { "hold_reference": { "fixed_bias_rad": null, "frozen_jaw_target_m": 0.0, "issued_joint_targets_rad": [ -0.11774879832060996, 1.7418194646008565, -1.1815941286990628, -2.3766804789319465e-05, 1.0867066893195885, -0.12239296564887402 ], "measured_joint_position_rad": [ -0.11775929648252306, 1.746752431609857, -1.176798526969168, -3.6601467658055826e-05, 1.0599625764998168, -0.12235233086739825 ], "position_m": [ 0.31414161747070474, -0.035747447734792534, 0.08931005470443797 ], "quaternion_wxyz": [ 0.013959595153392144, -0.002301287725715159, 0.9998984674555892, -0.00169957580623238 ], "raw_pose_joint_targets_rad": null, "t_seconds": 11.9799999999988 }, "input_refusals": [], "native_joint_control_limits_rad": [ [ -2.618, 2.618 ], [ 0.0, 3.14 ], [ -2.697, 0.0 ], [ -1.832, 1.832 ], [ -1.22, 1.22 ], [ -3.14, 3.14 ] ], "variant": "measured_joint" }, "retry_count": 0, "schema": "dvidia.piper-retention/v2", "status": "invalidated_hold", "stop_targets_rad": [ -0.11775929591201295, 1.748577639459638, -1.1754370837202097, -5.150722226172292e-05, 1.0601048476110877, -0.12235238726023685 ], "variant": "measured_joint" }, "scene_id": "m0475-f78-p1", "timing": { "policy_cpu": { "maximum_s": 0.0003799999999998249, "mean_s": 6.127800000004058e-05, "over_20ms": 0, "p50_s": 6.69999999978188e-05, "p95_s": 9.599999999920783e-05, "p99_s": 0.00012606000000157984, "samples": 1000 }, "policy_wall": { "maximum_s": 0.0007156673818826675, "mean_s": 6.236936384811998e-05, "over_20ms": 0, "p50_s": 6.706244312226772e-05, "p95_s": 9.921030141413212e-05, "p99_s": 0.00013978590723127125, "samples": 1000 }, "step_cpu": { "maximum_s": 0.016253000000002515, "mean_s": 0.0025530769999999024, "over_20ms": 0, "p50_s": 0.00196050000000092, "p95_s": 0.0049063999999987085, "p99_s": 0.006427350000002149, "samples": 1000 }, "step_wall": { "maximum_s": 0.017351041082292795, "mean_s": 0.002673637202940881, "over_20ms": 0, "p50_s": 0.001984125003218651, "p95_s": 0.005487342365086078, "p99_s": 0.008497775746509421, "samples": 1000 } }, "valid": true, "variant": "measured_joint" }, { "error": null, "evaluation": { "claims": { "false_maintained_grip": 0, "false_maintained_pose": 0, "maintained_checks": 15, "scope": "Claimed qualified boundaries after admission, compared with every native row since admission; grip includes correct initial prefix. Counts are diagnostic, not independent trials." }, "corrections": { "bound_refusal_counts": { "joint_correction_exhausted": 1 }, "flag_counts": { "correction_rate_limited": 12 }, "hold_record_count": 402, "input_refusals": [], "maximum_abs_accepted_correction_rate_rad_s": 0.10000000000000009, "maximum_abs_active_correction_rad": 0.0272425923345838, "maximum_abs_desired_correction_rad": 0.03138951849905357, "maximum_abs_pose_error_increment_rad": 0.0042546653824449, "rate_limited_axis_occurrences": 12, "scope": "Includes recorded final diagnostic checks; only command_issued rows represent issued controls." }, "decomposition": { "elapsed_s": 5.0, "local_offset_change_m": 0.0005000020409474825, "object_world_z_delta_m": -0.001376858196280098, "relative_world_z_delta_m": -0.0004822771321096736, "scope": "Kinematic components, not causal attribution or calibrated physical slip.", "tcp_world_z_delta_m": -0.0008945810641704244 }, "final": { "both_qualified": false, "controller_qualified": false, "evidence_admissible": false, "native_qualified": false }, "first_admission": { "native_prefix_qualified": true, "native_qualifying_window_s": 0.101, "probe_index": 0, "time_s": 11.9799999999988 }, "grip_only": { "all_native_hold_forces_within_ceiling": true, "combined_qualified_pause": false, "complete_5s": true, "controller_retained_at_5s": false, "first_native_predicate_failure_s": 16.450999999997123, "followup_available_s": 8.02000000000266, "native_pause_success": false, "reason": "native_predicate_lost", "required_s": 5.0, "success": false, "target_time_s": 16.9799999999988 }, "native": { "arrays_sha256": "e6405c4f99606cb5fb20624b14c03a2938d8dd22932be0431926900d1865b802", "complete": true, "maximum_per_finger_force_n": 0.442304943832759, "rows": 20000, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "physical_robot_ready": false, "primary": { "all_native_hold_forces_within_ceiling": true, "combined_qualified_pause": false, "complete_5s": true, "controller_retained_at_5s": false, "first_native_predicate_failure_s": 16.450999999997123, "first_tcp_pose_failure_s": null, "followup_available_s": 8.02000000000266, "native_pause_success": false, "reason": "native_predicate_lost", "required_s": 5.0, "success": false, "target_time_s": 16.9799999999988 }, "probes": [ { "claims": [ { "native_prefix_qualified": true, "t_seconds": 11.9799999999988 } ], "disposition": "invalidated_hold", "final_native_qualified_from_origin": false, "probe_index": 0, "start_time_s": 11.379999999999132 } ], "receipt": { "admission": { "observation_origin": "privileged_native_simulation_plus_caller_planning_assumptions", "physical_robot_ready": false, "planning": { "computed": { "conservative_required_load_n": 0.7058488125, "gravity_m_s2": 9.80665, "pose_specific_payload_limit_force_n": 0.980665, "two_finger_friction_capacity_n": 15.600000000000001 }, "observation_origin": "caller_declared_not_verified", "physical_robot_ready": false, "reasons": [ "Run and record a cautious test lift under the same calibrated pose and load conditions before simulated transport planning." ], "schema": "dvidia.task-feasibility-result/v1", "scope": "Planning assessment only. Parallel two-finger vertical-lift approximation; ignores moment, center of mass, deformation, transient impacts and unmodeled contact effects. Unknown values remain unknown; mass is never inferred from images. Probe/test-lift/controller integration is not implemented. No hardware actuation is performed; this is not hardware qualification.", "status": "test_lift_required" }, "probe": { "admissible": false, "historical_qualified": true, "latest_qualified": false, "physical_robot_ready": false, "reasons": [ "latest_native_window_not_qualified", "latest_controller_not_qualified" ], "receipt_sha256": "dc347543c084356ce639f939b9c75a9e214e41bc3e6257a7102305e3eec05138", "schema": "dvidia.probe-evidence-verification/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.", "verified": true }, "schema": "dvidia.task-feasibility-with-probe/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification. Unknown planning values remain unknown. The unchanged approximate vertical-lift planning gate describes declared loads; it supplies no transport path, geospatial-goal contract or actuator permission. This wrapper never issues controls.", "status": "test_lift_required" }, "context": { "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe", "calibration_id": "synthetic_probe_v01", "calibration_scope": "simulation_assumptions_not_hardware", "command_sha256": "401612081f41330cf4cf0e6b646cad9bcb7ccb3b3088f28a3249a637b6ecd14e", "feasibility_sha256": "7c932cfdbaefffa299be3075549eca688e2448f83e90c83319f55b31fb506f42", "grasp_id": "m0475-f78-p1-incremental-probe-0", "initial_object_position_m": [ 0.3080000286688259, -0.03499983588880944, 0.07989224451748382 ], "model_sha256": "2e3228cb9371772e702c65a348fe668a4f2f811c3c8ba5d690d61b26559b7318", "native_status": { "simulation_time_s": 20.00000000000146, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "object_id": "task_block", "per_finger_force_ceiling_n": 10.0, "pose_binding_sha256": "b5a018ed9efa997bb86e77a79036abf540b34bd705c7553164c4506c41a90148", "probe_index": 0, "probe_origin_object_position_m": [ 0.30787362021770925, -0.034987413713962315, 0.07992209918586446 ], "probe_origin_tcp_local_offset_m": [ 0.002323419275196195, 0.0002987063550665962, 0.0019231907030548329 ], "probe_start_s": 11.379999999999132, "robot_profile": "piper", "run_id": "m0475-f78-p1-incremental", "schema": "dvidia.probe-context/v1", "source_sha256": "d28324843344114f1ee863cee3c48dbca8aa37fd11222623563a0b1d40c364a6" }, "physical_robot_ready": false, "planning_input": { "allowed_pose_tolerance_m": 0.003, "calibration_id": "synthetic_probe_v01", "friction_interval": [ 0.78, 0.78 ], "geometry_known": true, "gripper_max_opening_interval_m": [ 0.07, 0.07 ], "gripper_min_closure_m": 0.0, "mass_interval_kg": [ 0.0475, 0.0475 ], "object_width_interval_m": [ 0.04, 0.04 ], "observations_fresh": true, "per_finger_normal_force_budget_n": 10.0, "planned_upward_accel_m_s2": 0.1, "pose_specific_payload_limit_kg": 0.1, "pose_uncertainty_m": 0.0, "reachability": "reachable", "safety_factor": 1.5, "schema": "dvidia.task-feasibility-input/v1", "slip_detected": false, "test_lift_passed": false }, "receipt": { "audit": { "controller_claim_mismatches": [], "controller_claims_checked": 2, "controller_conservative_abstention_count": 0, "controller_coverage": "Only the supplied claims are checked; omitted decisions are not inferred.", "controller_false_qualification_count": 0, "controller_positive_claims": 1, "force_ceiling_known": true, "maximum_observed_per_finger_force_n": 0.442304943832759, "reasons": [], "rows": 20000, "unexpected_contact_native_ticks": 0, "valid": true }, "context": { "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe", "calibration_id": "synthetic_probe_v01", "calibration_scope": "simulation_assumptions_not_hardware", "command_sha256": "401612081f41330cf4cf0e6b646cad9bcb7ccb3b3088f28a3249a637b6ecd14e", "feasibility_sha256": "7c932cfdbaefffa299be3075549eca688e2448f83e90c83319f55b31fb506f42", "grasp_id": "m0475-f78-p1-incremental-probe-0", "initial_object_position_m": [ 0.3080000286688259, -0.03499983588880944, 0.07989224451748382 ], "model_sha256": "2e3228cb9371772e702c65a348fe668a4f2f811c3c8ba5d690d61b26559b7318", "native_status": { "simulation_time_s": 20.00000000000146, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "object_id": "task_block", "per_finger_force_ceiling_n": 10.0, "pose_binding_sha256": "b5a018ed9efa997bb86e77a79036abf540b34bd705c7553164c4506c41a90148", "probe_index": 0, "probe_origin_object_position_m": [ 0.30787362021770925, -0.034987413713962315, 0.07992209918586446 ], "probe_origin_tcp_local_offset_m": [ 0.002323419275196195, 0.0002987063550665962, 0.0019231907030548329 ], "probe_start_s": 11.379999999999132, "robot_profile": "piper", "run_id": "m0475-f78-p1-incremental", "schema": "dvidia.probe-context/v1", "source_sha256": "d28324843344114f1ee863cee3c48dbca8aa37fd11222623563a0b1d40c364a6" }, "context_sha256": "9563abd3b6deb12d627009bd7b9aca1440fbe41d7fbc3374cd9226d1d7e36820", "controller_qualifications": [ { "probe_index": 0, "qualified": true, "t_seconds": 11.9799999999988 }, { "probe_index": 0, "qualified": false, "t_seconds": 20.00000000000146 } ], "criteria": { "distance_comparison_epsilon": 1e-12, "initial_sample_tolerance_m": 0.001, "maximum_tcp_local_drift_m": 0.003, "minimum_continuous_dwell_s": 0.1, "minimum_per_finger_force_n_exclusive": 0.01, "minimum_rise_m": 0.006, "native_dt_s": 0.001, "origin_tolerance_m": 1e-09, "time_tolerance_s": 1e-08 }, "history": { "ever_qualified": true, "first_qualified_s": 11.9789999999988, "maximum_continuous_qualifying_s": 4.571 }, "latest": { "condition_valid": false, "continuous_qualifying_s": 0.0, "controller_claim": { "probe_index": 0, "qualified": false, "t_seconds": 20.00000000000146 }, "native_tick": 20000, "qualified": false, "rise_m": 0.005646105468698315, "tcp_local_drift_m": 0.0008764065048531891, "time_s": 20.00000000000146 }, "metadata_sha256": "ad8229630cc9f8718829bb8317b1a82480dcf18b9f71bd23666acfe71a003ef7", "native_arrays_sha256": "e6405c4f99606cb5fb20624b14c03a2938d8dd22932be0431926900d1865b802", "physical_robot_ready": false, "receipt_sha256": "dc347543c084356ce639f939b9c75a9e214e41bc3e6257a7102305e3eec05138", "schema": "dvidia.probe-evidence/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification." }, "status": "inspected", "verification": { "admissible": false, "historical_qualified": true, "latest_qualified": false, "physical_robot_ready": false, "reasons": [ "latest_native_window_not_qualified", "latest_controller_not_qualified" ], "receipt_sha256": "dc347543c084356ce639f939b9c75a9e214e41bc3e6257a7102305e3eec05138", "schema": "dvidia.probe-evidence-verification/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.", "verified": true } }, "stationarity": { "complete_5s": true, "grip_retention_and_stationarity": false, "maximum_tcp_orientation_excursion_rad": 0.007313190085824751, "maximum_tcp_position_excursion_m": 0.0015823462660353818, "orientation_ceiling_rad": 0.05, "position_ceiling_m": 0.004, "required_s": 5.0, "scope": "Common recorded native TCP pose endpoint, not calibrated hardware stationarity.", "tcp_pose_within_bounds": true, "terminal_tcp_orientation_delta_rad": 0.007313190085824751, "terminal_tcp_position_delta_m": [ -0.0012965450084521657, 0.00015005154554885436, -0.0008945810641704244 ] }, "status": "inspected" }, "files": { "episode.json.gz": { "bytes": 825636, "sha256": "3b19cbeb54539226f6b8a9e8a4b63a591876d4c6135977838e37347ccd451116" }, "evaluation.json": { "bytes": 13819, "sha256": "efbc1e9778da9ca1ab31b880068069dd580b5c84b659a9a1e27e98a4294e0329" }, "native.json": { "bytes": 13763, "sha256": "19cc1d5998901cbc12da2916add3096763081e9decbfc7193981bfabc4b871e0" }, "native.npz": { "bytes": 3988922, "sha256": "644aa840ba15d26bb6a718bd227a8575f5a8b647d461f783405f9d970f8bc4db" }, "started.json": { "bytes": 150, "sha256": "337df16c34b33e716a1f89a917b7c37bc5e93d6642ec05d3a0d8670a6fbbf7d7" } }, "friction": 0.78, "id": "m0475-f78-p1-incremental", "mass_kg": 0.0475, "metrics": { "carry_complete": false, "carry_contact_loss_events": 0, "carry_contact_loss_tolerance_seconds": 0.04, "dwell_seconds": 0.0, "first_success_time_seconds": null, "grasp_seen": true, "lift_dwell_seconds": 0.0, "lift_seen": false, "max_carry_contact_loss_seconds": 0.0, "max_object_lift_m": 0.007639593539219752, "max_pad_normal_force_n": 0.442304943832759, "physical_robot_ready": false, "reason": "timeout", "retention_lost": false, "simulation_time": 20.00000000000146, "steps": 1000, "success": false, "target_distance_m": 0.1219621646147836, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "policy": { "abort_reason": "joint_correction_exhausted", "acquisition_contract": { "comparison_scope": "Closed-loop variants may acquire different trajectories through early hold/retry. This is not an isolated classifier ablation.", "control_dt_s": 0.02, "evidence_admission": "Current bilateral force >0.01 N, no table support, object rise >=6 mm and TCP-local offset drift <=3 mm continuously across sampled boundaries for elapsed >=100 ms.", "hold": "Latch measured six arm joints and the last issued jaw target at admission/terminal invalidity. No full lift/transfer, no squeeze escalation, no post-admission retry.", "invalidation": "At each subsequent 20 ms observation and final observation, invalidate immediately on lost contact/force, support, insufficient rise, >3 mm local drift or unexpected contact. Never requalify after terminal invalidity.", "observation_origin": "privileged_native_simulator_state", "parameters": { "close_timeout_s": 1.4, "consecutive_alarm_samples": 2, "max_retries": 1, "monitor_min_probe_motion_m": 0.003, "probe_height_m": 0.01, "probe_min_object_rise_m": 0.006, "probe_speed_m_s": 0.02, "probe_timeout_s": 1.4, "qualification_dwell_s": 0.1, "relative_drift_limit_m": 0.003, "retry_clearance_m": 0.012, "retry_open_timeout_s": 1.2, "retry_recenter_timeout_s": 1.5 }, "physical_robot_ready": false, "prefix": "Original GuardedPiperTaskPolicy approach/close and at most one supported open/recenter/retry; already uses authored native state, not a fully blind baseline.", "sampling_limit": "Independent 1 ms evidence may contradict sampled admission; that remains a finding. No sensor or material inference is implemented.", "schema": "dvidia.piper-probe-stop/v1", "stop_scope": "Holding native position targets is not physical arrest or calibrated force limiting; inertia and existing target rate limits can continue motion.", "timer_admission": "Same 10 mm/20 mm/s probe target law, admitted at elapsed >=600 ms from that probe start; no evidence predicate or slip alarm before admission. Unexpected contacts and bounded timeouts still stop.", "timer_admission_s": 0.6, "variants": [ "evidence", "timer" ] }, "acquisition_variant": "evidence", "active_probe_index": 0, "admission_time_s": 11.9799999999988, "admitted": false, "candidate": "incremental", "contract": { "acquisition": "Unchanged ProbeStopPolicy evidence acquisition, including its bounded supported retry. All variants share the same prefix through the first admission observation.", "admission": "Freeze the measured TCP pose and preceding issued target. Check the unchanged 0.08 rad initial bias and 0.02 rad joint margin. Repeat the preceding issued target exactly; initialize cumulative correction to zero.", "anti_windup": "Refuse the unlimited cumulative proposal before slew limiting. Commit correction only after all checks pass. Refusal is terminal and leaves accumulated correction unchanged.", "candidate": "incremental", "control_dt_s": 0.02, "final_observation": "Check force, original eligibility and pose error without solving, integrating or issuing another command.", "invalid_measurements": "Malformed, nonfinite or noncausal observations terminally refuse and raise without issuing a command. No measured-position stop is claimed from invalid measurements.", "limits": { "initial_joint_bias_ceiling_rad": 0.08, "joint_correction_ceiling_rad": 0.03, "joint_correction_rate_rad_s": 0.1, "native_joint_target_margin_rad": 0.02, "per_finger_force_ceiling_n": 10.0, "tcp_orientation_error_ceiling_rad": 0.05, "tcp_position_error_ceiling_m": 0.004 }, "measured_joint_eligibility": "At admission, subsequent updates and final observations, refuse measured joints outside the native 0.02 rad target margin before solving. This prevents absolute-target clipping from manufacturing a nonzero increment at zero pose error.", "observation_origin": "privileged_native_simulator_state", "physical_robot_ready": false, "qualifications": "Engineering limits and the 10 N ceiling are authored synthetic assumptions, not damage limits or calibrated physical telemetry. Position targets are not physical stops or force limiters. No load/friction inference, model training or complete placement is implemented.", "rate_scope": "The extra correction slews at at most 0.002 rad per 20 ms per joint. Original native 1 ms target slew, servos, gains and force caps remain unchanged.", "refusal": "Original grip, force, pose, initial-bias, joint-margin and timeout refusals remain terminal. A valid terminal observation latches measured joints and the frozen jaw; its fallback is not active incremental regulation.", "sampling": "Control checks occur at 20 ms boundaries. Independent saved 1 ms native evidence must judge a continuous 5 s hold; missed between-boundary failures remain findings.", "schema": "dvidia.piper-incremental-hold/v3", "update_gain_per_boundary": 1.0, "update_law": "increment = pose_action(frozen_admission_pose) - current_measured_joints; proposal = previous_correction + 1.0 * increment; refuse unlimited proposal outside +/-0.03 rad; slew accepted correction by at most 0.002 rad per joint per 20 ms; target = admission_issued_target + accepted_correction", "variants": [ "incremental" ] }, "events": [ { "accumulated_correction_rad": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "acquisition_variant": "evidence", "active_regulation": false, "candidate": "incremental", "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "continue", "drift_streak": 0, "object_height_delta_m": 0.0, "phase": "probe", "progress_streak": 0, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0, "retry_index": 0, "t_seconds": 11.379999999999132, "table_supported": true, "tcp_probe_height_delta_m": 0.0 }, "final_observation": false, "observation_origin": "privileged_native_simulator_state", "phase": "guard_probe", "pose_error_increment_rad": null, "probe_index": 0, "proposed_cumulative_correction_rad": null, "reason": "slow_load_bearing_check", "refused_bounds": null, "retention_variant": "incremental", "retry_index": 0, "status": "probing", "t_seconds": 11.379999999999132, "type": "probe_started", "update_gain_per_boundary": 1.0, "update_law": "increment = pose_action(frozen_admission_pose) - current_measured_joints; proposal = previous_correction + 1.0 * increment; refuse unlimited proposal outside +/-0.03 rad; slew accepted correction by at most 0.002 rad per joint per 20 ms; target = admission_issued_target + accepted_correction", "variant": "incremental" }, { "accumulated_correction_rad": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "acquisition_variant": "evidence", "active_regulation": true, "candidate": "incremental", "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "bounded_incremental_hold", "drift_streak": 0, "object_height_delta_m": 0.007323442183804568, "phase": "probe", "progress_streak": 0, "qualification_dwell_seconds": 0.09999999999994458, "qualified": true, "relative_offset_error_m": 8.294944029777419e-05, "retry_index": 0, "t_seconds": 11.9799999999988, "table_supported": false, "tcp_probe_height_delta_m": 0.007439046558910881 }, "final_observation": false, "observation_origin": "privileged_native_simulator_state", "phase": "probe_stop", "pose_error_increment_rad": null, "probe_index": 0, "proposed_cumulative_correction_rad": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "reason": "sampled_probe_evidence", "refused_bounds": null, "retention_hold_reference": { "fixed_bias_rad": [ 1.0498161913105597e-05, -0.004932967009000588, -0.004795601729894683, 1.2834662868736754e-05, 0.026744112819771626, -4.063478147577071e-05 ], "frozen_jaw_target_m": 0.0, "issued_joint_targets_rad": [ -0.11774879832060996, 1.7418194646008565, -1.1815941286990628, -2.3766804789319465e-05, 1.0867066893195885, -0.12239296564887402 ], "measured_joint_position_rad": [ -0.11775929648252306, 1.746752431609857, -1.176798526969168, -3.6601467658055826e-05, 1.0599625764998168, -0.12235233086739825 ], "position_m": [ 0.31414161747070474, -0.035747447734792534, 0.08931005470443797 ], "quaternion_wxyz": [ 0.013959595153392144, -0.002301287725715159, 0.9998984674555892, -0.00169957580623238 ], "raw_pose_joint_targets_rad": [ -0.11775929648252306, 1.746752431609857, -1.176798526969168, -3.660146765805622e-05, 1.0599625764998168, -0.12235233086739825 ], "t_seconds": 11.9799999999988 }, "retention_variant": "incremental", "retry_index": 0, "status": "qualified_hold", "t_seconds": 11.9799999999988, "type": "evidence_qualified", "update_gain_per_boundary": 1.0, "update_law": "increment = pose_action(frozen_admission_pose) - current_measured_joints; proposal = previous_correction + 1.0 * increment; refuse unlimited proposal outside +/-0.03 rad; slew accepted correction by at most 0.002 rad per joint per 20 ms; target = admission_issued_target + accepted_correction", "variant": "incremental" }, { "accumulated_correction_rad": [ -2.4189022232223856e-05, 0.006008455220469999, 0.005932622933467302, 1.1782358182194587e-06, -0.0272425923345838, 6.849838938226271e-05 ], "acquisition_variant": "evidence", "active_regulation": false, "candidate": "incremental", "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "hold_measured_arm_and_freeze_issued_jaw", "drift_streak": 0, "object_height_delta_m": 0.007299146026927758, "phase": "probe_hold", "progress_streak": 0, "qualification_dwell_seconds": 0.4199999999997672, "qualified": false, "relative_offset_error_m": 0.00011582751261729757, "retry_index": 0, "t_seconds": 12.299999999998622, "table_supported": false, "tcp_probe_height_delta_m": 0.007440782737152554 }, "final_observation": false, "observation_origin": "privileged_native_simulator_state", "phase": "probe_stop", "pose_error_increment_rad": [ -3.476664961893361e-07, -0.00011791675074590557, 0.00024281860225805474, 3.605227674215503e-06, -0.004146926164469766, 6.485152320628851e-06 ], "probe_index": 0, "proposed_cumulative_correction_rad": [ -2.4536688728413192e-05, 0.005890538469724094, 0.006175441535725357, 4.783463492434962e-06, -0.03138951849905357, 7.498354170289157e-05 ], "reason": "joint_correction_exhausted", "refused_bounds": "joint_correction_exhausted", "retention_variant": "incremental", "retry_index": 0, "status": "invalidated_hold", "t_seconds": 12.299999999998622, "type": "hold_invalidated", "update_gain_per_boundary": 1.0, "update_law": "increment = pose_action(frozen_admission_pose) - current_measured_joints; proposal = previous_correction + 1.0 * increment; refuse unlimited proposal outside +/-0.03 rad; slew accepted correction by at most 0.002 rad per joint per 20 ms; target = admission_issued_target + accepted_correction", "variant": "incremental" } ], "ever_admitted": true, "final_observed": true, "frozen_jaw_target_m": 0.0, "initial_context": { "object_position_m": [ 0.3080000286688259, -0.03499983588880944, 0.07989224451748382 ], "observation_origin": "privileged_native_simulator_state", "t_seconds": 0.0, "tcp_position_m": [ 0.4890696662845219, 0.0014141975654808877, 0.3665849431043091 ], "tcp_quaternion_wxyz": [ 0.6580840948238629, 2.7730466224793136e-07, 0.7529444362872891, -1.9485471114950535e-06 ] }, "last_observed_s": 20.00000000000146, "observation_origin": "privileged_native_simulator_state", "physical_robot_ready": false, "probes": [ { "admission_time_s": 11.9799999999988, "disposition": "invalidated_hold", "end_time_s": 12.299999999998622, "local_offset_origin_m": [ 0.002323419275196195, 0.0002987063550665962, 0.0019231907030548329 ], "object_origin_m": [ 0.30787362021770925, -0.034987413713962315, 0.07992209918586446 ], "observation_origin": "privileged_native_simulator_state", "probe_index": 0, "reason": "joint_correction_exhausted", "start_time_s": 11.379999999999132, "tcp_origin_m": [ 0.31017720224606304, -0.03527277103526157, 0.08187100814552709 ], "tcp_quaternion_wxyz": [ 0.005473532499736363, -0.0023236707515525796, 0.9999820953926055, -0.0006707387174668057 ] } ], "retention": { "accumulated_correction_rad": [ -2.4189022232223856e-05, 0.006008455220469999, 0.005932622933467302, 1.1782358182194587e-06, -0.0272425923345838, 6.849838938226271e-05 ], "active_regulation": false, "candidate": "incremental", "final_controller_status": "invalidated_hold", "hold_reference": { "fixed_bias_rad": [ 1.0498161913105597e-05, -0.004932967009000588, -0.004795601729894683, 1.2834662868736754e-05, 0.026744112819771626, -4.063478147577071e-05 ], "frozen_jaw_target_m": 0.0, "issued_joint_targets_rad": [ -0.11774879832060996, 1.7418194646008565, -1.1815941286990628, -2.3766804789319465e-05, 1.0867066893195885, -0.12239296564887402 ], "measured_joint_position_rad": [ -0.11775929648252306, 1.746752431609857, -1.176798526969168, -3.6601467658055826e-05, 1.0599625764998168, -0.12235233086739825 ], "position_m": [ 0.31414161747070474, -0.035747447734792534, 0.08931005470443797 ], "quaternion_wxyz": [ 0.013959595153392144, -0.002301287725715159, 0.9998984674555892, -0.00169957580623238 ], "raw_pose_joint_targets_rad": [ -0.11775929648252306, 1.746752431609857, -1.176798526969168, -3.660146765805622e-05, 1.0599625764998168, -0.12235233086739825 ], "t_seconds": 11.9799999999988 }, "input_refusals": [], "native_joint_control_limits_rad": [ [ -2.618, 2.618 ], [ 0.0, 3.14 ], [ -2.697, 0.0 ], [ -1.832, 1.832 ], [ -1.22, 1.22 ], [ -3.14, 3.14 ] ], "update_gain_per_boundary": 1.0, "update_law": "increment = pose_action(frozen_admission_pose) - current_measured_joints; proposal = previous_correction + 1.0 * increment; refuse unlimited proposal outside +/-0.03 rad; slew accepted correction by at most 0.002 rad per joint per 20 ms; target = admission_issued_target + accepted_correction", "variant": "incremental" }, "retry_count": 0, "schema": "dvidia.piper-incremental-hold/v3", "status": "invalidated_hold", "stop_targets_rad": [ -0.11775890764760837, 1.7468760758013615, -1.1770668245801366, -4.02783105628489e-05, 1.0641419073109046, -0.12235874885356308 ], "variant": "incremental" }, "scene_id": "m0475-f78-p1", "timing": { "policy_cpu": { "maximum_s": 0.0007650000000012369, "mean_s": 0.0002141709999999293, "over_20ms": 0, "p50_s": 0.0001829999999998222, "p95_s": 0.00045805000000171954, "p99_s": 0.0005700100000032649, "samples": 1000 }, "policy_wall": { "maximum_s": 0.005014709196984768, "mean_s": 0.00032578863576054575, "over_20ms": 0, "p50_s": 0.0002035840880125761, "p95_s": 0.000903358636423945, "p99_s": 0.0022883772104978556, "samples": 1000 }, "step_cpu": { "maximum_s": 0.05403899999999595, "mean_s": 0.005024439000000072, "over_20ms": 1, "p50_s": 0.004662500000002012, "p95_s": 0.008290050000002224, "p99_s": 0.010291819999995226, "samples": 1000 }, "step_wall": { "maximum_s": 0.09492575004696846, "mean_s": 0.007469476663973182, "over_20ms": 31, "p50_s": 0.005731249926611781, "p95_s": 0.015967333083972333, "p99_s": 0.036330485669896, "samples": 1000 } }, "valid": true, "variant": "incremental" }, { "error": null, "evaluation": { "claims": { "false_maintained_grip": 0, "false_maintained_pose": 0, "maintained_checks": 0, "scope": "Claimed qualified boundaries after admission, compared with every native row since admission; grip includes correct initial prefix. Counts are diagnostic, not independent trials." }, "corrections": { "bound_refusal_counts": {}, "flag_counts": { "correction_rate_limited": 0 }, "hold_record_count": 282, "input_refusals": [], "maximum_abs_accepted_correction_rate_rad_s": null, "maximum_abs_active_correction_rad": null, "maximum_abs_desired_correction_rad": null, "maximum_abs_pose_error_increment_rad": null, "rate_limited_axis_occurrences": 0, "scope": "Includes recorded final diagnostic checks; only command_issued rows represent issued controls." }, "decomposition": null, "final": { "both_qualified": false, "controller_qualified": false, "evidence_admissible": false, "native_qualified": false }, "first_admission": null, "grip_only": { "combined_qualified_pause": false, "complete_5s": false, "controller_retained_at_5s": false, "native_pause_success": false, "reason": "no_admission", "required_s": 5.0, "success": false }, "native": { "arrays_sha256": "95b5961a0df8c339ffb93e3507bb9f5a8ec543e2168f210256b710aed77bd475", "complete": true, "maximum_per_finger_force_n": 0.4857415125828624, "rows": 20000, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "physical_robot_ready": false, "primary": { "combined_qualified_pause": false, "complete_5s": false, "controller_retained_at_5s": false, "first_tcp_pose_failure_s": null, "native_pause_success": false, "reason": "no_admission", "required_s": 5.0, "success": false }, "probes": [ { "claims": [], "disposition": "interrupted", "final_native_qualified_from_origin": false, "probe_index": 0, "start_time_s": 11.079999999999298 }, { "claims": [], "disposition": "invalidated_hold", "final_native_qualified_from_origin": false, "probe_index": 1, "start_time_s": 13.99999999999768 } ], "receipt": { "admission": { "observation_origin": "privileged_native_simulation_plus_caller_planning_assumptions", "physical_robot_ready": false, "planning": { "computed": { "conservative_required_load_n": 0.7058488125, "gravity_m_s2": 9.80665, "pose_specific_payload_limit_force_n": 0.980665, "two_finger_friction_capacity_n": 10.4 }, "observation_origin": "caller_declared_not_verified", "physical_robot_ready": false, "reasons": [ "Run and record a cautious test lift under the same calibrated pose and load conditions before simulated transport planning." ], "schema": "dvidia.task-feasibility-result/v1", "scope": "Planning assessment only. Parallel two-finger vertical-lift approximation; ignores moment, center of mass, deformation, transient impacts and unmodeled contact effects. Unknown values remain unknown; mass is never inferred from images. Probe/test-lift/controller integration is not implemented. No hardware actuation is performed; this is not hardware qualification.", "status": "test_lift_required" }, "probe": { "admissible": false, "historical_qualified": false, "latest_qualified": false, "physical_robot_ready": false, "reasons": [ "latest_native_window_not_qualified", "no_controller_qualification_for_this_probe", "latest_controller_not_qualified" ], "receipt_sha256": "9a55fa08b03b9e4cad3d230c0ef1db3c8f2e15cd00d20f8574e78d0297712b31", "schema": "dvidia.probe-evidence-verification/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.", "verified": true }, "schema": "dvidia.task-feasibility-with-probe/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification. Unknown planning values remain unknown. The unchanged approximate vertical-lift planning gate describes declared loads; it supplies no transport path, geospatial-goal contract or actuator permission. This wrapper never issues controls.", "status": "test_lift_required" }, "context": { "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe", "calibration_id": "synthetic_probe_v01", "calibration_scope": "simulation_assumptions_not_hardware", "command_sha256": "e9ddb92f714639169c2dfa9288dd2532c6c367a92cb4a0380ae76a0414ae4e63", "feasibility_sha256": "4167c4fdd2cf8e4398f18eb271f191cb547e23d344b890ae948f9446c1607cc0", "grasp_id": "m0475-f52-p0-cartesian-probe-1", "initial_object_position_m": [ 0.3040000227603607, -0.024000165083053894, 0.07989224451748383 ], "model_sha256": "85a0eea0e1e0f93c2ef980bc0b585fa9cd90500b3b6a8516f4cd89d6a92711b9", "native_status": { "simulation_time_s": 20.00000000000146, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "object_id": "task_block", "per_finger_force_ceiling_n": 10.0, "pose_binding_sha256": "c816e6b0bd1e4fcd40fc4bae0fce722fb2a361465c8dd3f26e4e59d076f6d909", "probe_index": 1, "probe_origin_object_position_m": [ 0.30615932241785254, -0.024044934483340132, 0.07985350572240879 ], "probe_origin_tcp_local_offset_m": [ -0.002063639016333839, 0.00024683267180381516, 0.0024136965380683593 ], "probe_start_s": 13.99999999999768, "robot_profile": "piper", "run_id": "m0475-f52-p0-cartesian", "schema": "dvidia.probe-context/v1", "source_sha256": "d28324843344114f1ee863cee3c48dbca8aa37fd11222623563a0b1d40c364a6" }, "physical_robot_ready": false, "planning_input": { "allowed_pose_tolerance_m": 0.003, "calibration_id": "synthetic_probe_v01", "friction_interval": [ 0.52, 0.52 ], "geometry_known": true, "gripper_max_opening_interval_m": [ 0.07, 0.07 ], "gripper_min_closure_m": 0.0, "mass_interval_kg": [ 0.0475, 0.0475 ], "object_width_interval_m": [ 0.04, 0.04 ], "observations_fresh": true, "per_finger_normal_force_budget_n": 10.0, "planned_upward_accel_m_s2": 0.1, "pose_specific_payload_limit_kg": 0.1, "pose_uncertainty_m": 0.0, "reachability": "reachable", "safety_factor": 1.5, "schema": "dvidia.task-feasibility-input/v1", "slip_detected": false, "test_lift_passed": false }, "receipt": { "audit": { "controller_claim_mismatches": [], "controller_claims_checked": 1, "controller_conservative_abstention_count": 0, "controller_coverage": "Only the supplied claims are checked; omitted decisions are not inferred.", "controller_false_qualification_count": 0, "controller_positive_claims": 0, "force_ceiling_known": true, "maximum_observed_per_finger_force_n": 0.4857415125828624, "reasons": [], "rows": 20000, "unexpected_contact_native_ticks": 0, "valid": true }, "context": { "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe", "calibration_id": "synthetic_probe_v01", "calibration_scope": "simulation_assumptions_not_hardware", "command_sha256": "e9ddb92f714639169c2dfa9288dd2532c6c367a92cb4a0380ae76a0414ae4e63", "feasibility_sha256": "4167c4fdd2cf8e4398f18eb271f191cb547e23d344b890ae948f9446c1607cc0", "grasp_id": "m0475-f52-p0-cartesian-probe-1", "initial_object_position_m": [ 0.3040000227603607, -0.024000165083053894, 0.07989224451748383 ], "model_sha256": "85a0eea0e1e0f93c2ef980bc0b585fa9cd90500b3b6a8516f4cd89d6a92711b9", "native_status": { "simulation_time_s": 20.00000000000146, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "object_id": "task_block", "per_finger_force_ceiling_n": 10.0, "pose_binding_sha256": "c816e6b0bd1e4fcd40fc4bae0fce722fb2a361465c8dd3f26e4e59d076f6d909", "probe_index": 1, "probe_origin_object_position_m": [ 0.30615932241785254, -0.024044934483340132, 0.07985350572240879 ], "probe_origin_tcp_local_offset_m": [ -0.002063639016333839, 0.00024683267180381516, 0.0024136965380683593 ], "probe_start_s": 13.99999999999768, "robot_profile": "piper", "run_id": "m0475-f52-p0-cartesian", "schema": "dvidia.probe-context/v1", "source_sha256": "d28324843344114f1ee863cee3c48dbca8aa37fd11222623563a0b1d40c364a6" }, "context_sha256": "f4687bf7c802e09c73148a499afac71145d8465c7ea2d206b9c21c0b55ebbf04", "controller_qualifications": [ { "probe_index": 1, "qualified": false, "t_seconds": 20.00000000000146 } ], "criteria": { "distance_comparison_epsilon": 1e-12, "initial_sample_tolerance_m": 0.001, "maximum_tcp_local_drift_m": 0.003, "minimum_continuous_dwell_s": 0.1, "minimum_per_finger_force_n_exclusive": 0.01, "minimum_rise_m": 0.006, "native_dt_s": 0.001, "origin_tolerance_m": 1e-09, "time_tolerance_s": 1e-08 }, "history": { "ever_qualified": false, "first_qualified_s": null, "maximum_continuous_qualifying_s": 0.0 }, "latest": { "condition_valid": false, "continuous_qualifying_s": 0.0, "controller_claim": { "probe_index": 1, "qualified": false, "t_seconds": 20.00000000000146 }, "native_tick": 20000, "qualified": false, "rise_m": 3.082015733350818e-05, "tcp_local_drift_m": 0.003762830858833554, "time_s": 20.00000000000146 }, "metadata_sha256": "ad8229630cc9f8718829bb8317b1a82480dcf18b9f71bd23666acfe71a003ef7", "native_arrays_sha256": "95b5961a0df8c339ffb93e3507bb9f5a8ec543e2168f210256b710aed77bd475", "physical_robot_ready": false, "receipt_sha256": "9a55fa08b03b9e4cad3d230c0ef1db3c8f2e15cd00d20f8574e78d0297712b31", "schema": "dvidia.probe-evidence/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification." }, "status": "inspected", "verification": { "admissible": false, "historical_qualified": false, "latest_qualified": false, "physical_robot_ready": false, "reasons": [ "latest_native_window_not_qualified", "no_controller_qualification_for_this_probe", "latest_controller_not_qualified" ], "receipt_sha256": "9a55fa08b03b9e4cad3d230c0ef1db3c8f2e15cd00d20f8574e78d0297712b31", "schema": "dvidia.probe-evidence-verification/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.", "verified": true } }, "stationarity": { "complete_5s": false, "grip_retention_and_stationarity": false, "tcp_pose_within_bounds": false }, "status": "inspected" }, "files": { "episode.json.gz": { "bytes": 777792, "sha256": "f6ff692933cec35cdc5c124d7c94a029ef39eaf94410dc7a817980ec05dcc77d" }, "evaluation.json": { "bytes": 12374, "sha256": "d74465dc812ee16ce7421edfa0090551f085024284ea4abe22ef288478db4a9d" }, "native.json": { "bytes": 13763, "sha256": "19cc1d5998901cbc12da2916add3096763081e9decbfc7193981bfabc4b871e0" }, "native.npz": { "bytes": 4106948, "sha256": "ac1631d5796622d95efa0bb0d09f84f80b3c7ed342142ffc9c3ada98568371e2" }, "started.json": { "bytes": 148, "sha256": "dc02d664f17714fef328a394799ea3019076a6dd047103a0e65cb4f4d564515a" } }, "friction": 0.52, "id": "m0475-f52-p0-cartesian", "mass_kg": 0.0475, "metrics": { "carry_complete": false, "carry_contact_loss_events": 0, "carry_contact_loss_tolerance_seconds": 0.04, "dwell_seconds": 0.0, "first_success_time_seconds": null, "grasp_seen": true, "lift_dwell_seconds": 0.0, "lift_seen": false, "max_carry_contact_loss_seconds": 0.0, "max_object_lift_m": 0.00017294827306975347, "max_pad_normal_force_n": 0.4857415125828624, "physical_robot_ready": false, "reason": "timeout", "retention_lost": false, "simulation_time": 20.00000000000146, "steps": 1000, "success": false, "target_distance_m": 0.11223543810156783, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "policy": { "abort_reason": "relative_slip", "acquisition_contract": { "comparison_scope": "Closed-loop variants may acquire different trajectories through early hold/retry. This is not an isolated classifier ablation.", "control_dt_s": 0.02, "evidence_admission": "Current bilateral force >0.01 N, no table support, object rise >=6 mm and TCP-local offset drift <=3 mm continuously across sampled boundaries for elapsed >=100 ms.", "hold": "Latch measured six arm joints and the last issued jaw target at admission/terminal invalidity. No full lift/transfer, no squeeze escalation, no post-admission retry.", "invalidation": "At each subsequent 20 ms observation and final observation, invalidate immediately on lost contact/force, support, insufficient rise, >3 mm local drift or unexpected contact. Never requalify after terminal invalidity.", "observation_origin": "privileged_native_simulator_state", "parameters": { "close_timeout_s": 1.4, "consecutive_alarm_samples": 2, "max_retries": 1, "monitor_min_probe_motion_m": 0.003, "probe_height_m": 0.01, "probe_min_object_rise_m": 0.006, "probe_speed_m_s": 0.02, "probe_timeout_s": 1.4, "qualification_dwell_s": 0.1, "relative_drift_limit_m": 0.003, "retry_clearance_m": 0.012, "retry_open_timeout_s": 1.2, "retry_recenter_timeout_s": 1.5 }, "physical_robot_ready": false, "prefix": "Original GuardedPiperTaskPolicy approach/close and at most one supported open/recenter/retry; already uses authored native state, not a fully blind baseline.", "sampling_limit": "Independent 1 ms evidence may contradict sampled admission; that remains a finding. No sensor or material inference is implemented.", "schema": "dvidia.piper-probe-stop/v1", "stop_scope": "Holding native position targets is not physical arrest or calibrated force limiting; inertia and existing target rate limits can continue motion.", "timer_admission": "Same 10 mm/20 mm/s probe target law, admitted at elapsed >=600 ms from that probe start; no evidence predicate or slip alarm before admission. Unexpected contacts and bounded timeouts still stop.", "timer_admission_s": 0.6, "variants": [ "evidence", "timer" ] }, "acquisition_variant": "evidence", "active_probe_index": 1, "admission_time_s": null, "admitted": false, "contract": { "acquisition": "Unchanged ProbeStopPolicy evidence acquisition, including its bounded supported retry. All variants share the same prefix through the first admission observation.", "cartesian": "Latch measured TCP position/orientation and preceding issued targets. Fixed joint bias equals issued target minus pose_action at the admission pose. First command repeats the exact issued target; later pose_action updates receive that fixed bias.", "control_dt_s": 0.02, "final_observation": "Repeat force, original eligibility and Cartesian pose-error checks. Do not solve or issue a hypothetical next control at the terminal observation.", "invalid_measurements": "Malformed, nonfinite or noncausal observations terminally refuse and raise without issuing a command. No measured-position stop is claimed from invalid measurements.", "issued_joint": "Latch the preceding issued six joint targets and the same last issued jaw target at admission.", "limits": { "initial_joint_bias_ceiling_rad": 0.08, "joint_correction_ceiling_rad": 0.03, "joint_correction_rate_rad_s": 0.1, "native_joint_target_margin_rad": 0.02, "per_finger_force_ceiling_n": 10.0, "tcp_orientation_error_ceiling_rad": 0.05, "tcp_position_error_ceiling_m": 0.004 }, "measured_joint": "Original hold: latch measured six joint coordinates and the last issued jaw target at admission.", "observation_origin": "privileged_native_simulator_state", "physical_robot_ready": false, "qualifications": "Engineering limits and the 10 N ceiling are authored synthetic assumptions, not damage limits or calibrated physical telemetry. Position targets are not physical stops or force limiters. No load/friction inference, model training or complete placement is implemented.", "rate_scope": "The extra correction slews at at most 0.002 rad per 20 ms per joint. Original native 1 ms target slew, servos, gains and force caps remain unchanged.", "refusal": "Original eligibility loss, unexpected contact or observed pad force >10 N terminally requests measured joint hold and the frozen jaw target. Cartesian error, initial-bias, total-correction or native-margin exhaustion also refuses terminally; it never chases an already failed grip.", "sampling": "Control checks occur at 20 ms boundaries. Independent saved 1 ms native evidence must judge a continuous 5 s hold; missed between-boundary failures remain findings.", "schema": "dvidia.piper-retention/v2", "variants": [ "measured_joint", "issued_joint", "cartesian" ] }, "events": [ { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "continue", "drift_streak": 0, "object_height_delta_m": 0.0, "phase": "probe", "progress_streak": 0, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0, "retry_index": 0, "t_seconds": 11.079999999999298, "table_supported": true, "tcp_probe_height_delta_m": 0.0 }, "observation_origin": "privileged_native_simulator_state", "phase": "guard_probe", "probe_index": 0, "reason": "slow_load_bearing_check", "retention_variant": "cartesian", "retry_index": 0, "status": "probing", "t_seconds": 11.079999999999298, "type": "probe_started", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "hold_measured_arm", "drift_streak": 2, "object_height_delta_m": 8.765301678184678e-05, "phase": "probe", "progress_streak": 2, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0036397150715581457, "retry_index": 0, "t_seconds": 11.459999999999088, "table_supported": true, "tcp_probe_height_delta_m": 0.003736700412667812 }, "observation_origin": "privileged_native_simulator_state", "phase": "guard_stop", "probe_index": 0, "reason": "object_not_following", "retention_variant": "cartesian", "retry_index": 0, "status": "probing", "t_seconds": 11.459999999999088, "type": "alarm", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "hold_measured_arm", "drift_streak": 2, "object_height_delta_m": 8.765301678184678e-05, "phase": "probe", "progress_streak": 2, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0036397150715581457, "retry_index": 0, "t_seconds": 11.459999999999088, "table_supported": true, "tcp_probe_height_delta_m": 0.003736700412667812 }, "observation_origin": "privileged_native_simulator_state", "phase": "guard_stop", "probe_index": 0, "reason": "supported_object_only", "retention_variant": "cartesian", "retry_index": 1, "status": "acquiring_retry", "t_seconds": 11.459999999999088, "type": "retry_started", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": false, "contact_loss_streak": 0, "decision": "recenter_with_open_jaw", "drift_streak": 2, "object_height_delta_m": -2.978931483553493e-05, "phase": "retry_recenter", "progress_streak": 2, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.009741366643899867, "retry_index": 1, "t_seconds": 13.119999999998168, "table_supported": true, "tcp_probe_height_delta_m": 0.009696919251864097 }, "observation_origin": "privileged_native_simulator_state", "phase": "guard_retry_recenter", "probe_index": 0, "reason": "open_recenter_complete", "retention_variant": "cartesian", "retry_index": 1, "status": "acquiring", "t_seconds": 13.119999999998168, "type": "retry_completed", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "continue", "drift_streak": 0, "object_height_delta_m": 0.0, "phase": "probe", "progress_streak": 0, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0, "retry_index": 1, "t_seconds": 13.99999999999768, "table_supported": true, "tcp_probe_height_delta_m": 0.0 }, "observation_origin": "privileged_native_simulator_state", "phase": "guard_probe", "probe_index": 1, "reason": "slow_load_bearing_check", "retention_variant": "cartesian", "retry_index": 1, "status": "probing", "t_seconds": 13.99999999999768, "type": "probe_started", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "hold_measured_arm", "drift_streak": 2, "object_height_delta_m": 0.00016192859015312644, "phase": "probe", "progress_streak": 0, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0035506771124974505, "retry_index": 1, "t_seconds": 14.37999999999747, "table_supported": false, "tcp_probe_height_delta_m": 0.0036813227239583524 }, "observation_origin": "privileged_native_simulator_state", "phase": "guard_stop", "probe_index": 1, "reason": "relative_slip", "retention_variant": "cartesian", "retry_index": 1, "status": "probing", "t_seconds": 14.37999999999747, "type": "alarm", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "hold_measured_arm_and_freeze_issued_jaw", "drift_streak": 2, "object_height_delta_m": 0.00016192859015312644, "phase": "probe", "progress_streak": 0, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0035506771124974505, "retry_index": 1, "t_seconds": 14.37999999999747, "table_supported": false, "tcp_probe_height_delta_m": 0.0036813227239583524 }, "observation_origin": "privileged_native_simulator_state", "phase": "probe_stop", "probe_index": 1, "reason": "relative_slip", "retention_variant": "cartesian", "retry_index": 1, "status": "invalidated_hold", "t_seconds": 14.37999999999747, "type": "abort", "variant": "evidence" } ], "ever_admitted": false, "final_observed": true, "frozen_jaw_target_m": 0.0, "initial_context": { "object_position_m": [ 0.3040000227603607, -0.024000165083053894, 0.07989224451748383 ], "observation_origin": "privileged_native_simulator_state", "t_seconds": 0.0, "tcp_position_m": [ 0.4890696662845219, 0.0014141975654808877, 0.3665849431043091 ], "tcp_quaternion_wxyz": [ 0.6580840948238629, 2.7730466224793136e-07, 0.7529444362872891, -1.9485471114950535e-06 ] }, "last_observed_s": 20.00000000000146, "observation_origin": "privileged_native_simulator_state", "physical_robot_ready": false, "probes": [ { "disposition": 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0.3041175560189834, -0.024292781189357085, 0.0822856293455525 ], "tcp_quaternion_wxyz": [ -0.00449694579532826, -0.00016375325295227476, 0.9999898727935398, 7.05247906457414e-05 ] } ], "retention": { "hold_reference": null, "input_refusals": [], "native_joint_control_limits_rad": [ [ -2.618, 2.618 ], [ 0.0, 3.14 ], [ -2.697, 0.0 ], [ -1.832, 1.832 ], [ -1.22, 1.22 ], [ -3.14, 3.14 ] ], "variant": "cartesian" }, "retry_count": 1, "schema": "dvidia.piper-retention/v2", "status": "invalidated_hold", "stop_targets_rad": [ -0.08398505196097387, 1.7419778336384895, -1.1563563725691117, -0.0008128569775515625, 1.072146550058499, -0.0839260161225257 ], "variant": "cartesian" }, "scene_id": "m0475-f52-p0", "timing": { "policy_cpu": { "maximum_s": 0.000489000000001738, "mean_s": 9.484899999997509e-05, "over_20ms": 0, "p50_s": 8.400000000108321e-05, "p95_s": 0.00022299999999830789, "p99_s": 0.00028508999999814926, "samples": 1000 }, "policy_wall": { "maximum_s": 0.004331416916102171, "mean_s": 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Counts are diagnostic, not independent trials." }, "corrections": { "bound_refusal_counts": {}, "flag_counts": { "correction_rate_limited": 0 }, "hold_record_count": 282, "input_refusals": [], "maximum_abs_accepted_correction_rate_rad_s": null, "maximum_abs_active_correction_rad": null, "maximum_abs_desired_correction_rad": null, "maximum_abs_pose_error_increment_rad": null, "rate_limited_axis_occurrences": 0, "scope": "Includes recorded final diagnostic checks; only command_issued rows represent issued controls." }, "decomposition": null, "final": { "both_qualified": false, "controller_qualified": false, "evidence_admissible": false, "native_qualified": false }, "first_admission": null, "grip_only": { "combined_qualified_pause": false, "complete_5s": false, "controller_retained_at_5s": false, "native_pause_success": false, "reason": "no_admission", "required_s": 5.0, "success": false }, "native": { "arrays_sha256": "95b5961a0df8c339ffb93e3507bb9f5a8ec543e2168f210256b710aed77bd475", "complete": true, "maximum_per_finger_force_n": 0.4857415125828624, "rows": 20000, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "physical_robot_ready": false, "primary": { "combined_qualified_pause": false, "complete_5s": false, "controller_retained_at_5s": false, "first_tcp_pose_failure_s": null, "native_pause_success": false, "reason": "no_admission", "required_s": 5.0, "success": false }, "probes": [ { "claims": [], "disposition": "interrupted", "final_native_qualified_from_origin": false, "probe_index": 0, "start_time_s": 11.079999999999298 }, { "claims": [], "disposition": "invalidated_hold", "final_native_qualified_from_origin": false, "probe_index": 1, "start_time_s": 13.99999999999768 } ], "receipt": { "admission": { "observation_origin": "privileged_native_simulation_plus_caller_planning_assumptions", "physical_robot_ready": false, "planning": { "computed": { "conservative_required_load_n": 0.7058488125, "gravity_m_s2": 9.80665, "pose_specific_payload_limit_force_n": 0.980665, "two_finger_friction_capacity_n": 10.4 }, "observation_origin": "caller_declared_not_verified", "physical_robot_ready": false, "reasons": [ "Run and record a cautious test lift under the same calibrated pose and load conditions before simulated transport planning." ], "schema": "dvidia.task-feasibility-result/v1", "scope": "Planning assessment only. Parallel two-finger vertical-lift approximation; ignores moment, center of mass, deformation, transient impacts and unmodeled contact effects. Unknown values remain unknown; mass is never inferred from images. Probe/test-lift/controller integration is not implemented. No hardware actuation is performed; this is not hardware qualification.", "status": "test_lift_required" }, "probe": { "admissible": false, "historical_qualified": false, "latest_qualified": false, "physical_robot_ready": false, "reasons": [ "latest_native_window_not_qualified", "no_controller_qualification_for_this_probe", "latest_controller_not_qualified" ], "receipt_sha256": "de68b7db82ec86333af621a24f28b6c19c4bfa326ed5bafc7b6de6fc5cf5ec08", "schema": "dvidia.probe-evidence-verification/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.", "verified": true }, "schema": "dvidia.task-feasibility-with-probe/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification. Unknown planning values remain unknown. The unchanged approximate vertical-lift planning gate describes declared loads; it supplies no transport path, geospatial-goal contract or actuator permission. This wrapper never issues controls.", "status": "test_lift_required" }, "context": { "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe", "calibration_id": "synthetic_probe_v01", "calibration_scope": "simulation_assumptions_not_hardware", "command_sha256": "e9ddb92f714639169c2dfa9288dd2532c6c367a92cb4a0380ae76a0414ae4e63", "feasibility_sha256": "4167c4fdd2cf8e4398f18eb271f191cb547e23d344b890ae948f9446c1607cc0", "grasp_id": "m0475-f52-p0-incremental-probe-1", "initial_object_position_m": [ 0.3040000227603607, -0.024000165083053894, 0.07989224451748383 ], "model_sha256": "85a0eea0e1e0f93c2ef980bc0b585fa9cd90500b3b6a8516f4cd89d6a92711b9", "native_status": { "simulation_time_s": 20.00000000000146, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "object_id": "task_block", "per_finger_force_ceiling_n": 10.0, "pose_binding_sha256": "c816e6b0bd1e4fcd40fc4bae0fce722fb2a361465c8dd3f26e4e59d076f6d909", "probe_index": 1, "probe_origin_object_position_m": [ 0.30615932241785254, -0.024044934483340132, 0.07985350572240879 ], "probe_origin_tcp_local_offset_m": [ -0.002063639016333839, 0.00024683267180381516, 0.0024136965380683593 ], "probe_start_s": 13.99999999999768, "robot_profile": "piper", "run_id": "m0475-f52-p0-incremental", "schema": "dvidia.probe-context/v1", "source_sha256": "d28324843344114f1ee863cee3c48dbca8aa37fd11222623563a0b1d40c364a6" }, "physical_robot_ready": false, "planning_input": { "allowed_pose_tolerance_m": 0.003, "calibration_id": "synthetic_probe_v01", "friction_interval": [ 0.52, 0.52 ], "geometry_known": true, "gripper_max_opening_interval_m": [ 0.07, 0.07 ], "gripper_min_closure_m": 0.0, "mass_interval_kg": [ 0.0475, 0.0475 ], "object_width_interval_m": [ 0.04, 0.04 ], "observations_fresh": true, "per_finger_normal_force_budget_n": 10.0, "planned_upward_accel_m_s2": 0.1, "pose_specific_payload_limit_kg": 0.1, "pose_uncertainty_m": 0.0, "reachability": "reachable", "safety_factor": 1.5, "schema": "dvidia.task-feasibility-input/v1", "slip_detected": false, "test_lift_passed": false }, "receipt": { "audit": { "controller_claim_mismatches": [], "controller_claims_checked": 1, "controller_conservative_abstention_count": 0, "controller_coverage": "Only the supplied claims are checked; omitted decisions are not inferred.", "controller_false_qualification_count": 0, "controller_positive_claims": 0, "force_ceiling_known": true, "maximum_observed_per_finger_force_n": 0.4857415125828624, "reasons": [], "rows": 20000, "unexpected_contact_native_ticks": 0, "valid": true }, "context": { "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe", "calibration_id": "synthetic_probe_v01", "calibration_scope": "simulation_assumptions_not_hardware", "command_sha256": "e9ddb92f714639169c2dfa9288dd2532c6c367a92cb4a0380ae76a0414ae4e63", "feasibility_sha256": "4167c4fdd2cf8e4398f18eb271f191cb547e23d344b890ae948f9446c1607cc0", "grasp_id": "m0475-f52-p0-incremental-probe-1", "initial_object_position_m": [ 0.3040000227603607, -0.024000165083053894, 0.07989224451748383 ], "model_sha256": "85a0eea0e1e0f93c2ef980bc0b585fa9cd90500b3b6a8516f4cd89d6a92711b9", "native_status": { "simulation_time_s": 20.00000000000146, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "object_id": "task_block", "per_finger_force_ceiling_n": 10.0, "pose_binding_sha256": "c816e6b0bd1e4fcd40fc4bae0fce722fb2a361465c8dd3f26e4e59d076f6d909", "probe_index": 1, "probe_origin_object_position_m": [ 0.30615932241785254, -0.024044934483340132, 0.07985350572240879 ], "probe_origin_tcp_local_offset_m": [ -0.002063639016333839, 0.00024683267180381516, 0.0024136965380683593 ], "probe_start_s": 13.99999999999768, "robot_profile": "piper", "run_id": "m0475-f52-p0-incremental", "schema": "dvidia.probe-context/v1", "source_sha256": "d28324843344114f1ee863cee3c48dbca8aa37fd11222623563a0b1d40c364a6" }, "context_sha256": "5f2121dc1589402895d22dbdf00f02077a1958e7c5f1fa008adc1bf82e05b45e", "controller_qualifications": [ { "probe_index": 1, "qualified": false, "t_seconds": 20.00000000000146 } ], "criteria": { "distance_comparison_epsilon": 1e-12, "initial_sample_tolerance_m": 0.001, "maximum_tcp_local_drift_m": 0.003, "minimum_continuous_dwell_s": 0.1, "minimum_per_finger_force_n_exclusive": 0.01, "minimum_rise_m": 0.006, "native_dt_s": 0.001, "origin_tolerance_m": 1e-09, "time_tolerance_s": 1e-08 }, "history": { "ever_qualified": false, "first_qualified_s": null, "maximum_continuous_qualifying_s": 0.0 }, "latest": { "condition_valid": false, "continuous_qualifying_s": 0.0, "controller_claim": { "probe_index": 1, "qualified": false, "t_seconds": 20.00000000000146 }, "native_tick": 20000, "qualified": false, "rise_m": 3.082015733350818e-05, "tcp_local_drift_m": 0.003762830858833554, "time_s": 20.00000000000146 }, "metadata_sha256": "ad8229630cc9f8718829bb8317b1a82480dcf18b9f71bd23666acfe71a003ef7", "native_arrays_sha256": "95b5961a0df8c339ffb93e3507bb9f5a8ec543e2168f210256b710aed77bd475", "physical_robot_ready": false, "receipt_sha256": "de68b7db82ec86333af621a24f28b6c19c4bfa326ed5bafc7b6de6fc5cf5ec08", "schema": "dvidia.probe-evidence/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification." }, "status": "inspected", "verification": { "admissible": false, "historical_qualified": false, "latest_qualified": false, "physical_robot_ready": false, "reasons": [ "latest_native_window_not_qualified", "no_controller_qualification_for_this_probe", "latest_controller_not_qualified" ], "receipt_sha256": "de68b7db82ec86333af621a24f28b6c19c4bfa326ed5bafc7b6de6fc5cf5ec08", "schema": "dvidia.probe-evidence-verification/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.", "verified": true } }, "stationarity": { "complete_5s": false, "grip_retention_and_stationarity": false, "tcp_pose_within_bounds": false }, "status": "inspected" }, "files": { "episode.json.gz": { "bytes": 795290, "sha256": "a03d3795ae509c9e3e10249cd60bd7f512cae583d78e78f67793c61e589534e8" }, "evaluation.json": { "bytes": 12382, "sha256": "5a08e730f4a8ac986fb8ad66cf89d1f475f7dc8064b7a1adf418a9b68e54db30" }, "native.json": { "bytes": 13763, "sha256": "19cc1d5998901cbc12da2916add3096763081e9decbfc7193981bfabc4b871e0" }, "native.npz": { "bytes": 4106948, "sha256": "ac1631d5796622d95efa0bb0d09f84f80b3c7ed342142ffc9c3ada98568371e2" }, "started.json": { "bytes": 150, "sha256": "03e9a7849091eb9a0c2881aa8ab4e97a0f9e68e4aac016646a0c3425b2f2f9b2" } }, "friction": 0.52, "id": "m0475-f52-p0-incremental", "mass_kg": 0.0475, "metrics": { "carry_complete": false, "carry_contact_loss_events": 0, "carry_contact_loss_tolerance_seconds": 0.04, "dwell_seconds": 0.0, "first_success_time_seconds": null, "grasp_seen": true, "lift_dwell_seconds": 0.0, "lift_seen": false, "max_carry_contact_loss_seconds": 0.0, "max_object_lift_m": 0.00017294827306975347, "max_pad_normal_force_n": 0.4857415125828624, "physical_robot_ready": false, "reason": "timeout", "retention_lost": false, "simulation_time": 20.00000000000146, "steps": 1000, "success": false, "target_distance_m": 0.11223543810156783, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "policy": { "abort_reason": "relative_slip", "acquisition_contract": { "comparison_scope": "Closed-loop variants may acquire different trajectories through early hold/retry. This is not an isolated classifier ablation.", "control_dt_s": 0.02, "evidence_admission": "Current bilateral force >0.01 N, no table support, object rise >=6 mm and TCP-local offset drift <=3 mm continuously across sampled boundaries for elapsed >=100 ms.", "hold": "Latch measured six arm joints and the last issued jaw target at admission/terminal invalidity. No full lift/transfer, no squeeze escalation, no post-admission retry.", "invalidation": "At each subsequent 20 ms observation and final observation, invalidate immediately on lost contact/force, support, insufficient rise, >3 mm local drift or unexpected contact. Never requalify after terminal invalidity.", "observation_origin": "privileged_native_simulator_state", "parameters": { "close_timeout_s": 1.4, "consecutive_alarm_samples": 2, "max_retries": 1, "monitor_min_probe_motion_m": 0.003, "probe_height_m": 0.01, "probe_min_object_rise_m": 0.006, "probe_speed_m_s": 0.02, "probe_timeout_s": 1.4, "qualification_dwell_s": 0.1, "relative_drift_limit_m": 0.003, "retry_clearance_m": 0.012, "retry_open_timeout_s": 1.2, "retry_recenter_timeout_s": 1.5 }, "physical_robot_ready": false, "prefix": "Original GuardedPiperTaskPolicy approach/close and at most one supported open/recenter/retry; already uses authored native state, not a fully blind baseline.", "sampling_limit": "Independent 1 ms evidence may contradict sampled admission; that remains a finding. No sensor or material inference is implemented.", "schema": "dvidia.piper-probe-stop/v1", "stop_scope": "Holding native position targets is not physical arrest or calibrated force limiting; inertia and existing target rate limits can continue motion.", "timer_admission": "Same 10 mm/20 mm/s probe target law, admitted at elapsed >=600 ms from that probe start; no evidence predicate or slip alarm before admission. Unexpected contacts and bounded timeouts still stop.", "timer_admission_s": 0.6, "variants": [ "evidence", "timer" ] }, "acquisition_variant": "evidence", "active_probe_index": 1, "admission_time_s": null, "admitted": false, "candidate": "incremental", "contract": { "acquisition": "Unchanged ProbeStopPolicy evidence acquisition, including its bounded supported retry. All variants share the same prefix through the first admission observation.", "admission": "Freeze the measured TCP pose and preceding issued target. Check the unchanged 0.08 rad initial bias and 0.02 rad joint margin. Repeat the preceding issued target exactly; initialize cumulative correction to zero.", "anti_windup": "Refuse the unlimited cumulative proposal before slew limiting. Commit correction only after all checks pass. Refusal is terminal and leaves accumulated correction unchanged.", "candidate": "incremental", "control_dt_s": 0.02, "final_observation": "Check force, original eligibility and pose error without solving, integrating or issuing another command.", "invalid_measurements": "Malformed, nonfinite or noncausal observations terminally refuse and raise without issuing a command. No measured-position stop is claimed from invalid measurements.", "limits": { "initial_joint_bias_ceiling_rad": 0.08, "joint_correction_ceiling_rad": 0.03, "joint_correction_rate_rad_s": 0.1, "native_joint_target_margin_rad": 0.02, "per_finger_force_ceiling_n": 10.0, "tcp_orientation_error_ceiling_rad": 0.05, "tcp_position_error_ceiling_m": 0.004 }, "measured_joint_eligibility": "At admission, subsequent updates and final observations, refuse measured joints outside the native 0.02 rad target margin before solving. This prevents absolute-target clipping from manufacturing a nonzero increment at zero pose error.", "observation_origin": "privileged_native_simulator_state", "physical_robot_ready": false, "qualifications": "Engineering limits and the 10 N ceiling are authored synthetic assumptions, not damage limits or calibrated physical telemetry. Position targets are not physical stops or force limiters. No load/friction inference, model training or complete placement is implemented.", "rate_scope": "The extra correction slews at at most 0.002 rad per 20 ms per joint. Original native 1 ms target slew, servos, gains and force caps remain unchanged.", "refusal": "Original grip, force, pose, initial-bias, joint-margin and timeout refusals remain terminal. A valid terminal observation latches measured joints and the frozen jaw; its fallback is not active incremental regulation.", "sampling": "Control checks occur at 20 ms boundaries. Independent saved 1 ms native evidence must judge a continuous 5 s hold; missed between-boundary failures remain findings.", "schema": "dvidia.piper-incremental-hold/v3", "update_gain_per_boundary": 1.0, "update_law": "increment = pose_action(frozen_admission_pose) - current_measured_joints; proposal = previous_correction + 1.0 * increment; refuse unlimited proposal outside +/-0.03 rad; slew accepted correction by at most 0.002 rad per joint per 20 ms; target = admission_issued_target + accepted_correction", "variants": [ "incremental" ] }, "events": [ { "accumulated_correction_rad": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "acquisition_variant": "evidence", "active_regulation": false, "candidate": "incremental", "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "continue", "drift_streak": 0, "object_height_delta_m": 0.0, "phase": "probe", "progress_streak": 0, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0, "retry_index": 0, "t_seconds": 11.079999999999298, "table_supported": true, "tcp_probe_height_delta_m": 0.0 }, "final_observation": false, "observation_origin": "privileged_native_simulator_state", "phase": "guard_probe", "pose_error_increment_rad": null, "probe_index": 0, "proposed_cumulative_correction_rad": null, "reason": "slow_load_bearing_check", "refused_bounds": null, "retention_variant": "incremental", "retry_index": 0, "status": "probing", "t_seconds": 11.079999999999298, "type": "probe_started", "update_gain_per_boundary": 1.0, "update_law": "increment = pose_action(frozen_admission_pose) - current_measured_joints; proposal = previous_correction + 1.0 * increment; refuse unlimited proposal outside +/-0.03 rad; slew accepted correction by at most 0.002 rad per joint per 20 ms; target = admission_issued_target + accepted_correction", "variant": "incremental" }, { "accumulated_correction_rad": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "acquisition_variant": "evidence", "active_regulation": false, "candidate": "incremental", "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "hold_measured_arm", "drift_streak": 2, "object_height_delta_m": 8.765301678184678e-05, "phase": "probe", "progress_streak": 2, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0036397150715581457, "retry_index": 0, "t_seconds": 11.459999999999088, "table_supported": true, "tcp_probe_height_delta_m": 0.003736700412667812 }, "final_observation": false, "observation_origin": "privileged_native_simulator_state", "phase": "guard_stop", "pose_error_increment_rad": null, "probe_index": 0, "proposed_cumulative_correction_rad": null, "reason": "object_not_following", "refused_bounds": null, "retention_variant": "incremental", "retry_index": 0, "status": "probing", "t_seconds": 11.459999999999088, "type": "alarm", "update_gain_per_boundary": 1.0, "update_law": "increment = pose_action(frozen_admission_pose) - current_measured_joints; proposal = previous_correction + 1.0 * increment; refuse unlimited proposal outside +/-0.03 rad; slew accepted correction by at most 0.002 rad per joint per 20 ms; target = admission_issued_target + accepted_correction", "variant": "incremental" }, { "accumulated_correction_rad": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "acquisition_variant": "evidence", "active_regulation": false, "candidate": "incremental", "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "hold_measured_arm", "drift_streak": 2, "object_height_delta_m": 8.765301678184678e-05, "phase": "probe", "progress_streak": 2, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0036397150715581457, "retry_index": 0, "t_seconds": 11.459999999999088, "table_supported": true, "tcp_probe_height_delta_m": 0.003736700412667812 }, "final_observation": false, "observation_origin": "privileged_native_simulator_state", "phase": "guard_stop", "pose_error_increment_rad": null, "probe_index": 0, "proposed_cumulative_correction_rad": null, "reason": "supported_object_only", "refused_bounds": null, "retention_variant": "incremental", "retry_index": 1, "status": "acquiring_retry", "t_seconds": 11.459999999999088, "type": "retry_started", "update_gain_per_boundary": 1.0, "update_law": "increment = pose_action(frozen_admission_pose) - current_measured_joints; proposal = previous_correction + 1.0 * increment; refuse unlimited proposal outside +/-0.03 rad; slew accepted correction by at most 0.002 rad per joint per 20 ms; target = admission_issued_target + accepted_correction", "variant": "incremental" }, { "accumulated_correction_rad": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "acquisition_variant": "evidence", "active_regulation": false, "candidate": "incremental", "diagnostic": { "bilateral_contact": false, "contact_loss_streak": 0, "decision": "recenter_with_open_jaw", "drift_streak": 2, "object_height_delta_m": -2.978931483553493e-05, "phase": "retry_recenter", "progress_streak": 2, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.009741366643899867, "retry_index": 1, "t_seconds": 13.119999999998168, "table_supported": true, "tcp_probe_height_delta_m": 0.009696919251864097 }, "final_observation": false, "observation_origin": "privileged_native_simulator_state", "phase": "guard_retry_recenter", "pose_error_increment_rad": null, "probe_index": 0, "proposed_cumulative_correction_rad": null, "reason": "open_recenter_complete", "refused_bounds": null, "retention_variant": "incremental", "retry_index": 1, "status": "acquiring", "t_seconds": 13.119999999998168, "type": "retry_completed", "update_gain_per_boundary": 1.0, "update_law": "increment = pose_action(frozen_admission_pose) - current_measured_joints; proposal = previous_correction + 1.0 * increment; refuse unlimited proposal outside +/-0.03 rad; slew accepted correction by at most 0.002 rad per joint per 20 ms; target = admission_issued_target + accepted_correction", "variant": "incremental" }, { "accumulated_correction_rad": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "acquisition_variant": "evidence", "active_regulation": false, "candidate": "incremental", "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "continue", "drift_streak": 0, "object_height_delta_m": 0.0, "phase": "probe", "progress_streak": 0, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0, "retry_index": 1, "t_seconds": 13.99999999999768, "table_supported": true, "tcp_probe_height_delta_m": 0.0 }, "final_observation": false, "observation_origin": "privileged_native_simulator_state", "phase": "guard_probe", "pose_error_increment_rad": null, "probe_index": 1, "proposed_cumulative_correction_rad": null, "reason": "slow_load_bearing_check", "refused_bounds": null, "retention_variant": "incremental", "retry_index": 1, "status": "probing", "t_seconds": 13.99999999999768, "type": "probe_started", "update_gain_per_boundary": 1.0, "update_law": "increment = pose_action(frozen_admission_pose) - current_measured_joints; proposal = previous_correction + 1.0 * increment; refuse unlimited proposal outside +/-0.03 rad; slew accepted correction by at most 0.002 rad per joint per 20 ms; target = admission_issued_target + accepted_correction", "variant": "incremental" }, { "accumulated_correction_rad": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "acquisition_variant": "evidence", "active_regulation": false, "candidate": "incremental", "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "hold_measured_arm", "drift_streak": 2, "object_height_delta_m": 0.00016192859015312644, "phase": "probe", "progress_streak": 0, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0035506771124974505, "retry_index": 1, "t_seconds": 14.37999999999747, "table_supported": false, "tcp_probe_height_delta_m": 0.0036813227239583524 }, "final_observation": false, "observation_origin": "privileged_native_simulator_state", "phase": "guard_stop", "pose_error_increment_rad": null, "probe_index": 1, "proposed_cumulative_correction_rad": null, "reason": "relative_slip", "refused_bounds": null, "retention_variant": "incremental", "retry_index": 1, "status": "probing", "t_seconds": 14.37999999999747, "type": "alarm", "update_gain_per_boundary": 1.0, "update_law": "increment = pose_action(frozen_admission_pose) - current_measured_joints; proposal = previous_correction + 1.0 * increment; refuse unlimited proposal outside +/-0.03 rad; slew accepted correction by at most 0.002 rad per joint per 20 ms; target = admission_issued_target + accepted_correction", "variant": "incremental" }, { "accumulated_correction_rad": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "acquisition_variant": "evidence", "active_regulation": false, "candidate": "incremental", "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "hold_measured_arm_and_freeze_issued_jaw", "drift_streak": 2, "object_height_delta_m": 0.00016192859015312644, "phase": "probe", "progress_streak": 0, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0035506771124974505, "retry_index": 1, "t_seconds": 14.37999999999747, "table_supported": false, "tcp_probe_height_delta_m": 0.0036813227239583524 }, "final_observation": false, "observation_origin": "privileged_native_simulator_state", "phase": "probe_stop", "pose_error_increment_rad": null, "probe_index": 1, "proposed_cumulative_correction_rad": null, "reason": "relative_slip", "refused_bounds": null, "retention_variant": "incremental", "retry_index": 1, "status": "invalidated_hold", "t_seconds": 14.37999999999747, "type": "abort", "update_gain_per_boundary": 1.0, "update_law": "increment = pose_action(frozen_admission_pose) - current_measured_joints; proposal = previous_correction + 1.0 * increment; refuse unlimited proposal outside +/-0.03 rad; slew accepted correction by at most 0.002 rad per joint per 20 ms; target = admission_issued_target + accepted_correction", "variant": "incremental" } ], "ever_admitted": false, "final_observed": true, "frozen_jaw_target_m": 0.0, "initial_context": { "object_position_m": [ 0.3040000227603607, -0.024000165083053894, 0.07989224451748383 ], "observation_origin": "privileged_native_simulator_state", "t_seconds": 0.0, "tcp_position_m": [ 0.4890696662845219, 0.0014141975654808877, 0.3665849431043091 ], "tcp_quaternion_wxyz": [ 0.6580840948238629, 2.7730466224793136e-07, 0.7529444362872891, -1.9485471114950535e-06 ] }, "last_observed_s": 20.00000000000146, "observation_origin": "privileged_native_simulator_state", "physical_robot_ready": false, "probes": [ { "disposition": "interrupted", "end_time_s": 11.459999999999088, "local_offset_origin_m": [ 0.002314664136637329, 0.0002970611994778374, 0.0019238532551488533 ], "object_origin_m": [ 0.30381507069627167, -0.023950184882238046, 0.07992203389461919 ], "observation_origin": "privileged_native_simulator_state", "probe_index": 0, "reason": "object_not_following", "start_time_s": 11.079999999999298, "tcp_origin_m": [ 0.30611001028346096, -0.02423787377902707, 0.08187078071214907 ], "tcp_quaternion_wxyz": [ 0.005337700043030191, -0.0016187040637192086, 0.9999843225546133, -0.0004933562565979579 ] }, { "disposition": "invalidated_hold", "end_time_s": 14.37999999999747, "local_offset_origin_m": [ -0.002063639016333839, 0.00024683267180381516, 0.0024136965380683593 ], "object_origin_m": [ 0.30615932241785254, -0.024044934483340132, 0.07985350572240879 ], "observation_origin": "privileged_native_simulator_state", "probe_index": 1, "reason": "relative_slip", "start_time_s": 13.99999999999768, "tcp_origin_m": [ 0.3041175560189834, -0.024292781189357085, 0.0822856293455525 ], "tcp_quaternion_wxyz": [ -0.00449694579532826, -0.00016375325295227476, 0.9999898727935398, 7.05247906457414e-05 ] } ], "retention": { "accumulated_correction_rad": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "active_regulation": false, "candidate": "incremental", "final_controller_status": "invalidated_hold", "hold_reference": null, "input_refusals": [], "native_joint_control_limits_rad": [ [ -2.618, 2.618 ], [ 0.0, 3.14 ], [ -2.697, 0.0 ], [ -1.832, 1.832 ], [ -1.22, 1.22 ], [ -3.14, 3.14 ] ], "update_gain_per_boundary": 1.0, "update_law": "increment = pose_action(frozen_admission_pose) - current_measured_joints; proposal = previous_correction + 1.0 * increment; refuse unlimited proposal outside +/-0.03 rad; slew accepted correction by at most 0.002 rad per joint per 20 ms; target = admission_issued_target + accepted_correction", "variant": "incremental" }, "retry_count": 1, "schema": "dvidia.piper-incremental-hold/v3", "status": "invalidated_hold", "stop_targets_rad": [ -0.08398505196097387, 1.7419778336384895, -1.1563563725691117, -0.0008128569775515625, 1.072146550058499, -0.0839260161225257 ], "variant": "incremental" }, "scene_id": "m0475-f52-p0", "timing": { "policy_cpu": { "maximum_s": 0.000605999999997664, "mean_s": 0.00010428299999993129, "over_20ms": 0, "p50_s": 9.500000000173259e-05, "p95_s": 0.00024010000000487244, "p99_s": 0.0003190399999975568, "samples": 1000 }, "policy_wall": { "maximum_s": 0.0008293329738080502, "mean_s": 0.0001091153766028583, "over_20ms": 0, "p50_s": 9.522936306893826e-05, "p95_s": 0.0002663879189640283, "p99_s": 0.00037588581908494213, "samples": 1000 }, "step_cpu": { "maximum_s": 0.025607000000000824, "mean_s": 0.0029186569999999036, "over_20ms": 1, "p50_s": 0.0026685000000057357, "p95_s": 0.004707050000003221, "p99_s": 0.00588746999999678, "samples": 1000 }, "step_wall": { "maximum_s": 0.02596629224717617, "mean_s": 0.0031037655803374947, "over_20ms": 1, "p50_s": 0.0027198754251003265, "p95_s": 0.0052698230603709815, "p99_s": 0.006731227645650505, "samples": 1000 } }, "valid": true, "variant": "incremental" }, { "error": null, "evaluation": { "claims": { "false_maintained_grip": 0, "false_maintained_pose": 0, "maintained_checks": 0, "scope": "Claimed qualified boundaries after admission, compared with every native row since admission; grip includes correct initial prefix. Counts are diagnostic, not independent trials." }, "corrections": { "bound_refusal_counts": {}, "flag_counts": { "correction_rate_limited": 0 }, "hold_record_count": 282, "input_refusals": [], "maximum_abs_accepted_correction_rate_rad_s": null, "maximum_abs_active_correction_rad": null, "maximum_abs_desired_correction_rad": null, "maximum_abs_pose_error_increment_rad": null, "rate_limited_axis_occurrences": 0, "scope": "Includes recorded final diagnostic checks; only command_issued rows represent issued controls." }, "decomposition": null, "final": { "both_qualified": false, "controller_qualified": false, "evidence_admissible": false, "native_qualified": false }, "first_admission": null, "grip_only": { "combined_qualified_pause": false, "complete_5s": false, "controller_retained_at_5s": false, "native_pause_success": false, "reason": "no_admission", "required_s": 5.0, "success": false }, "native": { "arrays_sha256": "95b5961a0df8c339ffb93e3507bb9f5a8ec543e2168f210256b710aed77bd475", "complete": true, "maximum_per_finger_force_n": 0.4857415125828624, "rows": 20000, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "physical_robot_ready": false, "primary": { "combined_qualified_pause": false, "complete_5s": false, "controller_retained_at_5s": false, "first_tcp_pose_failure_s": null, "native_pause_success": false, "reason": "no_admission", "required_s": 5.0, "success": false }, "probes": [ { "claims": [], "disposition": "interrupted", "final_native_qualified_from_origin": false, "probe_index": 0, "start_time_s": 11.079999999999298 }, { "claims": [], "disposition": "invalidated_hold", "final_native_qualified_from_origin": false, "probe_index": 1, "start_time_s": 13.99999999999768 } ], "receipt": { "admission": { "observation_origin": "privileged_native_simulation_plus_caller_planning_assumptions", "physical_robot_ready": false, "planning": { "computed": { "conservative_required_load_n": 0.7058488125, "gravity_m_s2": 9.80665, "pose_specific_payload_limit_force_n": 0.980665, "two_finger_friction_capacity_n": 10.4 }, "observation_origin": "caller_declared_not_verified", "physical_robot_ready": false, "reasons": [ "Run and record a cautious test lift under the same calibrated pose and load conditions before simulated transport planning." ], "schema": "dvidia.task-feasibility-result/v1", "scope": "Planning assessment only. Parallel two-finger vertical-lift approximation; ignores moment, center of mass, deformation, transient impacts and unmodeled contact effects. Unknown values remain unknown; mass is never inferred from images. Probe/test-lift/controller integration is not implemented. No hardware actuation is performed; this is not hardware qualification.", "status": "test_lift_required" }, "probe": { "admissible": false, "historical_qualified": false, "latest_qualified": false, "physical_robot_ready": false, "reasons": [ "latest_native_window_not_qualified", "no_controller_qualification_for_this_probe", "latest_controller_not_qualified" ], "receipt_sha256": "984ff74453b0282cd6c602ae3663a8fd6218a3276766d277370444cab16ba3bc", "schema": "dvidia.probe-evidence-verification/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.", "verified": true }, "schema": "dvidia.task-feasibility-with-probe/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification. Unknown planning values remain unknown. The unchanged approximate vertical-lift planning gate describes declared loads; it supplies no transport path, geospatial-goal contract or actuator permission. This wrapper never issues controls.", "status": "test_lift_required" }, "context": { "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe", "calibration_id": "synthetic_probe_v01", "calibration_scope": "simulation_assumptions_not_hardware", "command_sha256": "e9ddb92f714639169c2dfa9288dd2532c6c367a92cb4a0380ae76a0414ae4e63", "feasibility_sha256": "4167c4fdd2cf8e4398f18eb271f191cb547e23d344b890ae948f9446c1607cc0", "grasp_id": "m0475-f52-p0-issued_joint-probe-1", "initial_object_position_m": [ 0.3040000227603607, -0.024000165083053894, 0.07989224451748383 ], "model_sha256": "85a0eea0e1e0f93c2ef980bc0b585fa9cd90500b3b6a8516f4cd89d6a92711b9", "native_status": { "simulation_time_s": 20.00000000000146, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "object_id": "task_block", "per_finger_force_ceiling_n": 10.0, "pose_binding_sha256": "c816e6b0bd1e4fcd40fc4bae0fce722fb2a361465c8dd3f26e4e59d076f6d909", "probe_index": 1, "probe_origin_object_position_m": [ 0.30615932241785254, -0.024044934483340132, 0.07985350572240879 ], "probe_origin_tcp_local_offset_m": [ -0.002063639016333839, 0.00024683267180381516, 0.0024136965380683593 ], "probe_start_s": 13.99999999999768, "robot_profile": "piper", "run_id": "m0475-f52-p0-issued_joint", "schema": "dvidia.probe-context/v1", "source_sha256": "d28324843344114f1ee863cee3c48dbca8aa37fd11222623563a0b1d40c364a6" }, "physical_robot_ready": false, "planning_input": { "allowed_pose_tolerance_m": 0.003, "calibration_id": "synthetic_probe_v01", "friction_interval": [ 0.52, 0.52 ], "geometry_known": true, "gripper_max_opening_interval_m": [ 0.07, 0.07 ], "gripper_min_closure_m": 0.0, "mass_interval_kg": [ 0.0475, 0.0475 ], "object_width_interval_m": [ 0.04, 0.04 ], "observations_fresh": true, "per_finger_normal_force_budget_n": 10.0, "planned_upward_accel_m_s2": 0.1, "pose_specific_payload_limit_kg": 0.1, "pose_uncertainty_m": 0.0, "reachability": "reachable", "safety_factor": 1.5, "schema": "dvidia.task-feasibility-input/v1", "slip_detected": false, "test_lift_passed": false }, "receipt": { "audit": { "controller_claim_mismatches": [], "controller_claims_checked": 1, "controller_conservative_abstention_count": 0, "controller_coverage": "Only the supplied claims are checked; omitted decisions are not inferred.", "controller_false_qualification_count": 0, "controller_positive_claims": 0, "force_ceiling_known": true, "maximum_observed_per_finger_force_n": 0.4857415125828624, "reasons": [], "rows": 20000, "unexpected_contact_native_ticks": 0, "valid": true }, "context": { "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe", "calibration_id": "synthetic_probe_v01", "calibration_scope": "simulation_assumptions_not_hardware", "command_sha256": "e9ddb92f714639169c2dfa9288dd2532c6c367a92cb4a0380ae76a0414ae4e63", "feasibility_sha256": "4167c4fdd2cf8e4398f18eb271f191cb547e23d344b890ae948f9446c1607cc0", "grasp_id": "m0475-f52-p0-issued_joint-probe-1", "initial_object_position_m": [ 0.3040000227603607, -0.024000165083053894, 0.07989224451748383 ], "model_sha256": "85a0eea0e1e0f93c2ef980bc0b585fa9cd90500b3b6a8516f4cd89d6a92711b9", "native_status": { "simulation_time_s": 20.00000000000146, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "object_id": "task_block", "per_finger_force_ceiling_n": 10.0, "pose_binding_sha256": "c816e6b0bd1e4fcd40fc4bae0fce722fb2a361465c8dd3f26e4e59d076f6d909", "probe_index": 1, "probe_origin_object_position_m": [ 0.30615932241785254, -0.024044934483340132, 0.07985350572240879 ], "probe_origin_tcp_local_offset_m": [ -0.002063639016333839, 0.00024683267180381516, 0.0024136965380683593 ], "probe_start_s": 13.99999999999768, "robot_profile": "piper", "run_id": "m0475-f52-p0-issued_joint", "schema": "dvidia.probe-context/v1", "source_sha256": "d28324843344114f1ee863cee3c48dbca8aa37fd11222623563a0b1d40c364a6" }, "context_sha256": "c334416bc0903fb6bb7656baa0a90d70771952da66afe6c29e748cdcdc692c99", "controller_qualifications": [ { "probe_index": 1, "qualified": false, "t_seconds": 20.00000000000146 } ], "criteria": { "distance_comparison_epsilon": 1e-12, "initial_sample_tolerance_m": 0.001, "maximum_tcp_local_drift_m": 0.003, "minimum_continuous_dwell_s": 0.1, "minimum_per_finger_force_n_exclusive": 0.01, "minimum_rise_m": 0.006, "native_dt_s": 0.001, "origin_tolerance_m": 1e-09, "time_tolerance_s": 1e-08 }, "history": { "ever_qualified": false, "first_qualified_s": null, "maximum_continuous_qualifying_s": 0.0 }, "latest": { "condition_valid": false, "continuous_qualifying_s": 0.0, "controller_claim": { "probe_index": 1, "qualified": false, "t_seconds": 20.00000000000146 }, "native_tick": 20000, "qualified": false, "rise_m": 3.082015733350818e-05, "tcp_local_drift_m": 0.003762830858833554, "time_s": 20.00000000000146 }, "metadata_sha256": "ad8229630cc9f8718829bb8317b1a82480dcf18b9f71bd23666acfe71a003ef7", "native_arrays_sha256": "95b5961a0df8c339ffb93e3507bb9f5a8ec543e2168f210256b710aed77bd475", "physical_robot_ready": false, "receipt_sha256": "984ff74453b0282cd6c602ae3663a8fd6218a3276766d277370444cab16ba3bc", "schema": "dvidia.probe-evidence/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification." }, "status": "inspected", "verification": { "admissible": false, "historical_qualified": false, "latest_qualified": false, "physical_robot_ready": false, "reasons": [ "latest_native_window_not_qualified", "no_controller_qualification_for_this_probe", "latest_controller_not_qualified" ], "receipt_sha256": "984ff74453b0282cd6c602ae3663a8fd6218a3276766d277370444cab16ba3bc", "schema": "dvidia.probe-evidence-verification/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.", "verified": true } }, "stationarity": { "complete_5s": false, "grip_retention_and_stationarity": false, "tcp_pose_within_bounds": false }, "status": "inspected" }, "files": { "episode.json.gz": { "bytes": 777243, "sha256": "7dd2cc5f34ec42b9d5f8cb3105d5b8e498afd566e3ce5a67b46c439cb0167c7f" }, "evaluation.json": { "bytes": 12386, "sha256": "53878986d9d3abf8bc889940051b59528863baf6df51ed2e79130fcca4d27efa" }, "native.json": { "bytes": 13763, "sha256": "19cc1d5998901cbc12da2916add3096763081e9decbfc7193981bfabc4b871e0" }, "native.npz": { "bytes": 4106948, "sha256": "ac1631d5796622d95efa0bb0d09f84f80b3c7ed342142ffc9c3ada98568371e2" }, "started.json": { "bytes": 151, "sha256": "1c60fc0339c84bb42279f3f65cb6fc3932c8e5d3a8ceb2246c5df3e4f2f0171a" } }, "friction": 0.52, "id": "m0475-f52-p0-issued_joint", "mass_kg": 0.0475, "metrics": { "carry_complete": false, "carry_contact_loss_events": 0, "carry_contact_loss_tolerance_seconds": 0.04, "dwell_seconds": 0.0, "first_success_time_seconds": null, "grasp_seen": true, "lift_dwell_seconds": 0.0, "lift_seen": false, "max_carry_contact_loss_seconds": 0.0, "max_object_lift_m": 0.00017294827306975347, "max_pad_normal_force_n": 0.4857415125828624, "physical_robot_ready": false, "reason": "timeout", "retention_lost": false, "simulation_time": 20.00000000000146, "steps": 1000, "success": false, "target_distance_m": 0.11223543810156783, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "policy": { "abort_reason": "relative_slip", "acquisition_contract": { "comparison_scope": "Closed-loop variants may acquire different trajectories through early hold/retry. This is not an isolated classifier ablation.", "control_dt_s": 0.02, "evidence_admission": "Current bilateral force >0.01 N, no table support, object rise >=6 mm and TCP-local offset drift <=3 mm continuously across sampled boundaries for elapsed >=100 ms.", "hold": "Latch measured six arm joints and the last issued jaw target at admission/terminal invalidity. No full lift/transfer, no squeeze escalation, no post-admission retry.", "invalidation": "At each subsequent 20 ms observation and final observation, invalidate immediately on lost contact/force, support, insufficient rise, >3 mm local drift or unexpected contact. Never requalify after terminal invalidity.", "observation_origin": "privileged_native_simulator_state", "parameters": { "close_timeout_s": 1.4, "consecutive_alarm_samples": 2, "max_retries": 1, "monitor_min_probe_motion_m": 0.003, "probe_height_m": 0.01, "probe_min_object_rise_m": 0.006, "probe_speed_m_s": 0.02, "probe_timeout_s": 1.4, "qualification_dwell_s": 0.1, "relative_drift_limit_m": 0.003, "retry_clearance_m": 0.012, "retry_open_timeout_s": 1.2, "retry_recenter_timeout_s": 1.5 }, "physical_robot_ready": false, "prefix": "Original GuardedPiperTaskPolicy approach/close and at most one supported open/recenter/retry; already uses authored native state, not a fully blind baseline.", "sampling_limit": "Independent 1 ms evidence may contradict sampled admission; that remains a finding. No sensor or material inference is implemented.", "schema": "dvidia.piper-probe-stop/v1", "stop_scope": "Holding native position targets is not physical arrest or calibrated force limiting; inertia and existing target rate limits can continue motion.", "timer_admission": "Same 10 mm/20 mm/s probe target law, admitted at elapsed >=600 ms from that probe start; no evidence predicate or slip alarm before admission. Unexpected contacts and bounded timeouts still stop.", "timer_admission_s": 0.6, "variants": [ "evidence", "timer" ] }, "acquisition_variant": "evidence", "active_probe_index": 1, "admission_time_s": null, "admitted": false, "contract": { "acquisition": "Unchanged ProbeStopPolicy evidence acquisition, including its bounded supported retry. All variants share the same prefix through the first admission observation.", "cartesian": "Latch measured TCP position/orientation and preceding issued targets. Fixed joint bias equals issued target minus pose_action at the admission pose. First command repeats the exact issued target; later pose_action updates receive that fixed bias.", "control_dt_s": 0.02, "final_observation": "Repeat force, original eligibility and Cartesian pose-error checks. Do not solve or issue a hypothetical next control at the terminal observation.", "invalid_measurements": "Malformed, nonfinite or noncausal observations terminally refuse and raise without issuing a command. No measured-position stop is claimed from invalid measurements.", "issued_joint": "Latch the preceding issued six joint targets and the same last issued jaw target at admission.", "limits": { "initial_joint_bias_ceiling_rad": 0.08, "joint_correction_ceiling_rad": 0.03, "joint_correction_rate_rad_s": 0.1, "native_joint_target_margin_rad": 0.02, "per_finger_force_ceiling_n": 10.0, "tcp_orientation_error_ceiling_rad": 0.05, "tcp_position_error_ceiling_m": 0.004 }, "measured_joint": "Original hold: latch measured six joint coordinates and the last issued jaw target at admission.", "observation_origin": "privileged_native_simulator_state", "physical_robot_ready": false, "qualifications": "Engineering limits and the 10 N ceiling are authored synthetic assumptions, not damage limits or calibrated physical telemetry. Position targets are not physical stops or force limiters. No load/friction inference, model training or complete placement is implemented.", "rate_scope": "The extra correction slews at at most 0.002 rad per 20 ms per joint. Original native 1 ms target slew, servos, gains and force caps remain unchanged.", "refusal": "Original eligibility loss, unexpected contact or observed pad force >10 N terminally requests measured joint hold and the frozen jaw target. Cartesian error, initial-bias, total-correction or native-margin exhaustion also refuses terminally; it never chases an already failed grip.", "sampling": "Control checks occur at 20 ms boundaries. Independent saved 1 ms native evidence must judge a continuous 5 s hold; missed between-boundary failures remain findings.", "schema": "dvidia.piper-retention/v2", "variants": [ "measured_joint", "issued_joint", "cartesian" ] }, "events": [ { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "continue", "drift_streak": 0, "object_height_delta_m": 0.0, "phase": "probe", "progress_streak": 0, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0, "retry_index": 0, "t_seconds": 11.079999999999298, "table_supported": true, "tcp_probe_height_delta_m": 0.0 }, "observation_origin": "privileged_native_simulator_state", "phase": "guard_probe", "probe_index": 0, "reason": "slow_load_bearing_check", "retention_variant": "issued_joint", "retry_index": 0, "status": "probing", "t_seconds": 11.079999999999298, "type": "probe_started", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "hold_measured_arm", "drift_streak": 2, "object_height_delta_m": 8.765301678184678e-05, "phase": "probe", "progress_streak": 2, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0036397150715581457, "retry_index": 0, "t_seconds": 11.459999999999088, "table_supported": true, "tcp_probe_height_delta_m": 0.003736700412667812 }, "observation_origin": "privileged_native_simulator_state", "phase": "guard_stop", "probe_index": 0, "reason": "object_not_following", "retention_variant": "issued_joint", "retry_index": 0, "status": "probing", "t_seconds": 11.459999999999088, "type": "alarm", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "hold_measured_arm", "drift_streak": 2, "object_height_delta_m": 8.765301678184678e-05, "phase": "probe", "progress_streak": 2, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0036397150715581457, "retry_index": 0, "t_seconds": 11.459999999999088, "table_supported": true, "tcp_probe_height_delta_m": 0.003736700412667812 }, "observation_origin": "privileged_native_simulator_state", "phase": "guard_stop", "probe_index": 0, "reason": "supported_object_only", "retention_variant": "issued_joint", "retry_index": 1, "status": "acquiring_retry", "t_seconds": 11.459999999999088, "type": "retry_started", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": false, "contact_loss_streak": 0, "decision": "recenter_with_open_jaw", "drift_streak": 2, "object_height_delta_m": -2.978931483553493e-05, "phase": "retry_recenter", "progress_streak": 2, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.009741366643899867, "retry_index": 1, "t_seconds": 13.119999999998168, "table_supported": true, "tcp_probe_height_delta_m": 0.009696919251864097 }, "observation_origin": "privileged_native_simulator_state", "phase": "guard_retry_recenter", "probe_index": 0, "reason": "open_recenter_complete", "retention_variant": "issued_joint", "retry_index": 1, "status": "acquiring", "t_seconds": 13.119999999998168, "type": "retry_completed", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "continue", "drift_streak": 0, "object_height_delta_m": 0.0, "phase": "probe", "progress_streak": 0, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0, "retry_index": 1, "t_seconds": 13.99999999999768, "table_supported": true, "tcp_probe_height_delta_m": 0.0 }, "observation_origin": "privileged_native_simulator_state", "phase": "guard_probe", "probe_index": 1, "reason": "slow_load_bearing_check", "retention_variant": "issued_joint", "retry_index": 1, "status": "probing", "t_seconds": 13.99999999999768, "type": "probe_started", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "hold_measured_arm", "drift_streak": 2, 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"table_supported": false, "tcp_probe_height_delta_m": 0.0036813227239583524 }, "observation_origin": "privileged_native_simulator_state", "phase": "probe_stop", "probe_index": 1, "reason": "relative_slip", "retention_variant": "issued_joint", "retry_index": 1, "status": "invalidated_hold", "t_seconds": 14.37999999999747, "type": "abort", "variant": "evidence" } ], "ever_admitted": false, "final_observed": true, "frozen_jaw_target_m": 0.0, "initial_context": { "object_position_m": [ 0.3040000227603607, -0.024000165083053894, 0.07989224451748383 ], "observation_origin": "privileged_native_simulator_state", "t_seconds": 0.0, "tcp_position_m": [ 0.4890696662845219, 0.0014141975654808877, 0.3665849431043091 ], "tcp_quaternion_wxyz": [ 0.6580840948238629, 2.7730466224793136e-07, 0.7529444362872891, -1.9485471114950535e-06 ] }, "last_observed_s": 20.00000000000146, "observation_origin": "privileged_native_simulator_state", "physical_robot_ready": false, "probes": [ { "disposition": "interrupted", "end_time_s": 11.459999999999088, "local_offset_origin_m": [ 0.002314664136637329, 0.0002970611994778374, 0.0019238532551488533 ], "object_origin_m": [ 0.30381507069627167, -0.023950184882238046, 0.07992203389461919 ], "observation_origin": "privileged_native_simulator_state", "probe_index": 0, "reason": "object_not_following", "start_time_s": 11.079999999999298, "tcp_origin_m": [ 0.30611001028346096, -0.02423787377902707, 0.08187078071214907 ], "tcp_quaternion_wxyz": [ 0.005337700043030191, -0.0016187040637192086, 0.9999843225546133, -0.0004933562565979579 ] }, { "disposition": "invalidated_hold", "end_time_s": 14.37999999999747, "local_offset_origin_m": [ -0.002063639016333839, 0.00024683267180381516, 0.0024136965380683593 ], "object_origin_m": [ 0.30615932241785254, -0.024044934483340132, 0.07985350572240879 ], "observation_origin": "privileged_native_simulator_state", "probe_index": 1, "reason": "relative_slip", "start_time_s": 13.99999999999768, "tcp_origin_m": [ 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Counts are diagnostic, not independent trials." }, "corrections": { "bound_refusal_counts": {}, "flag_counts": { "correction_rate_limited": 0 }, "hold_record_count": 282, "input_refusals": [], "maximum_abs_accepted_correction_rate_rad_s": null, "maximum_abs_active_correction_rad": null, "maximum_abs_desired_correction_rad": null, "maximum_abs_pose_error_increment_rad": null, "rate_limited_axis_occurrences": 0, "scope": "Includes recorded final diagnostic checks; only command_issued rows represent issued controls." }, "decomposition": null, "final": { "both_qualified": false, "controller_qualified": false, "evidence_admissible": false, "native_qualified": false }, "first_admission": null, "grip_only": { "combined_qualified_pause": false, "complete_5s": false, "controller_retained_at_5s": false, "native_pause_success": false, "reason": "no_admission", "required_s": 5.0, "success": false }, "native": { "arrays_sha256": "95b5961a0df8c339ffb93e3507bb9f5a8ec543e2168f210256b710aed77bd475", "complete": true, "maximum_per_finger_force_n": 0.4857415125828624, "rows": 20000, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "physical_robot_ready": false, "primary": { "combined_qualified_pause": false, "complete_5s": false, "controller_retained_at_5s": false, "first_tcp_pose_failure_s": null, "native_pause_success": false, "reason": "no_admission", "required_s": 5.0, "success": false }, "probes": [ { "claims": [], "disposition": "interrupted", "final_native_qualified_from_origin": false, "probe_index": 0, "start_time_s": 11.079999999999298 }, { "claims": [], "disposition": "invalidated_hold", "final_native_qualified_from_origin": false, "probe_index": 1, "start_time_s": 13.99999999999768 } ], "receipt": { "admission": { "observation_origin": "privileged_native_simulation_plus_caller_planning_assumptions", "physical_robot_ready": false, "planning": { "computed": { "conservative_required_load_n": 0.7058488125, "gravity_m_s2": 9.80665, "pose_specific_payload_limit_force_n": 0.980665, "two_finger_friction_capacity_n": 10.4 }, "observation_origin": "caller_declared_not_verified", "physical_robot_ready": false, "reasons": [ "Run and record a cautious test lift under the same calibrated pose and load conditions before simulated transport planning." ], "schema": "dvidia.task-feasibility-result/v1", "scope": "Planning assessment only. Parallel two-finger vertical-lift approximation; ignores moment, center of mass, deformation, transient impacts and unmodeled contact effects. Unknown values remain unknown; mass is never inferred from images. Probe/test-lift/controller integration is not implemented. No hardware actuation is performed; this is not hardware qualification.", "status": "test_lift_required" }, "probe": { "admissible": false, "historical_qualified": false, "latest_qualified": false, "physical_robot_ready": false, "reasons": [ "latest_native_window_not_qualified", "no_controller_qualification_for_this_probe", "latest_controller_not_qualified" ], "receipt_sha256": "658c4a7aa100775f9e13cc719a52e34266b491b64581368132f44f8bfa1ebaa6", "schema": "dvidia.probe-evidence-verification/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.", "verified": true }, "schema": "dvidia.task-feasibility-with-probe/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification. Unknown planning values remain unknown. The unchanged approximate vertical-lift planning gate describes declared loads; it supplies no transport path, geospatial-goal contract or actuator permission. This wrapper never issues controls.", "status": "test_lift_required" }, "context": { "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe", "calibration_id": "synthetic_probe_v01", "calibration_scope": "simulation_assumptions_not_hardware", "command_sha256": "e9ddb92f714639169c2dfa9288dd2532c6c367a92cb4a0380ae76a0414ae4e63", "feasibility_sha256": "4167c4fdd2cf8e4398f18eb271f191cb547e23d344b890ae948f9446c1607cc0", "grasp_id": "m0475-f52-p0-measured_joint-probe-1", "initial_object_position_m": [ 0.3040000227603607, -0.024000165083053894, 0.07989224451748383 ], "model_sha256": "85a0eea0e1e0f93c2ef980bc0b585fa9cd90500b3b6a8516f4cd89d6a92711b9", "native_status": { "simulation_time_s": 20.00000000000146, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "object_id": "task_block", "per_finger_force_ceiling_n": 10.0, "pose_binding_sha256": "c816e6b0bd1e4fcd40fc4bae0fce722fb2a361465c8dd3f26e4e59d076f6d909", "probe_index": 1, "probe_origin_object_position_m": [ 0.30615932241785254, -0.024044934483340132, 0.07985350572240879 ], "probe_origin_tcp_local_offset_m": [ -0.002063639016333839, 0.00024683267180381516, 0.0024136965380683593 ], "probe_start_s": 13.99999999999768, "robot_profile": "piper", "run_id": "m0475-f52-p0-measured_joint", "schema": "dvidia.probe-context/v1", "source_sha256": "d28324843344114f1ee863cee3c48dbca8aa37fd11222623563a0b1d40c364a6" }, "physical_robot_ready": false, "planning_input": { "allowed_pose_tolerance_m": 0.003, "calibration_id": "synthetic_probe_v01", "friction_interval": [ 0.52, 0.52 ], "geometry_known": true, "gripper_max_opening_interval_m": [ 0.07, 0.07 ], "gripper_min_closure_m": 0.0, "mass_interval_kg": [ 0.0475, 0.0475 ], "object_width_interval_m": [ 0.04, 0.04 ], "observations_fresh": true, "per_finger_normal_force_budget_n": 10.0, "planned_upward_accel_m_s2": 0.1, "pose_specific_payload_limit_kg": 0.1, "pose_uncertainty_m": 0.0, "reachability": "reachable", "safety_factor": 1.5, "schema": "dvidia.task-feasibility-input/v1", "slip_detected": false, "test_lift_passed": false }, "receipt": { "audit": { "controller_claim_mismatches": [], "controller_claims_checked": 1, "controller_conservative_abstention_count": 0, "controller_coverage": "Only the supplied claims are checked; omitted decisions are not inferred.", "controller_false_qualification_count": 0, "controller_positive_claims": 0, "force_ceiling_known": true, "maximum_observed_per_finger_force_n": 0.4857415125828624, "reasons": [], "rows": 20000, "unexpected_contact_native_ticks": 0, "valid": true }, "context": { "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe", "calibration_id": "synthetic_probe_v01", "calibration_scope": "simulation_assumptions_not_hardware", "command_sha256": "e9ddb92f714639169c2dfa9288dd2532c6c367a92cb4a0380ae76a0414ae4e63", "feasibility_sha256": "4167c4fdd2cf8e4398f18eb271f191cb547e23d344b890ae948f9446c1607cc0", "grasp_id": "m0475-f52-p0-measured_joint-probe-1", "initial_object_position_m": [ 0.3040000227603607, -0.024000165083053894, 0.07989224451748383 ], "model_sha256": "85a0eea0e1e0f93c2ef980bc0b585fa9cd90500b3b6a8516f4cd89d6a92711b9", "native_status": { "simulation_time_s": 20.00000000000146, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "object_id": "task_block", "per_finger_force_ceiling_n": 10.0, "pose_binding_sha256": "c816e6b0bd1e4fcd40fc4bae0fce722fb2a361465c8dd3f26e4e59d076f6d909", "probe_index": 1, "probe_origin_object_position_m": [ 0.30615932241785254, -0.024044934483340132, 0.07985350572240879 ], "probe_origin_tcp_local_offset_m": [ -0.002063639016333839, 0.00024683267180381516, 0.0024136965380683593 ], "probe_start_s": 13.99999999999768, "robot_profile": "piper", "run_id": "m0475-f52-p0-measured_joint", "schema": "dvidia.probe-context/v1", "source_sha256": "d28324843344114f1ee863cee3c48dbca8aa37fd11222623563a0b1d40c364a6" }, "context_sha256": "c1713c8d93b5dc1bd41e44f2881ce7ca9808d8cde8e5fcd3485ace0c8a0a3768", "controller_qualifications": [ { "probe_index": 1, "qualified": false, "t_seconds": 20.00000000000146 } ], "criteria": { "distance_comparison_epsilon": 1e-12, "initial_sample_tolerance_m": 0.001, "maximum_tcp_local_drift_m": 0.003, "minimum_continuous_dwell_s": 0.1, "minimum_per_finger_force_n_exclusive": 0.01, "minimum_rise_m": 0.006, "native_dt_s": 0.001, "origin_tolerance_m": 1e-09, "time_tolerance_s": 1e-08 }, "history": { "ever_qualified": false, "first_qualified_s": null, "maximum_continuous_qualifying_s": 0.0 }, "latest": { "condition_valid": false, "continuous_qualifying_s": 0.0, "controller_claim": { "probe_index": 1, "qualified": false, "t_seconds": 20.00000000000146 }, "native_tick": 20000, "qualified": false, "rise_m": 3.082015733350818e-05, "tcp_local_drift_m": 0.003762830858833554, "time_s": 20.00000000000146 }, "metadata_sha256": "ad8229630cc9f8718829bb8317b1a82480dcf18b9f71bd23666acfe71a003ef7", "native_arrays_sha256": "95b5961a0df8c339ffb93e3507bb9f5a8ec543e2168f210256b710aed77bd475", "physical_robot_ready": false, "receipt_sha256": "658c4a7aa100775f9e13cc719a52e34266b491b64581368132f44f8bfa1ebaa6", "schema": "dvidia.probe-evidence/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification." }, "status": "inspected", "verification": { "admissible": false, "historical_qualified": false, "latest_qualified": false, "physical_robot_ready": false, "reasons": [ "latest_native_window_not_qualified", "no_controller_qualification_for_this_probe", "latest_controller_not_qualified" ], "receipt_sha256": "658c4a7aa100775f9e13cc719a52e34266b491b64581368132f44f8bfa1ebaa6", "schema": "dvidia.probe-evidence-verification/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.", "verified": true } }, "stationarity": { "complete_5s": false, "grip_retention_and_stationarity": false, "tcp_pose_within_bounds": false }, "status": "inspected" }, "files": { "episode.json.gz": { "bytes": 776209, "sha256": "965546315a62cf25c70b8229d3fb64befbc657dd46e17e5e1a97b4e6603c8e00" }, "evaluation.json": { "bytes": 12394, "sha256": "69982b769ff0da62362541112d6f1069c5084a0b3f2a64bfce524ffd534cd072" }, "native.json": { "bytes": 13763, "sha256": "19cc1d5998901cbc12da2916add3096763081e9decbfc7193981bfabc4b871e0" }, "native.npz": { "bytes": 4106948, "sha256": "ac1631d5796622d95efa0bb0d09f84f80b3c7ed342142ffc9c3ada98568371e2" }, "started.json": { "bytes": 153, "sha256": "e18f09ca91cc5804545e1dd407ba579a69118e12e72fc429ec14f268295fb131" } }, "friction": 0.52, "id": "m0475-f52-p0-measured_joint", "mass_kg": 0.0475, "metrics": { "carry_complete": false, "carry_contact_loss_events": 0, "carry_contact_loss_tolerance_seconds": 0.04, "dwell_seconds": 0.0, "first_success_time_seconds": null, "grasp_seen": true, "lift_dwell_seconds": 0.0, "lift_seen": false, "max_carry_contact_loss_seconds": 0.0, "max_object_lift_m": 0.00017294827306975347, "max_pad_normal_force_n": 0.4857415125828624, "physical_robot_ready": false, "reason": "timeout", "retention_lost": false, "simulation_time": 20.00000000000146, "steps": 1000, "success": false, "target_distance_m": 0.11223543810156783, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "policy": { "abort_reason": "relative_slip", "acquisition_contract": { "comparison_scope": "Closed-loop variants may acquire different trajectories through early hold/retry. This is not an isolated classifier ablation.", "control_dt_s": 0.02, "evidence_admission": "Current bilateral force >0.01 N, no table support, object rise >=6 mm and TCP-local offset drift <=3 mm continuously across sampled boundaries for elapsed >=100 ms.", "hold": "Latch measured six arm joints and the last issued jaw target at admission/terminal invalidity. No full lift/transfer, no squeeze escalation, no post-admission retry.", "invalidation": "At each subsequent 20 ms observation and final observation, invalidate immediately on lost contact/force, support, insufficient rise, >3 mm local drift or unexpected contact. Never requalify after terminal invalidity.", "observation_origin": "privileged_native_simulator_state", "parameters": { "close_timeout_s": 1.4, "consecutive_alarm_samples": 2, "max_retries": 1, "monitor_min_probe_motion_m": 0.003, "probe_height_m": 0.01, "probe_min_object_rise_m": 0.006, "probe_speed_m_s": 0.02, "probe_timeout_s": 1.4, "qualification_dwell_s": 0.1, "relative_drift_limit_m": 0.003, "retry_clearance_m": 0.012, "retry_open_timeout_s": 1.2, "retry_recenter_timeout_s": 1.5 }, "physical_robot_ready": false, "prefix": "Original GuardedPiperTaskPolicy approach/close and at most one supported open/recenter/retry; already uses authored native state, not a fully blind baseline.", "sampling_limit": "Independent 1 ms evidence may contradict sampled admission; that remains a finding. No sensor or material inference is implemented.", "schema": "dvidia.piper-probe-stop/v1", "stop_scope": "Holding native position targets is not physical arrest or calibrated force limiting; inertia and existing target rate limits can continue motion.", "timer_admission": "Same 10 mm/20 mm/s probe target law, admitted at elapsed >=600 ms from that probe start; no evidence predicate or slip alarm before admission. Unexpected contacts and bounded timeouts still stop.", "timer_admission_s": 0.6, "variants": [ "evidence", "timer" ] }, "acquisition_variant": "evidence", "active_probe_index": 1, "admission_time_s": null, "admitted": false, "contract": { "acquisition": "Unchanged ProbeStopPolicy evidence acquisition, including its bounded supported retry. All variants share the same prefix through the first admission observation.", "cartesian": "Latch measured TCP position/orientation and preceding issued targets. Fixed joint bias equals issued target minus pose_action at the admission pose. First command repeats the exact issued target; later pose_action updates receive that fixed bias.", "control_dt_s": 0.02, "final_observation": "Repeat force, original eligibility and Cartesian pose-error checks. Do not solve or issue a hypothetical next control at the terminal observation.", "invalid_measurements": "Malformed, nonfinite or noncausal observations terminally refuse and raise without issuing a command. No measured-position stop is claimed from invalid measurements.", "issued_joint": "Latch the preceding issued six joint targets and the same last issued jaw target at admission.", "limits": { "initial_joint_bias_ceiling_rad": 0.08, "joint_correction_ceiling_rad": 0.03, "joint_correction_rate_rad_s": 0.1, "native_joint_target_margin_rad": 0.02, "per_finger_force_ceiling_n": 10.0, "tcp_orientation_error_ceiling_rad": 0.05, "tcp_position_error_ceiling_m": 0.004 }, "measured_joint": "Original hold: latch measured six joint coordinates and the last issued jaw target at admission.", "observation_origin": "privileged_native_simulator_state", "physical_robot_ready": false, "qualifications": "Engineering limits and the 10 N ceiling are authored synthetic assumptions, not damage limits or calibrated physical telemetry. Position targets are not physical stops or force limiters. No load/friction inference, model training or complete placement is implemented.", "rate_scope": "The extra correction slews at at most 0.002 rad per 20 ms per joint. Original native 1 ms target slew, servos, gains and force caps remain unchanged.", "refusal": "Original eligibility loss, unexpected contact or observed pad force >10 N terminally requests measured joint hold and the frozen jaw target. Cartesian error, initial-bias, total-correction or native-margin exhaustion also refuses terminally; it never chases an already failed grip.", "sampling": "Control checks occur at 20 ms boundaries. Independent saved 1 ms native evidence must judge a continuous 5 s hold; missed between-boundary failures remain findings.", "schema": "dvidia.piper-retention/v2", "variants": [ "measured_joint", "issued_joint", "cartesian" ] }, "events": [ { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "continue", "drift_streak": 0, "object_height_delta_m": 0.0, "phase": "probe", "progress_streak": 0, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0, "retry_index": 0, "t_seconds": 11.079999999999298, "table_supported": true, "tcp_probe_height_delta_m": 0.0 }, "observation_origin": "privileged_native_simulator_state", "phase": "guard_probe", "probe_index": 0, "reason": "slow_load_bearing_check", "retention_variant": "measured_joint", "retry_index": 0, "status": "probing", "t_seconds": 11.079999999999298, "type": "probe_started", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "hold_measured_arm", "drift_streak": 2, "object_height_delta_m": 8.765301678184678e-05, "phase": "probe", "progress_streak": 2, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0036397150715581457, "retry_index": 0, "t_seconds": 11.459999999999088, "table_supported": true, "tcp_probe_height_delta_m": 0.003736700412667812 }, "observation_origin": "privileged_native_simulator_state", "phase": "guard_stop", "probe_index": 0, "reason": "object_not_following", "retention_variant": "measured_joint", "retry_index": 0, "status": "probing", "t_seconds": 11.459999999999088, "type": "alarm", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "hold_measured_arm", "drift_streak": 2, "object_height_delta_m": 8.765301678184678e-05, "phase": "probe", "progress_streak": 2, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0036397150715581457, "retry_index": 0, "t_seconds": 11.459999999999088, "table_supported": true, "tcp_probe_height_delta_m": 0.003736700412667812 }, "observation_origin": "privileged_native_simulator_state", "phase": "guard_stop", "probe_index": 0, "reason": "supported_object_only", "retention_variant": "measured_joint", "retry_index": 1, "status": "acquiring_retry", "t_seconds": 11.459999999999088, "type": "retry_started", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": false, "contact_loss_streak": 0, "decision": "recenter_with_open_jaw", "drift_streak": 2, "object_height_delta_m": -2.978931483553493e-05, "phase": "retry_recenter", "progress_streak": 2, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.009741366643899867, "retry_index": 1, "t_seconds": 13.119999999998168, "table_supported": true, "tcp_probe_height_delta_m": 0.009696919251864097 }, "observation_origin": "privileged_native_simulator_state", "phase": "guard_retry_recenter", "probe_index": 0, "reason": "open_recenter_complete", "retention_variant": "measured_joint", "retry_index": 1, "status": "acquiring", "t_seconds": 13.119999999998168, "type": "retry_completed", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "continue", "drift_streak": 0, "object_height_delta_m": 0.0, "phase": "probe", "progress_streak": 0, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0, "retry_index": 1, "t_seconds": 13.99999999999768, "table_supported": true, "tcp_probe_height_delta_m": 0.0 }, "observation_origin": "privileged_native_simulator_state", "phase": "guard_probe", "probe_index": 1, "reason": "slow_load_bearing_check", "retention_variant": "measured_joint", "retry_index": 1, "status": "probing", "t_seconds": 13.99999999999768, "type": "probe_started", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "hold_measured_arm", "drift_streak": 2, 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"table_supported": false, "tcp_probe_height_delta_m": 0.0036813227239583524 }, "observation_origin": "privileged_native_simulator_state", "phase": "probe_stop", "probe_index": 1, "reason": "relative_slip", "retention_variant": "measured_joint", "retry_index": 1, "status": "invalidated_hold", "t_seconds": 14.37999999999747, "type": "abort", "variant": "evidence" } ], "ever_admitted": false, "final_observed": true, "frozen_jaw_target_m": 0.0, "initial_context": { "object_position_m": [ 0.3040000227603607, -0.024000165083053894, 0.07989224451748383 ], "observation_origin": "privileged_native_simulator_state", "t_seconds": 0.0, "tcp_position_m": [ 0.4890696662845219, 0.0014141975654808877, 0.3665849431043091 ], "tcp_quaternion_wxyz": [ 0.6580840948238629, 2.7730466224793136e-07, 0.7529444362872891, -1.9485471114950535e-06 ] }, "last_observed_s": 20.00000000000146, "observation_origin": "privileged_native_simulator_state", "physical_robot_ready": false, "probes": [ { "disposition": "interrupted", "end_time_s": 11.459999999999088, "local_offset_origin_m": [ 0.002314664136637329, 0.0002970611994778374, 0.0019238532551488533 ], "object_origin_m": [ 0.30381507069627167, -0.023950184882238046, 0.07992203389461919 ], "observation_origin": "privileged_native_simulator_state", "probe_index": 0, "reason": "object_not_following", "start_time_s": 11.079999999999298, "tcp_origin_m": [ 0.30611001028346096, -0.02423787377902707, 0.08187078071214907 ], "tcp_quaternion_wxyz": [ 0.005337700043030191, -0.0016187040637192086, 0.9999843225546133, -0.0004933562565979579 ] }, { "disposition": "invalidated_hold", "end_time_s": 14.37999999999747, "local_offset_origin_m": [ -0.002063639016333839, 0.00024683267180381516, 0.0024136965380683593 ], "object_origin_m": [ 0.30615932241785254, -0.024044934483340132, 0.07985350572240879 ], "observation_origin": "privileged_native_simulator_state", "probe_index": 1, "reason": "relative_slip", "start_time_s": 13.99999999999768, "tcp_origin_m": [ 0.3041175560189834, -0.024292781189357085, 0.0822856293455525 ], "tcp_quaternion_wxyz": [ -0.00449694579532826, -0.00016375325295227476, 0.9999898727935398, 7.05247906457414e-05 ] } ], "retention": { "hold_reference": null, "input_refusals": [], "native_joint_control_limits_rad": [ [ -2.618, 2.618 ], [ 0.0, 3.14 ], [ -2.697, 0.0 ], [ -1.832, 1.832 ], [ -1.22, 1.22 ], [ -3.14, 3.14 ] ], "variant": "measured_joint" }, "retry_count": 1, "schema": "dvidia.piper-retention/v2", "status": "invalidated_hold", "stop_targets_rad": [ -0.08398505196097387, 1.7419778336384895, -1.1563563725691117, -0.0008128569775515625, 1.072146550058499, -0.0839260161225257 ], "variant": "measured_joint" }, "scene_id": "m0475-f52-p0", "timing": { "policy_cpu": { "maximum_s": 0.0006679999999974484, "mean_s": 7.106199999999063e-05, "over_20ms": 0, "p50_s": 7.100000000548334e-05, "p95_s": 0.0001300500000052551, "p99_s": 0.00017299999999664806, "samples": 1000 }, "policy_wall": { "maximum_s": 0.0007179593667387962, 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Counts are diagnostic, not independent trials." }, "corrections": { "bound_refusal_counts": {}, "flag_counts": { "correction_rate_limited": 0 }, "hold_record_count": 267, "input_refusals": [], "maximum_abs_accepted_correction_rate_rad_s": null, "maximum_abs_active_correction_rad": null, "maximum_abs_desired_correction_rad": null, "maximum_abs_pose_error_increment_rad": null, "rate_limited_axis_occurrences": 0, "scope": "Includes recorded final diagnostic checks; only command_issued rows represent issued controls." }, "decomposition": null, "final": { "both_qualified": false, "controller_qualified": false, "evidence_admissible": false, "native_qualified": false }, "first_admission": null, "grip_only": { "combined_qualified_pause": false, "complete_5s": false, "controller_retained_at_5s": false, "native_pause_success": false, "reason": "no_admission", "required_s": 5.0, "success": false }, "native": { "arrays_sha256": "2a4e0d72f0bc46624a0c4ac144eb8f2545916ce361365508fc06bae107e5871b", "complete": true, "maximum_per_finger_force_n": 0.5052793550885986, "rows": 20000, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "physical_robot_ready": false, "primary": { "combined_qualified_pause": false, "complete_5s": false, "controller_retained_at_5s": false, "first_tcp_pose_failure_s": null, "native_pause_success": false, "reason": "no_admission", "required_s": 5.0, "success": false }, "probes": [ { "claims": [], "disposition": "interrupted", "final_native_qualified_from_origin": false, "probe_index": 0, "start_time_s": 11.379999999999132 }, { "claims": [], "disposition": "invalidated_hold", "final_native_qualified_from_origin": false, "probe_index": 1, "start_time_s": 14.299999999997514 } ], "receipt": { "admission": { "observation_origin": "privileged_native_simulation_plus_caller_planning_assumptions", "physical_robot_ready": false, "planning": { "computed": { "conservative_required_load_n": 0.7058488125, "gravity_m_s2": 9.80665, "pose_specific_payload_limit_force_n": 0.980665, "two_finger_friction_capacity_n": 10.4 }, "observation_origin": "caller_declared_not_verified", "physical_robot_ready": false, "reasons": [ "Run and record a cautious test lift under the same calibrated pose and load conditions before simulated transport planning." ], "schema": "dvidia.task-feasibility-result/v1", "scope": "Planning assessment only. Parallel two-finger vertical-lift approximation; ignores moment, center of mass, deformation, transient impacts and unmodeled contact effects. Unknown values remain unknown; mass is never inferred from images. Probe/test-lift/controller integration is not implemented. No hardware actuation is performed; this is not hardware qualification.", "status": "test_lift_required" }, "probe": { "admissible": false, "historical_qualified": false, "latest_qualified": false, "physical_robot_ready": false, "reasons": [ "latest_native_window_not_qualified", "no_controller_qualification_for_this_probe", "latest_controller_not_qualified" ], "receipt_sha256": "f95dbacaec5845578fd996ecf7b0aabf73200d7a4419820ca9897af8f556a8aa", "schema": "dvidia.probe-evidence-verification/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.", "verified": true }, "schema": "dvidia.task-feasibility-with-probe/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification. Unknown planning values remain unknown. The unchanged approximate vertical-lift planning gate describes declared loads; it supplies no transport path, geospatial-goal contract or actuator permission. This wrapper never issues controls.", "status": "test_lift_required" }, "context": { "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe", "calibration_id": "synthetic_probe_v01", "calibration_scope": "simulation_assumptions_not_hardware", "command_sha256": "2260764ac4eae6f60fb3e2f0020d8c8e62448b9a877575c05022030380a5fd9b", "feasibility_sha256": "4167c4fdd2cf8e4398f18eb271f191cb547e23d344b890ae948f9446c1607cc0", "grasp_id": "m0475-f52-p1-incremental-probe-1", "initial_object_position_m": [ 0.3080000286688259, -0.03499983588880959, 0.07989224451748382 ], "model_sha256": "8056484038c5ee1c6172636f9ffdf318e384fd4e78435cc4cb9e54c0a9f4d49f", "native_status": { "simulation_time_s": 20.00000000000146, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "object_id": "task_block", "per_finger_force_ceiling_n": 10.0, "pose_binding_sha256": "26ce502e1c04d3cf719e8a5262721f92f934de239710a965d9edfd1b0bff2067", "probe_index": 1, "probe_origin_object_position_m": [ 0.31012909094777324, -0.03512250928095611, 0.07985533506003292 ], "probe_origin_tcp_local_offset_m": [ -0.0020477892117674043, 0.00024962223905263686, 0.0024167796106270177 ], "probe_start_s": 14.299999999997514, "robot_profile": "piper", "run_id": "m0475-f52-p1-incremental", "schema": "dvidia.probe-context/v1", "source_sha256": "d28324843344114f1ee863cee3c48dbca8aa37fd11222623563a0b1d40c364a6" }, "physical_robot_ready": false, "planning_input": { "allowed_pose_tolerance_m": 0.003, "calibration_id": "synthetic_probe_v01", "friction_interval": [ 0.52, 0.52 ], "geometry_known": true, "gripper_max_opening_interval_m": [ 0.07, 0.07 ], "gripper_min_closure_m": 0.0, "mass_interval_kg": [ 0.0475, 0.0475 ], "object_width_interval_m": [ 0.04, 0.04 ], "observations_fresh": true, "per_finger_normal_force_budget_n": 10.0, "planned_upward_accel_m_s2": 0.1, "pose_specific_payload_limit_kg": 0.1, "pose_uncertainty_m": 0.0, "reachability": "reachable", "safety_factor": 1.5, "schema": "dvidia.task-feasibility-input/v1", "slip_detected": false, "test_lift_passed": false }, "receipt": { "audit": { "controller_claim_mismatches": [], "controller_claims_checked": 1, "controller_conservative_abstention_count": 0, "controller_coverage": "Only the supplied claims are checked; omitted decisions are not inferred.", "controller_false_qualification_count": 0, "controller_positive_claims": 0, "force_ceiling_known": true, "maximum_observed_per_finger_force_n": 0.5052793550885986, "reasons": [], "rows": 20000, "unexpected_contact_native_ticks": 0, "valid": true }, "context": { "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe", "calibration_id": "synthetic_probe_v01", "calibration_scope": "simulation_assumptions_not_hardware", "command_sha256": "2260764ac4eae6f60fb3e2f0020d8c8e62448b9a877575c05022030380a5fd9b", "feasibility_sha256": "4167c4fdd2cf8e4398f18eb271f191cb547e23d344b890ae948f9446c1607cc0", "grasp_id": "m0475-f52-p1-incremental-probe-1", "initial_object_position_m": [ 0.3080000286688259, -0.03499983588880959, 0.07989224451748382 ], "model_sha256": "8056484038c5ee1c6172636f9ffdf318e384fd4e78435cc4cb9e54c0a9f4d49f", "native_status": { "simulation_time_s": 20.00000000000146, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "object_id": "task_block", "per_finger_force_ceiling_n": 10.0, "pose_binding_sha256": "26ce502e1c04d3cf719e8a5262721f92f934de239710a965d9edfd1b0bff2067", "probe_index": 1, "probe_origin_object_position_m": [ 0.31012909094777324, -0.03512250928095611, 0.07985533506003292 ], "probe_origin_tcp_local_offset_m": [ -0.0020477892117674043, 0.00024962223905263686, 0.0024167796106270177 ], "probe_start_s": 14.299999999997514, "robot_profile": "piper", "run_id": "m0475-f52-p1-incremental", "schema": "dvidia.probe-context/v1", "source_sha256": "d28324843344114f1ee863cee3c48dbca8aa37fd11222623563a0b1d40c364a6" }, "context_sha256": "cb38a9f131e1a3cf8b88f1fc3c9d671ec37808d7be8b1330820bf35dcfa2f9bc", "controller_qualifications": [ { "probe_index": 1, "qualified": false, "t_seconds": 20.00000000000146 } ], "criteria": { "distance_comparison_epsilon": 1e-12, "initial_sample_tolerance_m": 0.001, "maximum_tcp_local_drift_m": 0.003, "minimum_continuous_dwell_s": 0.1, "minimum_per_finger_force_n_exclusive": 0.01, "minimum_rise_m": 0.006, "native_dt_s": 0.001, "origin_tolerance_m": 1e-09, "time_tolerance_s": 1e-08 }, "history": { "ever_qualified": false, "first_qualified_s": null, "maximum_continuous_qualifying_s": 0.0 }, "latest": { "condition_valid": false, "continuous_qualifying_s": 0.0, "controller_claim": { "probe_index": 1, "qualified": false, "t_seconds": 20.00000000000146 }, "native_tick": 20000, "qualified": false, "rise_m": 3.0064991020095633e-05, "tcp_local_drift_m": 0.003712194868885495, "time_s": 20.00000000000146 }, "metadata_sha256": "ad8229630cc9f8718829bb8317b1a82480dcf18b9f71bd23666acfe71a003ef7", "native_arrays_sha256": "2a4e0d72f0bc46624a0c4ac144eb8f2545916ce361365508fc06bae107e5871b", "physical_robot_ready": false, "receipt_sha256": "f95dbacaec5845578fd996ecf7b0aabf73200d7a4419820ca9897af8f556a8aa", "schema": "dvidia.probe-evidence/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification." }, "status": "inspected", "verification": { "admissible": false, "historical_qualified": false, "latest_qualified": false, "physical_robot_ready": false, "reasons": [ "latest_native_window_not_qualified", "no_controller_qualification_for_this_probe", "latest_controller_not_qualified" ], "receipt_sha256": "f95dbacaec5845578fd996ecf7b0aabf73200d7a4419820ca9897af8f556a8aa", "schema": "dvidia.probe-evidence-verification/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.", "verified": true } }, "stationarity": { "complete_5s": false, "grip_retention_and_stationarity": false, "tcp_pose_within_bounds": false }, "status": "inspected" }, "files": { "episode.json.gz": { "bytes": 793651, "sha256": "828fa81859a64d5550b86d18d8585498d954b5f95d55b73c4db052ecaa08d528" }, "evaluation.json": { "bytes": 12384, "sha256": "35d089f59e394400612711031f47db07107192aaa093c6506cd3db44ee48644a" }, "native.json": { "bytes": 13763, "sha256": "19cc1d5998901cbc12da2916add3096763081e9decbfc7193981bfabc4b871e0" }, "native.npz": { "bytes": 4095801, "sha256": "cea74f707dec24a76725bb012be8a960e0067bd767a1a72af6ca5e714d8b729c" }, "started.json": { "bytes": 150, "sha256": "61f6d300c33163b3989d534e413bb3cb7cd50bee2c5993effe664e8ac2dc2ed0" } }, "friction": 0.52, "id": "m0475-f52-p1-incremental", "mass_kg": 0.0475, "metrics": { "carry_complete": false, "carry_contact_loss_events": 0, "carry_contact_loss_tolerance_seconds": 0.04, "dwell_seconds": 0.0, "first_success_time_seconds": null, "grasp_seen": true, "lift_dwell_seconds": 0.0, "lift_seen": false, "max_carry_contact_loss_seconds": 0.0, "max_object_lift_m": 0.00019317628020704136, "max_pad_normal_force_n": 0.5052793550885986, "physical_robot_ready": false, "reason": "timeout", "retention_lost": false, "simulation_time": 20.00000000000146, "steps": 1000, "success": false, "target_distance_m": 0.12138327374418646, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "policy": { "abort_reason": "retry_budget_exhausted:object_not_following", "acquisition_contract": { "comparison_scope": "Closed-loop variants may acquire different trajectories through early hold/retry. This is not an isolated classifier ablation.", "control_dt_s": 0.02, "evidence_admission": "Current bilateral force >0.01 N, no table support, object rise >=6 mm and TCP-local offset drift <=3 mm continuously across sampled boundaries for elapsed >=100 ms.", "hold": "Latch measured six arm joints and the last issued jaw target at admission/terminal invalidity. No full lift/transfer, no squeeze escalation, no post-admission retry.", "invalidation": "At each subsequent 20 ms observation and final observation, invalidate immediately on lost contact/force, support, insufficient rise, >3 mm local drift or unexpected contact. Never requalify after terminal invalidity.", "observation_origin": "privileged_native_simulator_state", "parameters": { "close_timeout_s": 1.4, "consecutive_alarm_samples": 2, "max_retries": 1, "monitor_min_probe_motion_m": 0.003, "probe_height_m": 0.01, "probe_min_object_rise_m": 0.006, "probe_speed_m_s": 0.02, "probe_timeout_s": 1.4, "qualification_dwell_s": 0.1, "relative_drift_limit_m": 0.003, "retry_clearance_m": 0.012, "retry_open_timeout_s": 1.2, "retry_recenter_timeout_s": 1.5 }, "physical_robot_ready": false, "prefix": "Original GuardedPiperTaskPolicy approach/close and at most one supported open/recenter/retry; already uses authored native state, not a fully blind baseline.", "sampling_limit": "Independent 1 ms evidence may contradict sampled admission; that remains a finding. No sensor or material inference is implemented.", "schema": "dvidia.piper-probe-stop/v1", "stop_scope": "Holding native position targets is not physical arrest or calibrated force limiting; inertia and existing target rate limits can continue motion.", "timer_admission": "Same 10 mm/20 mm/s probe target law, admitted at elapsed >=600 ms from that probe start; no evidence predicate or slip alarm before admission. Unexpected contacts and bounded timeouts still stop.", "timer_admission_s": 0.6, "variants": [ "evidence", "timer" ] }, "acquisition_variant": "evidence", "active_probe_index": 1, "admission_time_s": null, "admitted": false, "candidate": "incremental", "contract": { "acquisition": "Unchanged ProbeStopPolicy evidence acquisition, including its bounded supported retry. All variants share the same prefix through the first admission observation.", "admission": "Freeze the measured TCP pose and preceding issued target. Check the unchanged 0.08 rad initial bias and 0.02 rad joint margin. Repeat the preceding issued target exactly; initialize cumulative correction to zero.", "anti_windup": "Refuse the unlimited cumulative proposal before slew limiting. Commit correction only after all checks pass. Refusal is terminal and leaves accumulated correction unchanged.", "candidate": "incremental", "control_dt_s": 0.02, "final_observation": "Check force, original eligibility and pose error without solving, integrating or issuing another command.", "invalid_measurements": "Malformed, nonfinite or noncausal observations terminally refuse and raise without issuing a command. No measured-position stop is claimed from invalid measurements.", "limits": { "initial_joint_bias_ceiling_rad": 0.08, "joint_correction_ceiling_rad": 0.03, "joint_correction_rate_rad_s": 0.1, "native_joint_target_margin_rad": 0.02, "per_finger_force_ceiling_n": 10.0, "tcp_orientation_error_ceiling_rad": 0.05, "tcp_position_error_ceiling_m": 0.004 }, "measured_joint_eligibility": "At admission, subsequent updates and final observations, refuse measured joints outside the native 0.02 rad target margin before solving. This prevents absolute-target clipping from manufacturing a nonzero increment at zero pose error.", "observation_origin": "privileged_native_simulator_state", "physical_robot_ready": false, "qualifications": "Engineering limits and the 10 N ceiling are authored synthetic assumptions, not damage limits or calibrated physical telemetry. Position targets are not physical stops or force limiters. No load/friction inference, model training or complete placement is implemented.", "rate_scope": "The extra correction slews at at most 0.002 rad per 20 ms per joint. Original native 1 ms target slew, servos, gains and force caps remain unchanged.", "refusal": "Original grip, force, pose, initial-bias, joint-margin and timeout refusals remain terminal. A valid terminal observation latches measured joints and the frozen jaw; its fallback is not active incremental regulation.", "sampling": "Control checks occur at 20 ms boundaries. Independent saved 1 ms native evidence must judge a continuous 5 s hold; missed between-boundary failures remain findings.", "schema": "dvidia.piper-incremental-hold/v3", "update_gain_per_boundary": 1.0, "update_law": "increment = pose_action(frozen_admission_pose) - current_measured_joints; proposal = previous_correction + 1.0 * increment; refuse unlimited proposal outside +/-0.03 rad; slew accepted correction by at most 0.002 rad per joint per 20 ms; target = admission_issued_target + accepted_correction", "variants": [ "incremental" ] }, "events": [ { "accumulated_correction_rad": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "acquisition_variant": "evidence", "active_regulation": false, "candidate": "incremental", "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "continue", "drift_streak": 0, "object_height_delta_m": 0.0, "phase": "probe", "progress_streak": 0, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0, "retry_index": 0, "t_seconds": 11.379999999999132, "table_supported": true, "tcp_probe_height_delta_m": 0.0 }, "final_observation": false, "observation_origin": "privileged_native_simulator_state", "phase": "guard_probe", "pose_error_increment_rad": null, "probe_index": 0, "proposed_cumulative_correction_rad": null, "reason": "slow_load_bearing_check", "refused_bounds": null, "retention_variant": "incremental", "retry_index": 0, "status": "probing", "t_seconds": 11.379999999999132, "type": "probe_started", "update_gain_per_boundary": 1.0, "update_law": "increment = pose_action(frozen_admission_pose) - current_measured_joints; proposal = previous_correction + 1.0 * increment; refuse unlimited proposal outside +/-0.03 rad; slew accepted correction by at most 0.002 rad per joint per 20 ms; target = admission_issued_target + accepted_correction", "variant": "incremental" }, { "accumulated_correction_rad": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "acquisition_variant": "evidence", "active_regulation": false, "candidate": "incremental", "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "hold_measured_arm", "drift_streak": 2, "object_height_delta_m": 9.386076183766356e-05, "phase": "probe", "progress_streak": 2, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.003568124433763154, "retry_index": 0, "t_seconds": 11.759999999998922, "table_supported": true, "tcp_probe_height_delta_m": 0.00367049115415502 }, "final_observation": false, "observation_origin": "privileged_native_simulator_state", "phase": "guard_stop", "pose_error_increment_rad": null, "probe_index": 0, "proposed_cumulative_correction_rad": null, "reason": "object_not_following", "refused_bounds": null, "retention_variant": "incremental", "retry_index": 0, "status": "probing", "t_seconds": 11.759999999998922, "type": "alarm", "update_gain_per_boundary": 1.0, "update_law": "increment = pose_action(frozen_admission_pose) - current_measured_joints; proposal = previous_correction + 1.0 * increment; refuse unlimited proposal outside +/-0.03 rad; slew accepted correction by at most 0.002 rad per joint per 20 ms; target = admission_issued_target + accepted_correction", "variant": "incremental" }, { "accumulated_correction_rad": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "acquisition_variant": "evidence", "active_regulation": false, "candidate": "incremental", "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "hold_measured_arm", "drift_streak": 2, "object_height_delta_m": 9.386076183766356e-05, "phase": "probe", "progress_streak": 2, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.003568124433763154, "retry_index": 0, "t_seconds": 11.759999999998922, "table_supported": true, "tcp_probe_height_delta_m": 0.00367049115415502 }, "final_observation": false, "observation_origin": "privileged_native_simulator_state", "phase": "guard_stop", "pose_error_increment_rad": null, "probe_index": 0, "proposed_cumulative_correction_rad": null, "reason": "supported_object_only", "refused_bounds": null, "retention_variant": "incremental", "retry_index": 1, "status": "acquiring_retry", "t_seconds": 11.759999999998922, "type": "retry_started", "update_gain_per_boundary": 1.0, "update_law": "increment = pose_action(frozen_admission_pose) - current_measured_joints; proposal = previous_correction + 1.0 * increment; refuse unlimited proposal outside +/-0.03 rad; slew accepted correction by at most 0.002 rad per joint per 20 ms; target = admission_issued_target + accepted_correction", "variant": "incremental" }, { "accumulated_correction_rad": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "acquisition_variant": "evidence", "active_regulation": false, "candidate": "incremental", "diagnostic": { "bilateral_contact": false, "contact_loss_streak": 0, "decision": "recenter_with_open_jaw", "drift_streak": 2, "object_height_delta_m": -2.8517466295785443e-05, "phase": "retry_recenter", "progress_streak": 2, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.00974871182253309, "retry_index": 1, "t_seconds": 13.419999999998002, "table_supported": true, "tcp_probe_height_delta_m": 0.009704584838170466 }, "final_observation": false, "observation_origin": "privileged_native_simulator_state", "phase": "guard_retry_recenter", "pose_error_increment_rad": null, "probe_index": 0, "proposed_cumulative_correction_rad": null, "reason": "open_recenter_complete", "refused_bounds": null, "retention_variant": "incremental", "retry_index": 1, "status": "acquiring", "t_seconds": 13.419999999998002, "type": "retry_completed", "update_gain_per_boundary": 1.0, "update_law": "increment = pose_action(frozen_admission_pose) - current_measured_joints; proposal = previous_correction + 1.0 * increment; refuse unlimited proposal outside +/-0.03 rad; slew accepted correction by at most 0.002 rad per joint per 20 ms; target = admission_issued_target + accepted_correction", "variant": "incremental" }, { "accumulated_correction_rad": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "acquisition_variant": "evidence", "active_regulation": false, "candidate": "incremental", "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "continue", "drift_streak": 0, "object_height_delta_m": 0.0, "phase": "probe", "progress_streak": 0, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0, "retry_index": 1, "t_seconds": 14.299999999997514, "table_supported": true, "tcp_probe_height_delta_m": 0.0 }, "final_observation": false, "observation_origin": "privileged_native_simulator_state", "phase": "guard_probe", "pose_error_increment_rad": null, "probe_index": 1, "proposed_cumulative_correction_rad": null, "reason": "slow_load_bearing_check", "refused_bounds": null, "retention_variant": "incremental", "retry_index": 1, "status": "probing", "t_seconds": 14.299999999997514, "type": "probe_started", "update_gain_per_boundary": 1.0, "update_law": "increment = pose_action(frozen_admission_pose) - current_measured_joints; proposal = previous_correction + 1.0 * increment; refuse unlimited proposal outside +/-0.03 rad; slew accepted correction by at most 0.002 rad per joint per 20 ms; target = admission_issued_target + accepted_correction", "variant": "incremental" }, { "accumulated_correction_rad": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "acquisition_variant": "evidence", "active_regulation": false, "candidate": "incremental", "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "hold_measured_arm", "drift_streak": 2, "object_height_delta_m": 0.00013852281854985493, "phase": "probe", "progress_streak": 2, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.003531456324733704, "retry_index": 1, "t_seconds": 14.679999999997303, "table_supported": true, "tcp_probe_height_delta_m": 0.0036409820295261186 }, "final_observation": false, "observation_origin": "privileged_native_simulator_state", "phase": "guard_stop", "pose_error_increment_rad": null, "probe_index": 1, "proposed_cumulative_correction_rad": null, "reason": "object_not_following", "refused_bounds": null, "retention_variant": "incremental", "retry_index": 1, "status": "probing", "t_seconds": 14.679999999997303, "type": "alarm", "update_gain_per_boundary": 1.0, "update_law": "increment = pose_action(frozen_admission_pose) - current_measured_joints; proposal = previous_correction + 1.0 * increment; refuse unlimited proposal outside +/-0.03 rad; slew accepted correction by at most 0.002 rad per joint per 20 ms; target = admission_issued_target + accepted_correction", "variant": "incremental" }, { "accumulated_correction_rad": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "acquisition_variant": "evidence", "active_regulation": false, "candidate": "incremental", "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "hold_measured_arm_and_freeze_issued_jaw", "drift_streak": 2, "object_height_delta_m": 0.00013852281854985493, "phase": "probe", "progress_streak": 2, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.003531456324733704, "retry_index": 1, "t_seconds": 14.679999999997303, "table_supported": true, "tcp_probe_height_delta_m": 0.0036409820295261186 }, "final_observation": false, "observation_origin": "privileged_native_simulator_state", "phase": "probe_stop", "pose_error_increment_rad": null, "probe_index": 1, "proposed_cumulative_correction_rad": null, "reason": "retry_budget_exhausted:object_not_following", "refused_bounds": null, "retention_variant": "incremental", "retry_index": 1, "status": "invalidated_hold", "t_seconds": 14.679999999997303, "type": "abort", "update_gain_per_boundary": 1.0, "update_law": "increment = pose_action(frozen_admission_pose) - current_measured_joints; proposal = previous_correction + 1.0 * increment; refuse unlimited proposal outside +/-0.03 rad; slew accepted correction by at most 0.002 rad per joint per 20 ms; target = admission_issued_target + accepted_correction", "variant": "incremental" } ], "ever_admitted": false, "final_observed": true, "frozen_jaw_target_m": 0.0, "initial_context": { "object_position_m": [ 0.3080000286688259, -0.03499983588880959, 0.07989224451748382 ], "observation_origin": "privileged_native_simulator_state", "t_seconds": 0.0, "tcp_position_m": [ 0.4890696662845219, 0.0014141975654808877, 0.3665849431043091 ], "tcp_quaternion_wxyz": [ 0.6580840948238629, 2.7730466224793136e-07, 0.7529444362872891, -1.9485471114950535e-06 ] }, "last_observed_s": 20.00000000000146, "observation_origin": "privileged_native_simulator_state", "physical_robot_ready": false, "probes": [ { "disposition": "interrupted", "end_time_s": 11.759999999998922, "local_offset_origin_m": [ 0.0022781129793205206, 0.000303851983593731, 0.0019155313689889603 ], "object_origin_m": [ 0.30781541776336624, -0.03497172930387825, 0.07992076204607952 ], "observation_origin": "privileged_native_simulator_state", "probe_index": 0, "reason": "object_not_following", "start_time_s": 11.379999999999132, "tcp_origin_m": [ 0.3100746576245677, -0.03526256521966311, 0.081860513298099 ], "tcp_quaternion_wxyz": [ 0.00525343835487634, -0.0023216996450902833, 0.9999832982614152, -0.0006436570758513796 ] }, { "disposition": "invalidated_hold", "end_time_s": 14.679999999997303, "local_offset_origin_m": [ -0.0020477892117674043, 0.00024962223905263686, 0.0024167796106270177 ], "object_origin_m": [ 0.31012909094777324, -0.03512250928095611, 0.07985533506003292 ], "observation_origin": "privileged_native_simulator_state", "probe_index": 1, "reason": "retry_budget_exhausted:object_not_following", "start_time_s": 14.299999999997514, "tcp_origin_m": [ 0.3081028039275439, -0.03537405613530958, 0.08228997275302095 ], "tcp_quaternion_wxyz": [ -0.0044090035030144095, -0.00022360846175728823, 0.9999902334704642, 0.00020892834428925253 ] } ], "retention": { "accumulated_correction_rad": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "active_regulation": false, "candidate": "incremental", "final_controller_status": "invalidated_hold", "hold_reference": null, "input_refusals": [], "native_joint_control_limits_rad": [ [ -2.618, 2.618 ], [ 0.0, 3.14 ], [ -2.697, 0.0 ], [ -1.832, 1.832 ], [ -1.22, 1.22 ], [ -3.14, 3.14 ] ], "update_gain_per_boundary": 1.0, "update_law": "increment = pose_action(frozen_admission_pose) - current_measured_joints; proposal = previous_correction + 1.0 * increment; refuse unlimited proposal outside +/-0.03 rad; slew accepted correction by at most 0.002 rad per joint per 20 ms; target = admission_issued_target + accepted_correction", "variant": "incremental" }, "retry_count": 1, "schema": "dvidia.piper-incremental-hold/v3", "status": "invalidated_hold", "stop_targets_rad": [ -0.1184962400320349, 1.7583083872629899, -1.1781047006234198, -0.0008039179663367518, 1.077579821729419, -0.11856479831094155 ], "variant": "incremental" }, "scene_id": "m0475-f52-p1", "timing": { "policy_cpu": { "maximum_s": 0.0005690000000058149, "mean_s": 0.00010001000000006143, "over_20ms": 0, "p50_s": 8.400000000108321e-05, "p95_s": 0.00023000000000195087, "p99_s": 0.00031704000000253523, "samples": 1000 }, "policy_wall": { "maximum_s": 0.0020032920874655247, "mean_s": 0.00011215899139642716, "over_20ms": 0, "p50_s": 8.439552038908005e-05, "p95_s": 0.00025012739934027195, "p99_s": 0.000499537801370024, "samples": 1000 }, "step_cpu": { "maximum_s": 0.010927999999999827, "mean_s": 0.003040655000000051, "over_20ms": 0, "p50_s": 0.0026140000000012265, "p95_s": 0.006238499999998835, "p99_s": 0.008431700000001568, "samples": 1000 }, "step_wall": { "maximum_s": 0.17703149979934096, "mean_s": 0.003651181659195572, "over_20ms": 4, "p50_s": 0.002750332932919264, "p95_s": 0.007892694510519499, "p99_s": 0.014772306354716417, "samples": 1000 } }, "valid": true, "variant": "incremental" }, { "error": null, "evaluation": { "claims": { "false_maintained_grip": 0, "false_maintained_pose": 0, "maintained_checks": 0, "scope": "Claimed qualified boundaries after admission, compared with every native row since admission; grip includes correct initial prefix. Counts are diagnostic, not independent trials." }, "corrections": { "bound_refusal_counts": {}, "flag_counts": { "correction_rate_limited": 0 }, "hold_record_count": 267, "input_refusals": [], "maximum_abs_accepted_correction_rate_rad_s": null, "maximum_abs_active_correction_rad": null, "maximum_abs_desired_correction_rad": null, "maximum_abs_pose_error_increment_rad": null, "rate_limited_axis_occurrences": 0, "scope": "Includes recorded final diagnostic checks; only command_issued rows represent issued controls." }, "decomposition": null, "final": { "both_qualified": false, "controller_qualified": false, "evidence_admissible": false, "native_qualified": false }, "first_admission": null, "grip_only": { "combined_qualified_pause": false, "complete_5s": false, "controller_retained_at_5s": false, "native_pause_success": false, "reason": "no_admission", "required_s": 5.0, "success": false }, "native": { "arrays_sha256": "2a4e0d72f0bc46624a0c4ac144eb8f2545916ce361365508fc06bae107e5871b", "complete": true, "maximum_per_finger_force_n": 0.5052793550885986, "rows": 20000, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "physical_robot_ready": false, "primary": { "combined_qualified_pause": false, "complete_5s": false, "controller_retained_at_5s": false, "first_tcp_pose_failure_s": null, "native_pause_success": false, "reason": "no_admission", "required_s": 5.0, "success": false }, "probes": [ { "claims": [], "disposition": "interrupted", "final_native_qualified_from_origin": false, "probe_index": 0, "start_time_s": 11.379999999999132 }, { "claims": [], "disposition": "invalidated_hold", "final_native_qualified_from_origin": false, "probe_index": 1, "start_time_s": 14.299999999997514 } ], "receipt": { "admission": { "observation_origin": "privileged_native_simulation_plus_caller_planning_assumptions", "physical_robot_ready": false, "planning": { "computed": { "conservative_required_load_n": 0.7058488125, "gravity_m_s2": 9.80665, "pose_specific_payload_limit_force_n": 0.980665, "two_finger_friction_capacity_n": 10.4 }, "observation_origin": "caller_declared_not_verified", "physical_robot_ready": false, "reasons": [ "Run and record a cautious test lift under the same calibrated pose and load conditions before simulated transport planning." ], "schema": "dvidia.task-feasibility-result/v1", "scope": "Planning assessment only. Parallel two-finger vertical-lift approximation; ignores moment, center of mass, deformation, transient impacts and unmodeled contact effects. Unknown values remain unknown; mass is never inferred from images. Probe/test-lift/controller integration is not implemented. No hardware actuation is performed; this is not hardware qualification.", "status": "test_lift_required" }, "probe": { "admissible": false, "historical_qualified": false, "latest_qualified": false, "physical_robot_ready": false, "reasons": [ "latest_native_window_not_qualified", "no_controller_qualification_for_this_probe", "latest_controller_not_qualified" ], "receipt_sha256": "d058e6aba762b573db3368d2f356fd79a2a8312ec7609a0ca6302d3017c49a9a", "schema": "dvidia.probe-evidence-verification/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.", "verified": true }, "schema": "dvidia.task-feasibility-with-probe/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification. Unknown planning values remain unknown. The unchanged approximate vertical-lift planning gate describes declared loads; it supplies no transport path, geospatial-goal contract or actuator permission. This wrapper never issues controls.", "status": "test_lift_required" }, "context": { "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe", "calibration_id": "synthetic_probe_v01", "calibration_scope": "simulation_assumptions_not_hardware", "command_sha256": "2260764ac4eae6f60fb3e2f0020d8c8e62448b9a877575c05022030380a5fd9b", "feasibility_sha256": "4167c4fdd2cf8e4398f18eb271f191cb547e23d344b890ae948f9446c1607cc0", "grasp_id": "m0475-f52-p1-measured_joint-probe-1", "initial_object_position_m": [ 0.3080000286688259, -0.03499983588880959, 0.07989224451748382 ], "model_sha256": "8056484038c5ee1c6172636f9ffdf318e384fd4e78435cc4cb9e54c0a9f4d49f", "native_status": { "simulation_time_s": 20.00000000000146, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "object_id": "task_block", "per_finger_force_ceiling_n": 10.0, "pose_binding_sha256": "26ce502e1c04d3cf719e8a5262721f92f934de239710a965d9edfd1b0bff2067", "probe_index": 1, "probe_origin_object_position_m": [ 0.31012909094777324, -0.03512250928095611, 0.07985533506003292 ], "probe_origin_tcp_local_offset_m": [ -0.0020477892117674043, 0.00024962223905263686, 0.0024167796106270177 ], "probe_start_s": 14.299999999997514, "robot_profile": "piper", "run_id": "m0475-f52-p1-measured_joint", "schema": "dvidia.probe-context/v1", "source_sha256": "d28324843344114f1ee863cee3c48dbca8aa37fd11222623563a0b1d40c364a6" }, "physical_robot_ready": false, "planning_input": { "allowed_pose_tolerance_m": 0.003, "calibration_id": "synthetic_probe_v01", "friction_interval": [ 0.52, 0.52 ], "geometry_known": true, "gripper_max_opening_interval_m": [ 0.07, 0.07 ], "gripper_min_closure_m": 0.0, "mass_interval_kg": [ 0.0475, 0.0475 ], "object_width_interval_m": [ 0.04, 0.04 ], "observations_fresh": true, "per_finger_normal_force_budget_n": 10.0, "planned_upward_accel_m_s2": 0.1, "pose_specific_payload_limit_kg": 0.1, "pose_uncertainty_m": 0.0, "reachability": "reachable", "safety_factor": 1.5, "schema": "dvidia.task-feasibility-input/v1", "slip_detected": false, "test_lift_passed": false }, "receipt": { "audit": { "controller_claim_mismatches": [], "controller_claims_checked": 1, "controller_conservative_abstention_count": 0, "controller_coverage": "Only the supplied claims are checked; omitted decisions are not inferred.", "controller_false_qualification_count": 0, "controller_positive_claims": 0, "force_ceiling_known": true, "maximum_observed_per_finger_force_n": 0.5052793550885986, "reasons": [], "rows": 20000, "unexpected_contact_native_ticks": 0, "valid": true }, "context": { "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe", "calibration_id": "synthetic_probe_v01", "calibration_scope": "simulation_assumptions_not_hardware", "command_sha256": "2260764ac4eae6f60fb3e2f0020d8c8e62448b9a877575c05022030380a5fd9b", "feasibility_sha256": "4167c4fdd2cf8e4398f18eb271f191cb547e23d344b890ae948f9446c1607cc0", "grasp_id": "m0475-f52-p1-measured_joint-probe-1", "initial_object_position_m": [ 0.3080000286688259, -0.03499983588880959, 0.07989224451748382 ], "model_sha256": "8056484038c5ee1c6172636f9ffdf318e384fd4e78435cc4cb9e54c0a9f4d49f", "native_status": { "simulation_time_s": 20.00000000000146, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "object_id": "task_block", "per_finger_force_ceiling_n": 10.0, "pose_binding_sha256": "26ce502e1c04d3cf719e8a5262721f92f934de239710a965d9edfd1b0bff2067", "probe_index": 1, "probe_origin_object_position_m": [ 0.31012909094777324, -0.03512250928095611, 0.07985533506003292 ], "probe_origin_tcp_local_offset_m": [ -0.0020477892117674043, 0.00024962223905263686, 0.0024167796106270177 ], "probe_start_s": 14.299999999997514, "robot_profile": "piper", "run_id": "m0475-f52-p1-measured_joint", "schema": "dvidia.probe-context/v1", "source_sha256": "d28324843344114f1ee863cee3c48dbca8aa37fd11222623563a0b1d40c364a6" }, "context_sha256": "ff6ac37641e6883afceaeb8b455523dd0d704fe06c2a0b8fd6d854f63e06834d", "controller_qualifications": [ { "probe_index": 1, "qualified": false, "t_seconds": 20.00000000000146 } ], "criteria": { "distance_comparison_epsilon": 1e-12, "initial_sample_tolerance_m": 0.001, "maximum_tcp_local_drift_m": 0.003, "minimum_continuous_dwell_s": 0.1, "minimum_per_finger_force_n_exclusive": 0.01, "minimum_rise_m": 0.006, "native_dt_s": 0.001, "origin_tolerance_m": 1e-09, "time_tolerance_s": 1e-08 }, "history": { "ever_qualified": false, "first_qualified_s": null, "maximum_continuous_qualifying_s": 0.0 }, "latest": { "condition_valid": false, "continuous_qualifying_s": 0.0, "controller_claim": { "probe_index": 1, "qualified": false, "t_seconds": 20.00000000000146 }, "native_tick": 20000, "qualified": false, "rise_m": 3.0064991020095633e-05, "tcp_local_drift_m": 0.003712194868885495, "time_s": 20.00000000000146 }, "metadata_sha256": "ad8229630cc9f8718829bb8317b1a82480dcf18b9f71bd23666acfe71a003ef7", "native_arrays_sha256": "2a4e0d72f0bc46624a0c4ac144eb8f2545916ce361365508fc06bae107e5871b", "physical_robot_ready": false, "receipt_sha256": "d058e6aba762b573db3368d2f356fd79a2a8312ec7609a0ca6302d3017c49a9a", "schema": "dvidia.probe-evidence/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification." }, "status": "inspected", "verification": { "admissible": false, "historical_qualified": false, "latest_qualified": false, "physical_robot_ready": false, "reasons": [ "latest_native_window_not_qualified", "no_controller_qualification_for_this_probe", "latest_controller_not_qualified" ], "receipt_sha256": "d058e6aba762b573db3368d2f356fd79a2a8312ec7609a0ca6302d3017c49a9a", "schema": "dvidia.probe-evidence-verification/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.", "verified": true } }, "stationarity": { "complete_5s": false, "grip_retention_and_stationarity": false, "tcp_pose_within_bounds": false }, "status": "inspected" }, "files": { "episode.json.gz": { "bytes": 777880, "sha256": "7843759a2e1fbf6c098fa8741838585fa7419a7abd64c9160aa8379f38ab9509" }, "evaluation.json": { "bytes": 12396, "sha256": "bb7b1fedc91e229556b13d58c69cbbed85be59e8cf72a8a9c16dce4fe9ef0947" }, "native.json": { "bytes": 13763, "sha256": "19cc1d5998901cbc12da2916add3096763081e9decbfc7193981bfabc4b871e0" }, "native.npz": { "bytes": 4095801, "sha256": "cea74f707dec24a76725bb012be8a960e0067bd767a1a72af6ca5e714d8b729c" }, "started.json": { "bytes": 153, "sha256": "a6381f2351c1339b1a888289e034c038254707ce1433966480c849dab8e319da" } }, "friction": 0.52, "id": "m0475-f52-p1-measured_joint", "mass_kg": 0.0475, "metrics": { "carry_complete": false, "carry_contact_loss_events": 0, "carry_contact_loss_tolerance_seconds": 0.04, "dwell_seconds": 0.0, "first_success_time_seconds": null, "grasp_seen": true, "lift_dwell_seconds": 0.0, "lift_seen": false, "max_carry_contact_loss_seconds": 0.0, "max_object_lift_m": 0.00019317628020704136, "max_pad_normal_force_n": 0.5052793550885986, "physical_robot_ready": false, "reason": "timeout", "retention_lost": false, "simulation_time": 20.00000000000146, "steps": 1000, "success": false, "target_distance_m": 0.12138327374418646, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "policy": { "abort_reason": "retry_budget_exhausted:object_not_following", "acquisition_contract": { "comparison_scope": "Closed-loop variants may acquire different trajectories through early hold/retry. This is not an isolated classifier ablation.", "control_dt_s": 0.02, "evidence_admission": "Current bilateral force >0.01 N, no table support, object rise >=6 mm and TCP-local offset drift <=3 mm continuously across sampled boundaries for elapsed >=100 ms.", "hold": "Latch measured six arm joints and the last issued jaw target at admission/terminal invalidity. No full lift/transfer, no squeeze escalation, no post-admission retry.", "invalidation": "At each subsequent 20 ms observation and final observation, invalidate immediately on lost contact/force, support, insufficient rise, >3 mm local drift or unexpected contact. Never requalify after terminal invalidity.", "observation_origin": "privileged_native_simulator_state", "parameters": { "close_timeout_s": 1.4, "consecutive_alarm_samples": 2, "max_retries": 1, "monitor_min_probe_motion_m": 0.003, "probe_height_m": 0.01, "probe_min_object_rise_m": 0.006, "probe_speed_m_s": 0.02, "probe_timeout_s": 1.4, "qualification_dwell_s": 0.1, "relative_drift_limit_m": 0.003, "retry_clearance_m": 0.012, "retry_open_timeout_s": 1.2, "retry_recenter_timeout_s": 1.5 }, "physical_robot_ready": false, "prefix": "Original GuardedPiperTaskPolicy approach/close and at most one supported open/recenter/retry; already uses authored native state, not a fully blind baseline.", "sampling_limit": "Independent 1 ms evidence may contradict sampled admission; that remains a finding. No sensor or material inference is implemented.", "schema": "dvidia.piper-probe-stop/v1", "stop_scope": "Holding native position targets is not physical arrest or calibrated force limiting; inertia and existing target rate limits can continue motion.", "timer_admission": "Same 10 mm/20 mm/s probe target law, admitted at elapsed >=600 ms from that probe start; no evidence predicate or slip alarm before admission. Unexpected contacts and bounded timeouts still stop.", "timer_admission_s": 0.6, "variants": [ "evidence", "timer" ] }, "acquisition_variant": "evidence", "active_probe_index": 1, "admission_time_s": null, "admitted": false, "contract": { "acquisition": "Unchanged ProbeStopPolicy evidence acquisition, including its bounded supported retry. All variants share the same prefix through the first admission observation.", "cartesian": "Latch measured TCP position/orientation and preceding issued targets. Fixed joint bias equals issued target minus pose_action at the admission pose. First command repeats the exact issued target; later pose_action updates receive that fixed bias.", "control_dt_s": 0.02, "final_observation": "Repeat force, original eligibility and Cartesian pose-error checks. Do not solve or issue a hypothetical next control at the terminal observation.", "invalid_measurements": "Malformed, nonfinite or noncausal observations terminally refuse and raise without issuing a command. No measured-position stop is claimed from invalid measurements.", "issued_joint": "Latch the preceding issued six joint targets and the same last issued jaw target at admission.", "limits": { "initial_joint_bias_ceiling_rad": 0.08, "joint_correction_ceiling_rad": 0.03, "joint_correction_rate_rad_s": 0.1, "native_joint_target_margin_rad": 0.02, "per_finger_force_ceiling_n": 10.0, "tcp_orientation_error_ceiling_rad": 0.05, "tcp_position_error_ceiling_m": 0.004 }, "measured_joint": "Original hold: latch measured six joint coordinates and the last issued jaw target at admission.", "observation_origin": "privileged_native_simulator_state", "physical_robot_ready": false, "qualifications": "Engineering limits and the 10 N ceiling are authored synthetic assumptions, not damage limits or calibrated physical telemetry. Position targets are not physical stops or force limiters. No load/friction inference, model training or complete placement is implemented.", "rate_scope": "The extra correction slews at at most 0.002 rad per 20 ms per joint. Original native 1 ms target slew, servos, gains and force caps remain unchanged.", "refusal": "Original eligibility loss, unexpected contact or observed pad force >10 N terminally requests measured joint hold and the frozen jaw target. Cartesian error, initial-bias, total-correction or native-margin exhaustion also refuses terminally; it never chases an already failed grip.", "sampling": "Control checks occur at 20 ms boundaries. Independent saved 1 ms native evidence must judge a continuous 5 s hold; missed between-boundary failures remain findings.", "schema": "dvidia.piper-retention/v2", "variants": [ "measured_joint", "issued_joint", "cartesian" ] }, "events": [ { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "continue", "drift_streak": 0, "object_height_delta_m": 0.0, "phase": "probe", "progress_streak": 0, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0, "retry_index": 0, "t_seconds": 11.379999999999132, "table_supported": true, "tcp_probe_height_delta_m": 0.0 }, "observation_origin": "privileged_native_simulator_state", "phase": "guard_probe", "probe_index": 0, "reason": "slow_load_bearing_check", "retention_variant": "measured_joint", "retry_index": 0, "status": "probing", "t_seconds": 11.379999999999132, "type": "probe_started", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "hold_measured_arm", "drift_streak": 2, "object_height_delta_m": 9.386076183766356e-05, "phase": "probe", "progress_streak": 2, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.003568124433763154, "retry_index": 0, "t_seconds": 11.759999999998922, "table_supported": true, "tcp_probe_height_delta_m": 0.00367049115415502 }, "observation_origin": "privileged_native_simulator_state", "phase": "guard_stop", "probe_index": 0, "reason": "object_not_following", "retention_variant": "measured_joint", "retry_index": 0, "status": "probing", "t_seconds": 11.759999999998922, "type": "alarm", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "hold_measured_arm", "drift_streak": 2, "object_height_delta_m": 9.386076183766356e-05, "phase": "probe", "progress_streak": 2, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.003568124433763154, "retry_index": 0, "t_seconds": 11.759999999998922, "table_supported": true, "tcp_probe_height_delta_m": 0.00367049115415502 }, "observation_origin": "privileged_native_simulator_state", "phase": "guard_stop", "probe_index": 0, "reason": "supported_object_only", "retention_variant": "measured_joint", "retry_index": 1, "status": "acquiring_retry", "t_seconds": 11.759999999998922, "type": "retry_started", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": false, "contact_loss_streak": 0, "decision": "recenter_with_open_jaw", "drift_streak": 2, "object_height_delta_m": -2.8517466295785443e-05, "phase": "retry_recenter", "progress_streak": 2, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.00974871182253309, "retry_index": 1, "t_seconds": 13.419999999998002, "table_supported": true, "tcp_probe_height_delta_m": 0.009704584838170466 }, "observation_origin": "privileged_native_simulator_state", "phase": "guard_retry_recenter", "probe_index": 0, "reason": "open_recenter_complete", "retention_variant": "measured_joint", "retry_index": 1, "status": "acquiring", "t_seconds": 13.419999999998002, "type": "retry_completed", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "continue", "drift_streak": 0, "object_height_delta_m": 0.0, "phase": "probe", "progress_streak": 0, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0, "retry_index": 1, "t_seconds": 14.299999999997514, "table_supported": true, "tcp_probe_height_delta_m": 0.0 }, "observation_origin": "privileged_native_simulator_state", "phase": "guard_probe", "probe_index": 1, "reason": "slow_load_bearing_check", "retention_variant": "measured_joint", "retry_index": 1, "status": "probing", "t_seconds": 14.299999999997514, "type": "probe_started", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "hold_measured_arm", "drift_streak": 2, 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"table_supported": true, "tcp_probe_height_delta_m": 0.0036409820295261186 }, "observation_origin": "privileged_native_simulator_state", "phase": "probe_stop", "probe_index": 1, "reason": "retry_budget_exhausted:object_not_following", "retention_variant": "measured_joint", "retry_index": 1, "status": "invalidated_hold", "t_seconds": 14.679999999997303, "type": "abort", "variant": "evidence" } ], "ever_admitted": false, "final_observed": true, "frozen_jaw_target_m": 0.0, "initial_context": { "object_position_m": [ 0.3080000286688259, -0.03499983588880959, 0.07989224451748382 ], "observation_origin": "privileged_native_simulator_state", "t_seconds": 0.0, "tcp_position_m": [ 0.4890696662845219, 0.0014141975654808877, 0.3665849431043091 ], "tcp_quaternion_wxyz": [ 0.6580840948238629, 2.7730466224793136e-07, 0.7529444362872891, -1.9485471114950535e-06 ] }, "last_observed_s": 20.00000000000146, "observation_origin": "privileged_native_simulator_state", "physical_robot_ready": false, "probes": [ { "disposition": "interrupted", "end_time_s": 11.759999999998922, "local_offset_origin_m": [ 0.0022781129793205206, 0.000303851983593731, 0.0019155313689889603 ], "object_origin_m": [ 0.30781541776336624, -0.03497172930387825, 0.07992076204607952 ], "observation_origin": "privileged_native_simulator_state", "probe_index": 0, "reason": "object_not_following", "start_time_s": 11.379999999999132, "tcp_origin_m": [ 0.3100746576245677, -0.03526256521966311, 0.081860513298099 ], "tcp_quaternion_wxyz": [ 0.00525343835487634, -0.0023216996450902833, 0.9999832982614152, -0.0006436570758513796 ] }, { "disposition": "invalidated_hold", "end_time_s": 14.679999999997303, "local_offset_origin_m": [ -0.0020477892117674043, 0.00024962223905263686, 0.0024167796106270177 ], "object_origin_m": [ 0.31012909094777324, -0.03512250928095611, 0.07985533506003292 ], "observation_origin": "privileged_native_simulator_state", "probe_index": 1, "reason": "retry_budget_exhausted:object_not_following", "start_time_s": 14.299999999997514, "tcp_origin_m": [ 0.3081028039275439, -0.03537405613530958, 0.08228997275302095 ], "tcp_quaternion_wxyz": [ -0.0044090035030144095, -0.00022360846175728823, 0.9999902334704642, 0.00020892834428925253 ] } ], "retention": { "hold_reference": null, "input_refusals": [], "native_joint_control_limits_rad": [ [ -2.618, 2.618 ], [ 0.0, 3.14 ], [ -2.697, 0.0 ], [ -1.832, 1.832 ], [ -1.22, 1.22 ], [ -3.14, 3.14 ] ], "variant": "measured_joint" }, "retry_count": 1, "schema": "dvidia.piper-retention/v2", "status": "invalidated_hold", "stop_targets_rad": [ -0.1184962400320349, 1.7583083872629899, -1.1781047006234198, -0.0008039179663367518, 1.077579821729419, -0.11856479831094155 ], "variant": "measured_joint" }, "scene_id": "m0475-f52-p1", "timing": { "policy_cpu": { "maximum_s": 0.0005200000000016303, "mean_s": 0.0001026939999999783, "over_20ms": 0, "p50_s": 8.79999999980896e-05, "p95_s": 0.00023219999999710676, "p99_s": 0.00038111999999735236, "samples": 1000 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Counts are diagnostic, not independent trials." }, "corrections": { "bound_refusal_counts": {}, "flag_counts": { "correction_rate_limited": 0 }, "hold_record_count": 267, "input_refusals": [], "maximum_abs_accepted_correction_rate_rad_s": null, "maximum_abs_active_correction_rad": null, "maximum_abs_desired_correction_rad": null, "maximum_abs_pose_error_increment_rad": null, "rate_limited_axis_occurrences": 0, "scope": "Includes recorded final diagnostic checks; only command_issued rows represent issued controls." }, "decomposition": null, "final": { "both_qualified": false, "controller_qualified": false, "evidence_admissible": false, "native_qualified": false }, "first_admission": null, "grip_only": { "combined_qualified_pause": false, "complete_5s": false, "controller_retained_at_5s": false, "native_pause_success": false, "reason": "no_admission", "required_s": 5.0, "success": false }, "native": { "arrays_sha256": "2a4e0d72f0bc46624a0c4ac144eb8f2545916ce361365508fc06bae107e5871b", "complete": true, "maximum_per_finger_force_n": 0.5052793550885986, "rows": 20000, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "physical_robot_ready": false, "primary": { "combined_qualified_pause": false, "complete_5s": false, "controller_retained_at_5s": false, "first_tcp_pose_failure_s": null, "native_pause_success": false, "reason": "no_admission", "required_s": 5.0, "success": false }, "probes": [ { "claims": [], "disposition": "interrupted", "final_native_qualified_from_origin": false, "probe_index": 0, "start_time_s": 11.379999999999132 }, { "claims": [], "disposition": "invalidated_hold", "final_native_qualified_from_origin": false, "probe_index": 1, "start_time_s": 14.299999999997514 } ], "receipt": { "admission": { "observation_origin": "privileged_native_simulation_plus_caller_planning_assumptions", "physical_robot_ready": false, "planning": { "computed": { "conservative_required_load_n": 0.7058488125, "gravity_m_s2": 9.80665, "pose_specific_payload_limit_force_n": 0.980665, "two_finger_friction_capacity_n": 10.4 }, "observation_origin": "caller_declared_not_verified", "physical_robot_ready": false, "reasons": [ "Run and record a cautious test lift under the same calibrated pose and load conditions before simulated transport planning." ], "schema": "dvidia.task-feasibility-result/v1", "scope": "Planning assessment only. Parallel two-finger vertical-lift approximation; ignores moment, center of mass, deformation, transient impacts and unmodeled contact effects. Unknown values remain unknown; mass is never inferred from images. Probe/test-lift/controller integration is not implemented. No hardware actuation is performed; this is not hardware qualification.", "status": "test_lift_required" }, "probe": { "admissible": false, "historical_qualified": false, "latest_qualified": false, "physical_robot_ready": false, "reasons": [ "latest_native_window_not_qualified", "no_controller_qualification_for_this_probe", "latest_controller_not_qualified" ], "receipt_sha256": "aea128dffd7c78c221a351e1560838443a07677fdd4cdd8a2f076bfb2689f3f2", "schema": "dvidia.probe-evidence-verification/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.", "verified": true }, "schema": "dvidia.task-feasibility-with-probe/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification. Unknown planning values remain unknown. The unchanged approximate vertical-lift planning gate describes declared loads; it supplies no transport path, geospatial-goal contract or actuator permission. This wrapper never issues controls.", "status": "test_lift_required" }, "context": { "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe", "calibration_id": "synthetic_probe_v01", "calibration_scope": "simulation_assumptions_not_hardware", "command_sha256": "2260764ac4eae6f60fb3e2f0020d8c8e62448b9a877575c05022030380a5fd9b", "feasibility_sha256": "4167c4fdd2cf8e4398f18eb271f191cb547e23d344b890ae948f9446c1607cc0", "grasp_id": "m0475-f52-p1-cartesian-probe-1", "initial_object_position_m": [ 0.3080000286688259, -0.03499983588880959, 0.07989224451748382 ], "model_sha256": "8056484038c5ee1c6172636f9ffdf318e384fd4e78435cc4cb9e54c0a9f4d49f", "native_status": { "simulation_time_s": 20.00000000000146, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "object_id": "task_block", "per_finger_force_ceiling_n": 10.0, "pose_binding_sha256": "26ce502e1c04d3cf719e8a5262721f92f934de239710a965d9edfd1b0bff2067", "probe_index": 1, "probe_origin_object_position_m": [ 0.31012909094777324, -0.03512250928095611, 0.07985533506003292 ], "probe_origin_tcp_local_offset_m": [ -0.0020477892117674043, 0.00024962223905263686, 0.0024167796106270177 ], "probe_start_s": 14.299999999997514, "robot_profile": "piper", "run_id": "m0475-f52-p1-cartesian", "schema": "dvidia.probe-context/v1", "source_sha256": "d28324843344114f1ee863cee3c48dbca8aa37fd11222623563a0b1d40c364a6" }, "physical_robot_ready": false, "planning_input": { "allowed_pose_tolerance_m": 0.003, "calibration_id": "synthetic_probe_v01", "friction_interval": [ 0.52, 0.52 ], "geometry_known": true, "gripper_max_opening_interval_m": [ 0.07, 0.07 ], "gripper_min_closure_m": 0.0, "mass_interval_kg": [ 0.0475, 0.0475 ], "object_width_interval_m": [ 0.04, 0.04 ], "observations_fresh": true, "per_finger_normal_force_budget_n": 10.0, "planned_upward_accel_m_s2": 0.1, "pose_specific_payload_limit_kg": 0.1, "pose_uncertainty_m": 0.0, "reachability": "reachable", "safety_factor": 1.5, "schema": "dvidia.task-feasibility-input/v1", "slip_detected": false, "test_lift_passed": false }, "receipt": { "audit": { "controller_claim_mismatches": [], "controller_claims_checked": 1, "controller_conservative_abstention_count": 0, "controller_coverage": "Only the supplied claims are checked; omitted decisions are not inferred.", "controller_false_qualification_count": 0, "controller_positive_claims": 0, "force_ceiling_known": true, "maximum_observed_per_finger_force_n": 0.5052793550885986, "reasons": [], "rows": 20000, "unexpected_contact_native_ticks": 0, "valid": true }, "context": { "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe", "calibration_id": "synthetic_probe_v01", "calibration_scope": "simulation_assumptions_not_hardware", "command_sha256": "2260764ac4eae6f60fb3e2f0020d8c8e62448b9a877575c05022030380a5fd9b", "feasibility_sha256": "4167c4fdd2cf8e4398f18eb271f191cb547e23d344b890ae948f9446c1607cc0", "grasp_id": "m0475-f52-p1-cartesian-probe-1", "initial_object_position_m": [ 0.3080000286688259, -0.03499983588880959, 0.07989224451748382 ], "model_sha256": "8056484038c5ee1c6172636f9ffdf318e384fd4e78435cc4cb9e54c0a9f4d49f", "native_status": { "simulation_time_s": 20.00000000000146, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "object_id": "task_block", "per_finger_force_ceiling_n": 10.0, "pose_binding_sha256": "26ce502e1c04d3cf719e8a5262721f92f934de239710a965d9edfd1b0bff2067", "probe_index": 1, "probe_origin_object_position_m": [ 0.31012909094777324, -0.03512250928095611, 0.07985533506003292 ], "probe_origin_tcp_local_offset_m": [ -0.0020477892117674043, 0.00024962223905263686, 0.0024167796106270177 ], "probe_start_s": 14.299999999997514, "robot_profile": "piper", "run_id": "m0475-f52-p1-cartesian", "schema": "dvidia.probe-context/v1", "source_sha256": "d28324843344114f1ee863cee3c48dbca8aa37fd11222623563a0b1d40c364a6" }, "context_sha256": "6570fccae4a994ad09c3baa910f96b35b36fa598592f8372e8695f63e4ee04e9", "controller_qualifications": [ { "probe_index": 1, "qualified": false, "t_seconds": 20.00000000000146 } ], "criteria": { "distance_comparison_epsilon": 1e-12, "initial_sample_tolerance_m": 0.001, "maximum_tcp_local_drift_m": 0.003, "minimum_continuous_dwell_s": 0.1, "minimum_per_finger_force_n_exclusive": 0.01, "minimum_rise_m": 0.006, "native_dt_s": 0.001, "origin_tolerance_m": 1e-09, "time_tolerance_s": 1e-08 }, "history": { "ever_qualified": false, "first_qualified_s": null, "maximum_continuous_qualifying_s": 0.0 }, "latest": { "condition_valid": false, "continuous_qualifying_s": 0.0, "controller_claim": { "probe_index": 1, "qualified": false, "t_seconds": 20.00000000000146 }, "native_tick": 20000, "qualified": false, "rise_m": 3.0064991020095633e-05, "tcp_local_drift_m": 0.003712194868885495, "time_s": 20.00000000000146 }, "metadata_sha256": "ad8229630cc9f8718829bb8317b1a82480dcf18b9f71bd23666acfe71a003ef7", "native_arrays_sha256": "2a4e0d72f0bc46624a0c4ac144eb8f2545916ce361365508fc06bae107e5871b", "physical_robot_ready": false, "receipt_sha256": "aea128dffd7c78c221a351e1560838443a07677fdd4cdd8a2f076bfb2689f3f2", "schema": "dvidia.probe-evidence/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification." }, "status": "inspected", "verification": { "admissible": false, "historical_qualified": false, "latest_qualified": false, "physical_robot_ready": false, "reasons": [ "latest_native_window_not_qualified", "no_controller_qualification_for_this_probe", "latest_controller_not_qualified" ], "receipt_sha256": "aea128dffd7c78c221a351e1560838443a07677fdd4cdd8a2f076bfb2689f3f2", "schema": "dvidia.probe-evidence-verification/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.", "verified": true } }, "stationarity": { "complete_5s": false, "grip_retention_and_stationarity": false, "tcp_pose_within_bounds": false }, "status": "inspected" }, "files": { "episode.json.gz": { "bytes": 775982, "sha256": "70335184789d1d83fcb7e690f4c282cdb8dba225fa953732bda7b53ce96f7122" }, "evaluation.json": { "bytes": 12376, "sha256": "aa930ca28caef42a1f705a719d91193d41b5185f071bbc213f338a92bd5d7618" }, "native.json": { "bytes": 13763, "sha256": "19cc1d5998901cbc12da2916add3096763081e9decbfc7193981bfabc4b871e0" }, "native.npz": { "bytes": 4095801, "sha256": "cea74f707dec24a76725bb012be8a960e0067bd767a1a72af6ca5e714d8b729c" }, "started.json": { "bytes": 148, "sha256": "0785de11aa0cdd8d4f1dd227d914428e9f33e04fe4c0818619b9736b475448e5" } }, "friction": 0.52, "id": "m0475-f52-p1-cartesian", "mass_kg": 0.0475, "metrics": { "carry_complete": false, "carry_contact_loss_events": 0, "carry_contact_loss_tolerance_seconds": 0.04, "dwell_seconds": 0.0, "first_success_time_seconds": null, "grasp_seen": true, "lift_dwell_seconds": 0.0, "lift_seen": false, "max_carry_contact_loss_seconds": 0.0, "max_object_lift_m": 0.00019317628020704136, "max_pad_normal_force_n": 0.5052793550885986, "physical_robot_ready": false, "reason": "timeout", "retention_lost": false, "simulation_time": 20.00000000000146, "steps": 1000, "success": false, "target_distance_m": 0.12138327374418646, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "policy": { "abort_reason": "retry_budget_exhausted:object_not_following", "acquisition_contract": { "comparison_scope": "Closed-loop variants may acquire different trajectories through early hold/retry. This is not an isolated classifier ablation.", "control_dt_s": 0.02, "evidence_admission": "Current bilateral force >0.01 N, no table support, object rise >=6 mm and TCP-local offset drift <=3 mm continuously across sampled boundaries for elapsed >=100 ms.", "hold": "Latch measured six arm joints and the last issued jaw target at admission/terminal invalidity. No full lift/transfer, no squeeze escalation, no post-admission retry.", "invalidation": "At each subsequent 20 ms observation and final observation, invalidate immediately on lost contact/force, support, insufficient rise, >3 mm local drift or unexpected contact. Never requalify after terminal invalidity.", "observation_origin": "privileged_native_simulator_state", "parameters": { "close_timeout_s": 1.4, "consecutive_alarm_samples": 2, "max_retries": 1, "monitor_min_probe_motion_m": 0.003, "probe_height_m": 0.01, "probe_min_object_rise_m": 0.006, "probe_speed_m_s": 0.02, "probe_timeout_s": 1.4, "qualification_dwell_s": 0.1, "relative_drift_limit_m": 0.003, "retry_clearance_m": 0.012, "retry_open_timeout_s": 1.2, "retry_recenter_timeout_s": 1.5 }, "physical_robot_ready": false, "prefix": "Original GuardedPiperTaskPolicy approach/close and at most one supported open/recenter/retry; already uses authored native state, not a fully blind baseline.", "sampling_limit": "Independent 1 ms evidence may contradict sampled admission; that remains a finding. No sensor or material inference is implemented.", "schema": "dvidia.piper-probe-stop/v1", "stop_scope": "Holding native position targets is not physical arrest or calibrated force limiting; inertia and existing target rate limits can continue motion.", "timer_admission": "Same 10 mm/20 mm/s probe target law, admitted at elapsed >=600 ms from that probe start; no evidence predicate or slip alarm before admission. Unexpected contacts and bounded timeouts still stop.", "timer_admission_s": 0.6, "variants": [ "evidence", "timer" ] }, "acquisition_variant": "evidence", "active_probe_index": 1, "admission_time_s": null, "admitted": false, "contract": { "acquisition": "Unchanged ProbeStopPolicy evidence acquisition, including its bounded supported retry. All variants share the same prefix through the first admission observation.", "cartesian": "Latch measured TCP position/orientation and preceding issued targets. Fixed joint bias equals issued target minus pose_action at the admission pose. First command repeats the exact issued target; later pose_action updates receive that fixed bias.", "control_dt_s": 0.02, "final_observation": "Repeat force, original eligibility and Cartesian pose-error checks. Do not solve or issue a hypothetical next control at the terminal observation.", "invalid_measurements": "Malformed, nonfinite or noncausal observations terminally refuse and raise without issuing a command. No measured-position stop is claimed from invalid measurements.", "issued_joint": "Latch the preceding issued six joint targets and the same last issued jaw target at admission.", "limits": { "initial_joint_bias_ceiling_rad": 0.08, "joint_correction_ceiling_rad": 0.03, "joint_correction_rate_rad_s": 0.1, "native_joint_target_margin_rad": 0.02, "per_finger_force_ceiling_n": 10.0, "tcp_orientation_error_ceiling_rad": 0.05, "tcp_position_error_ceiling_m": 0.004 }, "measured_joint": "Original hold: latch measured six joint coordinates and the last issued jaw target at admission.", "observation_origin": "privileged_native_simulator_state", "physical_robot_ready": false, "qualifications": "Engineering limits and the 10 N ceiling are authored synthetic assumptions, not damage limits or calibrated physical telemetry. Position targets are not physical stops or force limiters. No load/friction inference, model training or complete placement is implemented.", "rate_scope": "The extra correction slews at at most 0.002 rad per 20 ms per joint. Original native 1 ms target slew, servos, gains and force caps remain unchanged.", "refusal": "Original eligibility loss, unexpected contact or observed pad force >10 N terminally requests measured joint hold and the frozen jaw target. Cartesian error, initial-bias, total-correction or native-margin exhaustion also refuses terminally; it never chases an already failed grip.", "sampling": "Control checks occur at 20 ms boundaries. Independent saved 1 ms native evidence must judge a continuous 5 s hold; missed between-boundary failures remain findings.", "schema": "dvidia.piper-retention/v2", "variants": [ "measured_joint", "issued_joint", "cartesian" ] }, "events": [ { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "continue", "drift_streak": 0, "object_height_delta_m": 0.0, "phase": "probe", "progress_streak": 0, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0, "retry_index": 0, "t_seconds": 11.379999999999132, "table_supported": true, "tcp_probe_height_delta_m": 0.0 }, "observation_origin": "privileged_native_simulator_state", "phase": "guard_probe", "probe_index": 0, "reason": "slow_load_bearing_check", "retention_variant": "cartesian", "retry_index": 0, "status": "probing", "t_seconds": 11.379999999999132, "type": "probe_started", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "hold_measured_arm", "drift_streak": 2, "object_height_delta_m": 9.386076183766356e-05, "phase": "probe", "progress_streak": 2, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.003568124433763154, "retry_index": 0, "t_seconds": 11.759999999998922, "table_supported": true, "tcp_probe_height_delta_m": 0.00367049115415502 }, "observation_origin": "privileged_native_simulator_state", "phase": "guard_stop", "probe_index": 0, "reason": "object_not_following", "retention_variant": "cartesian", "retry_index": 0, "status": "probing", "t_seconds": 11.759999999998922, "type": "alarm", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "hold_measured_arm", "drift_streak": 2, "object_height_delta_m": 9.386076183766356e-05, "phase": "probe", "progress_streak": 2, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.003568124433763154, "retry_index": 0, "t_seconds": 11.759999999998922, "table_supported": true, "tcp_probe_height_delta_m": 0.00367049115415502 }, "observation_origin": "privileged_native_simulator_state", "phase": "guard_stop", "probe_index": 0, "reason": "supported_object_only", "retention_variant": "cartesian", "retry_index": 1, "status": "acquiring_retry", "t_seconds": 11.759999999998922, "type": "retry_started", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": false, "contact_loss_streak": 0, "decision": "recenter_with_open_jaw", "drift_streak": 2, "object_height_delta_m": -2.8517466295785443e-05, "phase": "retry_recenter", "progress_streak": 2, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.00974871182253309, "retry_index": 1, "t_seconds": 13.419999999998002, "table_supported": true, "tcp_probe_height_delta_m": 0.009704584838170466 }, "observation_origin": "privileged_native_simulator_state", "phase": "guard_retry_recenter", "probe_index": 0, "reason": "open_recenter_complete", "retention_variant": "cartesian", "retry_index": 1, "status": "acquiring", "t_seconds": 13.419999999998002, "type": "retry_completed", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "continue", "drift_streak": 0, "object_height_delta_m": 0.0, "phase": "probe", "progress_streak": 0, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0, "retry_index": 1, "t_seconds": 14.299999999997514, "table_supported": true, "tcp_probe_height_delta_m": 0.0 }, "observation_origin": "privileged_native_simulator_state", "phase": "guard_probe", "probe_index": 1, "reason": "slow_load_bearing_check", "retention_variant": "cartesian", "retry_index": 1, "status": "probing", "t_seconds": 14.299999999997514, "type": "probe_started", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "hold_measured_arm", "drift_streak": 2, "object_height_delta_m": 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"interrupted", "end_time_s": 11.759999999998922, "local_offset_origin_m": [ 0.0022781129793205206, 0.000303851983593731, 0.0019155313689889603 ], "object_origin_m": [ 0.30781541776336624, -0.03497172930387825, 0.07992076204607952 ], "observation_origin": "privileged_native_simulator_state", "probe_index": 0, "reason": "object_not_following", "start_time_s": 11.379999999999132, "tcp_origin_m": [ 0.3100746576245677, -0.03526256521966311, 0.081860513298099 ], "tcp_quaternion_wxyz": [ 0.00525343835487634, -0.0023216996450902833, 0.9999832982614152, -0.0006436570758513796 ] }, { "disposition": "invalidated_hold", "end_time_s": 14.679999999997303, "local_offset_origin_m": [ -0.0020477892117674043, 0.00024962223905263686, 0.0024167796106270177 ], "object_origin_m": [ 0.31012909094777324, -0.03512250928095611, 0.07985533506003292 ], "observation_origin": "privileged_native_simulator_state", "probe_index": 1, "reason": "retry_budget_exhausted:object_not_following", "start_time_s": 14.299999999997514, "tcp_origin_m": [ 0.3081028039275439, -0.03537405613530958, 0.08228997275302095 ], "tcp_quaternion_wxyz": [ -0.0044090035030144095, -0.00022360846175728823, 0.9999902334704642, 0.00020892834428925253 ] } ], "retention": { "hold_reference": null, "input_refusals": [], "native_joint_control_limits_rad": [ [ -2.618, 2.618 ], [ 0.0, 3.14 ], [ -2.697, 0.0 ], [ -1.832, 1.832 ], [ -1.22, 1.22 ], [ -3.14, 3.14 ] ], "variant": "cartesian" }, "retry_count": 1, "schema": "dvidia.piper-retention/v2", "status": "invalidated_hold", "stop_targets_rad": [ -0.1184962400320349, 1.7583083872629899, -1.1781047006234198, -0.0008039179663367518, 1.077579821729419, -0.11856479831094155 ], "variant": "cartesian" }, "scene_id": "m0475-f52-p1", "timing": { "policy_cpu": { "maximum_s": 0.0009209999999910679, "mean_s": 7.0963000000134e-05, "over_20ms": 0, "p50_s": 7.04999999996403e-05, "p95_s": 0.00011700000000303135, "p99_s": 0.00018213999999531426, "samples": 1000 }, "policy_wall": { 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Counts are diagnostic, not independent trials." }, "corrections": { "bound_refusal_counts": {}, "flag_counts": { "correction_rate_limited": 0 }, "hold_record_count": 267, "input_refusals": [], "maximum_abs_accepted_correction_rate_rad_s": null, "maximum_abs_active_correction_rad": null, "maximum_abs_desired_correction_rad": null, "maximum_abs_pose_error_increment_rad": null, "rate_limited_axis_occurrences": 0, "scope": "Includes recorded final diagnostic checks; only command_issued rows represent issued controls." }, "decomposition": null, "final": { "both_qualified": false, "controller_qualified": false, "evidence_admissible": false, "native_qualified": false }, "first_admission": null, "grip_only": { "combined_qualified_pause": false, "complete_5s": false, "controller_retained_at_5s": false, "native_pause_success": false, "reason": "no_admission", "required_s": 5.0, "success": false }, "native": { "arrays_sha256": "2a4e0d72f0bc46624a0c4ac144eb8f2545916ce361365508fc06bae107e5871b", "complete": true, "maximum_per_finger_force_n": 0.5052793550885986, "rows": 20000, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "physical_robot_ready": false, "primary": { "combined_qualified_pause": false, "complete_5s": false, "controller_retained_at_5s": false, "first_tcp_pose_failure_s": null, "native_pause_success": false, "reason": "no_admission", "required_s": 5.0, "success": false }, "probes": [ { "claims": [], "disposition": "interrupted", "final_native_qualified_from_origin": false, "probe_index": 0, "start_time_s": 11.379999999999132 }, { "claims": [], "disposition": "invalidated_hold", "final_native_qualified_from_origin": false, "probe_index": 1, "start_time_s": 14.299999999997514 } ], "receipt": { "admission": { "observation_origin": "privileged_native_simulation_plus_caller_planning_assumptions", "physical_robot_ready": false, "planning": { "computed": { "conservative_required_load_n": 0.7058488125, "gravity_m_s2": 9.80665, "pose_specific_payload_limit_force_n": 0.980665, "two_finger_friction_capacity_n": 10.4 }, "observation_origin": "caller_declared_not_verified", "physical_robot_ready": false, "reasons": [ "Run and record a cautious test lift under the same calibrated pose and load conditions before simulated transport planning." ], "schema": "dvidia.task-feasibility-result/v1", "scope": "Planning assessment only. Parallel two-finger vertical-lift approximation; ignores moment, center of mass, deformation, transient impacts and unmodeled contact effects. Unknown values remain unknown; mass is never inferred from images. Probe/test-lift/controller integration is not implemented. No hardware actuation is performed; this is not hardware qualification.", "status": "test_lift_required" }, "probe": { "admissible": false, "historical_qualified": false, "latest_qualified": false, "physical_robot_ready": false, "reasons": [ "latest_native_window_not_qualified", "no_controller_qualification_for_this_probe", "latest_controller_not_qualified" ], "receipt_sha256": "667e7123820fec2b1d3f3fc9bffa9a5c2b8576ab83e349922e115cd85d9f44a0", "schema": "dvidia.probe-evidence-verification/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.", "verified": true }, "schema": "dvidia.task-feasibility-with-probe/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification. Unknown planning values remain unknown. The unchanged approximate vertical-lift planning gate describes declared loads; it supplies no transport path, geospatial-goal contract or actuator permission. This wrapper never issues controls.", "status": "test_lift_required" }, "context": { "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe", "calibration_id": "synthetic_probe_v01", "calibration_scope": "simulation_assumptions_not_hardware", "command_sha256": "2260764ac4eae6f60fb3e2f0020d8c8e62448b9a877575c05022030380a5fd9b", "feasibility_sha256": "4167c4fdd2cf8e4398f18eb271f191cb547e23d344b890ae948f9446c1607cc0", "grasp_id": "m0475-f52-p1-issued_joint-probe-1", "initial_object_position_m": [ 0.3080000286688259, -0.03499983588880959, 0.07989224451748382 ], "model_sha256": "8056484038c5ee1c6172636f9ffdf318e384fd4e78435cc4cb9e54c0a9f4d49f", "native_status": { "simulation_time_s": 20.00000000000146, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "object_id": "task_block", "per_finger_force_ceiling_n": 10.0, "pose_binding_sha256": "26ce502e1c04d3cf719e8a5262721f92f934de239710a965d9edfd1b0bff2067", "probe_index": 1, "probe_origin_object_position_m": [ 0.31012909094777324, -0.03512250928095611, 0.07985533506003292 ], "probe_origin_tcp_local_offset_m": [ -0.0020477892117674043, 0.00024962223905263686, 0.0024167796106270177 ], "probe_start_s": 14.299999999997514, "robot_profile": "piper", "run_id": "m0475-f52-p1-issued_joint", "schema": "dvidia.probe-context/v1", "source_sha256": "d28324843344114f1ee863cee3c48dbca8aa37fd11222623563a0b1d40c364a6" }, "physical_robot_ready": false, "planning_input": { "allowed_pose_tolerance_m": 0.003, "calibration_id": "synthetic_probe_v01", "friction_interval": [ 0.52, 0.52 ], "geometry_known": true, "gripper_max_opening_interval_m": [ 0.07, 0.07 ], "gripper_min_closure_m": 0.0, "mass_interval_kg": [ 0.0475, 0.0475 ], "object_width_interval_m": [ 0.04, 0.04 ], "observations_fresh": true, "per_finger_normal_force_budget_n": 10.0, "planned_upward_accel_m_s2": 0.1, "pose_specific_payload_limit_kg": 0.1, "pose_uncertainty_m": 0.0, "reachability": "reachable", "safety_factor": 1.5, "schema": "dvidia.task-feasibility-input/v1", "slip_detected": false, "test_lift_passed": false }, "receipt": { "audit": { "controller_claim_mismatches": [], "controller_claims_checked": 1, "controller_conservative_abstention_count": 0, "controller_coverage": "Only the supplied claims are checked; omitted decisions are not inferred.", "controller_false_qualification_count": 0, "controller_positive_claims": 0, "force_ceiling_known": true, "maximum_observed_per_finger_force_n": 0.5052793550885986, "reasons": [], "rows": 20000, "unexpected_contact_native_ticks": 0, "valid": true }, "context": { "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe", "calibration_id": "synthetic_probe_v01", "calibration_scope": "simulation_assumptions_not_hardware", "command_sha256": "2260764ac4eae6f60fb3e2f0020d8c8e62448b9a877575c05022030380a5fd9b", "feasibility_sha256": "4167c4fdd2cf8e4398f18eb271f191cb547e23d344b890ae948f9446c1607cc0", "grasp_id": "m0475-f52-p1-issued_joint-probe-1", "initial_object_position_m": [ 0.3080000286688259, -0.03499983588880959, 0.07989224451748382 ], "model_sha256": "8056484038c5ee1c6172636f9ffdf318e384fd4e78435cc4cb9e54c0a9f4d49f", "native_status": { "simulation_time_s": 20.00000000000146, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "object_id": "task_block", "per_finger_force_ceiling_n": 10.0, "pose_binding_sha256": "26ce502e1c04d3cf719e8a5262721f92f934de239710a965d9edfd1b0bff2067", "probe_index": 1, "probe_origin_object_position_m": [ 0.31012909094777324, -0.03512250928095611, 0.07985533506003292 ], "probe_origin_tcp_local_offset_m": [ -0.0020477892117674043, 0.00024962223905263686, 0.0024167796106270177 ], "probe_start_s": 14.299999999997514, "robot_profile": "piper", "run_id": "m0475-f52-p1-issued_joint", "schema": "dvidia.probe-context/v1", "source_sha256": "d28324843344114f1ee863cee3c48dbca8aa37fd11222623563a0b1d40c364a6" }, "context_sha256": "4202bbead900fd53f07bf372ba77a88afc25266cacf726ae2259bd2dc3666486", "controller_qualifications": [ { "probe_index": 1, "qualified": false, "t_seconds": 20.00000000000146 } ], "criteria": { "distance_comparison_epsilon": 1e-12, "initial_sample_tolerance_m": 0.001, "maximum_tcp_local_drift_m": 0.003, "minimum_continuous_dwell_s": 0.1, "minimum_per_finger_force_n_exclusive": 0.01, "minimum_rise_m": 0.006, "native_dt_s": 0.001, "origin_tolerance_m": 1e-09, "time_tolerance_s": 1e-08 }, "history": { "ever_qualified": false, "first_qualified_s": null, "maximum_continuous_qualifying_s": 0.0 }, "latest": { "condition_valid": false, "continuous_qualifying_s": 0.0, "controller_claim": { "probe_index": 1, "qualified": false, "t_seconds": 20.00000000000146 }, "native_tick": 20000, "qualified": false, "rise_m": 3.0064991020095633e-05, "tcp_local_drift_m": 0.003712194868885495, "time_s": 20.00000000000146 }, "metadata_sha256": "ad8229630cc9f8718829bb8317b1a82480dcf18b9f71bd23666acfe71a003ef7", "native_arrays_sha256": "2a4e0d72f0bc46624a0c4ac144eb8f2545916ce361365508fc06bae107e5871b", "physical_robot_ready": false, "receipt_sha256": "667e7123820fec2b1d3f3fc9bffa9a5c2b8576ab83e349922e115cd85d9f44a0", "schema": "dvidia.probe-evidence/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification." }, "status": "inspected", "verification": { "admissible": false, "historical_qualified": false, "latest_qualified": false, "physical_robot_ready": false, "reasons": [ "latest_native_window_not_qualified", "no_controller_qualification_for_this_probe", "latest_controller_not_qualified" ], "receipt_sha256": "667e7123820fec2b1d3f3fc9bffa9a5c2b8576ab83e349922e115cd85d9f44a0", "schema": "dvidia.probe-evidence-verification/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.", "verified": true } }, "stationarity": { "complete_5s": false, "grip_retention_and_stationarity": false, "tcp_pose_within_bounds": false }, "status": "inspected" }, "files": { "episode.json.gz": { "bytes": 777111, "sha256": "643ce0922c7221132265b9c52f12dc287afc991b026b174c9da852a8a7bc7d75" }, "evaluation.json": { "bytes": 12388, "sha256": "b926100c26a9f3f2abbebad05f85af47579ecf3aef192ff60f2c5d979b89cfe7" }, "native.json": { "bytes": 13763, "sha256": "19cc1d5998901cbc12da2916add3096763081e9decbfc7193981bfabc4b871e0" }, "native.npz": { "bytes": 4095801, "sha256": "cea74f707dec24a76725bb012be8a960e0067bd767a1a72af6ca5e714d8b729c" }, "started.json": { "bytes": 151, "sha256": "411438ac00e7cbc33a5605dd70fb8fbd1fc8df5195565d5d802a2ca03ec839fd" } }, "friction": 0.52, "id": "m0475-f52-p1-issued_joint", "mass_kg": 0.0475, "metrics": { "carry_complete": false, "carry_contact_loss_events": 0, "carry_contact_loss_tolerance_seconds": 0.04, "dwell_seconds": 0.0, "first_success_time_seconds": null, "grasp_seen": true, "lift_dwell_seconds": 0.0, "lift_seen": false, "max_carry_contact_loss_seconds": 0.0, "max_object_lift_m": 0.00019317628020704136, "max_pad_normal_force_n": 0.5052793550885986, "physical_robot_ready": false, "reason": "timeout", "retention_lost": false, "simulation_time": 20.00000000000146, "steps": 1000, "success": false, "target_distance_m": 0.12138327374418646, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "policy": { "abort_reason": "retry_budget_exhausted:object_not_following", "acquisition_contract": { "comparison_scope": "Closed-loop variants may acquire different trajectories through early hold/retry. This is not an isolated classifier ablation.", "control_dt_s": 0.02, "evidence_admission": "Current bilateral force >0.01 N, no table support, object rise >=6 mm and TCP-local offset drift <=3 mm continuously across sampled boundaries for elapsed >=100 ms.", "hold": "Latch measured six arm joints and the last issued jaw target at admission/terminal invalidity. No full lift/transfer, no squeeze escalation, no post-admission retry.", "invalidation": "At each subsequent 20 ms observation and final observation, invalidate immediately on lost contact/force, support, insufficient rise, >3 mm local drift or unexpected contact. Never requalify after terminal invalidity.", "observation_origin": "privileged_native_simulator_state", "parameters": { "close_timeout_s": 1.4, "consecutive_alarm_samples": 2, "max_retries": 1, "monitor_min_probe_motion_m": 0.003, "probe_height_m": 0.01, "probe_min_object_rise_m": 0.006, "probe_speed_m_s": 0.02, "probe_timeout_s": 1.4, "qualification_dwell_s": 0.1, "relative_drift_limit_m": 0.003, "retry_clearance_m": 0.012, "retry_open_timeout_s": 1.2, "retry_recenter_timeout_s": 1.5 }, "physical_robot_ready": false, "prefix": "Original GuardedPiperTaskPolicy approach/close and at most one supported open/recenter/retry; already uses authored native state, not a fully blind baseline.", "sampling_limit": "Independent 1 ms evidence may contradict sampled admission; that remains a finding. No sensor or material inference is implemented.", "schema": "dvidia.piper-probe-stop/v1", "stop_scope": "Holding native position targets is not physical arrest or calibrated force limiting; inertia and existing target rate limits can continue motion.", "timer_admission": "Same 10 mm/20 mm/s probe target law, admitted at elapsed >=600 ms from that probe start; no evidence predicate or slip alarm before admission. Unexpected contacts and bounded timeouts still stop.", "timer_admission_s": 0.6, "variants": [ "evidence", "timer" ] }, "acquisition_variant": "evidence", "active_probe_index": 1, "admission_time_s": null, "admitted": false, "contract": { "acquisition": "Unchanged ProbeStopPolicy evidence acquisition, including its bounded supported retry. All variants share the same prefix through the first admission observation.", "cartesian": "Latch measured TCP position/orientation and preceding issued targets. Fixed joint bias equals issued target minus pose_action at the admission pose. First command repeats the exact issued target; later pose_action updates receive that fixed bias.", "control_dt_s": 0.02, "final_observation": "Repeat force, original eligibility and Cartesian pose-error checks. Do not solve or issue a hypothetical next control at the terminal observation.", "invalid_measurements": "Malformed, nonfinite or noncausal observations terminally refuse and raise without issuing a command. No measured-position stop is claimed from invalid measurements.", "issued_joint": "Latch the preceding issued six joint targets and the same last issued jaw target at admission.", "limits": { "initial_joint_bias_ceiling_rad": 0.08, "joint_correction_ceiling_rad": 0.03, "joint_correction_rate_rad_s": 0.1, "native_joint_target_margin_rad": 0.02, "per_finger_force_ceiling_n": 10.0, "tcp_orientation_error_ceiling_rad": 0.05, "tcp_position_error_ceiling_m": 0.004 }, "measured_joint": "Original hold: latch measured six joint coordinates and the last issued jaw target at admission.", "observation_origin": "privileged_native_simulator_state", "physical_robot_ready": false, "qualifications": "Engineering limits and the 10 N ceiling are authored synthetic assumptions, not damage limits or calibrated physical telemetry. Position targets are not physical stops or force limiters. No load/friction inference, model training or complete placement is implemented.", "rate_scope": "The extra correction slews at at most 0.002 rad per 20 ms per joint. Original native 1 ms target slew, servos, gains and force caps remain unchanged.", "refusal": "Original eligibility loss, unexpected contact or observed pad force >10 N terminally requests measured joint hold and the frozen jaw target. Cartesian error, initial-bias, total-correction or native-margin exhaustion also refuses terminally; it never chases an already failed grip.", "sampling": "Control checks occur at 20 ms boundaries. Independent saved 1 ms native evidence must judge a continuous 5 s hold; missed between-boundary failures remain findings.", "schema": "dvidia.piper-retention/v2", "variants": [ "measured_joint", "issued_joint", "cartesian" ] }, "events": [ { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "continue", "drift_streak": 0, "object_height_delta_m": 0.0, "phase": "probe", "progress_streak": 0, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0, "retry_index": 0, "t_seconds": 11.379999999999132, "table_supported": true, "tcp_probe_height_delta_m": 0.0 }, "observation_origin": "privileged_native_simulator_state", "phase": "guard_probe", "probe_index": 0, "reason": "slow_load_bearing_check", "retention_variant": "issued_joint", "retry_index": 0, "status": "probing", "t_seconds": 11.379999999999132, "type": "probe_started", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "hold_measured_arm", "drift_streak": 2, "object_height_delta_m": 9.386076183766356e-05, "phase": "probe", "progress_streak": 2, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.003568124433763154, "retry_index": 0, "t_seconds": 11.759999999998922, "table_supported": true, "tcp_probe_height_delta_m": 0.00367049115415502 }, "observation_origin": "privileged_native_simulator_state", "phase": "guard_stop", "probe_index": 0, "reason": "object_not_following", "retention_variant": "issued_joint", "retry_index": 0, "status": "probing", "t_seconds": 11.759999999998922, "type": "alarm", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "hold_measured_arm", "drift_streak": 2, "object_height_delta_m": 9.386076183766356e-05, "phase": "probe", "progress_streak": 2, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.003568124433763154, "retry_index": 0, "t_seconds": 11.759999999998922, "table_supported": true, "tcp_probe_height_delta_m": 0.00367049115415502 }, "observation_origin": "privileged_native_simulator_state", "phase": "guard_stop", "probe_index": 0, "reason": "supported_object_only", "retention_variant": "issued_joint", "retry_index": 1, "status": "acquiring_retry", "t_seconds": 11.759999999998922, "type": "retry_started", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": false, "contact_loss_streak": 0, "decision": "recenter_with_open_jaw", "drift_streak": 2, "object_height_delta_m": -2.8517466295785443e-05, "phase": "retry_recenter", "progress_streak": 2, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.00974871182253309, "retry_index": 1, "t_seconds": 13.419999999998002, "table_supported": true, "tcp_probe_height_delta_m": 0.009704584838170466 }, "observation_origin": "privileged_native_simulator_state", "phase": "guard_retry_recenter", "probe_index": 0, "reason": "open_recenter_complete", "retention_variant": "issued_joint", "retry_index": 1, "status": "acquiring", "t_seconds": 13.419999999998002, "type": "retry_completed", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "continue", "drift_streak": 0, "object_height_delta_m": 0.0, "phase": "probe", "progress_streak": 0, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0, "retry_index": 1, "t_seconds": 14.299999999997514, "table_supported": true, "tcp_probe_height_delta_m": 0.0 }, "observation_origin": "privileged_native_simulator_state", "phase": "guard_probe", "probe_index": 1, "reason": "slow_load_bearing_check", "retention_variant": "issued_joint", "retry_index": 1, "status": "probing", "t_seconds": 14.299999999997514, "type": "probe_started", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "hold_measured_arm", "drift_streak": 2, 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"table_supported": true, "tcp_probe_height_delta_m": 0.0036409820295261186 }, "observation_origin": "privileged_native_simulator_state", "phase": "probe_stop", "probe_index": 1, "reason": "retry_budget_exhausted:object_not_following", "retention_variant": "issued_joint", "retry_index": 1, "status": "invalidated_hold", "t_seconds": 14.679999999997303, "type": "abort", "variant": "evidence" } ], "ever_admitted": false, "final_observed": true, "frozen_jaw_target_m": 0.0, "initial_context": { "object_position_m": [ 0.3080000286688259, -0.03499983588880959, 0.07989224451748382 ], "observation_origin": "privileged_native_simulator_state", "t_seconds": 0.0, "tcp_position_m": [ 0.4890696662845219, 0.0014141975654808877, 0.3665849431043091 ], "tcp_quaternion_wxyz": [ 0.6580840948238629, 2.7730466224793136e-07, 0.7529444362872891, -1.9485471114950535e-06 ] }, "last_observed_s": 20.00000000000146, "observation_origin": "privileged_native_simulator_state", "physical_robot_ready": false, "probes": [ { "disposition": "interrupted", "end_time_s": 11.759999999998922, "local_offset_origin_m": [ 0.0022781129793205206, 0.000303851983593731, 0.0019155313689889603 ], "object_origin_m": [ 0.30781541776336624, -0.03497172930387825, 0.07992076204607952 ], "observation_origin": "privileged_native_simulator_state", "probe_index": 0, "reason": "object_not_following", "start_time_s": 11.379999999999132, "tcp_origin_m": [ 0.3100746576245677, -0.03526256521966311, 0.081860513298099 ], "tcp_quaternion_wxyz": [ 0.00525343835487634, -0.0023216996450902833, 0.9999832982614152, -0.0006436570758513796 ] }, { "disposition": "invalidated_hold", "end_time_s": 14.679999999997303, "local_offset_origin_m": [ -0.0020477892117674043, 0.00024962223905263686, 0.0024167796106270177 ], "object_origin_m": [ 0.31012909094777324, -0.03512250928095611, 0.07985533506003292 ], "observation_origin": "privileged_native_simulator_state", "probe_index": 1, "reason": "retry_budget_exhausted:object_not_following", "start_time_s": 14.299999999997514, "tcp_origin_m": [ 0.3081028039275439, -0.03537405613530958, 0.08228997275302095 ], "tcp_quaternion_wxyz": [ -0.0044090035030144095, -0.00022360846175728823, 0.9999902334704642, 0.00020892834428925253 ] } ], "retention": { "hold_reference": null, "input_refusals": [], "native_joint_control_limits_rad": [ [ -2.618, 2.618 ], [ 0.0, 3.14 ], [ -2.697, 0.0 ], [ -1.832, 1.832 ], [ -1.22, 1.22 ], [ -3.14, 3.14 ] ], "variant": "issued_joint" }, "retry_count": 1, "schema": "dvidia.piper-retention/v2", "status": "invalidated_hold", "stop_targets_rad": [ -0.1184962400320349, 1.7583083872629899, -1.1781047006234198, -0.0008039179663367518, 1.077579821729419, -0.11856479831094155 ], "variant": "issued_joint" }, "scene_id": "m0475-f52-p1", "timing": { "policy_cpu": { "maximum_s": 0.008172000000001844, "mean_s": 9.613899999983743e-05, "over_20ms": 0, "p50_s": 8.099999999444663e-05, "p95_s": 0.00022405000000276227, "p99_s": 0.00034102000000586937, "samples": 1000 }, 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Counts are diagnostic, not independent trials." }, "corrections": { "bound_refusal_counts": {}, "flag_counts": { "correction_rate_limited": 0 }, "hold_record_count": 416, "input_refusals": [], "maximum_abs_accepted_correction_rate_rad_s": null, "maximum_abs_active_correction_rad": null, "maximum_abs_desired_correction_rad": null, "maximum_abs_pose_error_increment_rad": null, "rate_limited_axis_occurrences": 0, "scope": "Includes recorded final diagnostic checks; only command_issued rows represent issued controls." }, "decomposition": { "elapsed_s": 5.0, "local_offset_change_m": 0.000518777670904829, "object_world_z_delta_m": -0.0023366195132828588, "relative_world_z_delta_m": -0.0005021114636251239, "scope": "Kinematic components, not causal attribution or calibrated physical slip.", "tcp_world_z_delta_m": -0.0018345080496577348 }, "final": { "both_qualified": false, "controller_qualified": false, "evidence_admissible": false, "native_qualified": false }, "first_admission": { "native_prefix_qualified": true, "native_qualifying_window_s": 0.11900000000000001, "probe_index": 0, "time_s": 11.699999999998955 }, "grip_only": { "all_native_hold_forces_within_ceiling": true, "combined_qualified_pause": false, "complete_5s": true, "controller_retained_at_5s": false, "first_native_predicate_failure_s": 15.379999999996915, "followup_available_s": 8.300000000002505, "native_pause_success": false, "reason": "native_predicate_lost", "required_s": 5.0, "success": false, "target_time_s": 16.699999999998955 }, "native": { "arrays_sha256": "262aa9ce73219f5781d0c387d79b18fd93af38a9c007cd6a33f47739ab698e68", "complete": true, "maximum_per_finger_force_n": 0.4523629136816001, "rows": 20000, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "physical_robot_ready": false, "primary": { "all_native_hold_forces_within_ceiling": true, "combined_qualified_pause": false, "complete_5s": true, "controller_retained_at_5s": false, "first_native_predicate_failure_s": 15.379999999996915, "first_tcp_pose_failure_s": null, "followup_available_s": 8.300000000002505, "native_pause_success": false, "reason": "native_predicate_lost", "required_s": 5.0, "success": false, "target_time_s": 16.699999999998955 }, "probes": [ { "claims": [ { "native_prefix_qualified": true, "t_seconds": 11.699999999998955 } ], "disposition": "invalidated_hold", "final_native_qualified_from_origin": false, "probe_index": 0, "start_time_s": 11.079999999999298 } ], "receipt": { "admission": { "observation_origin": "privileged_native_simulation_plus_caller_planning_assumptions", "physical_robot_ready": false, "planning": { "computed": { "conservative_required_load_n": 0.7801486874999999, "gravity_m_s2": 9.80665, "pose_specific_payload_limit_force_n": 0.980665, "two_finger_friction_capacity_n": 15.600000000000001 }, "observation_origin": "caller_declared_not_verified", "physical_robot_ready": false, "reasons": [ "Run and record a cautious test lift under the same calibrated pose and load conditions before simulated transport planning." ], "schema": "dvidia.task-feasibility-result/v1", "scope": "Planning assessment only. Parallel two-finger vertical-lift approximation; ignores moment, center of mass, deformation, transient impacts and unmodeled contact effects. Unknown values remain unknown; mass is never inferred from images. Probe/test-lift/controller integration is not implemented. No hardware actuation is performed; this is not hardware qualification.", "status": "test_lift_required" }, "probe": { "admissible": false, "historical_qualified": true, "latest_qualified": false, "physical_robot_ready": false, "reasons": [ "latest_native_window_not_qualified", "latest_controller_not_qualified" ], "receipt_sha256": "25b7ab50bea86d30fccb0a58f91693a6980bcb98c9232b35a0a864f5dc0d711a", "schema": "dvidia.probe-evidence-verification/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.", "verified": true }, "schema": "dvidia.task-feasibility-with-probe/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification. Unknown planning values remain unknown. The unchanged approximate vertical-lift planning gate describes declared loads; it supplies no transport path, geospatial-goal contract or actuator permission. This wrapper never issues controls.", "status": "test_lift_required" }, "context": { "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe", "calibration_id": "synthetic_probe_v01", "calibration_scope": "simulation_assumptions_not_hardware", "command_sha256": "3bd666b56deae0f0866689b9290cd5565cf3e9a79f0873fdc5f10cee6495a947", "feasibility_sha256": "dc769df55c09e03fe3594a2fd8cfb69f0476dac47c333520e17782d3ca21d652", "grasp_id": "m0525-f78-p0-measured_joint-probe-0", "initial_object_position_m": [ 0.3039999391008447, -0.024000163164364707, 0.07989224451748381 ], "model_sha256": "1babf58ea27d7e5759297c9f7ed9b3e84233cfced7763335df1714febee1e5d6", "native_status": { "simulation_time_s": 20.00000000000146, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "object_id": "task_block", "per_finger_force_ceiling_n": 10.0, "pose_binding_sha256": "36d5d8b6329a53e1da85ab1409846265504a7070092322372d6032f423a85cca", "probe_index": 0, "probe_origin_object_position_m": [ 0.3038940430144993, -0.023981559662613717, 0.07991838769236623 ], "probe_origin_tcp_local_offset_m": [ 0.0023566964329433775, 0.0002874263595297569, 0.0019363639226107558 ], "probe_start_s": 11.079999999999298, "robot_profile": "piper", "run_id": "m0525-f78-p0-measured_joint", "schema": "dvidia.probe-context/v1", "source_sha256": "d28324843344114f1ee863cee3c48dbca8aa37fd11222623563a0b1d40c364a6" }, "physical_robot_ready": false, "planning_input": { "allowed_pose_tolerance_m": 0.003, "calibration_id": "synthetic_probe_v01", "friction_interval": [ 0.78, 0.78 ], "geometry_known": true, "gripper_max_opening_interval_m": [ 0.07, 0.07 ], "gripper_min_closure_m": 0.0, "mass_interval_kg": [ 0.0525, 0.0525 ], "object_width_interval_m": [ 0.04, 0.04 ], "observations_fresh": true, "per_finger_normal_force_budget_n": 10.0, "planned_upward_accel_m_s2": 0.1, "pose_specific_payload_limit_kg": 0.1, "pose_uncertainty_m": 0.0, "reachability": "reachable", "safety_factor": 1.5, "schema": "dvidia.task-feasibility-input/v1", "slip_detected": false, "test_lift_passed": false }, "receipt": { "audit": { "controller_claim_mismatches": [], "controller_claims_checked": 2, "controller_conservative_abstention_count": 0, "controller_coverage": "Only the supplied claims are checked; omitted decisions are not inferred.", "controller_false_qualification_count": 0, "controller_positive_claims": 1, "force_ceiling_known": true, "maximum_observed_per_finger_force_n": 0.4523629136816001, "reasons": [], "rows": 20000, "unexpected_contact_native_ticks": 0, "valid": true }, "context": { "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe", "calibration_id": "synthetic_probe_v01", "calibration_scope": "simulation_assumptions_not_hardware", "command_sha256": "3bd666b56deae0f0866689b9290cd5565cf3e9a79f0873fdc5f10cee6495a947", "feasibility_sha256": "dc769df55c09e03fe3594a2fd8cfb69f0476dac47c333520e17782d3ca21d652", "grasp_id": "m0525-f78-p0-measured_joint-probe-0", "initial_object_position_m": [ 0.3039999391008447, -0.024000163164364707, 0.07989224451748381 ], "model_sha256": "1babf58ea27d7e5759297c9f7ed9b3e84233cfced7763335df1714febee1e5d6", "native_status": { "simulation_time_s": 20.00000000000146, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "object_id": "task_block", "per_finger_force_ceiling_n": 10.0, "pose_binding_sha256": "36d5d8b6329a53e1da85ab1409846265504a7070092322372d6032f423a85cca", "probe_index": 0, "probe_origin_object_position_m": [ 0.3038940430144993, -0.023981559662613717, 0.07991838769236623 ], "probe_origin_tcp_local_offset_m": [ 0.0023566964329433775, 0.0002874263595297569, 0.0019363639226107558 ], "probe_start_s": 11.079999999999298, "robot_profile": "piper", "run_id": "m0525-f78-p0-measured_joint", "schema": "dvidia.probe-context/v1", "source_sha256": "d28324843344114f1ee863cee3c48dbca8aa37fd11222623563a0b1d40c364a6" }, "context_sha256": "3c7511f8b1f511dd2e8f1e1e422aa06bcaeefcaa7fbdc017c88ee8ebe1226109", "controller_qualifications": [ { "probe_index": 0, "qualified": true, "t_seconds": 11.699999999998955 }, { "probe_index": 0, "qualified": false, "t_seconds": 20.00000000000146 } ], "criteria": { "distance_comparison_epsilon": 1e-12, "initial_sample_tolerance_m": 0.001, "maximum_tcp_local_drift_m": 0.003, "minimum_continuous_dwell_s": 0.1, "minimum_per_finger_force_n_exclusive": 0.01, "minimum_rise_m": 0.006, "native_dt_s": 0.001, "origin_tolerance_m": 1e-09, "time_tolerance_s": 1e-08 }, "history": { "ever_qualified": true, "first_qualified_s": 11.680999999998965, "maximum_continuous_qualifying_s": 3.798 }, "latest": { "condition_valid": false, "continuous_qualifying_s": 0.0, "controller_claim": { "probe_index": 0, "qualified": false, "t_seconds": 20.00000000000146 }, "native_tick": 20000, "qualified": false, "rise_m": 0.004564642830118412, "tcp_local_drift_m": 0.0009376543465228393, "time_s": 20.00000000000146 }, "metadata_sha256": "ad8229630cc9f8718829bb8317b1a82480dcf18b9f71bd23666acfe71a003ef7", "native_arrays_sha256": "262aa9ce73219f5781d0c387d79b18fd93af38a9c007cd6a33f47739ab698e68", "physical_robot_ready": false, "receipt_sha256": "25b7ab50bea86d30fccb0a58f91693a6980bcb98c9232b35a0a864f5dc0d711a", "schema": "dvidia.probe-evidence/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification." }, "status": "inspected", "verification": { "admissible": false, "historical_qualified": true, "latest_qualified": false, "physical_robot_ready": false, "reasons": [ "latest_native_window_not_qualified", "latest_controller_not_qualified" ], "receipt_sha256": "25b7ab50bea86d30fccb0a58f91693a6980bcb98c9232b35a0a864f5dc0d711a", "schema": "dvidia.probe-evidence-verification/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.", "verified": true } }, "stationarity": { "complete_5s": true, "grip_retention_and_stationarity": false, "maximum_tcp_orientation_excursion_rad": 0.006790826390411778, "maximum_tcp_position_excursion_m": 0.002099505070996616, "orientation_ceiling_rad": 0.05, "position_ceiling_m": 0.004, "required_s": 5.0, "scope": "Common recorded native TCP pose endpoint, not calibrated hardware stationarity.", "tcp_pose_within_bounds": true, "terminal_tcp_orientation_delta_rad": 0.006790826390411778, "terminal_tcp_position_delta_m": [ -0.001017967870485692, 7.901375538666572e-05, -0.0018345080496577348 ] }, "status": "inspected" }, "files": { "episode.json.gz": { "bytes": 797834, "sha256": "823bb4b2c6f2399bfe1f09423cf12d08f6e3a077166d274676a8866016fe1453" }, "evaluation.json": { "bytes": 13764, "sha256": "8b66c3600d7c72560bcf532ba268d5f34d5cc1e7efdef7992197089740d493be" }, "native.json": { "bytes": 13763, "sha256": "19cc1d5998901cbc12da2916add3096763081e9decbfc7193981bfabc4b871e0" }, "native.npz": { "bytes": 4056717, "sha256": "be52a02a53cdf0fd643a9f16d5286160b473a08099bbecf18583444ae5b02819" }, "started.json": { "bytes": 153, "sha256": "530891b2929aad308fcc8ff7e463d838fa51b0d5527401d95875622facdfa529" } }, "friction": 0.78, "id": "m0525-f78-p0-measured_joint", "mass_kg": 0.0525, "metrics": { "carry_complete": false, "carry_contact_loss_events": 0, "carry_contact_loss_tolerance_seconds": 0.04, "dwell_seconds": 0.0, "first_success_time_seconds": null, "grasp_seen": true, "lift_dwell_seconds": 0.0, "lift_seen": false, "max_carry_contact_loss_seconds": 0.0, "max_object_lift_m": 0.007391205888809163, "max_pad_normal_force_n": 0.4523629136816001, "physical_robot_ready": false, "reason": "timeout", "retention_lost": false, "simulation_time": 20.00000000000146, "steps": 1000, "success": false, "target_distance_m": 0.11290333627293037, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "policy": { "abort_reason": "probe_height_not_retained", "acquisition_contract": { "comparison_scope": "Closed-loop variants may acquire different trajectories through early hold/retry. This is not an isolated classifier ablation.", "control_dt_s": 0.02, "evidence_admission": "Current bilateral force >0.01 N, no table support, object rise >=6 mm and TCP-local offset drift <=3 mm continuously across sampled boundaries for elapsed >=100 ms.", "hold": "Latch measured six arm joints and the last issued jaw target at admission/terminal invalidity. No full lift/transfer, no squeeze escalation, no post-admission retry.", "invalidation": "At each subsequent 20 ms observation and final observation, invalidate immediately on lost contact/force, support, insufficient rise, >3 mm local drift or unexpected contact. Never requalify after terminal invalidity.", "observation_origin": "privileged_native_simulator_state", "parameters": { "close_timeout_s": 1.4, "consecutive_alarm_samples": 2, "max_retries": 1, "monitor_min_probe_motion_m": 0.003, "probe_height_m": 0.01, "probe_min_object_rise_m": 0.006, "probe_speed_m_s": 0.02, "probe_timeout_s": 1.4, "qualification_dwell_s": 0.1, "relative_drift_limit_m": 0.003, "retry_clearance_m": 0.012, "retry_open_timeout_s": 1.2, "retry_recenter_timeout_s": 1.5 }, "physical_robot_ready": false, "prefix": "Original GuardedPiperTaskPolicy approach/close and at most one supported open/recenter/retry; already uses authored native state, not a fully blind baseline.", "sampling_limit": "Independent 1 ms evidence may contradict sampled admission; that remains a finding. No sensor or material inference is implemented.", "schema": "dvidia.piper-probe-stop/v1", "stop_scope": "Holding native position targets is not physical arrest or calibrated force limiting; inertia and existing target rate limits can continue motion.", "timer_admission": "Same 10 mm/20 mm/s probe target law, admitted at elapsed >=600 ms from that probe start; no evidence predicate or slip alarm before admission. Unexpected contacts and bounded timeouts still stop.", "timer_admission_s": 0.6, "variants": [ "evidence", "timer" ] }, "acquisition_variant": "evidence", "active_probe_index": 0, "admission_time_s": 11.699999999998955, "admitted": false, "contract": { "acquisition": "Unchanged ProbeStopPolicy evidence acquisition, including its bounded supported retry. All variants share the same prefix through the first admission observation.", "cartesian": "Latch measured TCP position/orientation and preceding issued targets. Fixed joint bias equals issued target minus pose_action at the admission pose. First command repeats the exact issued target; later pose_action updates receive that fixed bias.", "control_dt_s": 0.02, "final_observation": "Repeat force, original eligibility and Cartesian pose-error checks. Do not solve or issue a hypothetical next control at the terminal observation.", "invalid_measurements": "Malformed, nonfinite or noncausal observations terminally refuse and raise without issuing a command. No measured-position stop is claimed from invalid measurements.", "issued_joint": "Latch the preceding issued six joint targets and the same last issued jaw target at admission.", "limits": { "initial_joint_bias_ceiling_rad": 0.08, "joint_correction_ceiling_rad": 0.03, "joint_correction_rate_rad_s": 0.1, "native_joint_target_margin_rad": 0.02, "per_finger_force_ceiling_n": 10.0, "tcp_orientation_error_ceiling_rad": 0.05, "tcp_position_error_ceiling_m": 0.004 }, "measured_joint": "Original hold: latch measured six joint coordinates and the last issued jaw target at admission.", "observation_origin": "privileged_native_simulator_state", "physical_robot_ready": false, "qualifications": "Engineering limits and the 10 N ceiling are authored synthetic assumptions, not damage limits or calibrated physical telemetry. Position targets are not physical stops or force limiters. No load/friction inference, model training or complete placement is implemented.", "rate_scope": "The extra correction slews at at most 0.002 rad per 20 ms per joint. Original native 1 ms target slew, servos, gains and force caps remain unchanged.", "refusal": "Original eligibility loss, unexpected contact or observed pad force >10 N terminally requests measured joint hold and the frozen jaw target. Cartesian error, initial-bias, total-correction or native-margin exhaustion also refuses terminally; it never chases an already failed grip.", "sampling": "Control checks occur at 20 ms boundaries. Independent saved 1 ms native evidence must judge a continuous 5 s hold; missed between-boundary failures remain findings.", "schema": "dvidia.piper-retention/v2", "variants": [ "measured_joint", "issued_joint", "cartesian" ] }, "events": [ { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "continue", "drift_streak": 0, "object_height_delta_m": 0.0, "phase": "probe", "progress_streak": 0, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0, "retry_index": 0, "t_seconds": 11.079999999999298, "table_supported": true, "tcp_probe_height_delta_m": 0.0 }, "observation_origin": "privileged_native_simulator_state", "phase": "guard_probe", "probe_index": 0, "reason": "slow_load_bearing_check", "retention_variant": "measured_joint", "retry_index": 0, "status": "probing", "t_seconds": 11.079999999999298, "type": "probe_started", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "bounded_measured_joint_hold", "drift_streak": 0, "object_height_delta_m": 0.007344724810564196, "phase": "probe", "progress_streak": 0, "qualification_dwell_seconds": 0.09999999999994458, "qualified": true, "relative_offset_error_m": 8.84264608001834e-05, "retry_index": 0, "t_seconds": 11.699999999998955, "table_supported": false, "tcp_probe_height_delta_m": 0.0074620014152265435 }, "observation_origin": "privileged_native_simulator_state", "phase": "probe_stop", "probe_index": 0, "reason": "sampled_probe_evidence", "retention_hold_reference": { "fixed_bias_rad": null, "frozen_jaw_target_m": 0.0, "issued_joint_targets_rad": [ -0.08358518407355561, 1.7253453965848, -1.1599064482954542, -0.00012220931770928306, 1.0812856093190863, -0.08676977091835571 ], "measured_joint_position_rad": [ -0.08359930502148111, 1.7302856990367026, -1.1551102366558206, -0.00013847179492223322, 1.0548843691620289, -0.0867360338519029 ], "position_m": [ 0.3101307567206691, -0.02459327189435752, 0.08934330531199332 ], "quaternion_wxyz": [ 0.013935180091692843, -0.0015977946895388492, 0.9999008427835249, -0.001249963495089397 ], "raw_pose_joint_targets_rad": null, "t_seconds": 11.699999999998955 }, "retention_variant": "measured_joint", "retry_index": 0, "status": "qualified_hold", "t_seconds": 11.699999999998955, "type": "evidence_qualified", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "hold_measured_arm_and_freeze_issued_jaw", "drift_streak": 0, "object_height_delta_m": 0.005999952512244361, "phase": "probe_hold", "progress_streak": 0, "qualification_dwell_seconds": 3.779999999997905, "qualified": false, "relative_offset_error_m": 0.00046244567748662547, "retry_index": 0, "t_seconds": 15.379999999996915, "table_supported": false, "tcp_probe_height_delta_m": 0.006490794346863851 }, "observation_origin": "privileged_native_simulator_state", "phase": "probe_stop", "probe_index": 0, "reason": "probe_height_not_retained", "retention_variant": "measured_joint", "retry_index": 0, "status": "invalidated_hold", "t_seconds": 15.379999999996915, "type": "hold_invalidated", "variant": "evidence" } ], "ever_admitted": true, "final_observed": true, "frozen_jaw_target_m": 0.0, "initial_context": { "object_position_m": [ 0.3039999391008447, -0.024000163164364707, 0.07989224451748381 ], "observation_origin": "privileged_native_simulator_state", "t_seconds": 0.0, "tcp_position_m": [ 0.4890696662845219, 0.0014141975654808877, 0.3665849431043091 ], "tcp_quaternion_wxyz": [ 0.6580840948238629, 2.7730466224793136e-07, 0.7529444362872891, -1.9485471114950535e-06 ] }, "last_observed_s": 20.00000000000146, "observation_origin": "privileged_native_simulator_state", "physical_robot_ready": false, "probes": [ { "admission_time_s": 11.699999999998955, "disposition": "invalidated_hold", "end_time_s": 15.379999999996915, "local_offset_origin_m": [ 0.0023566964329433775, 0.0002874263595297569, 0.0019363639226107558 ], "object_origin_m": [ 0.3038940430144993, -0.023981559662613717, 0.07991838769236623 ], "observation_origin": "privileged_native_simulator_state", "probe_index": 0, "reason": "probe_height_not_retained", "start_time_s": 11.079999999999298, "tcp_origin_m": [ 0.30622983905256296, -0.024259325882764634, 0.08188130389676677 ], "tcp_quaternion_wxyz": [ 0.005594328141380828, -0.001616820581638936, 0.9999829032194333, -0.0005316509067625405 ] } ], "retention": { "hold_reference": { "fixed_bias_rad": null, "frozen_jaw_target_m": 0.0, "issued_joint_targets_rad": [ -0.08358518407355561, 1.7253453965848, -1.1599064482954542, -0.00012220931770928306, 1.0812856093190863, -0.08676977091835571 ], "measured_joint_position_rad": [ -0.08359930502148111, 1.7302856990367026, -1.1551102366558206, -0.00013847179492223322, 1.0548843691620289, -0.0867360338519029 ], "position_m": [ 0.3101307567206691, -0.02459327189435752, 0.08934330531199332 ], "quaternion_wxyz": [ 0.013935180091692843, -0.0015977946895388492, 0.9999008427835249, -0.001249963495089397 ], "raw_pose_joint_targets_rad": null, "t_seconds": 11.699999999998955 }, "input_refusals": [], "native_joint_control_limits_rad": [ [ -2.618, 2.618 ], [ 0.0, 3.14 ], [ -2.697, 0.0 ], [ -1.832, 1.832 ], [ -1.22, 1.22 ], [ -3.14, 3.14 ] ], "variant": "measured_joint" }, "retry_count": 0, "schema": "dvidia.piper-retention/v2", "status": "invalidated_hold", "stop_targets_rad": [ -0.0835993032937779, 1.7322693649683265, -1.1536184889951187, -0.00015559043202331607, 1.055039225289653, -0.08673621852959522 ], "variant": "measured_joint" }, "scene_id": "m0525-f78-p0", "timing": { "policy_cpu": { "maximum_s": 0.0012499999999988631, "mean_s": 0.00012660000000009575, "over_20ms": 0, "p50_s": 9.599999999920783e-05, "p95_s": 0.000336050000003496, "p99_s": 0.0004750900000085777, "samples": 1000 }, "policy_wall": { "maximum_s": 0.006418665871024132, "mean_s": 0.00017188815772533415, "over_20ms": 0, "p50_s": 9.635393507778645e-05, "p95_s": 0.00047364439815282793, "p99_s": 0.0014538677548989625, "samples": 1000 }, "step_cpu": { "maximum_s": 0.007925000000000182, "mean_s": 0.0032338969999997857, "over_20ms": 0, "p50_s": 0.0029044999999996435, "p95_s": 0.005131850000005754, "p99_s": 0.006625079999999599, "samples": 1000 }, "step_wall": { "maximum_s": 0.19389966689050198, "mean_s": 0.004473138478118926, "over_20ms": 18, "p50_s": 0.0030063751619309187, "p95_s": 0.009864056087099013, "p99_s": 0.02877403750084339, "samples": 1000 } }, "valid": true, "variant": "measured_joint" }, { "error": null, "evaluation": { "claims": { "false_maintained_grip": 0, "false_maintained_pose": 330, "maintained_checks": 415, "scope": "Claimed qualified boundaries after admission, compared with every native row since admission; grip includes correct initial prefix. Counts are diagnostic, not independent trials." }, "corrections": { "bound_refusal_counts": {}, "flag_counts": { "correction_rate_limited": 0 }, "hold_record_count": 416, "input_refusals": [], "maximum_abs_accepted_correction_rate_rad_s": null, "maximum_abs_active_correction_rad": null, "maximum_abs_desired_correction_rad": null, "maximum_abs_pose_error_increment_rad": null, "rate_limited_axis_occurrences": 0, "scope": "Includes recorded final diagnostic checks; only command_issued rows represent issued controls." }, "decomposition": { "elapsed_s": 5.0, "local_offset_change_m": 0.0005195230969308522, "object_world_z_delta_m": 0.0011268605525073944, "relative_world_z_delta_m": -0.000471910115318136, "scope": "Kinematic components, not causal attribution or calibrated physical slip.", "tcp_world_z_delta_m": 0.0015987706678255303 }, "final": { "both_qualified": true, "controller_qualified": true, "evidence_admissible": true, "native_qualified": true }, "first_admission": { "native_prefix_qualified": true, "native_qualifying_window_s": 0.11900000000000001, "probe_index": 0, "time_s": 11.699999999998955 }, "grip_only": { "all_native_hold_forces_within_ceiling": true, "combined_qualified_pause": true, "complete_5s": true, "controller_retained_at_5s": true, "first_native_predicate_failure_s": null, "followup_available_s": 8.300000000002505, "native_pause_success": true, "reason": "success", "required_s": 5.0, "success": true, "target_time_s": 16.699999999998955 }, "native": { "arrays_sha256": "22a358f251aedf9ae08ab81c81a1906119e6dbf7834d6596a329aecf08de50c1", "complete": true, "maximum_per_finger_force_n": 0.4523629136816001, "rows": 20000, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "physical_robot_ready": false, "primary": { "all_native_hold_forces_within_ceiling": true, "combined_qualified_pause": false, "complete_5s": true, "controller_retained_at_5s": true, "first_native_predicate_failure_s": null, "first_tcp_pose_failure_s": 13.417999999998003, "followup_available_s": 8.300000000002505, "native_pause_success": true, "reason": "tcp_stationarity_lost", "required_s": 5.0, "success": false, "target_time_s": 16.699999999998955 }, "probes": [ { "claims": [ { "native_prefix_qualified": true, "t_seconds": 11.699999999998955 } ], "disposition": "qualified_hold", "final_native_qualified_from_origin": true, "probe_index": 0, "start_time_s": 11.079999999999298 } ], "receipt": { "admission": { "observation_origin": "privileged_native_simulation_plus_caller_planning_assumptions", "physical_robot_ready": false, "planning": { "computed": { "conservative_required_load_n": 0.7801486874999999, "gravity_m_s2": 9.80665, "pose_specific_payload_limit_force_n": 0.980665, "two_finger_friction_capacity_n": 15.600000000000001 }, "observation_origin": "caller_declared_not_verified", "physical_robot_ready": false, "reasons": [ "Declared checks pass for simulated transport planning; this is not hardware qualification." ], "schema": "dvidia.task-feasibility-result/v1", "scope": "Planning assessment only. Parallel two-finger vertical-lift approximation; ignores moment, center of mass, deformation, transient impacts and unmodeled contact effects. Unknown values remain unknown; mass is never inferred from images. Probe/test-lift/controller integration is not implemented. No hardware actuation is performed; this is not hardware qualification.", "status": "ready_for_simulated_transport" }, "probe": { "admissible": true, "historical_qualified": true, "latest_qualified": true, "physical_robot_ready": false, "reasons": [], "receipt_sha256": "ca3895eb3846b87a829e752da48192dc781168b3d785f8616cd3d37c0186cab0", "schema": "dvidia.probe-evidence-verification/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.", "verified": true }, "schema": "dvidia.task-feasibility-with-probe/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification. Unknown planning values remain unknown. The unchanged approximate vertical-lift planning gate describes declared loads; it supplies no transport path, geospatial-goal contract or actuator permission. This wrapper never issues controls.", "status": "ready_for_simulated_transport" }, "context": { "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe", "calibration_id": "synthetic_probe_v01", "calibration_scope": "simulation_assumptions_not_hardware", "command_sha256": "dab85a48a6bd1375a06945fa79b9d5523ebdf430ac89baed53828156ab2b4804", "feasibility_sha256": "dc769df55c09e03fe3594a2fd8cfb69f0476dac47c333520e17782d3ca21d652", "grasp_id": "m0525-f78-p0-issued_joint-probe-0", "initial_object_position_m": [ 0.3039999391008447, -0.024000163164364707, 0.07989224451748381 ], "model_sha256": "1babf58ea27d7e5759297c9f7ed9b3e84233cfced7763335df1714febee1e5d6", "native_status": { "simulation_time_s": 20.00000000000146, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "object_id": "task_block", "per_finger_force_ceiling_n": 10.0, "pose_binding_sha256": "4a3ad981db8346047dd512598b827b47e69f5790f692b9b09fe97bc78962d343", "probe_index": 0, "probe_origin_object_position_m": [ 0.3038940430144993, -0.023981559662613717, 0.07991838769236623 ], "probe_origin_tcp_local_offset_m": [ 0.0023566964329433775, 0.0002874263595297569, 0.0019363639226107558 ], "probe_start_s": 11.079999999999298, "robot_profile": "piper", "run_id": "m0525-f78-p0-issued_joint", "schema": "dvidia.probe-context/v1", "source_sha256": "d28324843344114f1ee863cee3c48dbca8aa37fd11222623563a0b1d40c364a6" }, "physical_robot_ready": false, "planning_input": { "allowed_pose_tolerance_m": 0.003, "calibration_id": "synthetic_probe_v01", "friction_interval": [ 0.78, 0.78 ], "geometry_known": true, "gripper_max_opening_interval_m": [ 0.07, 0.07 ], "gripper_min_closure_m": 0.0, "mass_interval_kg": [ 0.0525, 0.0525 ], "object_width_interval_m": [ 0.04, 0.04 ], "observations_fresh": true, "per_finger_normal_force_budget_n": 10.0, "planned_upward_accel_m_s2": 0.1, "pose_specific_payload_limit_kg": 0.1, "pose_uncertainty_m": 0.0, "reachability": "reachable", "safety_factor": 1.5, "schema": "dvidia.task-feasibility-input/v1", "slip_detected": false, "test_lift_passed": false }, "receipt": { "audit": { "controller_claim_mismatches": [], "controller_claims_checked": 2, "controller_conservative_abstention_count": 0, "controller_coverage": "Only the supplied claims are checked; omitted decisions are not inferred.", "controller_false_qualification_count": 0, "controller_positive_claims": 2, "force_ceiling_known": true, "maximum_observed_per_finger_force_n": 0.4523629136816001, "reasons": [], "rows": 20000, "unexpected_contact_native_ticks": 0, "valid": true }, "context": { "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe", "calibration_id": "synthetic_probe_v01", "calibration_scope": "simulation_assumptions_not_hardware", "command_sha256": "dab85a48a6bd1375a06945fa79b9d5523ebdf430ac89baed53828156ab2b4804", "feasibility_sha256": "dc769df55c09e03fe3594a2fd8cfb69f0476dac47c333520e17782d3ca21d652", "grasp_id": "m0525-f78-p0-issued_joint-probe-0", "initial_object_position_m": [ 0.3039999391008447, -0.024000163164364707, 0.07989224451748381 ], "model_sha256": "1babf58ea27d7e5759297c9f7ed9b3e84233cfced7763335df1714febee1e5d6", "native_status": { "simulation_time_s": 20.00000000000146, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "object_id": "task_block", "per_finger_force_ceiling_n": 10.0, "pose_binding_sha256": "4a3ad981db8346047dd512598b827b47e69f5790f692b9b09fe97bc78962d343", "probe_index": 0, "probe_origin_object_position_m": [ 0.3038940430144993, -0.023981559662613717, 0.07991838769236623 ], "probe_origin_tcp_local_offset_m": [ 0.0023566964329433775, 0.0002874263595297569, 0.0019363639226107558 ], "probe_start_s": 11.079999999999298, "robot_profile": "piper", "run_id": "m0525-f78-p0-issued_joint", "schema": "dvidia.probe-context/v1", "source_sha256": "d28324843344114f1ee863cee3c48dbca8aa37fd11222623563a0b1d40c364a6" }, "context_sha256": "2de99e0680c06f9c7c62016c791eab688f7d3828c0955fe9110880eaf09a2e7d", "controller_qualifications": [ { "probe_index": 0, "qualified": true, "t_seconds": 11.699999999998955 }, { "probe_index": 0, "qualified": true, "t_seconds": 20.00000000000146 } ], "criteria": { "distance_comparison_epsilon": 1e-12, "initial_sample_tolerance_m": 0.001, "maximum_tcp_local_drift_m": 0.003, "minimum_continuous_dwell_s": 0.1, "minimum_per_finger_force_n_exclusive": 0.01, "minimum_rise_m": 0.006, "native_dt_s": 0.001, "origin_tolerance_m": 1e-09, "time_tolerance_s": 1e-08 }, "history": { "ever_qualified": true, "first_qualified_s": 11.680999999998965, "maximum_continuous_qualifying_s": 8.419 }, "latest": { "condition_valid": true, "continuous_qualifying_s": 8.419, "controller_claim": { "probe_index": 0, "qualified": true, "t_seconds": 20.00000000000146 }, "native_tick": 20000, "qualified": true, "rise_m": 0.008133475945967375, "tcp_local_drift_m": 0.0009389458004390811, "time_s": 20.00000000000146 }, "metadata_sha256": "ad8229630cc9f8718829bb8317b1a82480dcf18b9f71bd23666acfe71a003ef7", "native_arrays_sha256": "22a358f251aedf9ae08ab81c81a1906119e6dbf7834d6596a329aecf08de50c1", "physical_robot_ready": false, "receipt_sha256": "ca3895eb3846b87a829e752da48192dc781168b3d785f8616cd3d37c0186cab0", "schema": "dvidia.probe-evidence/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification." }, "status": "inspected", "verification": { "admissible": true, "historical_qualified": true, "latest_qualified": true, "physical_robot_ready": false, "reasons": [], "receipt_sha256": "ca3895eb3846b87a829e752da48192dc781168b3d785f8616cd3d37c0186cab0", "schema": "dvidia.probe-evidence-verification/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.", "verified": true } }, "stationarity": { "complete_5s": true, "grip_retention_and_stationarity": false, "maximum_tcp_orientation_excursion_rad": 0.01997498352079212, "maximum_tcp_position_excursion_m": 0.00470442622843484, "orientation_ceiling_rad": 0.05, "position_ceiling_m": 0.004, "required_s": 5.0, "scope": "Common recorded native TCP pose endpoint, not calibrated hardware stationarity.", "tcp_pose_within_bounds": false, "terminal_tcp_orientation_delta_rad": 0.01997498352079212, "terminal_tcp_position_delta_m": [ -0.004408655070181622, 0.0003732545547588638, 0.0015987706678255303 ] }, "status": "inspected" }, "files": { "episode.json.gz": { "bytes": 792149, "sha256": "3f95a0e7dd6207068dafff0ec69304d0aa7732a3e412e6c47d0b149c78f16e01" }, "evaluation.json": { "bytes": 13499, "sha256": "5165bf080b95ae3242544c988de2fe40c28c2779270535650657008658041f10" }, "native.json": { "bytes": 13763, "sha256": "19cc1d5998901cbc12da2916add3096763081e9decbfc7193981bfabc4b871e0" }, "native.npz": { "bytes": 4056817, "sha256": "e477bbdee29c8063b54c8a94f1c24f499a41e195141902ad3d13cc9a735e854a" }, "started.json": { "bytes": 151, "sha256": "dd69c3259f6c6e59d8c75817337cb46fe75f188f751a7e01d156d5b8de59741c" } }, "friction": 0.78, "id": "m0525-f78-p0-issued_joint", "mass_kg": 0.0525, "metrics": { "carry_complete": false, "carry_contact_loss_events": 0, "carry_contact_loss_tolerance_seconds": 0.04, "dwell_seconds": 0.0, "first_success_time_seconds": null, "grasp_seen": true, "lift_dwell_seconds": 0.0, "lift_seen": false, "max_carry_contact_loss_seconds": 0.0, "max_object_lift_m": 0.008727792260509376, "max_pad_normal_force_n": 0.4523629136816001, "physical_robot_ready": false, "reason": "timeout", "retention_lost": false, "simulation_time": 20.00000000000146, "steps": 1000, "success": false, "target_distance_m": 0.11415480779671903, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "policy": { "abort_reason": null, "acquisition_contract": { "comparison_scope": "Closed-loop variants may acquire different trajectories through early hold/retry. This is not an isolated classifier ablation.", "control_dt_s": 0.02, "evidence_admission": "Current bilateral force >0.01 N, no table support, object rise >=6 mm and TCP-local offset drift <=3 mm continuously across sampled boundaries for elapsed >=100 ms.", "hold": "Latch measured six arm joints and the last issued jaw target at admission/terminal invalidity. No full lift/transfer, no squeeze escalation, no post-admission retry.", "invalidation": "At each subsequent 20 ms observation and final observation, invalidate immediately on lost contact/force, support, insufficient rise, >3 mm local drift or unexpected contact. Never requalify after terminal invalidity.", "observation_origin": "privileged_native_simulator_state", "parameters": { "close_timeout_s": 1.4, "consecutive_alarm_samples": 2, "max_retries": 1, "monitor_min_probe_motion_m": 0.003, "probe_height_m": 0.01, "probe_min_object_rise_m": 0.006, "probe_speed_m_s": 0.02, "probe_timeout_s": 1.4, "qualification_dwell_s": 0.1, "relative_drift_limit_m": 0.003, "retry_clearance_m": 0.012, "retry_open_timeout_s": 1.2, "retry_recenter_timeout_s": 1.5 }, "physical_robot_ready": false, "prefix": "Original GuardedPiperTaskPolicy approach/close and at most one supported open/recenter/retry; already uses authored native state, not a fully blind baseline.", "sampling_limit": "Independent 1 ms evidence may contradict sampled admission; that remains a finding. No sensor or material inference is implemented.", "schema": "dvidia.piper-probe-stop/v1", "stop_scope": "Holding native position targets is not physical arrest or calibrated force limiting; inertia and existing target rate limits can continue motion.", "timer_admission": "Same 10 mm/20 mm/s probe target law, admitted at elapsed >=600 ms from that probe start; no evidence predicate or slip alarm before admission. Unexpected contacts and bounded timeouts still stop.", "timer_admission_s": 0.6, "variants": [ "evidence", "timer" ] }, "acquisition_variant": "evidence", "active_probe_index": 0, "admission_time_s": 11.699999999998955, "admitted": true, "contract": { "acquisition": "Unchanged ProbeStopPolicy evidence acquisition, including its bounded supported retry. All variants share the same prefix through the first admission observation.", "cartesian": "Latch measured TCP position/orientation and preceding issued targets. Fixed joint bias equals issued target minus pose_action at the admission pose. First command repeats the exact issued target; later pose_action updates receive that fixed bias.", "control_dt_s": 0.02, "final_observation": "Repeat force, original eligibility and Cartesian pose-error checks. Do not solve or issue a hypothetical next control at the terminal observation.", "invalid_measurements": "Malformed, nonfinite or noncausal observations terminally refuse and raise without issuing a command. No measured-position stop is claimed from invalid measurements.", "issued_joint": "Latch the preceding issued six joint targets and the same last issued jaw target at admission.", "limits": { "initial_joint_bias_ceiling_rad": 0.08, "joint_correction_ceiling_rad": 0.03, "joint_correction_rate_rad_s": 0.1, "native_joint_target_margin_rad": 0.02, "per_finger_force_ceiling_n": 10.0, "tcp_orientation_error_ceiling_rad": 0.05, "tcp_position_error_ceiling_m": 0.004 }, "measured_joint": "Original hold: latch measured six joint coordinates and the last issued jaw target at admission.", "observation_origin": "privileged_native_simulator_state", "physical_robot_ready": false, "qualifications": "Engineering limits and the 10 N ceiling are authored synthetic assumptions, not damage limits or calibrated physical telemetry. Position targets are not physical stops or force limiters. No load/friction inference, model training or complete placement is implemented.", "rate_scope": "The extra correction slews at at most 0.002 rad per 20 ms per joint. Original native 1 ms target slew, servos, gains and force caps remain unchanged.", "refusal": "Original eligibility loss, unexpected contact or observed pad force >10 N terminally requests measured joint hold and the frozen jaw target. Cartesian error, initial-bias, total-correction or native-margin exhaustion also refuses terminally; it never chases an already failed grip.", "sampling": "Control checks occur at 20 ms boundaries. Independent saved 1 ms native evidence must judge a continuous 5 s hold; missed between-boundary failures remain findings.", "schema": "dvidia.piper-retention/v2", "variants": [ "measured_joint", "issued_joint", "cartesian" ] }, "events": [ { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "continue", "drift_streak": 0, "object_height_delta_m": 0.0, "phase": "probe", "progress_streak": 0, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0, "retry_index": 0, "t_seconds": 11.079999999999298, "table_supported": true, "tcp_probe_height_delta_m": 0.0 }, "observation_origin": "privileged_native_simulator_state", "phase": "guard_probe", "probe_index": 0, "reason": "slow_load_bearing_check", "retention_variant": "issued_joint", "retry_index": 0, "status": "probing", "t_seconds": 11.079999999999298, "type": "probe_started", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "bounded_issued_joint_hold", "drift_streak": 0, "object_height_delta_m": 0.007344724810564196, "phase": "probe", "progress_streak": 0, "qualification_dwell_seconds": 0.09999999999994458, "qualified": true, "relative_offset_error_m": 8.84264608001834e-05, "retry_index": 0, "t_seconds": 11.699999999998955, "table_supported": false, "tcp_probe_height_delta_m": 0.0074620014152265435 }, "observation_origin": "privileged_native_simulator_state", "phase": "probe_stop", "probe_index": 0, "reason": "sampled_probe_evidence", "retention_hold_reference": { "fixed_bias_rad": null, "frozen_jaw_target_m": 0.0, "issued_joint_targets_rad": [ -0.08358518407355561, 1.7253453965848, -1.1599064482954542, -0.00012220931770928306, 1.0812856093190863, -0.08676977091835571 ], "measured_joint_position_rad": [ -0.08359930502148111, 1.7302856990367026, -1.1551102366558206, -0.00013847179492223322, 1.0548843691620289, -0.0867360338519029 ], "position_m": [ 0.3101307567206691, -0.02459327189435752, 0.08934330531199332 ], "quaternion_wxyz": [ 0.013935180091692843, -0.0015977946895388492, 0.9999008427835249, -0.001249963495089397 ], "raw_pose_joint_targets_rad": null, "t_seconds": 11.699999999998955 }, "retention_variant": "issued_joint", "retry_index": 0, "status": "qualified_hold", "t_seconds": 11.699999999998955, "type": "evidence_qualified", "variant": "evidence" } ], "ever_admitted": true, "final_observed": true, "frozen_jaw_target_m": 0.0, "initial_context": { "object_position_m": [ 0.3039999391008447, -0.024000163164364707, 0.07989224451748381 ], "observation_origin": "privileged_native_simulator_state", "t_seconds": 0.0, "tcp_position_m": [ 0.4890696662845219, 0.0014141975654808877, 0.3665849431043091 ], "tcp_quaternion_wxyz": [ 0.6580840948238629, 2.7730466224793136e-07, 0.7529444362872891, -1.9485471114950535e-06 ] }, "last_observed_s": 20.00000000000146, "observation_origin": "privileged_native_simulator_state", "physical_robot_ready": false, "probes": [ { "admission_time_s": 11.699999999998955, "disposition": "qualified_hold", "end_time_s": null, "local_offset_origin_m": [ 0.0023566964329433775, 0.0002874263595297569, 0.0019363639226107558 ], "object_origin_m": [ 0.3038940430144993, -0.023981559662613717, 0.07991838769236623 ], "observation_origin": "privileged_native_simulator_state", "probe_index": 0, "reason": null, "start_time_s": 11.079999999999298, "tcp_origin_m": [ 0.30622983905256296, -0.024259325882764634, 0.08188130389676677 ], "tcp_quaternion_wxyz": [ 0.005594328141380828, -0.001616820581638936, 0.9999829032194333, -0.0005316509067625405 ] } ], "retention": { "hold_reference": { "fixed_bias_rad": null, "frozen_jaw_target_m": 0.0, "issued_joint_targets_rad": [ -0.08358518407355561, 1.7253453965848, -1.1599064482954542, -0.00012220931770928306, 1.0812856093190863, -0.08676977091835571 ], "measured_joint_position_rad": [ -0.08359930502148111, 1.7302856990367026, -1.1551102366558206, -0.00013847179492223322, 1.0548843691620289, -0.0867360338519029 ], "position_m": [ 0.3101307567206691, -0.02459327189435752, 0.08934330531199332 ], "quaternion_wxyz": [ 0.013935180091692843, -0.0015977946895388492, 0.9999008427835249, -0.001249963495089397 ], "raw_pose_joint_targets_rad": null, "t_seconds": 11.699999999998955 }, "input_refusals": [], "native_joint_control_limits_rad": [ [ -2.618, 2.618 ], [ 0.0, 3.14 ], [ -2.697, 0.0 ], [ -1.832, 1.832 ], [ -1.22, 1.22 ], [ -3.14, 3.14 ] ], "variant": "issued_joint" }, "retry_count": 0, "schema": "dvidia.piper-retention/v2", "status": "qualified_hold", "stop_targets_rad": [ -0.08358518407355561, 1.7253453965848, -1.1599064482954542, -0.00012220931770928306, 1.0812856093190863, -0.08676977091835571 ], "variant": "issued_joint" }, "scene_id": "m0525-f78-p0", "timing": { "policy_cpu": { "maximum_s": 0.0005629999999996471, "mean_s": 6.0992000000297256e-05, "over_20ms": 0, "p50_s": 6.799999999884676e-05, "p95_s": 9.299999999328179e-05, "p99_s": 0.00013301000000524253, "samples": 1000 }, "policy_wall": { "maximum_s": 0.0010315407998859882, "mean_s": 6.210254970937967e-05, "over_20ms": 0, "p50_s": 6.804079748690128e-05, "p95_s": 9.326045401394367e-05, "p99_s": 0.00015382304787635797, "samples": 1000 }, "step_cpu": { "maximum_s": 0.02597400000000505, "mean_s": 0.0026122839999997184, "over_20ms": 1, "p50_s": 0.002004499999991083, "p95_s": 0.003930199999997086, "p99_s": 0.004695059999998108, "samples": 1000 }, "step_wall": { "maximum_s": 0.02600320801138878, "mean_s": 0.0026722132484428584, "over_20ms": 1, "p50_s": 0.0020186039619147778, "p95_s": 0.004160608490929007, "p99_s": 0.005878556226380169, "samples": 1000 } }, "valid": true, "variant": "issued_joint" }, { "error": null, "evaluation": { "claims": { "false_maintained_grip": 0, "false_maintained_pose": 0, "maintained_checks": 15, "scope": "Claimed qualified boundaries after admission, compared with every native row since admission; grip includes correct initial prefix. Counts are diagnostic, not independent trials." }, "corrections": { "bound_refusal_counts": { "joint_correction_exhausted": 1 }, "flag_counts": { "correction_rate_limited": 12 }, "hold_record_count": 416, "input_refusals": [], "maximum_abs_accepted_correction_rate_rad_s": 0.10000000000000009, "maximum_abs_active_correction_rad": 0.027256900803019665, "maximum_abs_desired_correction_rad": 0.031323290421199065, "maximum_abs_pose_error_increment_rad": 0.004185765374082884, "rate_limited_axis_occurrences": 12, "scope": "Includes recorded final diagnostic checks; only command_issued rows represent issued controls." }, "decomposition": { "elapsed_s": 5.0, "local_offset_change_m": 0.0005197077401157219, "object_world_z_delta_m": -0.001451651054097794, "relative_world_z_delta_m": -0.000501364655555378, "scope": "Kinematic components, not causal attribution or calibrated physical slip.", "tcp_world_z_delta_m": -0.0009502863985424159 }, "final": { "both_qualified": false, "controller_qualified": false, "evidence_admissible": false, "native_qualified": false }, "first_admission": { "native_prefix_qualified": true, "native_qualifying_window_s": 0.11900000000000001, "probe_index": 0, "time_s": 11.699999999998955 }, "grip_only": { "all_native_hold_forces_within_ceiling": true, "combined_qualified_pause": false, "complete_5s": true, "controller_retained_at_5s": false, "first_native_predicate_failure_s": 15.687999999996745, "followup_available_s": 8.300000000002505, "native_pause_success": false, "reason": "native_predicate_lost", "required_s": 5.0, "success": false, "target_time_s": 16.699999999998955 }, "native": { "arrays_sha256": "939f8cb80453cd02e56fbb66979d3378f86929672f32942ce27f15488daece78", "complete": true, "maximum_per_finger_force_n": 0.4523629136816001, "rows": 20000, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "physical_robot_ready": false, "primary": { "all_native_hold_forces_within_ceiling": true, "combined_qualified_pause": false, "complete_5s": true, "controller_retained_at_5s": false, "first_native_predicate_failure_s": 15.687999999996745, "first_tcp_pose_failure_s": null, "followup_available_s": 8.300000000002505, "native_pause_success": false, "reason": "native_predicate_lost", "required_s": 5.0, "success": false, "target_time_s": 16.699999999998955 }, "probes": [ { "claims": [ { "native_prefix_qualified": true, "t_seconds": 11.699999999998955 } ], "disposition": "invalidated_hold", "final_native_qualified_from_origin": false, "probe_index": 0, "start_time_s": 11.079999999999298 } ], "receipt": { "admission": { "observation_origin": "privileged_native_simulation_plus_caller_planning_assumptions", "physical_robot_ready": false, "planning": { "computed": { "conservative_required_load_n": 0.7801486874999999, "gravity_m_s2": 9.80665, "pose_specific_payload_limit_force_n": 0.980665, "two_finger_friction_capacity_n": 15.600000000000001 }, "observation_origin": "caller_declared_not_verified", "physical_robot_ready": false, "reasons": [ "Run and record a cautious test lift under the same calibrated pose and load conditions before simulated transport planning." ], "schema": "dvidia.task-feasibility-result/v1", "scope": "Planning assessment only. Parallel two-finger vertical-lift approximation; ignores moment, center of mass, deformation, transient impacts and unmodeled contact effects. Unknown values remain unknown; mass is never inferred from images. Probe/test-lift/controller integration is not implemented. No hardware actuation is performed; this is not hardware qualification.", "status": "test_lift_required" }, "probe": { "admissible": false, "historical_qualified": true, "latest_qualified": false, "physical_robot_ready": false, "reasons": [ "latest_native_window_not_qualified", "latest_controller_not_qualified" ], "receipt_sha256": "e9674b1adc4042b199e106baf1cc40bfc2f506eb3c755d09b2ad910dbe572874", "schema": "dvidia.probe-evidence-verification/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.", "verified": true }, "schema": "dvidia.task-feasibility-with-probe/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification. Unknown planning values remain unknown. The unchanged approximate vertical-lift planning gate describes declared loads; it supplies no transport path, geospatial-goal contract or actuator permission. This wrapper never issues controls.", "status": "test_lift_required" }, "context": { "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe", "calibration_id": "synthetic_probe_v01", "calibration_scope": "simulation_assumptions_not_hardware", "command_sha256": "2ad77d15d32d614950ced0a7a0879e758a19bc1ba0bf03d99ec9420e12e25244", "feasibility_sha256": "dc769df55c09e03fe3594a2fd8cfb69f0476dac47c333520e17782d3ca21d652", "grasp_id": "m0525-f78-p0-incremental-probe-0", "initial_object_position_m": [ 0.3039999391008447, -0.024000163164364707, 0.07989224451748381 ], "model_sha256": "1babf58ea27d7e5759297c9f7ed9b3e84233cfced7763335df1714febee1e5d6", "native_status": { "simulation_time_s": 20.00000000000146, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "object_id": "task_block", "per_finger_force_ceiling_n": 10.0, "pose_binding_sha256": "5ccfef80cb7167eeacaba63b4df682e9f0968a24bc6d26eb210a33b0d2e44570", "probe_index": 0, "probe_origin_object_position_m": [ 0.3038940430144993, -0.023981559662613717, 0.07991838769236623 ], "probe_origin_tcp_local_offset_m": [ 0.0023566964329433775, 0.0002874263595297569, 0.0019363639226107558 ], "probe_start_s": 11.079999999999298, "robot_profile": "piper", "run_id": "m0525-f78-p0-incremental", "schema": "dvidia.probe-context/v1", "source_sha256": "d28324843344114f1ee863cee3c48dbca8aa37fd11222623563a0b1d40c364a6" }, "physical_robot_ready": false, "planning_input": { "allowed_pose_tolerance_m": 0.003, "calibration_id": "synthetic_probe_v01", "friction_interval": [ 0.78, 0.78 ], "geometry_known": true, "gripper_max_opening_interval_m": [ 0.07, 0.07 ], "gripper_min_closure_m": 0.0, "mass_interval_kg": [ 0.0525, 0.0525 ], "object_width_interval_m": [ 0.04, 0.04 ], "observations_fresh": true, "per_finger_normal_force_budget_n": 10.0, "planned_upward_accel_m_s2": 0.1, "pose_specific_payload_limit_kg": 0.1, "pose_uncertainty_m": 0.0, "reachability": "reachable", "safety_factor": 1.5, "schema": "dvidia.task-feasibility-input/v1", "slip_detected": false, "test_lift_passed": false }, "receipt": { "audit": { "controller_claim_mismatches": [], "controller_claims_checked": 2, "controller_conservative_abstention_count": 0, "controller_coverage": "Only the supplied claims are checked; omitted decisions are not inferred.", "controller_false_qualification_count": 0, "controller_positive_claims": 1, "force_ceiling_known": true, "maximum_observed_per_finger_force_n": 0.4523629136816001, "reasons": [], "rows": 20000, "unexpected_contact_native_ticks": 0, "valid": true }, "context": { "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe", "calibration_id": "synthetic_probe_v01", "calibration_scope": "simulation_assumptions_not_hardware", "command_sha256": "2ad77d15d32d614950ced0a7a0879e758a19bc1ba0bf03d99ec9420e12e25244", "feasibility_sha256": "dc769df55c09e03fe3594a2fd8cfb69f0476dac47c333520e17782d3ca21d652", "grasp_id": "m0525-f78-p0-incremental-probe-0", "initial_object_position_m": [ 0.3039999391008447, -0.024000163164364707, 0.07989224451748381 ], "model_sha256": "1babf58ea27d7e5759297c9f7ed9b3e84233cfced7763335df1714febee1e5d6", "native_status": { "simulation_time_s": 20.00000000000146, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "object_id": "task_block", "per_finger_force_ceiling_n": 10.0, "pose_binding_sha256": "5ccfef80cb7167eeacaba63b4df682e9f0968a24bc6d26eb210a33b0d2e44570", "probe_index": 0, "probe_origin_object_position_m": [ 0.3038940430144993, -0.023981559662613717, 0.07991838769236623 ], "probe_origin_tcp_local_offset_m": [ 0.0023566964329433775, 0.0002874263595297569, 0.0019363639226107558 ], "probe_start_s": 11.079999999999298, "robot_profile": "piper", "run_id": "m0525-f78-p0-incremental", "schema": "dvidia.probe-context/v1", "source_sha256": "d28324843344114f1ee863cee3c48dbca8aa37fd11222623563a0b1d40c364a6" }, "context_sha256": "d5d0b178564f024c0012c7493a5070d8783e3d65940aaf34fd8f8ae678a65444", "controller_qualifications": [ { "probe_index": 0, "qualified": true, "t_seconds": 11.699999999998955 }, { "probe_index": 0, "qualified": false, "t_seconds": 20.00000000000146 } ], "criteria": { "distance_comparison_epsilon": 1e-12, "initial_sample_tolerance_m": 0.001, "maximum_tcp_local_drift_m": 0.003, "minimum_continuous_dwell_s": 0.1, "minimum_per_finger_force_n_exclusive": 0.01, "minimum_rise_m": 0.006, "native_dt_s": 0.001, "origin_tolerance_m": 1e-09, "time_tolerance_s": 1e-08 }, "history": { "ever_qualified": true, "first_qualified_s": 11.680999999998965, "maximum_continuous_qualifying_s": 4.106 }, "latest": { "condition_valid": false, "continuous_qualifying_s": 0.0, "controller_claim": { "probe_index": 0, "qualified": false, "t_seconds": 20.00000000000146 }, "native_tick": 20000, "qualified": false, "rise_m": 0.005552529730356512, "tcp_local_drift_m": 0.0009386218316174246, "time_s": 20.00000000000146 }, "metadata_sha256": "ad8229630cc9f8718829bb8317b1a82480dcf18b9f71bd23666acfe71a003ef7", "native_arrays_sha256": "939f8cb80453cd02e56fbb66979d3378f86929672f32942ce27f15488daece78", "physical_robot_ready": false, "receipt_sha256": "e9674b1adc4042b199e106baf1cc40bfc2f506eb3c755d09b2ad910dbe572874", "schema": "dvidia.probe-evidence/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification." }, "status": "inspected", "verification": { "admissible": false, "historical_qualified": true, "latest_qualified": false, "physical_robot_ready": false, "reasons": [ "latest_native_window_not_qualified", "latest_controller_not_qualified" ], "receipt_sha256": "e9674b1adc4042b199e106baf1cc40bfc2f506eb3c755d09b2ad910dbe572874", "schema": "dvidia.probe-evidence-verification/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.", "verified": true } }, "stationarity": { "complete_5s": true, "grip_retention_and_stationarity": false, "maximum_tcp_orientation_excursion_rad": 0.007479149394655627, "maximum_tcp_position_excursion_m": 0.0016344696450410873, "orientation_ceiling_rad": 0.05, "position_ceiling_m": 0.004, "required_s": 5.0, "scope": "Common recorded native TCP pose endpoint, not calibrated hardware stationarity.", "tcp_pose_within_bounds": true, "terminal_tcp_orientation_delta_rad": 0.007479149394655627, "terminal_tcp_position_delta_m": [ -0.0013254764534542107, 0.00010751256970452372, -0.0009502863985424159 ] }, "status": "inspected" }, "files": { "episode.json.gz": { "bytes": 825312, "sha256": "8311a02d1b6818ce523e23ab2cfb3503c4d31013416b9e032b4311ac130350b1" }, "evaluation.json": { "bytes": 13861, "sha256": "78011ad87709e51d8812ce732b3f959a407b2bca752dd5581dfe4eb6760906e8" }, "native.json": { "bytes": 13763, "sha256": "19cc1d5998901cbc12da2916add3096763081e9decbfc7193981bfabc4b871e0" }, "native.npz": { "bytes": 3985144, "sha256": "736a7e197a52debcc13a06804834cef2f38ed9ef4426b9473d60b6ebff369e79" }, "started.json": { "bytes": 150, "sha256": "6fe8996886fa22f49e14e70141400e4596657b1d6e234d833f8fb44632a9f973" } }, "friction": 0.78, "id": "m0525-f78-p0-incremental", "mass_kg": 0.0525, "metrics": { "carry_complete": false, "carry_contact_loss_events": 0, "carry_contact_loss_tolerance_seconds": 0.04, "dwell_seconds": 0.0, "first_success_time_seconds": null, "grasp_seen": true, "lift_dwell_seconds": 0.0, "lift_seen": false, "max_carry_contact_loss_seconds": 0.0, "max_object_lift_m": 0.007631850627029424, "max_pad_normal_force_n": 0.4523629136816001, "physical_robot_ready": false, "reason": "timeout", "retention_lost": false, "simulation_time": 20.00000000000146, "steps": 1000, "success": false, "target_distance_m": 0.11300878266878243, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "policy": { "abort_reason": "joint_correction_exhausted", "acquisition_contract": { "comparison_scope": "Closed-loop variants may acquire different trajectories through early hold/retry. This is not an isolated classifier ablation.", "control_dt_s": 0.02, "evidence_admission": "Current bilateral force >0.01 N, no table support, object rise >=6 mm and TCP-local offset drift <=3 mm continuously across sampled boundaries for elapsed >=100 ms.", "hold": "Latch measured six arm joints and the last issued jaw target at admission/terminal invalidity. No full lift/transfer, no squeeze escalation, no post-admission retry.", "invalidation": "At each subsequent 20 ms observation and final observation, invalidate immediately on lost contact/force, support, insufficient rise, >3 mm local drift or unexpected contact. Never requalify after terminal invalidity.", "observation_origin": "privileged_native_simulator_state", "parameters": { "close_timeout_s": 1.4, "consecutive_alarm_samples": 2, "max_retries": 1, "monitor_min_probe_motion_m": 0.003, "probe_height_m": 0.01, "probe_min_object_rise_m": 0.006, "probe_speed_m_s": 0.02, "probe_timeout_s": 1.4, "qualification_dwell_s": 0.1, "relative_drift_limit_m": 0.003, "retry_clearance_m": 0.012, "retry_open_timeout_s": 1.2, "retry_recenter_timeout_s": 1.5 }, "physical_robot_ready": false, "prefix": "Original GuardedPiperTaskPolicy approach/close and at most one supported open/recenter/retry; already uses authored native state, not a fully blind baseline.", "sampling_limit": "Independent 1 ms evidence may contradict sampled admission; that remains a finding. No sensor or material inference is implemented.", "schema": "dvidia.piper-probe-stop/v1", "stop_scope": "Holding native position targets is not physical arrest or calibrated force limiting; inertia and existing target rate limits can continue motion.", "timer_admission": "Same 10 mm/20 mm/s probe target law, admitted at elapsed >=600 ms from that probe start; no evidence predicate or slip alarm before admission. Unexpected contacts and bounded timeouts still stop.", "timer_admission_s": 0.6, "variants": [ "evidence", "timer" ] }, "acquisition_variant": "evidence", "active_probe_index": 0, "admission_time_s": 11.699999999998955, "admitted": false, "candidate": "incremental", "contract": { "acquisition": "Unchanged ProbeStopPolicy evidence acquisition, including its bounded supported retry. All variants share the same prefix through the first admission observation.", "admission": "Freeze the measured TCP pose and preceding issued target. Check the unchanged 0.08 rad initial bias and 0.02 rad joint margin. Repeat the preceding issued target exactly; initialize cumulative correction to zero.", "anti_windup": "Refuse the unlimited cumulative proposal before slew limiting. Commit correction only after all checks pass. Refusal is terminal and leaves accumulated correction unchanged.", "candidate": "incremental", "control_dt_s": 0.02, "final_observation": "Check force, original eligibility and pose error without solving, integrating or issuing another command.", "invalid_measurements": "Malformed, nonfinite or noncausal observations terminally refuse and raise without issuing a command. No measured-position stop is claimed from invalid measurements.", "limits": { "initial_joint_bias_ceiling_rad": 0.08, "joint_correction_ceiling_rad": 0.03, "joint_correction_rate_rad_s": 0.1, "native_joint_target_margin_rad": 0.02, "per_finger_force_ceiling_n": 10.0, "tcp_orientation_error_ceiling_rad": 0.05, "tcp_position_error_ceiling_m": 0.004 }, "measured_joint_eligibility": "At admission, subsequent updates and final observations, refuse measured joints outside the native 0.02 rad target margin before solving. This prevents absolute-target clipping from manufacturing a nonzero increment at zero pose error.", "observation_origin": "privileged_native_simulator_state", "physical_robot_ready": false, "qualifications": "Engineering limits and the 10 N ceiling are authored synthetic assumptions, not damage limits or calibrated physical telemetry. Position targets are not physical stops or force limiters. No load/friction inference, model training or complete placement is implemented.", "rate_scope": "The extra correction slews at at most 0.002 rad per 20 ms per joint. Original native 1 ms target slew, servos, gains and force caps remain unchanged.", "refusal": "Original grip, force, pose, initial-bias, joint-margin and timeout refusals remain terminal. A valid terminal observation latches measured joints and the frozen jaw; its fallback is not active incremental regulation.", "sampling": "Control checks occur at 20 ms boundaries. Independent saved 1 ms native evidence must judge a continuous 5 s hold; missed between-boundary failures remain findings.", "schema": "dvidia.piper-incremental-hold/v3", "update_gain_per_boundary": 1.0, "update_law": "increment = pose_action(frozen_admission_pose) - current_measured_joints; proposal = previous_correction + 1.0 * increment; refuse unlimited proposal outside +/-0.03 rad; slew accepted correction by at most 0.002 rad per joint per 20 ms; target = admission_issued_target + accepted_correction", "variants": [ "incremental" ] }, "events": [ { "accumulated_correction_rad": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "acquisition_variant": "evidence", "active_regulation": false, "candidate": "incremental", "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "continue", "drift_streak": 0, "object_height_delta_m": 0.0, "phase": "probe", "progress_streak": 0, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0, "retry_index": 0, "t_seconds": 11.079999999999298, "table_supported": true, "tcp_probe_height_delta_m": 0.0 }, "final_observation": false, "observation_origin": "privileged_native_simulator_state", "phase": "guard_probe", "pose_error_increment_rad": null, "probe_index": 0, "proposed_cumulative_correction_rad": null, "reason": "slow_load_bearing_check", "refused_bounds": null, "retention_variant": "incremental", "retry_index": 0, "status": "probing", "t_seconds": 11.079999999999298, "type": "probe_started", "update_gain_per_boundary": 1.0, "update_law": "increment = pose_action(frozen_admission_pose) - current_measured_joints; proposal = previous_correction + 1.0 * increment; refuse unlimited proposal outside +/-0.03 rad; slew accepted correction by at most 0.002 rad per joint per 20 ms; target = admission_issued_target + accepted_correction", "variant": "incremental" }, { "accumulated_correction_rad": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "acquisition_variant": "evidence", "active_regulation": true, "candidate": "incremental", "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "bounded_incremental_hold", "drift_streak": 0, "object_height_delta_m": 0.007344724810564196, "phase": "probe", "progress_streak": 0, "qualification_dwell_seconds": 0.09999999999994458, "qualified": true, "relative_offset_error_m": 8.84264608001834e-05, "retry_index": 0, "t_seconds": 11.699999999998955, "table_supported": false, "tcp_probe_height_delta_m": 0.0074620014152265435 }, "final_observation": false, "observation_origin": "privileged_native_simulator_state", "phase": "probe_stop", "pose_error_increment_rad": null, "probe_index": 0, "proposed_cumulative_correction_rad": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "reason": "sampled_probe_evidence", "refused_bounds": null, "retention_hold_reference": { "fixed_bias_rad": [ 1.4120947925494454e-05, -0.0049403024519025784, -0.0047962116396336185, 1.626247721295203e-05, 0.02640124015705747, -3.3737066452807496e-05 ], "frozen_jaw_target_m": 0.0, "issued_joint_targets_rad": [ -0.08358518407355561, 1.7253453965848, -1.1599064482954542, -0.00012220931770928306, 1.0812856093190863, -0.08676977091835571 ], "measured_joint_position_rad": [ -0.08359930502148111, 1.7302856990367026, -1.1551102366558206, -0.00013847179492223322, 1.0548843691620289, -0.0867360338519029 ], "position_m": [ 0.3101307567206691, -0.02459327189435752, 0.08934330531199332 ], "quaternion_wxyz": [ 0.013935180091692843, -0.0015977946895388492, 0.9999008427835249, -0.001249963495089397 ], "raw_pose_joint_targets_rad": [ -0.08359930502148111, 1.7302856990367026, -1.1551102366558206, -0.0001384717949222351, 1.0548843691620289, -0.0867360338519029 ], "t_seconds": 11.699999999998955 }, "retention_variant": "incremental", "retry_index": 0, "status": "qualified_hold", "t_seconds": 11.699999999998955, "type": "evidence_qualified", "update_gain_per_boundary": 1.0, "update_law": "increment = pose_action(frozen_admission_pose) - current_measured_joints; proposal = previous_correction + 1.0 * increment; refuse unlimited proposal outside +/-0.03 rad; slew accepted correction by at most 0.002 rad per joint per 20 ms; target = admission_issued_target + accepted_correction", "variant": "incremental" }, { "accumulated_correction_rad": [ -3.1394888253044595e-05, 0.005687211735492914, 0.005449003322899992, -4.292008596123602e-06, -0.027256900803019665, 6.723361134954031e-05 ], "acquisition_variant": "evidence", "active_regulation": false, "candidate": "incremental", "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "hold_measured_arm_and_freeze_issued_jaw", "drift_streak": 0, "object_height_delta_m": 0.0073346288646422425, "phase": "probe_hold", "progress_streak": 0, "qualification_dwell_seconds": 0.4199999999997672, "qualified": false, "relative_offset_error_m": 0.00012253654264009984, "retry_index": 0, "t_seconds": 12.019999999998777, "table_supported": false, "tcp_probe_height_delta_m": 0.007480162389741515 }, "final_observation": false, "observation_origin": "privileged_native_simulator_state", "phase": "probe_stop", "pose_error_increment_rad": [ -4.474060302794847e-09, -8.865009008363067e-05, 0.0002701166474159411, 1.8657914389338492e-06, -0.0040663896181794, 4.56560104522552e-06 ], "probe_index": 0, "proposed_cumulative_correction_rad": [ -3.139936231334739e-05, 0.0055985616454092835, 0.0057191199703159334, -2.4262171571897524e-06, -0.031323290421199065, 7.179921239476583e-05 ], "reason": "joint_correction_exhausted", "refused_bounds": "joint_correction_exhausted", "retention_variant": "incremental", "retry_index": 0, "status": "invalidated_hold", "t_seconds": 12.019999999998777, "type": "hold_invalidated", "update_gain_per_boundary": 1.0, "update_law": "increment = pose_action(frozen_admission_pose) - current_measured_joints; proposal = previous_correction + 1.0 * increment; refuse unlimited proposal outside +/-0.03 rad; slew accepted correction by at most 0.002 rad per joint per 20 ms; target = admission_issued_target + accepted_correction", "variant": "incremental" } ], "ever_admitted": true, "final_observed": true, "frozen_jaw_target_m": 0.0, "initial_context": { "object_position_m": [ 0.3039999391008447, -0.024000163164364707, 0.07989224451748381 ], "observation_origin": "privileged_native_simulator_state", "t_seconds": 0.0, "tcp_position_m": [ 0.4890696662845219, 0.0014141975654808877, 0.3665849431043091 ], "tcp_quaternion_wxyz": [ 0.6580840948238629, 2.7730466224793136e-07, 0.7529444362872891, -1.9485471114950535e-06 ] }, "last_observed_s": 20.00000000000146, "observation_origin": "privileged_native_simulator_state", "physical_robot_ready": false, "probes": [ { "admission_time_s": 11.699999999998955, "disposition": "invalidated_hold", "end_time_s": 12.019999999998777, "local_offset_origin_m": [ 0.0023566964329433775, 0.0002874263595297569, 0.0019363639226107558 ], "object_origin_m": [ 0.3038940430144993, -0.023981559662613717, 0.07991838769236623 ], "observation_origin": "privileged_native_simulator_state", "probe_index": 0, "reason": "joint_correction_exhausted", "start_time_s": 11.079999999999298, "tcp_origin_m": [ 0.30622983905256296, -0.024259325882764634, 0.08188130389676677 ], "tcp_quaternion_wxyz": [ 0.005594328141380828, -0.001616820581638936, 0.9999829032194333, -0.0005316509067625405 ] } ], "retention": { "accumulated_correction_rad": [ -3.1394888253044595e-05, 0.005687211735492914, 0.005449003322899992, -4.292008596123602e-06, -0.027256900803019665, 6.723361134954031e-05 ], "active_regulation": false, "candidate": "incremental", "final_controller_status": "invalidated_hold", "hold_reference": { "fixed_bias_rad": [ 1.4120947925494454e-05, -0.0049403024519025784, -0.0047962116396336185, 1.626247721295203e-05, 0.02640124015705747, -3.3737066452807496e-05 ], "frozen_jaw_target_m": 0.0, "issued_joint_targets_rad": [ -0.08358518407355561, 1.7253453965848, -1.1599064482954542, -0.00012220931770928306, 1.0812856093190863, -0.08676977091835571 ], "measured_joint_position_rad": [ -0.08359930502148111, 1.7302856990367026, -1.1551102366558206, -0.00013847179492223322, 1.0548843691620289, -0.0867360338519029 ], "position_m": [ 0.3101307567206691, -0.02459327189435752, 0.08934330531199332 ], "quaternion_wxyz": [ 0.013935180091692843, -0.0015977946895388492, 0.9999008427835249, -0.001249963495089397 ], "raw_pose_joint_targets_rad": [ -0.08359930502148111, 1.7302856990367026, -1.1551102366558206, -0.0001384717949222351, 1.0548843691620289, -0.0867360338519029 ], "t_seconds": 11.699999999998955 }, "input_refusals": [], "native_joint_control_limits_rad": [ [ -2.618, 2.618 ], [ 0.0, 3.14 ], [ -2.697, 0.0 ], [ -1.832, 1.832 ], [ -1.22, 1.22 ], [ -3.14, 3.14 ] ], "update_gain_per_boundary": 1.0, "update_law": "increment = pose_action(frozen_admission_pose) - current_measured_joints; proposal = previous_correction + 1.0 * increment; refuse unlimited proposal outside +/-0.03 rad; slew accepted correction by at most 0.002 rad per joint per 20 ms; target = admission_issued_target + accepted_correction", "variant": "incremental" }, "retry_count": 0, "schema": "dvidia.piper-incremental-hold/v3", "status": "invalidated_hold", "stop_targets_rad": [ -0.08359925191528425, 1.7303797856588845, -1.1554048306574727, -0.00014040889612469443, 1.0589821069871008, -0.08674052514152555 ], "variant": "incremental" }, "scene_id": "m0525-f78-p0", "timing": { "policy_cpu": { "maximum_s": 0.0005580000000122709, "mean_s": 0.00012190200000004835, "over_20ms": 0, "p50_s": 0.00010099999999368947, "p95_s": 0.000329050000007669, "p99_s": 0.0004400299999974777, "samples": 1000 }, "policy_wall": { "maximum_s": 0.0057390411384403706, "mean_s": 0.00015342070953920485, "over_20ms": 0, "p50_s": 0.00010233325883746147, "p95_s": 0.00038795447908341864, "p99_s": 0.0012794639728963375, "samples": 1000 }, "step_cpu": { "maximum_s": 0.0657589999999999, "mean_s": 0.0036211389999999, "over_20ms": 1, "p50_s": 0.003412500000003149, "p95_s": 0.006136599999997826, "p99_s": 0.008052069999992284, "samples": 1000 }, "step_wall": { "maximum_s": 0.09189137537032366, "mean_s": 0.00441885415930301, "over_20ms": 6, "p50_s": 0.0035042499657720327, "p95_s": 0.009788708155974742, "p99_s": 0.016944942739792166, "samples": 1000 } }, "valid": true, "variant": "incremental" }, { "error": null, "evaluation": { "claims": { "false_maintained_grip": 0, "false_maintained_pose": 0, "maintained_checks": 85, "scope": "Claimed qualified boundaries after admission, compared with every native row since admission; grip includes correct initial prefix. Counts are diagnostic, not independent trials." }, "corrections": { "bound_refusal_counts": { "tcp_position_error_exhausted": 1 }, "flag_counts": { "correction_rate_limited": 0 }, "hold_record_count": 416, "input_refusals": [], "maximum_abs_accepted_correction_rate_rad_s": null, "maximum_abs_active_correction_rad": 0.00024373643033293035, "maximum_abs_desired_correction_rad": 0.00024373643033293035, "maximum_abs_pose_error_increment_rad": null, "rate_limited_axis_occurrences": 0, "scope": "Includes recorded final diagnostic checks; only command_issued rows represent issued controls." }, "decomposition": { "elapsed_s": 5.0, "local_offset_change_m": 0.0005195476472039674, "object_world_z_delta_m": 0.0001009271183248922, "relative_world_z_delta_m": -0.00047205376658850107, "scope": "Kinematic components, not causal attribution or calibrated physical slip.", "tcp_world_z_delta_m": 0.0005729808849133933 }, "final": { "both_qualified": false, "controller_qualified": false, "evidence_admissible": false, "native_qualified": true }, "first_admission": { "native_prefix_qualified": true, "native_qualifying_window_s": 0.11900000000000001, "probe_index": 0, "time_s": 11.699999999998955 }, "grip_only": { "all_native_hold_forces_within_ceiling": true, "combined_qualified_pause": false, "complete_5s": true, "controller_retained_at_5s": false, "first_native_predicate_failure_s": null, "followup_available_s": 8.300000000002505, "native_pause_success": true, "reason": "success", "required_s": 5.0, "success": true, "target_time_s": 16.699999999998955 }, "native": { "arrays_sha256": "0b4b9b7d61d0095c85e023069f55817f552242b5e30573b4d95d002fcab9c25d", "complete": true, "maximum_per_finger_force_n": 0.4523629136816001, "rows": 20000, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "physical_robot_ready": false, "primary": { "all_native_hold_forces_within_ceiling": true, "combined_qualified_pause": false, "complete_5s": true, "controller_retained_at_5s": false, "first_native_predicate_failure_s": null, "first_tcp_pose_failure_s": 13.406999999998009, "followup_available_s": 8.300000000002505, "native_pause_success": true, "reason": "tcp_stationarity_lost", "required_s": 5.0, "success": false, "target_time_s": 16.699999999998955 }, "probes": [ { "claims": [ { "native_prefix_qualified": true, "t_seconds": 11.699999999998955 } ], "disposition": "invalidated_hold", "final_native_qualified_from_origin": true, "probe_index": 0, "start_time_s": 11.079999999999298 } ], "receipt": { "admission": { "observation_origin": "privileged_native_simulation_plus_caller_planning_assumptions", "physical_robot_ready": false, "planning": { "computed": { "conservative_required_load_n": 0.7801486874999999, "gravity_m_s2": 9.80665, "pose_specific_payload_limit_force_n": 0.980665, "two_finger_friction_capacity_n": 15.600000000000001 }, "observation_origin": "caller_declared_not_verified", "physical_robot_ready": false, "reasons": [ "Run and record a cautious test lift under the same calibrated pose and load conditions before simulated transport planning." ], "schema": "dvidia.task-feasibility-result/v1", "scope": "Planning assessment only. Parallel two-finger vertical-lift approximation; ignores moment, center of mass, deformation, transient impacts and unmodeled contact effects. Unknown values remain unknown; mass is never inferred from images. Probe/test-lift/controller integration is not implemented. No hardware actuation is performed; this is not hardware qualification.", "status": "test_lift_required" }, "probe": { "admissible": false, "historical_qualified": true, "latest_qualified": true, "physical_robot_ready": false, "reasons": [ "latest_controller_not_qualified" ], "receipt_sha256": "79e60234b9b94c8c4e68260ce5145aea718804bcc69ce1335dba3f38a12c08e6", "schema": "dvidia.probe-evidence-verification/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.", "verified": true }, "schema": "dvidia.task-feasibility-with-probe/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification. Unknown planning values remain unknown. The unchanged approximate vertical-lift planning gate describes declared loads; it supplies no transport path, geospatial-goal contract or actuator permission. This wrapper never issues controls.", "status": "test_lift_required" }, "context": { "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe", "calibration_id": "synthetic_probe_v01", "calibration_scope": "simulation_assumptions_not_hardware", "command_sha256": "b5c6c5c2dacb290a9613b87eaf7743e0a3cf4cf682f5d7bc567b249777a36264", "feasibility_sha256": "dc769df55c09e03fe3594a2fd8cfb69f0476dac47c333520e17782d3ca21d652", "grasp_id": "m0525-f78-p0-cartesian-probe-0", "initial_object_position_m": [ 0.3039999391008447, -0.024000163164364707, 0.07989224451748381 ], "model_sha256": "1babf58ea27d7e5759297c9f7ed9b3e84233cfced7763335df1714febee1e5d6", "native_status": { "simulation_time_s": 20.00000000000146, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "object_id": "task_block", "per_finger_force_ceiling_n": 10.0, "pose_binding_sha256": "8c37401eeda36137c10bb4de7cd350f1501894e5e9d8d68cf63b5d8e45b18675", "probe_index": 0, "probe_origin_object_position_m": [ 0.3038940430144993, -0.023981559662613717, 0.07991838769236623 ], "probe_origin_tcp_local_offset_m": [ 0.0023566964329433775, 0.0002874263595297569, 0.0019363639226107558 ], "probe_start_s": 11.079999999999298, "robot_profile": "piper", "run_id": "m0525-f78-p0-cartesian", "schema": "dvidia.probe-context/v1", "source_sha256": "d28324843344114f1ee863cee3c48dbca8aa37fd11222623563a0b1d40c364a6" }, "physical_robot_ready": false, "planning_input": { "allowed_pose_tolerance_m": 0.003, "calibration_id": "synthetic_probe_v01", "friction_interval": [ 0.78, 0.78 ], "geometry_known": true, "gripper_max_opening_interval_m": [ 0.07, 0.07 ], "gripper_min_closure_m": 0.0, "mass_interval_kg": [ 0.0525, 0.0525 ], "object_width_interval_m": [ 0.04, 0.04 ], "observations_fresh": true, "per_finger_normal_force_budget_n": 10.0, "planned_upward_accel_m_s2": 0.1, "pose_specific_payload_limit_kg": 0.1, "pose_uncertainty_m": 0.0, "reachability": "reachable", "safety_factor": 1.5, "schema": "dvidia.task-feasibility-input/v1", "slip_detected": false, "test_lift_passed": false }, "receipt": { "audit": { "controller_claim_mismatches": [ { "classification": "conservative_abstention", "controller_qualified": false, "native_prefix_qualified": true, "t_seconds": 20.00000000000146 } ], "controller_claims_checked": 2, "controller_conservative_abstention_count": 1, "controller_coverage": "Only the supplied claims are checked; omitted decisions are not inferred.", "controller_false_qualification_count": 0, "controller_positive_claims": 1, "force_ceiling_known": true, "maximum_observed_per_finger_force_n": 0.4523629136816001, "reasons": [], "rows": 20000, "unexpected_contact_native_ticks": 0, "valid": true }, "context": { "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe", "calibration_id": "synthetic_probe_v01", "calibration_scope": "simulation_assumptions_not_hardware", "command_sha256": "b5c6c5c2dacb290a9613b87eaf7743e0a3cf4cf682f5d7bc567b249777a36264", "feasibility_sha256": "dc769df55c09e03fe3594a2fd8cfb69f0476dac47c333520e17782d3ca21d652", "grasp_id": "m0525-f78-p0-cartesian-probe-0", "initial_object_position_m": [ 0.3039999391008447, -0.024000163164364707, 0.07989224451748381 ], "model_sha256": "1babf58ea27d7e5759297c9f7ed9b3e84233cfced7763335df1714febee1e5d6", "native_status": { "simulation_time_s": 20.00000000000146, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "object_id": "task_block", "per_finger_force_ceiling_n": 10.0, "pose_binding_sha256": "8c37401eeda36137c10bb4de7cd350f1501894e5e9d8d68cf63b5d8e45b18675", "probe_index": 0, "probe_origin_object_position_m": [ 0.3038940430144993, -0.023981559662613717, 0.07991838769236623 ], "probe_origin_tcp_local_offset_m": [ 0.0023566964329433775, 0.0002874263595297569, 0.0019363639226107558 ], "probe_start_s": 11.079999999999298, "robot_profile": "piper", "run_id": "m0525-f78-p0-cartesian", "schema": "dvidia.probe-context/v1", "source_sha256": "d28324843344114f1ee863cee3c48dbca8aa37fd11222623563a0b1d40c364a6" }, "context_sha256": "8e81c4854164d3fcaf3d952cdbf5ac49b9b0ff6acf0dc4e7a05b8cd7b3fa580e", "controller_qualifications": [ { "probe_index": 0, "qualified": true, "t_seconds": 11.699999999998955 }, { "probe_index": 0, "qualified": false, "t_seconds": 20.00000000000146 } ], "criteria": { "distance_comparison_epsilon": 1e-12, "initial_sample_tolerance_m": 0.001, "maximum_tcp_local_drift_m": 0.003, "minimum_continuous_dwell_s": 0.1, "minimum_per_finger_force_n_exclusive": 0.01, "minimum_rise_m": 0.006, "native_dt_s": 0.001, "origin_tolerance_m": 1e-09, "time_tolerance_s": 1e-08 }, "history": { "ever_qualified": true, "first_qualified_s": 11.680999999998965, "maximum_continuous_qualifying_s": 8.419 }, "latest": { "condition_valid": true, "continuous_qualifying_s": 8.419, "controller_claim": { "probe_index": 0, "qualified": false, "t_seconds": 20.00000000000146 }, "native_tick": 20000, "qualified": true, "rise_m": 0.007099343523171417, "tcp_local_drift_m": 0.0009389580539375756, "time_s": 20.00000000000146 }, "metadata_sha256": "ad8229630cc9f8718829bb8317b1a82480dcf18b9f71bd23666acfe71a003ef7", "native_arrays_sha256": "0b4b9b7d61d0095c85e023069f55817f552242b5e30573b4d95d002fcab9c25d", "physical_robot_ready": false, "receipt_sha256": "79e60234b9b94c8c4e68260ce5145aea718804bcc69ce1335dba3f38a12c08e6", "schema": "dvidia.probe-evidence/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification." }, "status": "inspected", "verification": { "admissible": false, "historical_qualified": true, "latest_qualified": true, "physical_robot_ready": false, "reasons": [ "latest_controller_not_qualified" ], "receipt_sha256": "79e60234b9b94c8c4e68260ce5145aea718804bcc69ce1335dba3f38a12c08e6", "schema": "dvidia.probe-evidence-verification/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.", "verified": true } }, "stationarity": { "complete_5s": true, "grip_retention_and_stationarity": false, "maximum_tcp_orientation_excursion_rad": 0.019921012846354072, "maximum_tcp_position_excursion_m": 0.004260009344405453, "orientation_ceiling_rad": 0.05, "position_ceiling_m": 0.004, "required_s": 5.0, "scope": "Common recorded native TCP pose endpoint, not calibrated hardware stationarity.", "tcp_pose_within_bounds": false, "terminal_tcp_orientation_delta_rad": 0.019921012846354072, "terminal_tcp_position_delta_m": [ -0.0042065083421839455, 0.0003530723538915474, 0.0005729808849133933 ] }, "status": "inspected" }, "files": { "episode.json.gz": { "bytes": 826198, "sha256": "8e0eea2ed7a6d4da5a4f129155fb60e8f146a5555a266a87078f44bbcffafc74" }, "evaluation.json": { "bytes": 13917, "sha256": "d8c8a3fc2bf565313a964ec8747a9ecde2d5478a0629c2fa38ed6db9d6a4d9e7" }, "native.json": { "bytes": 13763, "sha256": "19cc1d5998901cbc12da2916add3096763081e9decbfc7193981bfabc4b871e0" }, "native.npz": { "bytes": 4047044, "sha256": "8e5868df8184a7b12962f3a175f4ba7dfb424e99d0efcf2464475e69c35016a7" }, "started.json": { "bytes": 148, "sha256": "3b515495ef62edff06deaca3634f4ebf143013902f32b42d6ac6def8eac9f6b9" } }, "friction": 0.78, "id": "m0525-f78-p0-cartesian", "mass_kg": 0.0525, "metrics": { "carry_complete": false, "carry_contact_loss_events": 0, "carry_contact_loss_tolerance_seconds": 0.04, "dwell_seconds": 0.0, "first_success_time_seconds": null, "grasp_seen": true, "lift_dwell_seconds": 0.0, "lift_seen": false, "max_carry_contact_loss_seconds": 0.0, "max_object_lift_m": 0.008746515573577876, "max_pad_normal_force_n": 0.4523629136816001, "physical_robot_ready": false, "reason": "timeout", "retention_lost": false, "simulation_time": 20.00000000000146, "steps": 1000, "success": false, "target_distance_m": 0.114017684292958, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "policy": { "abort_reason": "tcp_position_error_exhausted", "acquisition_contract": { "comparison_scope": "Closed-loop variants may acquire different trajectories through early hold/retry. This is not an isolated classifier ablation.", "control_dt_s": 0.02, "evidence_admission": "Current bilateral force >0.01 N, no table support, object rise >=6 mm and TCP-local offset drift <=3 mm continuously across sampled boundaries for elapsed >=100 ms.", "hold": "Latch measured six arm joints and the last issued jaw target at admission/terminal invalidity. No full lift/transfer, no squeeze escalation, no post-admission retry.", "invalidation": "At each subsequent 20 ms observation and final observation, invalidate immediately on lost contact/force, support, insufficient rise, >3 mm local drift or unexpected contact. Never requalify after terminal invalidity.", "observation_origin": "privileged_native_simulator_state", "parameters": { "close_timeout_s": 1.4, "consecutive_alarm_samples": 2, "max_retries": 1, "monitor_min_probe_motion_m": 0.003, "probe_height_m": 0.01, "probe_min_object_rise_m": 0.006, "probe_speed_m_s": 0.02, "probe_timeout_s": 1.4, "qualification_dwell_s": 0.1, "relative_drift_limit_m": 0.003, "retry_clearance_m": 0.012, "retry_open_timeout_s": 1.2, "retry_recenter_timeout_s": 1.5 }, "physical_robot_ready": false, "prefix": "Original GuardedPiperTaskPolicy approach/close and at most one supported open/recenter/retry; already uses authored native state, not a fully blind baseline.", "sampling_limit": "Independent 1 ms evidence may contradict sampled admission; that remains a finding. No sensor or material inference is implemented.", "schema": "dvidia.piper-probe-stop/v1", "stop_scope": "Holding native position targets is not physical arrest or calibrated force limiting; inertia and existing target rate limits can continue motion.", "timer_admission": "Same 10 mm/20 mm/s probe target law, admitted at elapsed >=600 ms from that probe start; no evidence predicate or slip alarm before admission. Unexpected contacts and bounded timeouts still stop.", "timer_admission_s": 0.6, "variants": [ "evidence", "timer" ] }, "acquisition_variant": "evidence", "active_probe_index": 0, "admission_time_s": 11.699999999998955, "admitted": false, "contract": { "acquisition": "Unchanged ProbeStopPolicy evidence acquisition, including its bounded supported retry. All variants share the same prefix through the first admission observation.", "cartesian": "Latch measured TCP position/orientation and preceding issued targets. Fixed joint bias equals issued target minus pose_action at the admission pose. First command repeats the exact issued target; later pose_action updates receive that fixed bias.", "control_dt_s": 0.02, "final_observation": "Repeat force, original eligibility and Cartesian pose-error checks. Do not solve or issue a hypothetical next control at the terminal observation.", "invalid_measurements": "Malformed, nonfinite or noncausal observations terminally refuse and raise without issuing a command. No measured-position stop is claimed from invalid measurements.", "issued_joint": "Latch the preceding issued six joint targets and the same last issued jaw target at admission.", "limits": { "initial_joint_bias_ceiling_rad": 0.08, "joint_correction_ceiling_rad": 0.03, "joint_correction_rate_rad_s": 0.1, "native_joint_target_margin_rad": 0.02, "per_finger_force_ceiling_n": 10.0, "tcp_orientation_error_ceiling_rad": 0.05, "tcp_position_error_ceiling_m": 0.004 }, "measured_joint": "Original hold: latch measured six joint coordinates and the last issued jaw target at admission.", "observation_origin": "privileged_native_simulator_state", "physical_robot_ready": false, "qualifications": "Engineering limits and the 10 N ceiling are authored synthetic assumptions, not damage limits or calibrated physical telemetry. Position targets are not physical stops or force limiters. No load/friction inference, model training or complete placement is implemented.", "rate_scope": "The extra correction slews at at most 0.002 rad per 20 ms per joint. Original native 1 ms target slew, servos, gains and force caps remain unchanged.", "refusal": "Original eligibility loss, unexpected contact or observed pad force >10 N terminally requests measured joint hold and the frozen jaw target. Cartesian error, initial-bias, total-correction or native-margin exhaustion also refuses terminally; it never chases an already failed grip.", "sampling": "Control checks occur at 20 ms boundaries. Independent saved 1 ms native evidence must judge a continuous 5 s hold; missed between-boundary failures remain findings.", "schema": "dvidia.piper-retention/v2", "variants": [ "measured_joint", "issued_joint", "cartesian" ] }, "events": [ { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "continue", "drift_streak": 0, "object_height_delta_m": 0.0, "phase": "probe", "progress_streak": 0, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0, "retry_index": 0, "t_seconds": 11.079999999999298, "table_supported": true, "tcp_probe_height_delta_m": 0.0 }, "observation_origin": "privileged_native_simulator_state", "phase": "guard_probe", "probe_index": 0, "reason": "slow_load_bearing_check", "retention_variant": "cartesian", "retry_index": 0, "status": "probing", "t_seconds": 11.079999999999298, "type": "probe_started", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "bounded_cartesian_hold", "drift_streak": 0, "object_height_delta_m": 0.007344724810564196, "phase": "probe", "progress_streak": 0, "qualification_dwell_seconds": 0.09999999999994458, "qualified": true, "relative_offset_error_m": 8.84264608001834e-05, "retry_index": 0, "t_seconds": 11.699999999998955, "table_supported": false, "tcp_probe_height_delta_m": 0.0074620014152265435 }, "observation_origin": "privileged_native_simulator_state", "phase": "probe_stop", "probe_index": 0, "reason": "sampled_probe_evidence", "retention_hold_reference": { "fixed_bias_rad": [ 1.4120947925494454e-05, -0.0049403024519025784, -0.0047962116396336185, 1.626247721295203e-05, 0.02640124015705747, -3.3737066452807496e-05 ], "frozen_jaw_target_m": 0.0, "issued_joint_targets_rad": [ -0.08358518407355561, 1.7253453965848, -1.1599064482954542, -0.00012220931770928306, 1.0812856093190863, -0.08676977091835571 ], "measured_joint_position_rad": [ -0.08359930502148111, 1.7302856990367026, -1.1551102366558206, 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0, "t_seconds": 13.419999999998002, "table_supported": false, "tcp_probe_height_delta_m": 0.008979596525930333 }, "observation_origin": "privileged_native_simulator_state", "phase": "probe_stop", "probe_index": 0, "reason": "tcp_position_error_exhausted", "retention_variant": "cartesian", "retry_index": 0, "status": "invalidated_hold", "t_seconds": 13.419999999998002, "type": "hold_invalidated", "variant": "evidence" } ], "ever_admitted": true, "final_observed": true, "frozen_jaw_target_m": 0.0, "initial_context": { "object_position_m": [ 0.3039999391008447, -0.024000163164364707, 0.07989224451748381 ], "observation_origin": "privileged_native_simulator_state", "t_seconds": 0.0, "tcp_position_m": [ 0.4890696662845219, 0.0014141975654808877, 0.3665849431043091 ], "tcp_quaternion_wxyz": [ 0.6580840948238629, 2.7730466224793136e-07, 0.7529444362872891, -1.9485471114950535e-06 ] }, "last_observed_s": 20.00000000000146, "observation_origin": "privileged_native_simulator_state", 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-1.1599064482954542, -0.00012220931770928306, 1.0812856093190863, -0.08676977091835571 ], "measured_joint_position_rad": [ -0.08359930502148111, 1.7302856990367026, -1.1551102366558206, -0.00013847179492223322, 1.0548843691620289, -0.0867360338519029 ], "position_m": [ 0.3101307567206691, -0.02459327189435752, 0.08934330531199332 ], "quaternion_wxyz": [ 0.013935180091692843, -0.0015977946895388492, 0.9999008427835249, -0.001249963495089397 ], "raw_pose_joint_targets_rad": [ -0.08359930502148111, 1.7302856990367026, -1.1551102366558206, -0.0001384717949222351, 1.0548843691620289, -0.0867360338519029 ], "t_seconds": 11.699999999998955 }, "input_refusals": [], "native_joint_control_limits_rad": [ [ -2.618, 2.618 ], [ 0.0, 3.14 ], [ -2.697, 0.0 ], [ -1.832, 1.832 ], [ -1.22, 1.22 ], [ -3.14, 3.14 ] ], "variant": "cartesian" }, "retry_count": 0, "schema": "dvidia.piper-retention/v2", "status": "invalidated_hold", "stop_targets_rad": [ -0.08358535353799741, 1.7273742206727059, 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} }, "valid": true, "variant": "cartesian" }, { "error": null, "evaluation": { "claims": { "false_maintained_grip": 0, "false_maintained_pose": 313, "maintained_checks": 400, "scope": "Claimed qualified boundaries after admission, compared with every native row since admission; grip includes correct initial prefix. Counts are diagnostic, not independent trials." }, "corrections": { "bound_refusal_counts": {}, "flag_counts": { "correction_rate_limited": 0 }, "hold_record_count": 401, "input_refusals": [], "maximum_abs_accepted_correction_rate_rad_s": null, "maximum_abs_active_correction_rad": null, "maximum_abs_desired_correction_rad": null, "maximum_abs_pose_error_increment_rad": null, "rate_limited_axis_occurrences": 0, "scope": "Includes recorded final diagnostic checks; only command_issued rows represent issued controls." }, "decomposition": { "elapsed_s": 5.0, "local_offset_change_m": 0.0005199473548674527, "object_world_z_delta_m": 0.0011401949016456026, "relative_world_z_delta_m": -0.00047334006981981924, "scope": "Kinematic components, not causal attribution or calibrated physical slip.", "tcp_world_z_delta_m": 0.0016135349714654218 }, "final": { "both_qualified": true, "controller_qualified": true, "evidence_admissible": true, "native_qualified": true }, "first_admission": { "native_prefix_qualified": true, "native_qualifying_window_s": 0.115, "probe_index": 0, "time_s": 11.999999999998789 }, "grip_only": { "all_native_hold_forces_within_ceiling": true, "combined_qualified_pause": true, "complete_5s": true, "controller_retained_at_5s": true, "first_native_predicate_failure_s": null, "followup_available_s": 8.000000000002672, "native_pause_success": true, "reason": "success", "required_s": 5.0, "success": true, "target_time_s": 16.99999999999879 }, "native": { "arrays_sha256": "18fde18a95719a90cadd50242f54224be97d3d03e235a443c488e0143e4e6905", "complete": true, "maximum_per_finger_force_n": 0.43246946470783476, "rows": 20000, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "physical_robot_ready": false, "primary": { "all_native_hold_forces_within_ceiling": true, "combined_qualified_pause": false, "complete_5s": true, "controller_retained_at_5s": true, "first_native_predicate_failure_s": null, "first_tcp_pose_failure_s": 13.750999999997818, "followup_available_s": 8.000000000002672, "native_pause_success": true, "reason": "tcp_stationarity_lost", "required_s": 5.0, "success": false, "target_time_s": 16.99999999999879 }, "probes": [ { "claims": [ { "native_prefix_qualified": true, "t_seconds": 11.999999999998789 } ], "disposition": "qualified_hold", "final_native_qualified_from_origin": true, "probe_index": 0, "start_time_s": 11.379999999999132 } ], "receipt": { "admission": { "observation_origin": "privileged_native_simulation_plus_caller_planning_assumptions", "physical_robot_ready": false, "planning": { "computed": { "conservative_required_load_n": 0.7801486874999999, "gravity_m_s2": 9.80665, "pose_specific_payload_limit_force_n": 0.980665, "two_finger_friction_capacity_n": 15.600000000000001 }, "observation_origin": "caller_declared_not_verified", "physical_robot_ready": false, "reasons": [ "Declared checks pass for simulated transport planning; this is not hardware qualification." ], "schema": "dvidia.task-feasibility-result/v1", "scope": "Planning assessment only. Parallel two-finger vertical-lift approximation; ignores moment, center of mass, deformation, transient impacts and unmodeled contact effects. Unknown values remain unknown; mass is never inferred from images. Probe/test-lift/controller integration is not implemented. No hardware actuation is performed; this is not hardware qualification.", "status": "ready_for_simulated_transport" }, "probe": { "admissible": true, "historical_qualified": true, "latest_qualified": true, "physical_robot_ready": false, "reasons": [], "receipt_sha256": "15dd6add7f85b0391e070ba7a55b8b460bced5580d2fceba9f200f0a5b762415", "schema": "dvidia.probe-evidence-verification/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.", "verified": true }, "schema": "dvidia.task-feasibility-with-probe/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification. Unknown planning values remain unknown. The unchanged approximate vertical-lift planning gate describes declared loads; it supplies no transport path, geospatial-goal contract or actuator permission. This wrapper never issues controls.", "status": "ready_for_simulated_transport" }, "context": { "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe", "calibration_id": "synthetic_probe_v01", "calibration_scope": "simulation_assumptions_not_hardware", "command_sha256": "4e6c21016e0d0760b1f93cf8aad803f9e400f3876ff4a1683713ccf2ae8c5c19", "feasibility_sha256": "dc769df55c09e03fe3594a2fd8cfb69f0476dac47c333520e17782d3ca21d652", "grasp_id": "m0525-f78-p1-issued_joint-probe-0", "initial_object_position_m": [ 0.3080000005446975, -0.03499975816054939, 0.07989224451748383 ], "model_sha256": "c34dec6cedabd3f158d7542a5418fa58a3374459baa1ab007e94b392d021826f", "native_status": { "simulation_time_s": 20.00000000000146, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "object_id": "task_block", "per_finger_force_ceiling_n": 10.0, "pose_binding_sha256": "603695b2b290efa9cb0e344165c31b6f08a29bb85c33562d54c36118bc8a9eb2", "probe_index": 0, "probe_origin_object_position_m": [ 0.3078897866743074, -0.03499190510992173, 0.07991928379608573 ], "probe_origin_tcp_local_offset_m": [ 0.0023210674996124447, 0.0002952596171755449, 0.0019252331616726153 ], "probe_start_s": 11.379999999999132, "robot_profile": "piper", "run_id": "m0525-f78-p1-issued_joint", "schema": "dvidia.probe-context/v1", "source_sha256": "d28324843344114f1ee863cee3c48dbca8aa37fd11222623563a0b1d40c364a6" }, "physical_robot_ready": false, "planning_input": { "allowed_pose_tolerance_m": 0.003, "calibration_id": "synthetic_probe_v01", "friction_interval": [ 0.78, 0.78 ], "geometry_known": true, "gripper_max_opening_interval_m": [ 0.07, 0.07 ], "gripper_min_closure_m": 0.0, "mass_interval_kg": [ 0.0525, 0.0525 ], "object_width_interval_m": [ 0.04, 0.04 ], "observations_fresh": true, "per_finger_normal_force_budget_n": 10.0, "planned_upward_accel_m_s2": 0.1, "pose_specific_payload_limit_kg": 0.1, "pose_uncertainty_m": 0.0, "reachability": "reachable", "safety_factor": 1.5, "schema": "dvidia.task-feasibility-input/v1", "slip_detected": false, "test_lift_passed": false }, "receipt": { "audit": { "controller_claim_mismatches": [], "controller_claims_checked": 2, "controller_conservative_abstention_count": 0, "controller_coverage": "Only the supplied claims are checked; omitted decisions are not inferred.", "controller_false_qualification_count": 0, "controller_positive_claims": 2, "force_ceiling_known": true, "maximum_observed_per_finger_force_n": 0.43246946470783476, "reasons": [], "rows": 20000, "unexpected_contact_native_ticks": 0, "valid": true }, "context": { "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe", "calibration_id": "synthetic_probe_v01", "calibration_scope": "simulation_assumptions_not_hardware", "command_sha256": "4e6c21016e0d0760b1f93cf8aad803f9e400f3876ff4a1683713ccf2ae8c5c19", "feasibility_sha256": "dc769df55c09e03fe3594a2fd8cfb69f0476dac47c333520e17782d3ca21d652", "grasp_id": "m0525-f78-p1-issued_joint-probe-0", "initial_object_position_m": [ 0.3080000005446975, -0.03499975816054939, 0.07989224451748383 ], "model_sha256": "c34dec6cedabd3f158d7542a5418fa58a3374459baa1ab007e94b392d021826f", "native_status": { "simulation_time_s": 20.00000000000146, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "object_id": "task_block", "per_finger_force_ceiling_n": 10.0, "pose_binding_sha256": "603695b2b290efa9cb0e344165c31b6f08a29bb85c33562d54c36118bc8a9eb2", "probe_index": 0, "probe_origin_object_position_m": [ 0.3078897866743074, -0.03499190510992173, 0.07991928379608573 ], "probe_origin_tcp_local_offset_m": [ 0.0023210674996124447, 0.0002952596171755449, 0.0019252331616726153 ], "probe_start_s": 11.379999999999132, "robot_profile": "piper", "run_id": "m0525-f78-p1-issued_joint", "schema": "dvidia.probe-context/v1", "source_sha256": "d28324843344114f1ee863cee3c48dbca8aa37fd11222623563a0b1d40c364a6" }, "context_sha256": "1609bbddf4376c0fb1a2318b39d92ce599af07c0f907e464301e8a51006566b9", "controller_qualifications": [ { "probe_index": 0, "qualified": true, "t_seconds": 11.999999999998789 }, { "probe_index": 0, "qualified": true, "t_seconds": 20.00000000000146 } ], "criteria": { "distance_comparison_epsilon": 1e-12, "initial_sample_tolerance_m": 0.001, "maximum_tcp_local_drift_m": 0.003, "minimum_continuous_dwell_s": 0.1, "minimum_per_finger_force_n_exclusive": 0.01, "minimum_rise_m": 0.006, "native_dt_s": 0.001, "origin_tolerance_m": 1e-09, "time_tolerance_s": 1e-08 }, "history": { "ever_qualified": true, "first_qualified_s": 11.984999999998797, "maximum_continuous_qualifying_s": 8.115 }, "latest": { "condition_valid": true, "continuous_qualifying_s": 8.115, "controller_claim": { "probe_index": 0, "qualified": true, "t_seconds": 20.00000000000146 }, "native_tick": 20000, "qualified": true, "rise_m": 0.008123384836788192, "tcp_local_drift_m": 0.0009264750566603984, "time_s": 20.00000000000146 }, "metadata_sha256": "ad8229630cc9f8718829bb8317b1a82480dcf18b9f71bd23666acfe71a003ef7", "native_arrays_sha256": "18fde18a95719a90cadd50242f54224be97d3d03e235a443c488e0143e4e6905", "physical_robot_ready": false, "receipt_sha256": "15dd6add7f85b0391e070ba7a55b8b460bced5580d2fceba9f200f0a5b762415", "schema": "dvidia.probe-evidence/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification." }, "status": "inspected", "verification": { "admissible": true, "historical_qualified": true, "latest_qualified": true, "physical_robot_ready": false, "reasons": [], "receipt_sha256": "15dd6add7f85b0391e070ba7a55b8b460bced5580d2fceba9f200f0a5b762415", "schema": "dvidia.probe-evidence-verification/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.", "verified": true } }, "stationarity": { "complete_5s": true, "grip_retention_and_stationarity": false, "maximum_tcp_orientation_excursion_rad": 0.019788722067814738, "maximum_tcp_position_excursion_m": 0.004673468172484759, "orientation_ceiling_rad": 0.05, "position_ceiling_m": 0.004, "required_s": 5.0, "scope": "Common recorded native TCP pose endpoint, not calibrated hardware stationarity.", "tcp_pose_within_bounds": false, "terminal_tcp_orientation_delta_rad": 0.019788722067814738, "terminal_tcp_position_delta_m": [ -0.004355507508528589, 0.0005170725270570858, 0.0016135349714654218 ] }, "status": "inspected" }, "files": { "episode.json.gz": { "bytes": 794728, "sha256": "1447bc5a6dd022a9b95d04b91257b6888c41ec0f98c9f6089c3c24fccd070290" }, "evaluation.json": { "bytes": 13486, "sha256": "f78b8eaa3a81daff0b6dbddb16cae9c1892ed1817a09e935cc420416c5d83c00" }, "native.json": { "bytes": 13763, "sha256": "19cc1d5998901cbc12da2916add3096763081e9decbfc7193981bfabc4b871e0" }, "native.npz": { "bytes": 4058137, "sha256": "8754eb738bf37d89993dd9d8ffa0ed63fb44c627553d03eec2b3b554f7c3fba6" }, "started.json": { "bytes": 151, "sha256": "addb6149c24748a228f4487b2f03f9cb6cc2ccbb4d8eab9ce30cec782476ee4b" } }, "friction": 0.78, "id": "m0525-f78-p1-issued_joint", "mass_kg": 0.0525, "metrics": { "carry_complete": false, "carry_contact_loss_events": 0, "carry_contact_loss_tolerance_seconds": 0.04, "dwell_seconds": 0.0, "first_success_time_seconds": null, "grasp_seen": true, "lift_dwell_seconds": 0.0, "lift_seen": false, "max_carry_contact_loss_seconds": 0.0, "max_object_lift_m": 0.008687218913283834, "max_pad_normal_force_n": 0.43246946470783476, "physical_robot_ready": false, "reason": "timeout", "retention_lost": false, "simulation_time": 20.00000000000146, "steps": 1000, "success": false, "target_distance_m": 0.12280923105357743, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "policy": { "abort_reason": null, "acquisition_contract": { "comparison_scope": "Closed-loop variants may acquire different trajectories through early hold/retry. This is not an isolated classifier ablation.", "control_dt_s": 0.02, "evidence_admission": "Current bilateral force >0.01 N, no table support, object rise >=6 mm and TCP-local offset drift <=3 mm continuously across sampled boundaries for elapsed >=100 ms.", "hold": "Latch measured six arm joints and the last issued jaw target at admission/terminal invalidity. No full lift/transfer, no squeeze escalation, no post-admission retry.", "invalidation": "At each subsequent 20 ms observation and final observation, invalidate immediately on lost contact/force, support, insufficient rise, >3 mm local drift or unexpected contact. Never requalify after terminal invalidity.", "observation_origin": "privileged_native_simulator_state", "parameters": { "close_timeout_s": 1.4, "consecutive_alarm_samples": 2, "max_retries": 1, "monitor_min_probe_motion_m": 0.003, "probe_height_m": 0.01, "probe_min_object_rise_m": 0.006, "probe_speed_m_s": 0.02, "probe_timeout_s": 1.4, "qualification_dwell_s": 0.1, "relative_drift_limit_m": 0.003, "retry_clearance_m": 0.012, "retry_open_timeout_s": 1.2, "retry_recenter_timeout_s": 1.5 }, "physical_robot_ready": false, "prefix": "Original GuardedPiperTaskPolicy approach/close and at most one supported open/recenter/retry; already uses authored native state, not a fully blind baseline.", "sampling_limit": "Independent 1 ms evidence may contradict sampled admission; that remains a finding. No sensor or material inference is implemented.", "schema": "dvidia.piper-probe-stop/v1", "stop_scope": "Holding native position targets is not physical arrest or calibrated force limiting; inertia and existing target rate limits can continue motion.", "timer_admission": "Same 10 mm/20 mm/s probe target law, admitted at elapsed >=600 ms from that probe start; no evidence predicate or slip alarm before admission. Unexpected contacts and bounded timeouts still stop.", "timer_admission_s": 0.6, "variants": [ "evidence", "timer" ] }, "acquisition_variant": "evidence", "active_probe_index": 0, "admission_time_s": 11.999999999998789, "admitted": true, "contract": { "acquisition": "Unchanged ProbeStopPolicy evidence acquisition, including its bounded supported retry. All variants share the same prefix through the first admission observation.", "cartesian": "Latch measured TCP position/orientation and preceding issued targets. Fixed joint bias equals issued target minus pose_action at the admission pose. First command repeats the exact issued target; later pose_action updates receive that fixed bias.", "control_dt_s": 0.02, "final_observation": "Repeat force, original eligibility and Cartesian pose-error checks. Do not solve or issue a hypothetical next control at the terminal observation.", "invalid_measurements": "Malformed, nonfinite or noncausal observations terminally refuse and raise without issuing a command. No measured-position stop is claimed from invalid measurements.", "issued_joint": "Latch the preceding issued six joint targets and the same last issued jaw target at admission.", "limits": { "initial_joint_bias_ceiling_rad": 0.08, "joint_correction_ceiling_rad": 0.03, "joint_correction_rate_rad_s": 0.1, "native_joint_target_margin_rad": 0.02, "per_finger_force_ceiling_n": 10.0, "tcp_orientation_error_ceiling_rad": 0.05, "tcp_position_error_ceiling_m": 0.004 }, "measured_joint": "Original hold: latch measured six joint coordinates and the last issued jaw target at admission.", "observation_origin": "privileged_native_simulator_state", "physical_robot_ready": false, "qualifications": "Engineering limits and the 10 N ceiling are authored synthetic assumptions, not damage limits or calibrated physical telemetry. Position targets are not physical stops or force limiters. No load/friction inference, model training or complete placement is implemented.", "rate_scope": "The extra correction slews at at most 0.002 rad per 20 ms per joint. Original native 1 ms target slew, servos, gains and force caps remain unchanged.", "refusal": "Original eligibility loss, unexpected contact or observed pad force >10 N terminally requests measured joint hold and the frozen jaw target. Cartesian error, initial-bias, total-correction or native-margin exhaustion also refuses terminally; it never chases an already failed grip.", "sampling": "Control checks occur at 20 ms boundaries. Independent saved 1 ms native evidence must judge a continuous 5 s hold; missed between-boundary failures remain findings.", "schema": "dvidia.piper-retention/v2", "variants": [ "measured_joint", "issued_joint", "cartesian" ] }, "events": [ { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "continue", "drift_streak": 0, "object_height_delta_m": 0.0, "phase": "probe", "progress_streak": 0, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0, "retry_index": 0, "t_seconds": 11.379999999999132, "table_supported": true, "tcp_probe_height_delta_m": 0.0 }, "observation_origin": "privileged_native_simulator_state", "phase": "guard_probe", "probe_index": 0, "reason": "slow_load_bearing_check", "retention_variant": "issued_joint", "retry_index": 0, "status": "probing", "t_seconds": 11.379999999999132, "type": "probe_started", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "bounded_issued_joint_hold", "drift_streak": 0, "object_height_delta_m": 0.007290310094989788, "phase": "probe", "progress_streak": 0, "qualification_dwell_seconds": 0.09999999999994458, "qualified": true, "relative_offset_error_m": 0.0001027518325260432, "retry_index": 0, "t_seconds": 11.999999999998789, "table_supported": false, "tcp_probe_height_delta_m": 0.007425297662112376 }, "observation_origin": "privileged_native_simulator_state", "phase": "probe_stop", "probe_index": 0, "reason": "sampled_probe_evidence", "retention_hold_reference": { "fixed_bias_rad": null, "frozen_jaw_target_m": 0.0, "issued_joint_targets_rad": [ -0.11774972935385812, 1.7418320227746038, -1.1816023134427456, -1.94276094206632e-05, 1.086649148311492, -0.1223791472335965 ], "measured_joint_position_rad": [ -0.1177595315454316, 1.746790102137095, -1.1767998542435634, -2.9357803290514588e-05, 1.06044590035554, -0.12233393168492207 ], "position_m": [ 0.3140396654535943, -0.035734118909874955, 0.08929562980228486 ], "quaternion_wxyz": [ 0.013702053369065315, -0.0022902498703897944, 0.9999021130510533, -0.0016651741773411695 ], "raw_pose_joint_targets_rad": null, "t_seconds": 11.999999999998789 }, "retention_variant": "issued_joint", "retry_index": 0, "status": "qualified_hold", "t_seconds": 11.999999999998789, "type": "evidence_qualified", "variant": "evidence" } ], "ever_admitted": true, "final_observed": true, "frozen_jaw_target_m": 0.0, "initial_context": { "object_position_m": [ 0.3080000005446975, -0.03499975816054939, 0.07989224451748383 ], "observation_origin": "privileged_native_simulator_state", "t_seconds": 0.0, "tcp_position_m": [ 0.4890696662845219, 0.0014141975654808877, 0.3665849431043091 ], "tcp_quaternion_wxyz": [ 0.6580840948238629, 2.7730466224793136e-07, 0.7529444362872891, -1.9485471114950535e-06 ] }, "last_observed_s": 20.00000000000146, "observation_origin": "privileged_native_simulator_state", "physical_robot_ready": false, "probes": [ { "admission_time_s": 11.999999999998789, "disposition": "qualified_hold", "end_time_s": null, "local_offset_origin_m": [ 0.0023210674996124447, 0.0002952596171755449, 0.0019252331616726153 ], "object_origin_m": [ 0.3078897866743074, -0.03499190510992173, 0.07991928379608573 ], "observation_origin": "privileged_native_simulator_state", "probe_index": 0, "reason": null, "start_time_s": 11.379999999999132, "tcp_origin_m": [ 0.31019086653602473, -0.035273857473151655, 0.08187033214017249 ], "tcp_quaternion_wxyz": [ 0.005501076294512222, -0.00231534163547747, 0.9999819626692362, -0.0006720780426825742 ] } ], "retention": { "hold_reference": { "fixed_bias_rad": null, "frozen_jaw_target_m": 0.0, "issued_joint_targets_rad": [ -0.11774972935385812, 1.7418320227746038, -1.1816023134427456, -1.94276094206632e-05, 1.086649148311492, -0.1223791472335965 ], "measured_joint_position_rad": [ -0.1177595315454316, 1.746790102137095, -1.1767998542435634, -2.9357803290514588e-05, 1.06044590035554, -0.12233393168492207 ], "position_m": [ 0.3140396654535943, -0.035734118909874955, 0.08929562980228486 ], "quaternion_wxyz": [ 0.013702053369065315, -0.0022902498703897944, 0.9999021130510533, -0.0016651741773411695 ], "raw_pose_joint_targets_rad": null, "t_seconds": 11.999999999998789 }, "input_refusals": [], "native_joint_control_limits_rad": [ [ -2.618, 2.618 ], [ 0.0, 3.14 ], [ -2.697, 0.0 ], [ -1.832, 1.832 ], [ -1.22, 1.22 ], [ -3.14, 3.14 ] ], "variant": "issued_joint" }, "retry_count": 0, "schema": "dvidia.piper-retention/v2", "status": "qualified_hold", "stop_targets_rad": [ -0.11774972935385812, 1.7418320227746038, -1.1816023134427456, -1.94276094206632e-05, 1.086649148311492, -0.1223791472335965 ], "variant": "issued_joint" }, "scene_id": "m0525-f78-p1", "timing": { "policy_cpu": { "maximum_s": 0.0018519999999995207, "mean_s": 0.00014111100000017984, "over_20ms": 0, "p50_s": 9.099999999762076e-05, "p95_s": 0.00037999999999343, "p99_s": 0.0005330700000043009, "samples": 1000 }, "policy_wall": { "maximum_s": 0.009154750034213066, "mean_s": 0.0002101286919787526, "over_20ms": 0, "p50_s": 9.168824180960655e-05, "p95_s": 0.0005923207150772213, "p99_s": 0.002240515458397567, "samples": 1000 }, "step_cpu": { "maximum_s": 0.031200999999995815, "mean_s": 0.0035405359999998894, "over_20ms": 2, "p50_s": 0.0034309999999990737, "p95_s": 0.005373949999994919, "p99_s": 0.006950219999991701, "samples": 1000 }, "step_wall": { "maximum_s": 0.0747564579360187, "mean_s": 0.0045757463062182065, "over_20ms": 12, "p50_s": 0.0035285623744130135, "p95_s": 0.00998586856294423, "p99_s": 0.02028422883711754, "samples": 1000 } }, "valid": true, "variant": "issued_joint" }, { "error": null, "evaluation": { "claims": { "false_maintained_grip": 0, "false_maintained_pose": 0, "maintained_checks": 86, "scope": "Claimed qualified boundaries after admission, compared with every native row since admission; grip includes correct initial prefix. Counts are diagnostic, not independent trials." }, "corrections": { "bound_refusal_counts": { "tcp_position_error_exhausted": 1 }, "flag_counts": { "correction_rate_limited": 0 }, "hold_record_count": 401, "input_refusals": [], "maximum_abs_accepted_correction_rate_rad_s": null, "maximum_abs_active_correction_rad": 0.00024253817958475032, "maximum_abs_desired_correction_rad": 0.00024253817958475032, "maximum_abs_pose_error_increment_rad": null, "rate_limited_axis_occurrences": 0, "scope": "Includes recorded final diagnostic checks; only command_issued rows represent issued controls." }, "decomposition": { "elapsed_s": 5.0, "local_offset_change_m": 0.0005199772103619222, "object_world_z_delta_m": 9.587697263051254e-05, "relative_world_z_delta_m": -0.00047316949668427255, "scope": "Kinematic components, not causal attribution or calibrated physical slip.", "tcp_world_z_delta_m": 0.0005690464693147851 }, "final": { "both_qualified": false, "controller_qualified": false, "evidence_admissible": false, "native_qualified": true }, "first_admission": { "native_prefix_qualified": true, "native_qualifying_window_s": 0.115, "probe_index": 0, "time_s": 11.999999999998789 }, "grip_only": { "all_native_hold_forces_within_ceiling": true, "combined_qualified_pause": false, "complete_5s": true, "controller_retained_at_5s": false, "first_native_predicate_failure_s": null, "followup_available_s": 8.000000000002672, "native_pause_success": true, "reason": "success", "required_s": 5.0, "success": true, "target_time_s": 16.99999999999879 }, "native": { "arrays_sha256": "593233ef4bfa3cec6b7141302da86372207ac0221b82f216fd04442581ef8f84", "complete": true, "maximum_per_finger_force_n": 0.43246946470783476, "rows": 20000, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "physical_robot_ready": false, "primary": { "all_native_hold_forces_within_ceiling": true, "combined_qualified_pause": false, "complete_5s": true, "controller_retained_at_5s": false, "first_native_predicate_failure_s": null, "first_tcp_pose_failure_s": 13.738999999997825, "followup_available_s": 8.000000000002672, "native_pause_success": true, "reason": "tcp_stationarity_lost", "required_s": 5.0, "success": false, "target_time_s": 16.99999999999879 }, "probes": [ { "claims": [ { "native_prefix_qualified": true, "t_seconds": 11.999999999998789 } ], "disposition": "invalidated_hold", "final_native_qualified_from_origin": true, "probe_index": 0, "start_time_s": 11.379999999999132 } ], "receipt": { "admission": { "observation_origin": "privileged_native_simulation_plus_caller_planning_assumptions", "physical_robot_ready": false, "planning": { "computed": { "conservative_required_load_n": 0.7801486874999999, "gravity_m_s2": 9.80665, "pose_specific_payload_limit_force_n": 0.980665, "two_finger_friction_capacity_n": 15.600000000000001 }, "observation_origin": "caller_declared_not_verified", "physical_robot_ready": false, "reasons": [ "Run and record a cautious test lift under the same calibrated pose and load conditions before simulated transport planning." ], "schema": "dvidia.task-feasibility-result/v1", "scope": "Planning assessment only. Parallel two-finger vertical-lift approximation; ignores moment, center of mass, deformation, transient impacts and unmodeled contact effects. Unknown values remain unknown; mass is never inferred from images. Probe/test-lift/controller integration is not implemented. No hardware actuation is performed; this is not hardware qualification.", "status": "test_lift_required" }, "probe": { "admissible": false, "historical_qualified": true, "latest_qualified": true, "physical_robot_ready": false, "reasons": [ "latest_controller_not_qualified" ], "receipt_sha256": "e9f8845954608821c9f32857d70964e02cbdd372a0b54dcac5a60a23d4e306cb", "schema": "dvidia.probe-evidence-verification/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.", "verified": true }, "schema": "dvidia.task-feasibility-with-probe/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification. Unknown planning values remain unknown. The unchanged approximate vertical-lift planning gate describes declared loads; it supplies no transport path, geospatial-goal contract or actuator permission. This wrapper never issues controls.", "status": "test_lift_required" }, "context": { "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe", "calibration_id": "synthetic_probe_v01", "calibration_scope": "simulation_assumptions_not_hardware", "command_sha256": "fad7344ce9151f9e8a36b947678756721211c33b8bfeefe04c350252c3edd5e5", "feasibility_sha256": "dc769df55c09e03fe3594a2fd8cfb69f0476dac47c333520e17782d3ca21d652", "grasp_id": "m0525-f78-p1-cartesian-probe-0", "initial_object_position_m": [ 0.3080000005446975, -0.03499975816054939, 0.07989224451748383 ], "model_sha256": "c34dec6cedabd3f158d7542a5418fa58a3374459baa1ab007e94b392d021826f", "native_status": { "simulation_time_s": 20.00000000000146, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "object_id": "task_block", "per_finger_force_ceiling_n": 10.0, "pose_binding_sha256": "d37ac6560783282c15dbd06627ab9cc4e3a6d0925405ec20f0169eb1c9e77a37", "probe_index": 0, "probe_origin_object_position_m": [ 0.3078897866743074, -0.03499190510992173, 0.07991928379608573 ], "probe_origin_tcp_local_offset_m": [ 0.0023210674996124447, 0.0002952596171755449, 0.0019252331616726153 ], "probe_start_s": 11.379999999999132, "robot_profile": "piper", "run_id": "m0525-f78-p1-cartesian", "schema": "dvidia.probe-context/v1", "source_sha256": "d28324843344114f1ee863cee3c48dbca8aa37fd11222623563a0b1d40c364a6" }, "physical_robot_ready": false, "planning_input": { "allowed_pose_tolerance_m": 0.003, "calibration_id": "synthetic_probe_v01", "friction_interval": [ 0.78, 0.78 ], "geometry_known": true, "gripper_max_opening_interval_m": [ 0.07, 0.07 ], "gripper_min_closure_m": 0.0, "mass_interval_kg": [ 0.0525, 0.0525 ], "object_width_interval_m": [ 0.04, 0.04 ], "observations_fresh": true, "per_finger_normal_force_budget_n": 10.0, "planned_upward_accel_m_s2": 0.1, "pose_specific_payload_limit_kg": 0.1, "pose_uncertainty_m": 0.0, "reachability": "reachable", "safety_factor": 1.5, "schema": "dvidia.task-feasibility-input/v1", "slip_detected": false, "test_lift_passed": false }, "receipt": { "audit": { "controller_claim_mismatches": [ { "classification": "conservative_abstention", "controller_qualified": false, "native_prefix_qualified": true, "t_seconds": 20.00000000000146 } ], "controller_claims_checked": 2, "controller_conservative_abstention_count": 1, "controller_coverage": "Only the supplied claims are checked; omitted decisions are not inferred.", "controller_false_qualification_count": 0, "controller_positive_claims": 1, "force_ceiling_known": true, "maximum_observed_per_finger_force_n": 0.43246946470783476, "reasons": [], "rows": 20000, "unexpected_contact_native_ticks": 0, "valid": true }, "context": { "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe", "calibration_id": "synthetic_probe_v01", "calibration_scope": "simulation_assumptions_not_hardware", "command_sha256": "fad7344ce9151f9e8a36b947678756721211c33b8bfeefe04c350252c3edd5e5", "feasibility_sha256": "dc769df55c09e03fe3594a2fd8cfb69f0476dac47c333520e17782d3ca21d652", "grasp_id": "m0525-f78-p1-cartesian-probe-0", "initial_object_position_m": [ 0.3080000005446975, -0.03499975816054939, 0.07989224451748383 ], "model_sha256": "c34dec6cedabd3f158d7542a5418fa58a3374459baa1ab007e94b392d021826f", "native_status": { "simulation_time_s": 20.00000000000146, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "object_id": "task_block", "per_finger_force_ceiling_n": 10.0, "pose_binding_sha256": "d37ac6560783282c15dbd06627ab9cc4e3a6d0925405ec20f0169eb1c9e77a37", "probe_index": 0, "probe_origin_object_position_m": [ 0.3078897866743074, -0.03499190510992173, 0.07991928379608573 ], "probe_origin_tcp_local_offset_m": [ 0.0023210674996124447, 0.0002952596171755449, 0.0019252331616726153 ], "probe_start_s": 11.379999999999132, "robot_profile": "piper", "run_id": "m0525-f78-p1-cartesian", "schema": "dvidia.probe-context/v1", "source_sha256": "d28324843344114f1ee863cee3c48dbca8aa37fd11222623563a0b1d40c364a6" }, "context_sha256": "006b0deec1aca695986938a2918e5c63efddfe1b28f1d9dd870fc6302720b05b", "controller_qualifications": [ { "probe_index": 0, "qualified": true, "t_seconds": 11.999999999998789 }, { "probe_index": 0, "qualified": false, "t_seconds": 20.00000000000146 } ], "criteria": { "distance_comparison_epsilon": 1e-12, "initial_sample_tolerance_m": 0.001, "maximum_tcp_local_drift_m": 0.003, "minimum_continuous_dwell_s": 0.1, "minimum_per_finger_force_n_exclusive": 0.01, "minimum_rise_m": 0.006, "native_dt_s": 0.001, "origin_tolerance_m": 1e-09, "time_tolerance_s": 1e-08 }, "history": { "ever_qualified": true, "first_qualified_s": 11.984999999998797, "maximum_continuous_qualifying_s": 8.115 }, "latest": { "condition_valid": true, "continuous_qualifying_s": 8.115, "controller_claim": { "probe_index": 0, "qualified": false, "t_seconds": 20.00000000000146 }, "native_tick": 20000, "qualified": true, "rise_m": 0.0070707126620666305, "tcp_local_drift_m": 0.0009264975841546348, "time_s": 20.00000000000146 }, "metadata_sha256": "ad8229630cc9f8718829bb8317b1a82480dcf18b9f71bd23666acfe71a003ef7", "native_arrays_sha256": "593233ef4bfa3cec6b7141302da86372207ac0221b82f216fd04442581ef8f84", "physical_robot_ready": false, "receipt_sha256": "e9f8845954608821c9f32857d70964e02cbdd372a0b54dcac5a60a23d4e306cb", "schema": "dvidia.probe-evidence/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification." }, "status": "inspected", "verification": { "admissible": false, "historical_qualified": true, "latest_qualified": true, "physical_robot_ready": false, "reasons": [ "latest_controller_not_qualified" ], "receipt_sha256": "e9f8845954608821c9f32857d70964e02cbdd372a0b54dcac5a60a23d4e306cb", "schema": "dvidia.probe-evidence-verification/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.", "verified": true } }, "stationarity": { "complete_5s": true, "grip_retention_and_stationarity": false, "maximum_tcp_orientation_excursion_rad": 0.019871531034470803, "maximum_tcp_position_excursion_m": 0.004241927595089948, "orientation_ceiling_rad": 0.05, "position_ceiling_m": 0.004, "required_s": 5.0, "scope": "Common recorded native TCP pose endpoint, not calibrated hardware stationarity.", "tcp_pose_within_bounds": false, "terminal_tcp_orientation_delta_rad": 0.019871531034470803, "terminal_tcp_position_delta_m": [ -0.00417463231146431, 0.0004925250265967393, 0.0005690464693147851 ] }, "status": "inspected" }, "files": { "episode.json.gz": { "bytes": 820708, "sha256": "9794ea05bb201bda5c9d3c784736fc58b28ad806291630722435f44e4f2c8cd5" }, "evaluation.json": { "bytes": 13898, "sha256": "aca548de6c8b7ba159431876881f481f4b0828771880f50e248fdc3c9b66aecd" }, "native.json": { "bytes": 13763, "sha256": "19cc1d5998901cbc12da2916add3096763081e9decbfc7193981bfabc4b871e0" }, "native.npz": { "bytes": 4050865, "sha256": "2c254c10ec5f32d3322fd76951f693dfb0e880a0a6f549b3602ec7655761688a" }, "started.json": { "bytes": 148, "sha256": "86da3d99e63f3a33c864401922656272e539627ea9b13d5f529c9f182c290c5e" } }, "friction": 0.78, "id": "m0525-f78-p1-cartesian", "mass_kg": 0.0525, "metrics": { "carry_complete": false, "carry_contact_loss_events": 0, "carry_contact_loss_tolerance_seconds": 0.04, "dwell_seconds": 0.0, "first_success_time_seconds": null, "grasp_seen": true, "lift_dwell_seconds": 0.0, "lift_seen": false, "max_carry_contact_loss_seconds": 0.0, "max_object_lift_m": 0.008706743063175038, "max_pad_normal_force_n": 0.43246946470783476, "physical_robot_ready": false, "reason": "timeout", "retention_lost": false, "simulation_time": 20.00000000000146, "steps": 1000, "success": false, "target_distance_m": 0.12270188092559563, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "policy": { "abort_reason": "tcp_position_error_exhausted", "acquisition_contract": { "comparison_scope": "Closed-loop variants may acquire different trajectories through early hold/retry. This is not an isolated classifier ablation.", "control_dt_s": 0.02, "evidence_admission": "Current bilateral force >0.01 N, no table support, object rise >=6 mm and TCP-local offset drift <=3 mm continuously across sampled boundaries for elapsed >=100 ms.", "hold": "Latch measured six arm joints and the last issued jaw target at admission/terminal invalidity. No full lift/transfer, no squeeze escalation, no post-admission retry.", "invalidation": "At each subsequent 20 ms observation and final observation, invalidate immediately on lost contact/force, support, insufficient rise, >3 mm local drift or unexpected contact. Never requalify after terminal invalidity.", "observation_origin": "privileged_native_simulator_state", "parameters": { "close_timeout_s": 1.4, "consecutive_alarm_samples": 2, "max_retries": 1, "monitor_min_probe_motion_m": 0.003, "probe_height_m": 0.01, "probe_min_object_rise_m": 0.006, "probe_speed_m_s": 0.02, "probe_timeout_s": 1.4, "qualification_dwell_s": 0.1, "relative_drift_limit_m": 0.003, "retry_clearance_m": 0.012, "retry_open_timeout_s": 1.2, "retry_recenter_timeout_s": 1.5 }, "physical_robot_ready": false, "prefix": "Original GuardedPiperTaskPolicy approach/close and at most one supported open/recenter/retry; already uses authored native state, not a fully blind baseline.", "sampling_limit": "Independent 1 ms evidence may contradict sampled admission; that remains a finding. No sensor or material inference is implemented.", "schema": "dvidia.piper-probe-stop/v1", "stop_scope": "Holding native position targets is not physical arrest or calibrated force limiting; inertia and existing target rate limits can continue motion.", "timer_admission": "Same 10 mm/20 mm/s probe target law, admitted at elapsed >=600 ms from that probe start; no evidence predicate or slip alarm before admission. Unexpected contacts and bounded timeouts still stop.", "timer_admission_s": 0.6, "variants": [ "evidence", "timer" ] }, "acquisition_variant": "evidence", "active_probe_index": 0, "admission_time_s": 11.999999999998789, "admitted": false, "contract": { "acquisition": "Unchanged ProbeStopPolicy evidence acquisition, including its bounded supported retry. All variants share the same prefix through the first admission observation.", "cartesian": "Latch measured TCP position/orientation and preceding issued targets. Fixed joint bias equals issued target minus pose_action at the admission pose. First command repeats the exact issued target; later pose_action updates receive that fixed bias.", "control_dt_s": 0.02, "final_observation": "Repeat force, original eligibility and Cartesian pose-error checks. Do not solve or issue a hypothetical next control at the terminal observation.", "invalid_measurements": "Malformed, nonfinite or noncausal observations terminally refuse and raise without issuing a command. No measured-position stop is claimed from invalid measurements.", "issued_joint": "Latch the preceding issued six joint targets and the same last issued jaw target at admission.", "limits": { "initial_joint_bias_ceiling_rad": 0.08, "joint_correction_ceiling_rad": 0.03, "joint_correction_rate_rad_s": 0.1, "native_joint_target_margin_rad": 0.02, "per_finger_force_ceiling_n": 10.0, "tcp_orientation_error_ceiling_rad": 0.05, "tcp_position_error_ceiling_m": 0.004 }, "measured_joint": "Original hold: latch measured six joint coordinates and the last issued jaw target at admission.", "observation_origin": "privileged_native_simulator_state", "physical_robot_ready": false, "qualifications": "Engineering limits and the 10 N ceiling are authored synthetic assumptions, not damage limits or calibrated physical telemetry. Position targets are not physical stops or force limiters. No load/friction inference, model training or complete placement is implemented.", "rate_scope": "The extra correction slews at at most 0.002 rad per 20 ms per joint. Original native 1 ms target slew, servos, gains and force caps remain unchanged.", "refusal": "Original eligibility loss, unexpected contact or observed pad force >10 N terminally requests measured joint hold and the frozen jaw target. Cartesian error, initial-bias, total-correction or native-margin exhaustion also refuses terminally; it never chases an already failed grip.", "sampling": "Control checks occur at 20 ms boundaries. Independent saved 1 ms native evidence must judge a continuous 5 s hold; missed between-boundary failures remain findings.", "schema": "dvidia.piper-retention/v2", "variants": [ "measured_joint", "issued_joint", "cartesian" ] }, "events": [ { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "continue", "drift_streak": 0, "object_height_delta_m": 0.0, "phase": "probe", "progress_streak": 0, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0, "retry_index": 0, "t_seconds": 11.379999999999132, "table_supported": true, "tcp_probe_height_delta_m": 0.0 }, "observation_origin": "privileged_native_simulator_state", "phase": "guard_probe", "probe_index": 0, "reason": "slow_load_bearing_check", "retention_variant": "cartesian", "retry_index": 0, "status": "probing", "t_seconds": 11.379999999999132, "type": "probe_started", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "bounded_cartesian_hold", "drift_streak": 0, "object_height_delta_m": 0.007290310094989788, "phase": "probe", "progress_streak": 0, "qualification_dwell_seconds": 0.09999999999994458, "qualified": true, "relative_offset_error_m": 0.0001027518325260432, "retry_index": 0, "t_seconds": 11.999999999998789, "table_supported": false, "tcp_probe_height_delta_m": 0.007425297662112376 }, "observation_origin": "privileged_native_simulator_state", "phase": "probe_stop", "probe_index": 0, "reason": "sampled_probe_evidence", "retention_hold_reference": { "fixed_bias_rad": [ 9.8021915734825e-06, -0.004958079362491263, -0.004802459199182207, 9.930193869852255e-06, 0.02620324795595197, -4.5215548674426564e-05 ], "frozen_jaw_target_m": 0.0, "issued_joint_targets_rad": [ -0.11774972935385812, 1.7418320227746038, -1.1816023134427456, -1.94276094206632e-05, 1.086649148311492, -0.1223791472335965 ], "measured_joint_position_rad": [ -0.1177595315454316, 1.746790102137095, -1.1767998542435634, -2.9357803290514588e-05, 1.06044590035554, -0.12233393168492207 ], "position_m": [ 0.3140396654535943, -0.035734118909874955, 0.08929562980228486 ], "quaternion_wxyz": [ 0.013702053369065315, -0.0022902498703897944, 0.9999021130510533, -0.0016651741773411695 ], "raw_pose_joint_targets_rad": [ -0.1177595315454316, 1.746790102137095, -1.1767998542435634, -2.9357803290515455e-05, 1.06044590035554, -0.12233393168492207 ], "t_seconds": 11.999999999998789 }, "retention_variant": "cartesian", "retry_index": 0, "status": "qualified_hold", "t_seconds": 11.999999999998789, "type": "evidence_qualified", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "hold_measured_arm_and_freeze_issued_jaw", "drift_streak": 0, "object_height_delta_m": 0.00867970378457314, "phase": "probe_hold", "progress_streak": 0, "qualification_dwell_seconds": 1.8399999999989802, "qualified": false, "relative_offset_error_m": 0.0002817712150390341, "retry_index": 0, "t_seconds": 13.739999999997824, "table_supported": false, "tcp_probe_height_delta_m": 0.008959904358080487 }, "observation_origin": "privileged_native_simulator_state", "phase": "probe_stop", "probe_index": 0, "reason": "tcp_position_error_exhausted", "retention_variant": "cartesian", "retry_index": 0, "status": "invalidated_hold", "t_seconds": 13.739999999997824, "type": "hold_invalidated", "variant": "evidence" } ], "ever_admitted": true, "final_observed": true, "frozen_jaw_target_m": 0.0, "initial_context": { "object_position_m": [ 0.3080000005446975, -0.03499975816054939, 0.07989224451748383 ], "observation_origin": "privileged_native_simulator_state", "t_seconds": 0.0, "tcp_position_m": [ 0.4890696662845219, 0.0014141975654808877, 0.3665849431043091 ], "tcp_quaternion_wxyz": [ 0.6580840948238629, 2.7730466224793136e-07, 0.7529444362872891, -1.9485471114950535e-06 ] }, "last_observed_s": 20.00000000000146, "observation_origin": "privileged_native_simulator_state", "physical_robot_ready": false, "probes": [ { "admission_time_s": 11.999999999998789, "disposition": "invalidated_hold", "end_time_s": 13.739999999997824, "local_offset_origin_m": [ 0.0023210674996124447, 0.0002952596171755449, 0.0019252331616726153 ], "object_origin_m": [ 0.3078897866743074, -0.03499190510992173, 0.07991928379608573 ], "observation_origin": "privileged_native_simulator_state", "probe_index": 0, "reason": "tcp_position_error_exhausted", "start_time_s": 11.379999999999132, "tcp_origin_m": [ 0.31019086653602473, -0.035273857473151655, 0.08187033214017249 ], "tcp_quaternion_wxyz": [ 0.005501076294512222, -0.00231534163547747, 0.9999819626692362, -0.0006720780426825742 ] } ], "retention": { "hold_reference": { "fixed_bias_rad": [ 9.8021915734825e-06, -0.004958079362491263, -0.004802459199182207, 9.930193869852255e-06, 0.02620324795595197, -4.5215548674426564e-05 ], "frozen_jaw_target_m": 0.0, "issued_joint_targets_rad": [ -0.11774972935385812, 1.7418320227746038, -1.1816023134427456, -1.94276094206632e-05, 1.086649148311492, -0.1223791472335965 ], "measured_joint_position_rad": [ -0.1177595315454316, 1.746790102137095, -1.1767998542435634, -2.9357803290514588e-05, 1.06044590035554, -0.12233393168492207 ], "position_m": [ 0.3140396654535943, -0.035734118909874955, 0.08929562980228486 ], "quaternion_wxyz": [ 0.013702053369065315, -0.0022902498703897944, 0.9999021130510533, -0.0016651741773411695 ], "raw_pose_joint_targets_rad": [ -0.1177595315454316, 1.746790102137095, -1.1767998542435634, -2.9357803290515455e-05, 1.06044590035554, -0.12233393168492207 ], "t_seconds": 11.999999999998789 }, "input_refusals": [], "native_joint_control_limits_rad": [ [ -2.618, 2.618 ], [ 0.0, 3.14 ], [ -2.697, 0.0 ], [ -1.832, 1.832 ], [ -1.22, 1.22 ], [ -3.14, 3.14 ] ], "variant": "cartesian" }, "retry_count": 0, "schema": "dvidia.piper-retention/v2", "status": "invalidated_hold", "stop_targets_rad": [ -0.11774984094256306, 1.7438913197624617, -1.1798218646280274, -3.6124981594897916e-05, 1.0828105792740785, -0.12237472271418216 ], "variant": "cartesian" }, "scene_id": "m0525-f78-p1", "timing": { "policy_cpu": { "maximum_s": 0.0005220000000036862, "mean_s": 6.297499999989498e-05, "over_20ms": 0, "p50_s": 6.799999999884676e-05, "p95_s": 0.00010499999999069587, "p99_s": 0.00016109000000554365, "samples": 1000 }, "policy_wall": { "maximum_s": 0.0014551668427884579, "mean_s": 6.465205363929272e-05, "over_20ms": 0, "p50_s": 6.766710430383682e-05, "p95_s": 0.00010546206030994653, "p99_s": 0.00017377304844558232, "samples": 1000 }, "step_cpu": { "maximum_s": 0.015165000000010309, "mean_s": 0.00240122700000029, "over_20ms": 0, "p50_s": 0.0019929999999988013, "p95_s": 0.00342344999999824, "p99_s": 0.0038945500000025384, "samples": 1000 }, "step_wall": { "maximum_s": 0.01566091598942876, "mean_s": 0.002455098663456738, "over_20ms": 0, "p50_s": 0.0020667079370468855, "p95_s": 0.003539105900563299, "p99_s": 0.004577636355534195, "samples": 1000 } }, "valid": true, "variant": "cartesian" }, { "error": null, "evaluation": { "claims": { "false_maintained_grip": 0, "false_maintained_pose": 0, "maintained_checks": 149, "scope": "Claimed qualified boundaries after admission, compared with every native row since admission; grip includes correct initial prefix. Counts are diagnostic, not independent trials." }, "corrections": { "bound_refusal_counts": {}, "flag_counts": { "correction_rate_limited": 0 }, "hold_record_count": 401, "input_refusals": [], "maximum_abs_accepted_correction_rate_rad_s": null, "maximum_abs_active_correction_rad": null, "maximum_abs_desired_correction_rad": null, "maximum_abs_pose_error_increment_rad": null, "rate_limited_axis_occurrences": 0, "scope": "Includes recorded final diagnostic checks; only command_issued rows represent issued controls." }, "decomposition": { "elapsed_s": 5.0, "local_offset_change_m": 0.0005194131095239333, "object_world_z_delta_m": -0.0024408728386779988, "relative_world_z_delta_m": -0.000502210615660123, "scope": "Kinematic components, not causal attribution or calibrated physical slip.", "tcp_world_z_delta_m": -0.0019386622230178757 }, "final": { "both_qualified": false, "controller_qualified": false, "evidence_admissible": false, "native_qualified": false }, "first_admission": { "native_prefix_qualified": true, "native_qualifying_window_s": 0.115, "probe_index": 0, "time_s": 11.999999999998789 }, "grip_only": { "all_native_hold_forces_within_ceiling": true, "combined_qualified_pause": false, "complete_5s": true, "controller_retained_at_5s": false, "first_native_predicate_failure_s": 14.994999999997129, "followup_available_s": 8.000000000002672, "native_pause_success": false, "reason": "native_predicate_lost", "required_s": 5.0, "success": false, "target_time_s": 16.99999999999879 }, "native": { "arrays_sha256": "7bd790613cf5f818978239d96cb58eda0ad74e364abb6e31afd316b59584b59a", "complete": true, "maximum_per_finger_force_n": 0.43246946470783476, "rows": 20000, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "physical_robot_ready": false, "primary": { "all_native_hold_forces_within_ceiling": true, "combined_qualified_pause": false, "complete_5s": true, "controller_retained_at_5s": false, "first_native_predicate_failure_s": 14.994999999997129, "first_tcp_pose_failure_s": null, "followup_available_s": 8.000000000002672, "native_pause_success": false, "reason": "native_predicate_lost", "required_s": 5.0, "success": false, "target_time_s": 16.99999999999879 }, "probes": [ { "claims": [ { "native_prefix_qualified": true, "t_seconds": 11.999999999998789 } ], "disposition": "invalidated_hold", "final_native_qualified_from_origin": false, "probe_index": 0, "start_time_s": 11.379999999999132 } ], "receipt": { "admission": { "observation_origin": "privileged_native_simulation_plus_caller_planning_assumptions", "physical_robot_ready": false, "planning": { "computed": { "conservative_required_load_n": 0.7801486874999999, "gravity_m_s2": 9.80665, "pose_specific_payload_limit_force_n": 0.980665, "two_finger_friction_capacity_n": 15.600000000000001 }, "observation_origin": "caller_declared_not_verified", "physical_robot_ready": false, "reasons": [ "Run and record a cautious test lift under the same calibrated pose and load conditions before simulated transport planning." ], "schema": "dvidia.task-feasibility-result/v1", "scope": "Planning assessment only. Parallel two-finger vertical-lift approximation; ignores moment, center of mass, deformation, transient impacts and unmodeled contact effects. Unknown values remain unknown; mass is never inferred from images. Probe/test-lift/controller integration is not implemented. No hardware actuation is performed; this is not hardware qualification.", "status": "test_lift_required" }, "probe": { "admissible": false, "historical_qualified": true, "latest_qualified": false, "physical_robot_ready": false, "reasons": [ "latest_native_window_not_qualified", "latest_controller_not_qualified" ], "receipt_sha256": "156595cea3697fe09c39832f28d239e2c6099ae586769e3cfe018b8240758797", "schema": "dvidia.probe-evidence-verification/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.", "verified": true }, "schema": "dvidia.task-feasibility-with-probe/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification. Unknown planning values remain unknown. The unchanged approximate vertical-lift planning gate describes declared loads; it supplies no transport path, geospatial-goal contract or actuator permission. This wrapper never issues controls.", "status": "test_lift_required" }, "context": { "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe", "calibration_id": "synthetic_probe_v01", "calibration_scope": "simulation_assumptions_not_hardware", "command_sha256": "c80378f72e8267ebeb8589e4f72cc72a123b73fb60a270b8a195678bb44100ab", "feasibility_sha256": "dc769df55c09e03fe3594a2fd8cfb69f0476dac47c333520e17782d3ca21d652", "grasp_id": "m0525-f78-p1-measured_joint-probe-0", "initial_object_position_m": [ 0.3080000005446975, -0.03499975816054939, 0.07989224451748383 ], "model_sha256": "c34dec6cedabd3f158d7542a5418fa58a3374459baa1ab007e94b392d021826f", "native_status": { "simulation_time_s": 20.00000000000146, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "object_id": "task_block", "per_finger_force_ceiling_n": 10.0, "pose_binding_sha256": "b7437e955b023b6dafe20506f85a12793e8f1bcb175b26666dbbfff186d24121", "probe_index": 0, "probe_origin_object_position_m": [ 0.3078897866743074, -0.03499190510992173, 0.07991928379608573 ], "probe_origin_tcp_local_offset_m": [ 0.0023210674996124447, 0.0002952596171755449, 0.0019252331616726153 ], "probe_start_s": 11.379999999999132, "robot_profile": "piper", "run_id": "m0525-f78-p1-measured_joint", "schema": "dvidia.probe-context/v1", "source_sha256": "d28324843344114f1ee863cee3c48dbca8aa37fd11222623563a0b1d40c364a6" }, "physical_robot_ready": false, "planning_input": { "allowed_pose_tolerance_m": 0.003, "calibration_id": "synthetic_probe_v01", "friction_interval": [ 0.78, 0.78 ], "geometry_known": true, "gripper_max_opening_interval_m": [ 0.07, 0.07 ], "gripper_min_closure_m": 0.0, "mass_interval_kg": [ 0.0525, 0.0525 ], "object_width_interval_m": [ 0.04, 0.04 ], "observations_fresh": true, "per_finger_normal_force_budget_n": 10.0, "planned_upward_accel_m_s2": 0.1, "pose_specific_payload_limit_kg": 0.1, "pose_uncertainty_m": 0.0, "reachability": "reachable", "safety_factor": 1.5, "schema": "dvidia.task-feasibility-input/v1", "slip_detected": false, "test_lift_passed": false }, "receipt": { "audit": { "controller_claim_mismatches": [], "controller_claims_checked": 2, "controller_conservative_abstention_count": 0, "controller_coverage": "Only the supplied claims are checked; omitted decisions are not inferred.", "controller_false_qualification_count": 0, "controller_positive_claims": 1, "force_ceiling_known": true, "maximum_observed_per_finger_force_n": 0.43246946470783476, "reasons": [], "rows": 20000, "unexpected_contact_native_ticks": 0, "valid": true }, "context": { "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe", "calibration_id": "synthetic_probe_v01", "calibration_scope": "simulation_assumptions_not_hardware", "command_sha256": "c80378f72e8267ebeb8589e4f72cc72a123b73fb60a270b8a195678bb44100ab", "feasibility_sha256": "dc769df55c09e03fe3594a2fd8cfb69f0476dac47c333520e17782d3ca21d652", "grasp_id": "m0525-f78-p1-measured_joint-probe-0", "initial_object_position_m": [ 0.3080000005446975, -0.03499975816054939, 0.07989224451748383 ], "model_sha256": "c34dec6cedabd3f158d7542a5418fa58a3374459baa1ab007e94b392d021826f", "native_status": { "simulation_time_s": 20.00000000000146, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "object_id": "task_block", "per_finger_force_ceiling_n": 10.0, "pose_binding_sha256": "b7437e955b023b6dafe20506f85a12793e8f1bcb175b26666dbbfff186d24121", "probe_index": 0, "probe_origin_object_position_m": [ 0.3078897866743074, -0.03499190510992173, 0.07991928379608573 ], "probe_origin_tcp_local_offset_m": [ 0.0023210674996124447, 0.0002952596171755449, 0.0019252331616726153 ], "probe_start_s": 11.379999999999132, "robot_profile": "piper", "run_id": "m0525-f78-p1-measured_joint", "schema": "dvidia.probe-context/v1", "source_sha256": "d28324843344114f1ee863cee3c48dbca8aa37fd11222623563a0b1d40c364a6" }, "context_sha256": "c6e2bd4e7b9b21992b029ea1a9ab5edb1da8c0765f73c7fdcb2d088f68a6d502", "controller_qualifications": [ { "probe_index": 0, "qualified": true, "t_seconds": 11.999999999998789 }, { "probe_index": 0, "qualified": false, "t_seconds": 20.00000000000146 } ], "criteria": { "distance_comparison_epsilon": 1e-12, "initial_sample_tolerance_m": 0.001, "maximum_tcp_local_drift_m": 0.003, "minimum_continuous_dwell_s": 0.1, "minimum_per_finger_force_n_exclusive": 0.01, "minimum_rise_m": 0.006, "native_dt_s": 0.001, "origin_tolerance_m": 1e-09, "time_tolerance_s": 1e-08 }, "history": { "ever_qualified": true, "first_qualified_s": 11.984999999998797, "maximum_continuous_qualifying_s": 3.109 }, "latest": { "condition_valid": false, "continuous_qualifying_s": 0.0, "controller_claim": { "probe_index": 0, "qualified": false, "t_seconds": 20.00000000000146 }, "native_tick": 20000, "qualified": false, "rise_m": 0.004503433019797928, "tcp_local_drift_m": 0.0009255428072384642, "time_s": 20.00000000000146 }, "metadata_sha256": "ad8229630cc9f8718829bb8317b1a82480dcf18b9f71bd23666acfe71a003ef7", "native_arrays_sha256": "7bd790613cf5f818978239d96cb58eda0ad74e364abb6e31afd316b59584b59a", "physical_robot_ready": false, "receipt_sha256": "156595cea3697fe09c39832f28d239e2c6099ae586769e3cfe018b8240758797", "schema": "dvidia.probe-evidence/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification." }, "status": "inspected", "verification": { "admissible": false, "historical_qualified": true, "latest_qualified": false, "physical_robot_ready": false, "reasons": [ "latest_native_window_not_qualified", "latest_controller_not_qualified" ], "receipt_sha256": "156595cea3697fe09c39832f28d239e2c6099ae586769e3cfe018b8240758797", "schema": "dvidia.probe-evidence-verification/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.", "verified": true } }, "stationarity": { "complete_5s": true, "grip_retention_and_stationarity": false, "maximum_tcp_orientation_excursion_rad": 0.0071084824236815405, "maximum_tcp_position_excursion_m": 0.002215897076078048, "orientation_ceiling_rad": 0.05, "position_ceiling_m": 0.004, "required_s": 5.0, "scope": "Common recorded native TCP pose endpoint, not calibrated hardware stationarity.", "tcp_pose_within_bounds": true, "terminal_tcp_orientation_delta_rad": 0.0071084824236815405, "terminal_tcp_position_delta_m": [ -0.001066477171756175, 0.00012006281246739609, -0.0019386622230178757 ] }, "status": "inspected" }, "files": { "episode.json.gz": { "bytes": 795305, "sha256": "ce3e09f6f292b5a5450ef06fb345212decd5cdb85d22e0c3ba4c627a9cc257d4" }, "evaluation.json": { "bytes": 13749, "sha256": "24688d528cace18c58e55f3772c5c6ea772c0a1bcfbe505b49d5bea0c7052ab0" }, "native.json": { "bytes": 13763, "sha256": "19cc1d5998901cbc12da2916add3096763081e9decbfc7193981bfabc4b871e0" }, "native.npz": { "bytes": 4051474, "sha256": "6da165f9d0ff254cef0ee54db899f9f14975e1ae478215c84db408c202148d13" }, "started.json": { "bytes": 153, "sha256": "fb5a724ce58725d7b3948026eb0053e7427c477e165cf648e0f2f11e40d71efc" } }, "friction": 0.78, "id": "m0525-f78-p1-measured_joint", "mass_kg": 0.0525, "metrics": { "carry_complete": false, "carry_contact_loss_events": 0, "carry_contact_loss_tolerance_seconds": 0.04, "dwell_seconds": 0.0, "first_success_time_seconds": null, "grasp_seen": true, "lift_dwell_seconds": 0.0, "lift_seen": false, "max_carry_contact_loss_seconds": 0.0, "max_object_lift_m": 0.007338143456074253, "max_pad_normal_force_n": 0.43246946470783476, "physical_robot_ready": false, "reason": "timeout", "retention_lost": false, "simulation_time": 20.00000000000146, "steps": 1000, "success": false, "target_distance_m": 0.12189758174197991, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "policy": { "abort_reason": "probe_height_not_retained", "acquisition_contract": { "comparison_scope": "Closed-loop variants may acquire different trajectories through early hold/retry. This is not an isolated classifier ablation.", "control_dt_s": 0.02, "evidence_admission": "Current bilateral force >0.01 N, no table support, object rise >=6 mm and TCP-local offset drift <=3 mm continuously across sampled boundaries for elapsed >=100 ms.", "hold": "Latch measured six arm joints and the last issued jaw target at admission/terminal invalidity. No full lift/transfer, no squeeze escalation, no post-admission retry.", "invalidation": "At each subsequent 20 ms observation and final observation, invalidate immediately on lost contact/force, support, insufficient rise, >3 mm local drift or unexpected contact. Never requalify after terminal invalidity.", "observation_origin": "privileged_native_simulator_state", "parameters": { "close_timeout_s": 1.4, "consecutive_alarm_samples": 2, "max_retries": 1, "monitor_min_probe_motion_m": 0.003, "probe_height_m": 0.01, "probe_min_object_rise_m": 0.006, "probe_speed_m_s": 0.02, "probe_timeout_s": 1.4, "qualification_dwell_s": 0.1, "relative_drift_limit_m": 0.003, "retry_clearance_m": 0.012, "retry_open_timeout_s": 1.2, "retry_recenter_timeout_s": 1.5 }, "physical_robot_ready": false, "prefix": "Original GuardedPiperTaskPolicy approach/close and at most one supported open/recenter/retry; already uses authored native state, not a fully blind baseline.", "sampling_limit": "Independent 1 ms evidence may contradict sampled admission; that remains a finding. No sensor or material inference is implemented.", "schema": "dvidia.piper-probe-stop/v1", "stop_scope": "Holding native position targets is not physical arrest or calibrated force limiting; inertia and existing target rate limits can continue motion.", "timer_admission": "Same 10 mm/20 mm/s probe target law, admitted at elapsed >=600 ms from that probe start; no evidence predicate or slip alarm before admission. Unexpected contacts and bounded timeouts still stop.", "timer_admission_s": 0.6, "variants": [ "evidence", "timer" ] }, "acquisition_variant": "evidence", "active_probe_index": 0, "admission_time_s": 11.999999999998789, "admitted": false, "contract": { "acquisition": "Unchanged ProbeStopPolicy evidence acquisition, including its bounded supported retry. All variants share the same prefix through the first admission observation.", "cartesian": "Latch measured TCP position/orientation and preceding issued targets. Fixed joint bias equals issued target minus pose_action at the admission pose. First command repeats the exact issued target; later pose_action updates receive that fixed bias.", "control_dt_s": 0.02, "final_observation": "Repeat force, original eligibility and Cartesian pose-error checks. Do not solve or issue a hypothetical next control at the terminal observation.", "invalid_measurements": "Malformed, nonfinite or noncausal observations terminally refuse and raise without issuing a command. No measured-position stop is claimed from invalid measurements.", "issued_joint": "Latch the preceding issued six joint targets and the same last issued jaw target at admission.", "limits": { "initial_joint_bias_ceiling_rad": 0.08, "joint_correction_ceiling_rad": 0.03, "joint_correction_rate_rad_s": 0.1, "native_joint_target_margin_rad": 0.02, "per_finger_force_ceiling_n": 10.0, "tcp_orientation_error_ceiling_rad": 0.05, "tcp_position_error_ceiling_m": 0.004 }, "measured_joint": "Original hold: latch measured six joint coordinates and the last issued jaw target at admission.", "observation_origin": "privileged_native_simulator_state", "physical_robot_ready": false, "qualifications": "Engineering limits and the 10 N ceiling are authored synthetic assumptions, not damage limits or calibrated physical telemetry. Position targets are not physical stops or force limiters. No load/friction inference, model training or complete placement is implemented.", "rate_scope": "The extra correction slews at at most 0.002 rad per 20 ms per joint. Original native 1 ms target slew, servos, gains and force caps remain unchanged.", "refusal": "Original eligibility loss, unexpected contact or observed pad force >10 N terminally requests measured joint hold and the frozen jaw target. Cartesian error, initial-bias, total-correction or native-margin exhaustion also refuses terminally; it never chases an already failed grip.", "sampling": "Control checks occur at 20 ms boundaries. Independent saved 1 ms native evidence must judge a continuous 5 s hold; missed between-boundary failures remain findings.", "schema": "dvidia.piper-retention/v2", "variants": [ "measured_joint", "issued_joint", "cartesian" ] }, "events": [ { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "continue", "drift_streak": 0, "object_height_delta_m": 0.0, "phase": "probe", "progress_streak": 0, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0, "retry_index": 0, "t_seconds": 11.379999999999132, "table_supported": true, "tcp_probe_height_delta_m": 0.0 }, "observation_origin": "privileged_native_simulator_state", "phase": "guard_probe", "probe_index": 0, "reason": "slow_load_bearing_check", "retention_variant": "measured_joint", "retry_index": 0, "status": "probing", "t_seconds": 11.379999999999132, "type": "probe_started", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, 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0.08929562980228486 ], "quaternion_wxyz": [ 0.013702053369065315, -0.0022902498703897944, 0.9999021130510533, -0.0016651741773411695 ], "raw_pose_joint_targets_rad": null, "t_seconds": 11.999999999998789 }, "retention_variant": "measured_joint", "retry_index": 0, "status": "qualified_hold", "t_seconds": 11.999999999998789, "type": "evidence_qualified", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "hold_measured_arm_and_freeze_issued_jaw", "drift_streak": 0, "object_height_delta_m": 0.0059994114580510655, "phase": "probe_hold", "progress_streak": 0, "qualification_dwell_seconds": 3.099999999998282, "qualified": false, "relative_offset_error_m": 0.0004111830739879346, "retry_index": 0, "t_seconds": 14.999999999997126, "table_supported": false, "tcp_probe_height_delta_m": 0.006438800392705946 }, "observation_origin": "privileged_native_simulator_state", "phase": "probe_stop", "probe_index": 0, "reason": "probe_height_not_retained", "retention_variant": "measured_joint", "retry_index": 0, "status": "invalidated_hold", "t_seconds": 14.999999999997126, "type": "hold_invalidated", "variant": "evidence" } ], "ever_admitted": true, "final_observed": true, "frozen_jaw_target_m": 0.0, "initial_context": { "object_position_m": [ 0.3080000005446975, -0.03499975816054939, 0.07989224451748383 ], "observation_origin": "privileged_native_simulator_state", "t_seconds": 0.0, "tcp_position_m": [ 0.4890696662845219, 0.0014141975654808877, 0.3665849431043091 ], "tcp_quaternion_wxyz": [ 0.6580840948238629, 2.7730466224793136e-07, 0.7529444362872891, -1.9485471114950535e-06 ] }, "last_observed_s": 20.00000000000146, "observation_origin": "privileged_native_simulator_state", "physical_robot_ready": false, "probes": [ { "admission_time_s": 11.999999999998789, "disposition": "invalidated_hold", "end_time_s": 14.999999999997126, "local_offset_origin_m": [ 0.0023210674996124447, 0.0002952596171755449, 0.0019252331616726153 ], "object_origin_m": [ 0.3078897866743074, -0.03499190510992173, 0.07991928379608573 ], "observation_origin": "privileged_native_simulator_state", "probe_index": 0, "reason": "probe_height_not_retained", "start_time_s": 11.379999999999132, "tcp_origin_m": [ 0.31019086653602473, -0.035273857473151655, 0.08187033214017249 ], "tcp_quaternion_wxyz": [ 0.005501076294512222, -0.00231534163547747, 0.9999819626692362, -0.0006720780426825742 ] } ], "retention": { "hold_reference": { "fixed_bias_rad": null, "frozen_jaw_target_m": 0.0, "issued_joint_targets_rad": [ -0.11774972935385812, 1.7418320227746038, -1.1816023134427456, -1.94276094206632e-05, 1.086649148311492, -0.1223791472335965 ], "measured_joint_position_rad": [ -0.1177595315454316, 1.746790102137095, -1.1767998542435634, -2.9357803290514588e-05, 1.06044590035554, -0.12233393168492207 ], "position_m": [ 0.3140396654535943, -0.035734118909874955, 0.08929562980228486 ], "quaternion_wxyz": [ 0.013702053369065315, -0.0022902498703897944, 0.9999021130510533, -0.0016651741773411695 ], "raw_pose_joint_targets_rad": null, "t_seconds": 11.999999999998789 }, "input_refusals": [], "native_joint_control_limits_rad": [ [ -2.618, 2.618 ], [ 0.0, 3.14 ], [ -2.697, 0.0 ], [ -1.832, 1.832 ], [ -1.22, 1.22 ], [ -3.14, 3.14 ] ], "variant": "measured_joint" }, "retry_count": 0, "schema": "dvidia.piper-retention/v2", "status": "invalidated_hold", "stop_targets_rad": [ -0.11775952682459166, 1.7488033215797332, -1.1753272423224577, -4.585267046404836e-05, 1.060606856713553, -0.12233408574144085 ], "variant": "measured_joint" }, "scene_id": "m0525-f78-p1", "timing": { "policy_cpu": { "maximum_s": 0.005000000000009663, "mean_s": 9.486900000014487e-05, "over_20ms": 0, "p50_s": 8.300000000360797e-05, "p95_s": 0.00016710000000514914, "p99_s": 0.0002610900000088633, "samples": 1000 }, "policy_wall": { "maximum_s": 0.004999666940420866, "mean_s": 0.00011418359074741602, "over_20ms": 0, "p50_s": 8.335383608937263e-05, "p95_s": 0.00021208496764302243, "p99_s": 0.0009531136881560082, "samples": 1000 }, "step_cpu": { "maximum_s": 0.035432999999997605, "mean_s": 0.003531875999999798, "over_20ms": 1, "p50_s": 0.0027019999999922106, "p95_s": 0.00816569999999359, "p99_s": 0.009947359999996764, "samples": 1000 }, "step_wall": { "maximum_s": 0.12133279209956527, "mean_s": 0.0048110359623096885, "over_20ms": 23, "p50_s": 0.0028990621212869883, "p95_s": 0.012712851841934008, "p99_s": 0.03284919071011243, "samples": 1000 } }, "valid": true, "variant": "measured_joint" }, { "error": null, "evaluation": { "claims": { "false_maintained_grip": 0, "false_maintained_pose": 0, "maintained_checks": 15, "scope": "Claimed qualified boundaries after admission, compared with every native row since admission; grip includes correct initial prefix. Counts are diagnostic, not independent trials." }, "corrections": { "bound_refusal_counts": { "joint_correction_exhausted": 1 }, "flag_counts": { "correction_rate_limited": 12 }, "hold_record_count": 401, "input_refusals": [], "maximum_abs_accepted_correction_rate_rad_s": 0.10000000000000009, "maximum_abs_active_correction_rad": 0.02723189008061143, "maximum_abs_desired_correction_rad": 0.031246696992256892, "maximum_abs_pose_error_increment_rad": 0.0041394584428364745, "rate_limited_axis_occurrences": 12, "scope": "Includes recorded final diagnostic checks; only command_issued rows represent issued controls." }, "decomposition": { "elapsed_s": 5.0, "local_offset_change_m": 0.0005194077566729505, "object_world_z_delta_m": -0.0014728669240895026, "relative_world_z_delta_m": -0.0005013205520688485, "scope": "Kinematic components, not causal attribution or calibrated physical slip.", "tcp_world_z_delta_m": -0.0009715463720206541 }, "final": { "both_qualified": false, "controller_qualified": false, "evidence_admissible": false, "native_qualified": false }, "first_admission": { "native_prefix_qualified": true, "native_qualifying_window_s": 0.115, "probe_index": 0, "time_s": 11.999999999998789 }, "grip_only": { "all_native_hold_forces_within_ceiling": true, "combined_qualified_pause": false, "complete_5s": true, "controller_retained_at_5s": false, "first_native_predicate_failure_s": 15.306999999996956, "followup_available_s": 8.000000000002672, "native_pause_success": false, "reason": "native_predicate_lost", "required_s": 5.0, "success": false, "target_time_s": 16.99999999999879 }, "native": { "arrays_sha256": "ffe693a4c09751c5256a789bae2d9de76ed5cb334a6df218e51c8984bf1b1649", "complete": true, "maximum_per_finger_force_n": 0.43246946470783476, "rows": 20000, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "physical_robot_ready": false, "primary": { "all_native_hold_forces_within_ceiling": true, "combined_qualified_pause": false, "complete_5s": true, "controller_retained_at_5s": false, "first_native_predicate_failure_s": 15.306999999996956, "first_tcp_pose_failure_s": null, "followup_available_s": 8.000000000002672, "native_pause_success": false, "reason": "native_predicate_lost", "required_s": 5.0, "success": false, "target_time_s": 16.99999999999879 }, "probes": [ { "claims": [ { "native_prefix_qualified": true, "t_seconds": 11.999999999998789 } ], "disposition": "invalidated_hold", "final_native_qualified_from_origin": false, "probe_index": 0, "start_time_s": 11.379999999999132 } ], "receipt": { "admission": { "observation_origin": "privileged_native_simulation_plus_caller_planning_assumptions", "physical_robot_ready": false, "planning": { "computed": { "conservative_required_load_n": 0.7801486874999999, "gravity_m_s2": 9.80665, "pose_specific_payload_limit_force_n": 0.980665, "two_finger_friction_capacity_n": 15.600000000000001 }, "observation_origin": "caller_declared_not_verified", "physical_robot_ready": false, "reasons": [ "Run and record a cautious test lift under the same calibrated pose and load conditions before simulated transport planning." ], "schema": "dvidia.task-feasibility-result/v1", "scope": "Planning assessment only. Parallel two-finger vertical-lift approximation; ignores moment, center of mass, deformation, transient impacts and unmodeled contact effects. Unknown values remain unknown; mass is never inferred from images. Probe/test-lift/controller integration is not implemented. No hardware actuation is performed; this is not hardware qualification.", "status": "test_lift_required" }, "probe": { "admissible": false, "historical_qualified": true, "latest_qualified": false, "physical_robot_ready": false, "reasons": [ "latest_native_window_not_qualified", "latest_controller_not_qualified" ], "receipt_sha256": "b565ef202550b26514565875d0e741c304432858f112229f36e8dcc825f3845d", "schema": "dvidia.probe-evidence-verification/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.", "verified": true }, "schema": "dvidia.task-feasibility-with-probe/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification. Unknown planning values remain unknown. The unchanged approximate vertical-lift planning gate describes declared loads; it supplies no transport path, geospatial-goal contract or actuator permission. This wrapper never issues controls.", "status": "test_lift_required" }, "context": { "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe", "calibration_id": "synthetic_probe_v01", "calibration_scope": "simulation_assumptions_not_hardware", "command_sha256": "d0a7f1216db4f2c1146beb7dbc3248488058d46d941001cb07281480c98036ff", "feasibility_sha256": "dc769df55c09e03fe3594a2fd8cfb69f0476dac47c333520e17782d3ca21d652", "grasp_id": "m0525-f78-p1-incremental-probe-0", "initial_object_position_m": [ 0.3080000005446975, -0.03499975816054939, 0.07989224451748383 ], "model_sha256": "c34dec6cedabd3f158d7542a5418fa58a3374459baa1ab007e94b392d021826f", "native_status": { "simulation_time_s": 20.00000000000146, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "object_id": "task_block", "per_finger_force_ceiling_n": 10.0, "pose_binding_sha256": "fa9766b223027c645ed597e15be2b727359c72f88f1de3a20aad2abb939ec170", "probe_index": 0, "probe_origin_object_position_m": [ 0.3078897866743074, -0.03499190510992173, 0.07991928379608573 ], "probe_origin_tcp_local_offset_m": [ 0.0023210674996124447, 0.0002952596171755449, 0.0019252331616726153 ], "probe_start_s": 11.379999999999132, "robot_profile": "piper", "run_id": "m0525-f78-p1-incremental", "schema": "dvidia.probe-context/v1", "source_sha256": "d28324843344114f1ee863cee3c48dbca8aa37fd11222623563a0b1d40c364a6" }, "physical_robot_ready": false, "planning_input": { "allowed_pose_tolerance_m": 0.003, "calibration_id": "synthetic_probe_v01", "friction_interval": [ 0.78, 0.78 ], "geometry_known": true, "gripper_max_opening_interval_m": [ 0.07, 0.07 ], "gripper_min_closure_m": 0.0, "mass_interval_kg": [ 0.0525, 0.0525 ], "object_width_interval_m": [ 0.04, 0.04 ], "observations_fresh": true, "per_finger_normal_force_budget_n": 10.0, "planned_upward_accel_m_s2": 0.1, "pose_specific_payload_limit_kg": 0.1, "pose_uncertainty_m": 0.0, "reachability": "reachable", "safety_factor": 1.5, "schema": "dvidia.task-feasibility-input/v1", "slip_detected": false, "test_lift_passed": false }, "receipt": { "audit": { "controller_claim_mismatches": [], "controller_claims_checked": 2, "controller_conservative_abstention_count": 0, "controller_coverage": "Only the supplied claims are checked; omitted decisions are not inferred.", "controller_false_qualification_count": 0, "controller_positive_claims": 1, "force_ceiling_known": true, "maximum_observed_per_finger_force_n": 0.43246946470783476, "reasons": [], "rows": 20000, "unexpected_contact_native_ticks": 0, "valid": true }, "context": { "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe", "calibration_id": "synthetic_probe_v01", "calibration_scope": "simulation_assumptions_not_hardware", "command_sha256": "d0a7f1216db4f2c1146beb7dbc3248488058d46d941001cb07281480c98036ff", "feasibility_sha256": "dc769df55c09e03fe3594a2fd8cfb69f0476dac47c333520e17782d3ca21d652", "grasp_id": "m0525-f78-p1-incremental-probe-0", "initial_object_position_m": [ 0.3080000005446975, -0.03499975816054939, 0.07989224451748383 ], "model_sha256": "c34dec6cedabd3f158d7542a5418fa58a3374459baa1ab007e94b392d021826f", "native_status": { "simulation_time_s": 20.00000000000146, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "object_id": "task_block", "per_finger_force_ceiling_n": 10.0, "pose_binding_sha256": "fa9766b223027c645ed597e15be2b727359c72f88f1de3a20aad2abb939ec170", "probe_index": 0, "probe_origin_object_position_m": [ 0.3078897866743074, -0.03499190510992173, 0.07991928379608573 ], "probe_origin_tcp_local_offset_m": [ 0.0023210674996124447, 0.0002952596171755449, 0.0019252331616726153 ], "probe_start_s": 11.379999999999132, "robot_profile": "piper", "run_id": "m0525-f78-p1-incremental", "schema": "dvidia.probe-context/v1", "source_sha256": "d28324843344114f1ee863cee3c48dbca8aa37fd11222623563a0b1d40c364a6" }, "context_sha256": "397197bd5811818363e7f8fc825f3d40b6a8df13ef8c353bbda13e9d0541c4fb", "controller_qualifications": [ { "probe_index": 0, "qualified": true, "t_seconds": 11.999999999998789 }, { "probe_index": 0, "qualified": false, "t_seconds": 20.00000000000146 } ], "criteria": { "distance_comparison_epsilon": 1e-12, "initial_sample_tolerance_m": 0.001, "maximum_tcp_local_drift_m": 0.003, "minimum_continuous_dwell_s": 0.1, "minimum_per_finger_force_n_exclusive": 0.01, "minimum_rise_m": 0.006, "native_dt_s": 0.001, "origin_tolerance_m": 1e-09, "time_tolerance_s": 1e-08 }, "history": { "ever_qualified": true, "first_qualified_s": 11.984999999998797, "maximum_continuous_qualifying_s": 3.4210000000000003 }, "latest": { "condition_valid": false, "continuous_qualifying_s": 0.0, "controller_claim": { "probe_index": 0, "qualified": false, "t_seconds": 20.00000000000146 }, "native_tick": 20000, "qualified": false, "rise_m": 0.005507851565908439, "tcp_local_drift_m": 0.0009255430641479265, "time_s": 20.00000000000146 }, "metadata_sha256": "ad8229630cc9f8718829bb8317b1a82480dcf18b9f71bd23666acfe71a003ef7", "native_arrays_sha256": "ffe693a4c09751c5256a789bae2d9de76ed5cb334a6df218e51c8984bf1b1649", "physical_robot_ready": false, "receipt_sha256": "b565ef202550b26514565875d0e741c304432858f112229f36e8dcc825f3845d", "schema": "dvidia.probe-evidence/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification." }, "status": "inspected", "verification": { "admissible": false, "historical_qualified": true, "latest_qualified": false, "physical_robot_ready": false, "reasons": [ "latest_native_window_not_qualified", "latest_controller_not_qualified" ], "receipt_sha256": "b565ef202550b26514565875d0e741c304432858f112229f36e8dcc825f3845d", "schema": "dvidia.probe-evidence-verification/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.", "verified": true } }, "stationarity": { "complete_5s": true, "grip_retention_and_stationarity": false, "maximum_tcp_orientation_excursion_rad": 0.007460529466889142, "maximum_tcp_position_excursion_m": 0.0016381862658852555, "orientation_ceiling_rad": 0.05, "position_ceiling_m": 0.004, "required_s": 5.0, "scope": "Common recorded native TCP pose endpoint, not calibrated hardware stationarity.", "tcp_pose_within_bounds": true, "terminal_tcp_orientation_delta_rad": 0.007460529466889142, "terminal_tcp_position_delta_m": [ -0.0013102351914837662, 0.00015177493780621498, -0.0009715463720206541 ] }, "status": "inspected" }, "files": { "episode.json.gz": { "bytes": 823916, "sha256": "28a8244b8cd9217f112f1d811841f2a8d2c66851882be8b0756e5182490acbad" }, "evaluation.json": { "bytes": 13858, "sha256": "4c28f519957de7eecf40f0a4d107d5c3984d3261616aff53c6585158c385e120" }, "native.json": { "bytes": 13763, "sha256": "19cc1d5998901cbc12da2916add3096763081e9decbfc7193981bfabc4b871e0" }, "native.npz": { "bytes": 3987525, "sha256": "e678ab0e72359658307addd753d2e4a5aaf76238c227737d29f0c05448c5c444" }, "started.json": { "bytes": 150, "sha256": "234c007e1d35bf24bb7a85f8f2a3616cbb01cb36582cda53f003382574a33ea7" } }, "friction": 0.78, "id": "m0525-f78-p1-incremental", "mass_kg": 0.0525, "metrics": { "carry_complete": false, "carry_contact_loss_events": 0, "carry_contact_loss_tolerance_seconds": 0.04, "dwell_seconds": 0.0, "first_success_time_seconds": null, "grasp_seen": true, "lift_dwell_seconds": 0.0, "lift_seen": false, "max_carry_contact_loss_seconds": 0.0, "max_object_lift_m": 0.0075810348932775495, "max_pad_normal_force_n": 0.43246946470783476, "physical_robot_ready": false, "reason": "timeout", "retention_lost": false, "simulation_time": 20.00000000000146, "steps": 1000, "success": false, "target_distance_m": 0.12197836507330778, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "policy": { "abort_reason": "joint_correction_exhausted", "acquisition_contract": { "comparison_scope": "Closed-loop variants may acquire different trajectories through early hold/retry. This is not an isolated classifier ablation.", "control_dt_s": 0.02, "evidence_admission": "Current bilateral force >0.01 N, no table support, object rise >=6 mm and TCP-local offset drift <=3 mm continuously across sampled boundaries for elapsed >=100 ms.", "hold": "Latch measured six arm joints and the last issued jaw target at admission/terminal invalidity. No full lift/transfer, no squeeze escalation, no post-admission retry.", "invalidation": "At each subsequent 20 ms observation and final observation, invalidate immediately on lost contact/force, support, insufficient rise, >3 mm local drift or unexpected contact. Never requalify after terminal invalidity.", "observation_origin": "privileged_native_simulator_state", "parameters": { "close_timeout_s": 1.4, "consecutive_alarm_samples": 2, "max_retries": 1, "monitor_min_probe_motion_m": 0.003, "probe_height_m": 0.01, "probe_min_object_rise_m": 0.006, "probe_speed_m_s": 0.02, "probe_timeout_s": 1.4, "qualification_dwell_s": 0.1, "relative_drift_limit_m": 0.003, "retry_clearance_m": 0.012, "retry_open_timeout_s": 1.2, "retry_recenter_timeout_s": 1.5 }, "physical_robot_ready": false, "prefix": "Original GuardedPiperTaskPolicy approach/close and at most one supported open/recenter/retry; already uses authored native state, not a fully blind baseline.", "sampling_limit": "Independent 1 ms evidence may contradict sampled admission; that remains a finding. No sensor or material inference is implemented.", "schema": "dvidia.piper-probe-stop/v1", "stop_scope": "Holding native position targets is not physical arrest or calibrated force limiting; inertia and existing target rate limits can continue motion.", "timer_admission": "Same 10 mm/20 mm/s probe target law, admitted at elapsed >=600 ms from that probe start; no evidence predicate or slip alarm before admission. Unexpected contacts and bounded timeouts still stop.", "timer_admission_s": 0.6, "variants": [ "evidence", "timer" ] }, "acquisition_variant": "evidence", "active_probe_index": 0, "admission_time_s": 11.999999999998789, "admitted": false, "candidate": "incremental", "contract": { "acquisition": "Unchanged ProbeStopPolicy evidence acquisition, including its bounded supported retry. All variants share the same prefix through the first admission observation.", "admission": "Freeze the measured TCP pose and preceding issued target. Check the unchanged 0.08 rad initial bias and 0.02 rad joint margin. Repeat the preceding issued target exactly; initialize cumulative correction to zero.", "anti_windup": "Refuse the unlimited cumulative proposal before slew limiting. Commit correction only after all checks pass. Refusal is terminal and leaves accumulated correction unchanged.", "candidate": "incremental", "control_dt_s": 0.02, "final_observation": "Check force, original eligibility and pose error without solving, integrating or issuing another command.", "invalid_measurements": "Malformed, nonfinite or noncausal observations terminally refuse and raise without issuing a command. No measured-position stop is claimed from invalid measurements.", "limits": { "initial_joint_bias_ceiling_rad": 0.08, "joint_correction_ceiling_rad": 0.03, "joint_correction_rate_rad_s": 0.1, "native_joint_target_margin_rad": 0.02, "per_finger_force_ceiling_n": 10.0, "tcp_orientation_error_ceiling_rad": 0.05, "tcp_position_error_ceiling_m": 0.004 }, "measured_joint_eligibility": "At admission, subsequent updates and final observations, refuse measured joints outside the native 0.02 rad target margin before solving. This prevents absolute-target clipping from manufacturing a nonzero increment at zero pose error.", "observation_origin": "privileged_native_simulator_state", "physical_robot_ready": false, "qualifications": "Engineering limits and the 10 N ceiling are authored synthetic assumptions, not damage limits or calibrated physical telemetry. Position targets are not physical stops or force limiters. No load/friction inference, model training or complete placement is implemented.", "rate_scope": "The extra correction slews at at most 0.002 rad per 20 ms per joint. Original native 1 ms target slew, servos, gains and force caps remain unchanged.", "refusal": "Original grip, force, pose, initial-bias, joint-margin and timeout refusals remain terminal. A valid terminal observation latches measured joints and the frozen jaw; its fallback is not active incremental regulation.", "sampling": "Control checks occur at 20 ms boundaries. Independent saved 1 ms native evidence must judge a continuous 5 s hold; missed between-boundary failures remain findings.", "schema": "dvidia.piper-incremental-hold/v3", "update_gain_per_boundary": 1.0, "update_law": "increment = pose_action(frozen_admission_pose) - current_measured_joints; proposal = previous_correction + 1.0 * increment; refuse unlimited proposal outside +/-0.03 rad; slew accepted correction by at most 0.002 rad per joint per 20 ms; target = admission_issued_target + accepted_correction", "variants": [ "incremental" ] }, "events": [ { "accumulated_correction_rad": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "acquisition_variant": "evidence", "active_regulation": false, "candidate": "incremental", "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "continue", "drift_streak": 0, "object_height_delta_m": 0.0, "phase": "probe", "progress_streak": 0, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0, "retry_index": 0, "t_seconds": 11.379999999999132, "table_supported": true, "tcp_probe_height_delta_m": 0.0 }, "final_observation": false, "observation_origin": "privileged_native_simulator_state", "phase": "guard_probe", "pose_error_increment_rad": null, "probe_index": 0, "proposed_cumulative_correction_rad": null, "reason": "slow_load_bearing_check", "refused_bounds": null, "retention_variant": "incremental", "retry_index": 0, "status": "probing", "t_seconds": 11.379999999999132, "type": "probe_started", "update_gain_per_boundary": 1.0, "update_law": "increment = pose_action(frozen_admission_pose) - current_measured_joints; proposal = previous_correction + 1.0 * increment; refuse unlimited proposal outside +/-0.03 rad; slew accepted correction by at most 0.002 rad per joint per 20 ms; target = admission_issued_target + accepted_correction", "variant": "incremental" }, { "accumulated_correction_rad": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "acquisition_variant": "evidence", "active_regulation": true, "candidate": "incremental", "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "bounded_incremental_hold", "drift_streak": 0, "object_height_delta_m": 0.007290310094989788, "phase": "probe", "progress_streak": 0, "qualification_dwell_seconds": 0.09999999999994458, "qualified": true, "relative_offset_error_m": 0.0001027518325260432, "retry_index": 0, "t_seconds": 11.999999999998789, "table_supported": false, "tcp_probe_height_delta_m": 0.007425297662112376 }, "final_observation": false, "observation_origin": "privileged_native_simulator_state", "phase": "probe_stop", "pose_error_increment_rad": null, "probe_index": 0, "proposed_cumulative_correction_rad": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "reason": "sampled_probe_evidence", "refused_bounds": null, "retention_hold_reference": { "fixed_bias_rad": [ 9.8021915734825e-06, -0.004958079362491263, -0.004802459199182207, 9.930193869852255e-06, 0.02620324795595197, -4.5215548674426564e-05 ], "frozen_jaw_target_m": 0.0, "issued_joint_targets_rad": [ -0.11774972935385812, 1.7418320227746038, -1.1816023134427456, -1.94276094206632e-05, 1.086649148311492, -0.1223791472335965 ], "measured_joint_position_rad": [ -0.1177595315454316, 1.746790102137095, -1.1767998542435634, -2.9357803290514588e-05, 1.06044590035554, -0.12233393168492207 ], "position_m": [ 0.3140396654535943, -0.035734118909874955, 0.08929562980228486 ], "quaternion_wxyz": [ 0.013702053369065315, -0.0022902498703897944, 0.9999021130510533, -0.0016651741773411695 ], "raw_pose_joint_targets_rad": [ -0.1177595315454316, 1.746790102137095, -1.1767998542435634, -2.9357803290515455e-05, 1.06044590035554, -0.12233393168492207 ], "t_seconds": 11.999999999998789 }, "retention_variant": "incremental", "retry_index": 0, "status": "qualified_hold", "t_seconds": 11.999999999998789, "type": "evidence_qualified", "update_gain_per_boundary": 1.0, "update_law": "increment = pose_action(frozen_admission_pose) - current_measured_joints; proposal = previous_correction + 1.0 * increment; refuse unlimited proposal outside +/-0.03 rad; slew accepted correction by at most 0.002 rad per joint per 20 ms; target = admission_issued_target + accepted_correction", "variant": "incremental" }, { "accumulated_correction_rad": [ -2.324640143258616e-05, 0.005668579817192709, 0.005458162397048216, 4.713095396972494e-06, -0.02723189008061143, 8.58868406307528e-05 ], "acquisition_variant": "evidence", "active_regulation": false, "candidate": "incremental", "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "hold_measured_arm_and_freeze_issued_jaw", "drift_streak": 0, "object_height_delta_m": 0.00728044409445501, "phase": "probe_hold", "progress_streak": 0, "qualification_dwell_seconds": 0.4199999999997672, "qualified": false, "relative_offset_error_m": 0.00013791846945623284, "retry_index": 0, "t_seconds": 12.319999999998611, "table_supported": false, "tcp_probe_height_delta_m": 0.007443510040474485 }, "final_observation": false, "observation_origin": "privileged_native_simulator_state", "phase": "probe_stop", "pose_error_increment_rad": [ -7.232131460366276e-08, -8.923774076530222e-05, 0.000270395912331578, 1.0153126543757504e-06, -0.004014806911645463, 5.5009935170796664e-06 ], "probe_index": 0, "proposed_cumulative_correction_rad": [ -2.3318722747189824e-05, 0.005579342076427407, 0.005728558309379794, 5.728408051348245e-06, -0.031246696992256892, 9.138783414783247e-05 ], "reason": "joint_correction_exhausted", "refused_bounds": "joint_correction_exhausted", "retention_variant": "incremental", "retry_index": 0, "status": "invalidated_hold", "t_seconds": 12.319999999998611, "type": "hold_invalidated", "update_gain_per_boundary": 1.0, "update_law": "increment = pose_action(frozen_admission_pose) - current_measured_joints; proposal = previous_correction + 1.0 * increment; refuse unlimited proposal outside +/-0.03 rad; slew accepted correction by at most 0.002 rad per joint per 20 ms; target = admission_issued_target + accepted_correction", "variant": "incremental" } ], "ever_admitted": true, "final_observed": true, "frozen_jaw_target_m": 0.0, "initial_context": { "object_position_m": [ 0.3080000005446975, -0.03499975816054939, 0.07989224451748383 ], "observation_origin": "privileged_native_simulator_state", "t_seconds": 0.0, "tcp_position_m": [ 0.4890696662845219, 0.0014141975654808877, 0.3665849431043091 ], "tcp_quaternion_wxyz": [ 0.6580840948238629, 2.7730466224793136e-07, 0.7529444362872891, -1.9485471114950535e-06 ] }, "last_observed_s": 20.00000000000146, "observation_origin": "privileged_native_simulator_state", "physical_robot_ready": false, "probes": [ { "admission_time_s": 11.999999999998789, "disposition": "invalidated_hold", "end_time_s": 12.319999999998611, "local_offset_origin_m": [ 0.0023210674996124447, 0.0002952596171755449, 0.0019252331616726153 ], "object_origin_m": [ 0.3078897866743074, -0.03499190510992173, 0.07991928379608573 ], "observation_origin": "privileged_native_simulator_state", "probe_index": 0, "reason": "joint_correction_exhausted", "start_time_s": 11.379999999999132, "tcp_origin_m": [ 0.31019086653602473, -0.035273857473151655, 0.08187033214017249 ], "tcp_quaternion_wxyz": [ 0.005501076294512222, -0.00231534163547747, 0.9999819626692362, -0.0006720780426825742 ] } ], "retention": { "accumulated_correction_rad": [ -2.324640143258616e-05, 0.005668579817192709, 0.005458162397048216, 4.713095396972494e-06, -0.02723189008061143, 8.58868406307528e-05 ], "active_regulation": false, "candidate": "incremental", "final_controller_status": "invalidated_hold", "hold_reference": { "fixed_bias_rad": [ 9.8021915734825e-06, -0.004958079362491263, -0.004802459199182207, 9.930193869852255e-06, 0.02620324795595197, -4.5215548674426564e-05 ], "frozen_jaw_target_m": 0.0, "issued_joint_targets_rad": [ -0.11774972935385812, 1.7418320227746038, -1.1816023134427456, -1.94276094206632e-05, 1.086649148311492, -0.1223791472335965 ], "measured_joint_position_rad": [ -0.1177595315454316, 1.746790102137095, -1.1767998542435634, -2.9357803290514588e-05, 1.06044590035554, -0.12233393168492207 ], "position_m": [ 0.3140396654535943, -0.035734118909874955, 0.08929562980228486 ], "quaternion_wxyz": [ 0.013702053369065315, -0.0022902498703897944, 0.9999021130510533, -0.0016651741773411695 ], "raw_pose_joint_targets_rad": [ -0.1177595315454316, 1.746790102137095, -1.1767998542435634, -2.9357803290515455e-05, 1.06044590035554, -0.12233393168492207 ], "t_seconds": 11.999999999998789 }, "input_refusals": [], "native_joint_control_limits_rad": [ [ -2.618, 2.618 ], [ 0.0, 3.14 ], [ -2.697, 0.0 ], [ -1.832, 1.832 ], [ -1.22, 1.22 ], [ -3.14, 3.14 ] ], "update_gain_per_boundary": 1.0, "update_law": "increment = pose_action(frozen_admission_pose) - current_measured_joints; proposal = previous_correction + 1.0 * increment; refuse unlimited proposal outside +/-0.03 rad; slew accepted correction by at most 0.002 rad per joint per 20 ms; target = admission_issued_target + accepted_correction", "variant": "incremental" }, "retry_count": 0, "schema": "dvidia.piper-incremental-hold/v3", "status": "invalidated_hold", "stop_targets_rad": [ -0.11775941804825488, 1.7468850602637973, -1.177094791789764, -3.0436610927880145e-05, 1.0644918126575877, -0.12233937193114594 ], "variant": "incremental" }, "scene_id": "m0525-f78-p1", "timing": { "policy_cpu": { "maximum_s": 0.00636199999999576, "mean_s": 0.00018711200000008432, "over_20ms": 0, "p50_s": 0.00011750000000176897, "p95_s": 0.0004901000000131716, "p99_s": 0.0006329999999935865, "samples": 1000 }, "policy_wall": { "maximum_s": 0.038537458050996065, "mean_s": 0.0003618903453461826, "over_20ms": 1, "p50_s": 0.00012052105739712715, "p95_s": 0.0015348172513768073, "p99_s": 0.003210498047992586, "samples": 1000 }, "step_cpu": { "maximum_s": 0.05164700000000266, "mean_s": 0.0046957700000000956, "over_20ms": 1, "p50_s": 0.003917999999998756, "p95_s": 0.009202200000002136, "p99_s": 0.011331540000000898, "samples": 1000 }, "step_wall": { "maximum_s": 0.054909166879951954, "mean_s": 0.0075928795039653775, "over_20ms": 76, "p50_s": 0.004217353882268071, "p95_s": 0.02320320629514752, "p99_s": 0.04117879356723279, "samples": 1000 } }, "valid": true, "variant": "incremental" }, { "error": null, "evaluation": { "claims": { "false_maintained_grip": 0, "false_maintained_pose": 0, "maintained_checks": 0, "scope": "Claimed qualified boundaries after admission, compared with every native row since admission; grip includes correct initial prefix. Counts are diagnostic, not independent trials." }, "corrections": { "bound_refusal_counts": {}, "flag_counts": { "correction_rate_limited": 0 }, "hold_record_count": 282, "input_refusals": [], "maximum_abs_accepted_correction_rate_rad_s": null, "maximum_abs_active_correction_rad": null, "maximum_abs_desired_correction_rad": null, "maximum_abs_pose_error_increment_rad": null, "rate_limited_axis_occurrences": 0, "scope": "Includes recorded final diagnostic checks; only command_issued rows represent issued controls." }, "decomposition": null, "final": { "both_qualified": false, "controller_qualified": false, "evidence_admissible": false, "native_qualified": false }, "first_admission": null, "grip_only": { "combined_qualified_pause": false, "complete_5s": false, "controller_retained_at_5s": false, "native_pause_success": false, "reason": "no_admission", "required_s": 5.0, "success": false }, "native": { "arrays_sha256": "34c302932c31aaa3a84e57517f70f616223cae8f58b8ef9e1463fdd18707348f", "complete": true, "maximum_per_finger_force_n": 0.5016501429359427, "rows": 20000, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "physical_robot_ready": false, "primary": { "combined_qualified_pause": false, "complete_5s": false, "controller_retained_at_5s": false, "first_tcp_pose_failure_s": null, "native_pause_success": false, "reason": "no_admission", "required_s": 5.0, "success": false }, "probes": [ { "claims": [], "disposition": "interrupted", "final_native_qualified_from_origin": false, "probe_index": 0, "start_time_s": 11.079999999999298 }, { "claims": [], "disposition": "invalidated_hold", "final_native_qualified_from_origin": false, "probe_index": 1, "start_time_s": 13.99999999999768 } ], "receipt": { "admission": { "observation_origin": "privileged_native_simulation_plus_caller_planning_assumptions", "physical_robot_ready": false, "planning": { "computed": { "conservative_required_load_n": 0.7801486874999999, "gravity_m_s2": 9.80665, "pose_specific_payload_limit_force_n": 0.980665, "two_finger_friction_capacity_n": 10.4 }, "observation_origin": "caller_declared_not_verified", "physical_robot_ready": false, "reasons": [ "Run and record a cautious test lift under the same calibrated pose and load conditions before simulated transport planning." ], "schema": "dvidia.task-feasibility-result/v1", "scope": "Planning assessment only. Parallel two-finger vertical-lift approximation; ignores moment, center of mass, deformation, transient impacts and unmodeled contact effects. Unknown values remain unknown; mass is never inferred from images. Probe/test-lift/controller integration is not implemented. No hardware actuation is performed; this is not hardware qualification.", "status": "test_lift_required" }, "probe": { "admissible": false, "historical_qualified": false, "latest_qualified": false, "physical_robot_ready": false, "reasons": [ "latest_native_window_not_qualified", "no_controller_qualification_for_this_probe", "latest_controller_not_qualified" ], "receipt_sha256": "e4e1088b25d8fb5e996150a694d6f4ef50f32f9983e39af8acfa314ef1bb6f38", "schema": "dvidia.probe-evidence-verification/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.", "verified": true }, "schema": "dvidia.task-feasibility-with-probe/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification. Unknown planning values remain unknown. The unchanged approximate vertical-lift planning gate describes declared loads; it supplies no transport path, geospatial-goal contract or actuator permission. This wrapper never issues controls.", "status": "test_lift_required" }, "context": { "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe", "calibration_id": "synthetic_probe_v01", "calibration_scope": "simulation_assumptions_not_hardware", "command_sha256": "9bb251bcd8cad86d49e6aeb0fa02f6058f0d3b6670ac86716a333487a7e2d0e4", "feasibility_sha256": "c2fa3d26b0be6dfbc61f774d0909d34060823101e76700d427257a4000ab18bd", "grasp_id": "m0525-f52-p0-cartesian-probe-1", "initial_object_position_m": [ 0.30399993910084466, -0.0240001631643647, 0.07989224451748381 ], "model_sha256": "52e12cc22f48a4551c7b92f0909952a5c753a7a6df285c135b8e772070353fba", "native_status": { "simulation_time_s": 20.00000000000146, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "object_id": "task_block", "per_finger_force_ceiling_n": 10.0, "pose_binding_sha256": "b86dd715ec50d3cee95ef4177a871df342e5b990cf342653e89e1b749bd9f55d", "probe_index": 1, "probe_origin_object_position_m": [ 0.3058391034136717, -0.02404964677711175, 0.07985630928713797 ], "probe_origin_tcp_local_offset_m": [ -0.002046891843315855, 0.0002330236179597897, 0.0024109213024392714 ], "probe_start_s": 13.99999999999768, "robot_profile": "piper", "run_id": "m0525-f52-p0-cartesian", "schema": "dvidia.probe-context/v1", "source_sha256": "d28324843344114f1ee863cee3c48dbca8aa37fd11222623563a0b1d40c364a6" }, "physical_robot_ready": false, "planning_input": { "allowed_pose_tolerance_m": 0.003, "calibration_id": "synthetic_probe_v01", "friction_interval": [ 0.52, 0.52 ], "geometry_known": true, "gripper_max_opening_interval_m": [ 0.07, 0.07 ], "gripper_min_closure_m": 0.0, "mass_interval_kg": [ 0.0525, 0.0525 ], "object_width_interval_m": [ 0.04, 0.04 ], "observations_fresh": true, "per_finger_normal_force_budget_n": 10.0, "planned_upward_accel_m_s2": 0.1, "pose_specific_payload_limit_kg": 0.1, "pose_uncertainty_m": 0.0, "reachability": "reachable", "safety_factor": 1.5, "schema": "dvidia.task-feasibility-input/v1", "slip_detected": false, "test_lift_passed": false }, "receipt": { "audit": { "controller_claim_mismatches": [], "controller_claims_checked": 1, "controller_conservative_abstention_count": 0, "controller_coverage": "Only the supplied claims are checked; omitted decisions are not inferred.", "controller_false_qualification_count": 0, "controller_positive_claims": 0, "force_ceiling_known": true, "maximum_observed_per_finger_force_n": 0.5016501429359427, "reasons": [], "rows": 20000, "unexpected_contact_native_ticks": 0, "valid": true }, "context": { "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe", "calibration_id": "synthetic_probe_v01", "calibration_scope": "simulation_assumptions_not_hardware", "command_sha256": "9bb251bcd8cad86d49e6aeb0fa02f6058f0d3b6670ac86716a333487a7e2d0e4", "feasibility_sha256": "c2fa3d26b0be6dfbc61f774d0909d34060823101e76700d427257a4000ab18bd", "grasp_id": "m0525-f52-p0-cartesian-probe-1", "initial_object_position_m": [ 0.30399993910084466, -0.0240001631643647, 0.07989224451748381 ], "model_sha256": "52e12cc22f48a4551c7b92f0909952a5c753a7a6df285c135b8e772070353fba", "native_status": { "simulation_time_s": 20.00000000000146, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "object_id": "task_block", "per_finger_force_ceiling_n": 10.0, "pose_binding_sha256": "b86dd715ec50d3cee95ef4177a871df342e5b990cf342653e89e1b749bd9f55d", "probe_index": 1, "probe_origin_object_position_m": [ 0.3058391034136717, -0.02404964677711175, 0.07985630928713797 ], "probe_origin_tcp_local_offset_m": [ -0.002046891843315855, 0.0002330236179597897, 0.0024109213024392714 ], "probe_start_s": 13.99999999999768, "robot_profile": "piper", "run_id": "m0525-f52-p0-cartesian", "schema": "dvidia.probe-context/v1", "source_sha256": "d28324843344114f1ee863cee3c48dbca8aa37fd11222623563a0b1d40c364a6" }, "context_sha256": "b2295ab59e6b5777d430463b12d00d7dbf67f6d1bee04f1455a6d1a78f4931b2", "controller_qualifications": [ { "probe_index": 1, "qualified": false, "t_seconds": 20.00000000000146 } ], "criteria": { "distance_comparison_epsilon": 1e-12, "initial_sample_tolerance_m": 0.001, "maximum_tcp_local_drift_m": 0.003, "minimum_continuous_dwell_s": 0.1, "minimum_per_finger_force_n_exclusive": 0.01, "minimum_rise_m": 0.006, "native_dt_s": 0.001, "origin_tolerance_m": 1e-09, "time_tolerance_s": 1e-08 }, "history": { "ever_qualified": false, "first_qualified_s": null, "maximum_continuous_qualifying_s": 0.0 }, "latest": { "condition_valid": false, "continuous_qualifying_s": 0.0, "controller_claim": { "probe_index": 1, "qualified": false, "t_seconds": 20.00000000000146 }, "native_tick": 20000, "qualified": false, "rise_m": 2.9404047107300935e-05, "tcp_local_drift_m": 0.0037313444677514454, "time_s": 20.00000000000146 }, "metadata_sha256": "ad8229630cc9f8718829bb8317b1a82480dcf18b9f71bd23666acfe71a003ef7", "native_arrays_sha256": "34c302932c31aaa3a84e57517f70f616223cae8f58b8ef9e1463fdd18707348f", "physical_robot_ready": false, "receipt_sha256": "e4e1088b25d8fb5e996150a694d6f4ef50f32f9983e39af8acfa314ef1bb6f38", "schema": "dvidia.probe-evidence/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification." }, "status": "inspected", "verification": { "admissible": false, "historical_qualified": false, "latest_qualified": false, "physical_robot_ready": false, "reasons": [ "latest_native_window_not_qualified", "no_controller_qualification_for_this_probe", "latest_controller_not_qualified" ], "receipt_sha256": "e4e1088b25d8fb5e996150a694d6f4ef50f32f9983e39af8acfa314ef1bb6f38", "schema": "dvidia.probe-evidence-verification/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.", "verified": true } }, "stationarity": { "complete_5s": false, "grip_retention_and_stationarity": false, "tcp_pose_within_bounds": false }, "status": "inspected" }, "files": { "episode.json.gz": { "bytes": 777841, "sha256": "b90ce6bd73102cb3902f080d9868d33cca4925d5ca732c1d50eb52086ebef897" }, "evaluation.json": { "bytes": 12374, "sha256": "4917284a081e3474485c214d0b0a38e55a8bd1660435242d357cf34cf22f2e30" }, "native.json": { "bytes": 13763, "sha256": "19cc1d5998901cbc12da2916add3096763081e9decbfc7193981bfabc4b871e0" }, "native.npz": { "bytes": 4082281, "sha256": "79a5070a58a7ae831f50b8969357c5a3aa2e7415c3e1fc5ce0b50d173adbc74e" }, "started.json": { "bytes": 148, "sha256": "1ee3d80204e83553a48312997fb27e3e35b50874ceb289a78f86122260400dee" } }, "friction": 0.52, "id": "m0525-f52-p0-cartesian", "mass_kg": 0.0525, "metrics": { "carry_complete": false, "carry_contact_loss_events": 0, "carry_contact_loss_tolerance_seconds": 0.04, "dwell_seconds": 0.0, "first_success_time_seconds": null, "grasp_seen": true, "lift_dwell_seconds": 0.0, "lift_seen": false, "max_carry_contact_loss_seconds": 0.0, "max_object_lift_m": 0.0001521117191131266, "max_pad_normal_force_n": 0.5016501429359427, "physical_robot_ready": false, "reason": "timeout", "retention_lost": false, "simulation_time": 20.00000000000146, "steps": 1000, "success": false, "target_distance_m": 0.11240771727005906, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "policy": { "abort_reason": "retry_budget_exhausted:object_not_following", "acquisition_contract": { "comparison_scope": "Closed-loop variants may acquire different trajectories through early hold/retry. This is not an isolated classifier ablation.", "control_dt_s": 0.02, "evidence_admission": "Current bilateral force >0.01 N, no table support, object rise >=6 mm and TCP-local offset drift <=3 mm continuously across sampled boundaries for elapsed >=100 ms.", "hold": "Latch measured six arm joints and the last issued jaw target at admission/terminal invalidity. No full lift/transfer, no squeeze escalation, no post-admission retry.", "invalidation": "At each subsequent 20 ms observation and final observation, invalidate immediately on lost contact/force, support, insufficient rise, >3 mm local drift or unexpected contact. Never requalify after terminal invalidity.", "observation_origin": "privileged_native_simulator_state", "parameters": { "close_timeout_s": 1.4, "consecutive_alarm_samples": 2, "max_retries": 1, "monitor_min_probe_motion_m": 0.003, "probe_height_m": 0.01, "probe_min_object_rise_m": 0.006, "probe_speed_m_s": 0.02, "probe_timeout_s": 1.4, "qualification_dwell_s": 0.1, "relative_drift_limit_m": 0.003, "retry_clearance_m": 0.012, "retry_open_timeout_s": 1.2, "retry_recenter_timeout_s": 1.5 }, "physical_robot_ready": false, "prefix": "Original GuardedPiperTaskPolicy approach/close and at most one supported open/recenter/retry; already uses authored native state, not a fully blind baseline.", "sampling_limit": "Independent 1 ms evidence may contradict sampled admission; that remains a finding. No sensor or material inference is implemented.", "schema": "dvidia.piper-probe-stop/v1", "stop_scope": "Holding native position targets is not physical arrest or calibrated force limiting; inertia and existing target rate limits can continue motion.", "timer_admission": "Same 10 mm/20 mm/s probe target law, admitted at elapsed >=600 ms from that probe start; no evidence predicate or slip alarm before admission. Unexpected contacts and bounded timeouts still stop.", "timer_admission_s": 0.6, "variants": [ "evidence", "timer" ] }, "acquisition_variant": "evidence", "active_probe_index": 1, "admission_time_s": null, "admitted": false, "contract": { "acquisition": "Unchanged ProbeStopPolicy evidence acquisition, including its bounded supported retry. All variants share the same prefix through the first admission observation.", "cartesian": "Latch measured TCP position/orientation and preceding issued targets. Fixed joint bias equals issued target minus pose_action at the admission pose. First command repeats the exact issued target; later pose_action updates receive that fixed bias.", "control_dt_s": 0.02, "final_observation": "Repeat force, original eligibility and Cartesian pose-error checks. Do not solve or issue a hypothetical next control at the terminal observation.", "invalid_measurements": "Malformed, nonfinite or noncausal observations terminally refuse and raise without issuing a command. No measured-position stop is claimed from invalid measurements.", "issued_joint": "Latch the preceding issued six joint targets and the same last issued jaw target at admission.", "limits": { "initial_joint_bias_ceiling_rad": 0.08, "joint_correction_ceiling_rad": 0.03, "joint_correction_rate_rad_s": 0.1, "native_joint_target_margin_rad": 0.02, "per_finger_force_ceiling_n": 10.0, "tcp_orientation_error_ceiling_rad": 0.05, "tcp_position_error_ceiling_m": 0.004 }, "measured_joint": "Original hold: latch measured six joint coordinates and the last issued jaw target at admission.", "observation_origin": "privileged_native_simulator_state", "physical_robot_ready": false, "qualifications": "Engineering limits and the 10 N ceiling are authored synthetic assumptions, not damage limits or calibrated physical telemetry. Position targets are not physical stops or force limiters. No load/friction inference, model training or complete placement is implemented.", "rate_scope": "The extra correction slews at at most 0.002 rad per 20 ms per joint. Original native 1 ms target slew, servos, gains and force caps remain unchanged.", "refusal": "Original eligibility loss, unexpected contact or observed pad force >10 N terminally requests measured joint hold and the frozen jaw target. Cartesian error, initial-bias, total-correction or native-margin exhaustion also refuses terminally; it never chases an already failed grip.", "sampling": "Control checks occur at 20 ms boundaries. Independent saved 1 ms native evidence must judge a continuous 5 s hold; missed between-boundary failures remain findings.", "schema": "dvidia.piper-retention/v2", "variants": [ "measured_joint", "issued_joint", "cartesian" ] }, "events": [ { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "continue", "drift_streak": 0, "object_height_delta_m": 0.0, "phase": "probe", "progress_streak": 0, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0, "retry_index": 0, "t_seconds": 11.079999999999298, "table_supported": true, "tcp_probe_height_delta_m": 0.0 }, "observation_origin": "privileged_native_simulator_state", "phase": "guard_probe", "probe_index": 0, "reason": "slow_load_bearing_check", "retention_variant": "cartesian", "retry_index": 0, "status": "probing", "t_seconds": 11.079999999999298, "type": "probe_started", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "hold_measured_arm", "drift_streak": 2, "object_height_delta_m": 0.00011703504087200167, "phase": "probe", "progress_streak": 2, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0036051799083380485, "retry_index": 0, "t_seconds": 11.459999999999088, "table_supported": true, "tcp_probe_height_delta_m": 0.0037052290579069475 }, "observation_origin": "privileged_native_simulator_state", "phase": "guard_stop", "probe_index": 0, "reason": "object_not_following", "retention_variant": "cartesian", "retry_index": 0, "status": "probing", "t_seconds": 11.459999999999088, "type": "alarm", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "hold_measured_arm", "drift_streak": 2, "object_height_delta_m": 0.00011703504087200167, "phase": "probe", "progress_streak": 2, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0036051799083380485, "retry_index": 0, "t_seconds": 11.459999999999088, "table_supported": true, "tcp_probe_height_delta_m": 0.0037052290579069475 }, "observation_origin": "privileged_native_simulator_state", "phase": "guard_stop", "probe_index": 0, "reason": "supported_object_only", "retention_variant": "cartesian", "retry_index": 1, "status": "acquiring_retry", "t_seconds": 11.459999999999088, "type": "retry_started", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": false, "contact_loss_streak": 0, "decision": "recenter_with_open_jaw", "drift_streak": 2, "object_height_delta_m": -2.7018207539739048e-05, "phase": "retry_recenter", "progress_streak": 2, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.009726352291520206, "retry_index": 1, "t_seconds": 13.119999999998168, "table_supported": true, "tcp_probe_height_delta_m": 0.009684217495933498 }, "observation_origin": "privileged_native_simulator_state", "phase": "guard_retry_recenter", "probe_index": 0, "reason": "open_recenter_complete", "retention_variant": "cartesian", "retry_index": 1, "status": "acquiring", "t_seconds": 13.119999999998168, "type": "retry_completed", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "continue", "drift_streak": 0, "object_height_delta_m": 0.0, "phase": "probe", "progress_streak": 0, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0, "retry_index": 1, "t_seconds": 13.99999999999768, "table_supported": true, "tcp_probe_height_delta_m": 0.0 }, "observation_origin": "privileged_native_simulator_state", "phase": "guard_probe", "probe_index": 1, "reason": "slow_load_bearing_check", "retention_variant": "cartesian", "retry_index": 1, "status": "probing", "t_seconds": 13.99999999999768, "type": "probe_started", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "hold_measured_arm", "drift_streak": 2, "object_height_delta_m": 0.00013750675465348805, "phase": "probe", "progress_streak": 2, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.003549168225962695, "retry_index": 1, "t_seconds": 14.37999999999747, "table_supported": true, "tcp_probe_height_delta_m": 0.003643428442584501 }, "observation_origin": "privileged_native_simulator_state", "phase": "guard_stop", "probe_index": 1, "reason": "object_not_following", "retention_variant": "cartesian", "retry_index": 1, "status": "probing", "t_seconds": 14.37999999999747, "type": "alarm", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "hold_measured_arm_and_freeze_issued_jaw", "drift_streak": 2, "object_height_delta_m": 0.00013750675465348805, "phase": "probe", "progress_streak": 2, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.003549168225962695, "retry_index": 1, "t_seconds": 14.37999999999747, "table_supported": true, "tcp_probe_height_delta_m": 0.003643428442584501 }, "observation_origin": "privileged_native_simulator_state", "phase": "probe_stop", "probe_index": 1, "reason": "retry_budget_exhausted:object_not_following", "retention_variant": "cartesian", "retry_index": 1, "status": "invalidated_hold", "t_seconds": 14.37999999999747, "type": "abort", "variant": "evidence" } ], "ever_admitted": false, "final_observed": true, "frozen_jaw_target_m": 0.0, "initial_context": { "object_position_m": [ 0.30399993910084466, -0.0240001631643647, 0.07989224451748381 ], "observation_origin": "privileged_native_simulator_state", "t_seconds": 0.0, "tcp_position_m": [ 0.4890696662845219, 0.0014141975654808877, 0.3665849431043091 ], "tcp_quaternion_wxyz": [ 0.6580840948238629, 2.7730466224793136e-07, 0.7529444362872891, -1.9485471114950535e-06 ] }, "last_observed_s": 20.00000000000146, "observation_origin": "privileged_native_simulator_state", "physical_robot_ready": false, "probes": [ { "disposition": "interrupted", "end_time_s": 11.459999999999088, "local_offset_origin_m": [ 0.0023012499131345315, 0.00029502406863538797, 0.0019268048003935761 ], "object_origin_m": [ 0.3038433966370635, -0.023953893545889646, 0.0799192627873234 ], "observation_origin": "privileged_native_simulator_state", "probe_index": 0, "reason": "object_not_following", "start_time_s": 11.079999999999298, "tcp_origin_m": [ 0.30612476091779883, -0.024239616058043256, 0.08187095609499989 ], "tcp_quaternion_wxyz": [ 0.005368231308274985, -0.0016106118722012466, 0.9999841712787908, -0.0004951907594521749 ] }, { "disposition": "invalidated_hold", "end_time_s": 14.37999999999747, "local_offset_origin_m": [ -0.002046891843315855, 0.0002330236179597897, 0.0024109213024392714 ], "object_origin_m": [ 0.3058391034136717, -0.02404964677711175, 0.07985630928713797 ], "observation_origin": "privileged_native_simulator_state", "probe_index": 1, "reason": "retry_budget_exhausted:object_not_following", "start_time_s": 13.99999999999768, "tcp_origin_m": [ 0.3038141690419925, -0.02428345393514363, 0.08228562663045906 ], "tcp_quaternion_wxyz": [ -0.004521521491172635, -0.00015423972983309508, 0.9999897654583612, 3.212541549437036e-05 ] } ], "retention": { "hold_reference": null, "input_refusals": [], "native_joint_control_limits_rad": [ [ -2.618, 2.618 ], [ 0.0, 3.14 ], [ -2.697, 0.0 ], [ -1.832, 1.832 ], [ -1.22, 1.22 ], [ -3.14, 3.14 ] ], "variant": "cartesian" }, "retry_count": 1, "schema": "dvidia.piper-retention/v2", "status": "invalidated_hold", "stop_targets_rad": [ -0.08397175685067186, 1.74106756519235, -1.1549804450650354, -0.0008751052111647475, 1.0719814323663786, -0.08387144795638805 ], "variant": "cartesian" }, "scene_id": "m0525-f52-p0", "timing": { "policy_cpu": { "maximum_s": 0.0008290000000101827, "mean_s": 0.0001972810000001175, "over_20ms": 0, "p50_s": 0.00016550000000137288, "p95_s": 0.0004212000000030967, "p99_s": 0.0005430999999934726, "samples": 1000 }, 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Counts are diagnostic, not independent trials." }, "corrections": { "bound_refusal_counts": {}, "flag_counts": { "correction_rate_limited": 0 }, "hold_record_count": 282, "input_refusals": [], "maximum_abs_accepted_correction_rate_rad_s": null, "maximum_abs_active_correction_rad": null, "maximum_abs_desired_correction_rad": null, "maximum_abs_pose_error_increment_rad": null, "rate_limited_axis_occurrences": 0, "scope": "Includes recorded final diagnostic checks; only command_issued rows represent issued controls." }, "decomposition": null, "final": { "both_qualified": false, "controller_qualified": false, "evidence_admissible": false, "native_qualified": false }, "first_admission": null, "grip_only": { "combined_qualified_pause": false, "complete_5s": false, "controller_retained_at_5s": false, "native_pause_success": false, "reason": "no_admission", "required_s": 5.0, "success": false }, "native": { "arrays_sha256": "34c302932c31aaa3a84e57517f70f616223cae8f58b8ef9e1463fdd18707348f", "complete": true, "maximum_per_finger_force_n": 0.5016501429359427, "rows": 20000, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "physical_robot_ready": false, "primary": { "combined_qualified_pause": false, "complete_5s": false, "controller_retained_at_5s": false, "first_tcp_pose_failure_s": null, "native_pause_success": false, "reason": "no_admission", "required_s": 5.0, "success": false }, "probes": [ { "claims": [], "disposition": "interrupted", "final_native_qualified_from_origin": false, "probe_index": 0, "start_time_s": 11.079999999999298 }, { "claims": [], "disposition": "invalidated_hold", "final_native_qualified_from_origin": false, "probe_index": 1, "start_time_s": 13.99999999999768 } ], "receipt": { "admission": { "observation_origin": "privileged_native_simulation_plus_caller_planning_assumptions", "physical_robot_ready": false, "planning": { "computed": { "conservative_required_load_n": 0.7801486874999999, "gravity_m_s2": 9.80665, "pose_specific_payload_limit_force_n": 0.980665, "two_finger_friction_capacity_n": 10.4 }, "observation_origin": "caller_declared_not_verified", "physical_robot_ready": false, "reasons": [ "Run and record a cautious test lift under the same calibrated pose and load conditions before simulated transport planning." ], "schema": "dvidia.task-feasibility-result/v1", "scope": "Planning assessment only. Parallel two-finger vertical-lift approximation; ignores moment, center of mass, deformation, transient impacts and unmodeled contact effects. Unknown values remain unknown; mass is never inferred from images. Probe/test-lift/controller integration is not implemented. No hardware actuation is performed; this is not hardware qualification.", "status": "test_lift_required" }, "probe": { "admissible": false, "historical_qualified": false, "latest_qualified": false, "physical_robot_ready": false, "reasons": [ "latest_native_window_not_qualified", "no_controller_qualification_for_this_probe", "latest_controller_not_qualified" ], "receipt_sha256": "6826b57179ce2e07e6b729920050545591cc593868ec8d8c9087e09fab18d665", "schema": "dvidia.probe-evidence-verification/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.", "verified": true }, "schema": "dvidia.task-feasibility-with-probe/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification. Unknown planning values remain unknown. The unchanged approximate vertical-lift planning gate describes declared loads; it supplies no transport path, geospatial-goal contract or actuator permission. This wrapper never issues controls.", "status": "test_lift_required" }, "context": { "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe", "calibration_id": "synthetic_probe_v01", "calibration_scope": "simulation_assumptions_not_hardware", "command_sha256": "9bb251bcd8cad86d49e6aeb0fa02f6058f0d3b6670ac86716a333487a7e2d0e4", "feasibility_sha256": "c2fa3d26b0be6dfbc61f774d0909d34060823101e76700d427257a4000ab18bd", "grasp_id": "m0525-f52-p0-incremental-probe-1", "initial_object_position_m": [ 0.30399993910084466, -0.0240001631643647, 0.07989224451748381 ], "model_sha256": "52e12cc22f48a4551c7b92f0909952a5c753a7a6df285c135b8e772070353fba", "native_status": { "simulation_time_s": 20.00000000000146, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "object_id": "task_block", "per_finger_force_ceiling_n": 10.0, "pose_binding_sha256": "b86dd715ec50d3cee95ef4177a871df342e5b990cf342653e89e1b749bd9f55d", "probe_index": 1, "probe_origin_object_position_m": [ 0.3058391034136717, -0.02404964677711175, 0.07985630928713797 ], "probe_origin_tcp_local_offset_m": [ -0.002046891843315855, 0.0002330236179597897, 0.0024109213024392714 ], "probe_start_s": 13.99999999999768, "robot_profile": "piper", "run_id": "m0525-f52-p0-incremental", "schema": "dvidia.probe-context/v1", "source_sha256": "d28324843344114f1ee863cee3c48dbca8aa37fd11222623563a0b1d40c364a6" }, "physical_robot_ready": false, "planning_input": { "allowed_pose_tolerance_m": 0.003, "calibration_id": "synthetic_probe_v01", "friction_interval": [ 0.52, 0.52 ], "geometry_known": true, "gripper_max_opening_interval_m": [ 0.07, 0.07 ], "gripper_min_closure_m": 0.0, "mass_interval_kg": [ 0.0525, 0.0525 ], "object_width_interval_m": [ 0.04, 0.04 ], "observations_fresh": true, "per_finger_normal_force_budget_n": 10.0, "planned_upward_accel_m_s2": 0.1, "pose_specific_payload_limit_kg": 0.1, "pose_uncertainty_m": 0.0, "reachability": "reachable", "safety_factor": 1.5, "schema": "dvidia.task-feasibility-input/v1", "slip_detected": false, "test_lift_passed": false }, "receipt": { "audit": { "controller_claim_mismatches": [], "controller_claims_checked": 1, "controller_conservative_abstention_count": 0, "controller_coverage": "Only the supplied claims are checked; omitted decisions are not inferred.", "controller_false_qualification_count": 0, "controller_positive_claims": 0, "force_ceiling_known": true, "maximum_observed_per_finger_force_n": 0.5016501429359427, "reasons": [], "rows": 20000, "unexpected_contact_native_ticks": 0, "valid": true }, "context": { "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe", "calibration_id": "synthetic_probe_v01", "calibration_scope": "simulation_assumptions_not_hardware", "command_sha256": "9bb251bcd8cad86d49e6aeb0fa02f6058f0d3b6670ac86716a333487a7e2d0e4", "feasibility_sha256": "c2fa3d26b0be6dfbc61f774d0909d34060823101e76700d427257a4000ab18bd", "grasp_id": "m0525-f52-p0-incremental-probe-1", "initial_object_position_m": [ 0.30399993910084466, -0.0240001631643647, 0.07989224451748381 ], "model_sha256": "52e12cc22f48a4551c7b92f0909952a5c753a7a6df285c135b8e772070353fba", "native_status": { "simulation_time_s": 20.00000000000146, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "object_id": "task_block", "per_finger_force_ceiling_n": 10.0, "pose_binding_sha256": "b86dd715ec50d3cee95ef4177a871df342e5b990cf342653e89e1b749bd9f55d", "probe_index": 1, "probe_origin_object_position_m": [ 0.3058391034136717, -0.02404964677711175, 0.07985630928713797 ], "probe_origin_tcp_local_offset_m": [ -0.002046891843315855, 0.0002330236179597897, 0.0024109213024392714 ], "probe_start_s": 13.99999999999768, "robot_profile": "piper", "run_id": "m0525-f52-p0-incremental", "schema": "dvidia.probe-context/v1", "source_sha256": "d28324843344114f1ee863cee3c48dbca8aa37fd11222623563a0b1d40c364a6" }, "context_sha256": "5744539293b6eca1303555e5406b4e7ac908d1d3ce96dbef5d4411f6294ec189", "controller_qualifications": [ { "probe_index": 1, "qualified": false, "t_seconds": 20.00000000000146 } ], "criteria": { "distance_comparison_epsilon": 1e-12, "initial_sample_tolerance_m": 0.001, "maximum_tcp_local_drift_m": 0.003, "minimum_continuous_dwell_s": 0.1, "minimum_per_finger_force_n_exclusive": 0.01, "minimum_rise_m": 0.006, "native_dt_s": 0.001, "origin_tolerance_m": 1e-09, "time_tolerance_s": 1e-08 }, "history": { "ever_qualified": false, "first_qualified_s": null, "maximum_continuous_qualifying_s": 0.0 }, "latest": { "condition_valid": false, "continuous_qualifying_s": 0.0, "controller_claim": { "probe_index": 1, "qualified": false, "t_seconds": 20.00000000000146 }, "native_tick": 20000, "qualified": false, "rise_m": 2.9404047107300935e-05, "tcp_local_drift_m": 0.0037313444677514454, "time_s": 20.00000000000146 }, "metadata_sha256": "ad8229630cc9f8718829bb8317b1a82480dcf18b9f71bd23666acfe71a003ef7", "native_arrays_sha256": "34c302932c31aaa3a84e57517f70f616223cae8f58b8ef9e1463fdd18707348f", "physical_robot_ready": false, "receipt_sha256": "6826b57179ce2e07e6b729920050545591cc593868ec8d8c9087e09fab18d665", "schema": "dvidia.probe-evidence/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification." }, "status": "inspected", "verification": { "admissible": false, "historical_qualified": false, "latest_qualified": false, "physical_robot_ready": false, "reasons": [ "latest_native_window_not_qualified", "no_controller_qualification_for_this_probe", "latest_controller_not_qualified" ], "receipt_sha256": "6826b57179ce2e07e6b729920050545591cc593868ec8d8c9087e09fab18d665", "schema": "dvidia.probe-evidence-verification/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.", "verified": true } }, "stationarity": { "complete_5s": false, "grip_retention_and_stationarity": false, "tcp_pose_within_bounds": false }, "status": "inspected" }, "files": { "episode.json.gz": { "bytes": 790571, "sha256": "14b239ca046b5de83db5980568631d9fbde0bcb29c2b1fdf10ac39ef6c677927" }, "evaluation.json": { "bytes": 12382, "sha256": "ca5e5513f422c83f4c1809b90065849ee13af402194912413758546a3a185155" }, "native.json": { "bytes": 13763, "sha256": "19cc1d5998901cbc12da2916add3096763081e9decbfc7193981bfabc4b871e0" }, "native.npz": { "bytes": 4082281, "sha256": "79a5070a58a7ae831f50b8969357c5a3aa2e7415c3e1fc5ce0b50d173adbc74e" }, "started.json": { "bytes": 150, "sha256": "3fef1006e5bd427a7f1d3ea5b34507bfa7a5c2cea27c08f424dc1203b35903df" } }, "friction": 0.52, "id": "m0525-f52-p0-incremental", "mass_kg": 0.0525, "metrics": { "carry_complete": false, "carry_contact_loss_events": 0, "carry_contact_loss_tolerance_seconds": 0.04, "dwell_seconds": 0.0, "first_success_time_seconds": null, "grasp_seen": true, "lift_dwell_seconds": 0.0, "lift_seen": false, "max_carry_contact_loss_seconds": 0.0, "max_object_lift_m": 0.0001521117191131266, "max_pad_normal_force_n": 0.5016501429359427, "physical_robot_ready": false, "reason": "timeout", "retention_lost": false, "simulation_time": 20.00000000000146, "steps": 1000, "success": false, "target_distance_m": 0.11240771727005906, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "policy": { "abort_reason": "retry_budget_exhausted:object_not_following", "acquisition_contract": { "comparison_scope": "Closed-loop variants may acquire different trajectories through early hold/retry. This is not an isolated classifier ablation.", "control_dt_s": 0.02, "evidence_admission": "Current bilateral force >0.01 N, no table support, object rise >=6 mm and TCP-local offset drift <=3 mm continuously across sampled boundaries for elapsed >=100 ms.", "hold": "Latch measured six arm joints and the last issued jaw target at admission/terminal invalidity. No full lift/transfer, no squeeze escalation, no post-admission retry.", "invalidation": "At each subsequent 20 ms observation and final observation, invalidate immediately on lost contact/force, support, insufficient rise, >3 mm local drift or unexpected contact. Never requalify after terminal invalidity.", "observation_origin": "privileged_native_simulator_state", "parameters": { "close_timeout_s": 1.4, "consecutive_alarm_samples": 2, "max_retries": 1, "monitor_min_probe_motion_m": 0.003, "probe_height_m": 0.01, "probe_min_object_rise_m": 0.006, "probe_speed_m_s": 0.02, "probe_timeout_s": 1.4, "qualification_dwell_s": 0.1, "relative_drift_limit_m": 0.003, "retry_clearance_m": 0.012, "retry_open_timeout_s": 1.2, "retry_recenter_timeout_s": 1.5 }, "physical_robot_ready": false, "prefix": "Original GuardedPiperTaskPolicy approach/close and at most one supported open/recenter/retry; already uses authored native state, not a fully blind baseline.", "sampling_limit": "Independent 1 ms evidence may contradict sampled admission; that remains a finding. No sensor or material inference is implemented.", "schema": "dvidia.piper-probe-stop/v1", "stop_scope": "Holding native position targets is not physical arrest or calibrated force limiting; inertia and existing target rate limits can continue motion.", "timer_admission": "Same 10 mm/20 mm/s probe target law, admitted at elapsed >=600 ms from that probe start; no evidence predicate or slip alarm before admission. Unexpected contacts and bounded timeouts still stop.", "timer_admission_s": 0.6, "variants": [ "evidence", "timer" ] }, "acquisition_variant": "evidence", "active_probe_index": 1, "admission_time_s": null, "admitted": false, "candidate": "incremental", "contract": { "acquisition": "Unchanged ProbeStopPolicy evidence acquisition, including its bounded supported retry. All variants share the same prefix through the first admission observation.", "admission": "Freeze the measured TCP pose and preceding issued target. Check the unchanged 0.08 rad initial bias and 0.02 rad joint margin. Repeat the preceding issued target exactly; initialize cumulative correction to zero.", "anti_windup": "Refuse the unlimited cumulative proposal before slew limiting. Commit correction only after all checks pass. Refusal is terminal and leaves accumulated correction unchanged.", "candidate": "incremental", "control_dt_s": 0.02, "final_observation": "Check force, original eligibility and pose error without solving, integrating or issuing another command.", "invalid_measurements": "Malformed, nonfinite or noncausal observations terminally refuse and raise without issuing a command. No measured-position stop is claimed from invalid measurements.", "limits": { "initial_joint_bias_ceiling_rad": 0.08, "joint_correction_ceiling_rad": 0.03, "joint_correction_rate_rad_s": 0.1, "native_joint_target_margin_rad": 0.02, "per_finger_force_ceiling_n": 10.0, "tcp_orientation_error_ceiling_rad": 0.05, "tcp_position_error_ceiling_m": 0.004 }, "measured_joint_eligibility": "At admission, subsequent updates and final observations, refuse measured joints outside the native 0.02 rad target margin before solving. This prevents absolute-target clipping from manufacturing a nonzero increment at zero pose error.", "observation_origin": "privileged_native_simulator_state", "physical_robot_ready": false, "qualifications": "Engineering limits and the 10 N ceiling are authored synthetic assumptions, not damage limits or calibrated physical telemetry. Position targets are not physical stops or force limiters. No load/friction inference, model training or complete placement is implemented.", "rate_scope": "The extra correction slews at at most 0.002 rad per 20 ms per joint. Original native 1 ms target slew, servos, gains and force caps remain unchanged.", "refusal": "Original grip, force, pose, initial-bias, joint-margin and timeout refusals remain terminal. A valid terminal observation latches measured joints and the frozen jaw; its fallback is not active incremental regulation.", "sampling": "Control checks occur at 20 ms boundaries. Independent saved 1 ms native evidence must judge a continuous 5 s hold; missed between-boundary failures remain findings.", "schema": "dvidia.piper-incremental-hold/v3", "update_gain_per_boundary": 1.0, "update_law": "increment = pose_action(frozen_admission_pose) - current_measured_joints; proposal = previous_correction + 1.0 * increment; refuse unlimited proposal outside +/-0.03 rad; slew accepted correction by at most 0.002 rad per joint per 20 ms; target = admission_issued_target + accepted_correction", "variants": [ "incremental" ] }, "events": [ { "accumulated_correction_rad": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "acquisition_variant": "evidence", "active_regulation": false, "candidate": "incremental", "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "continue", "drift_streak": 0, "object_height_delta_m": 0.0, "phase": "probe", "progress_streak": 0, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0, "retry_index": 0, "t_seconds": 11.079999999999298, "table_supported": true, "tcp_probe_height_delta_m": 0.0 }, "final_observation": false, "observation_origin": "privileged_native_simulator_state", "phase": "guard_probe", "pose_error_increment_rad": null, "probe_index": 0, "proposed_cumulative_correction_rad": null, "reason": "slow_load_bearing_check", "refused_bounds": null, "retention_variant": "incremental", "retry_index": 0, "status": "probing", "t_seconds": 11.079999999999298, "type": "probe_started", "update_gain_per_boundary": 1.0, "update_law": "increment = pose_action(frozen_admission_pose) - current_measured_joints; proposal = previous_correction + 1.0 * increment; refuse unlimited proposal outside +/-0.03 rad; slew accepted correction by at most 0.002 rad per joint per 20 ms; target = admission_issued_target + accepted_correction", "variant": "incremental" }, { "accumulated_correction_rad": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "acquisition_variant": "evidence", "active_regulation": false, "candidate": "incremental", "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "hold_measured_arm", "drift_streak": 2, "object_height_delta_m": 0.00011703504087200167, "phase": "probe", "progress_streak": 2, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0036051799083380485, "retry_index": 0, "t_seconds": 11.459999999999088, "table_supported": true, "tcp_probe_height_delta_m": 0.0037052290579069475 }, "final_observation": false, "observation_origin": "privileged_native_simulator_state", "phase": "guard_stop", "pose_error_increment_rad": null, "probe_index": 0, "proposed_cumulative_correction_rad": null, "reason": "object_not_following", "refused_bounds": null, "retention_variant": "incremental", "retry_index": 0, "status": "probing", "t_seconds": 11.459999999999088, "type": "alarm", "update_gain_per_boundary": 1.0, "update_law": "increment = pose_action(frozen_admission_pose) - current_measured_joints; proposal = previous_correction + 1.0 * increment; refuse unlimited proposal outside +/-0.03 rad; slew accepted correction by at most 0.002 rad per joint per 20 ms; target = admission_issued_target + accepted_correction", "variant": "incremental" }, { "accumulated_correction_rad": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "acquisition_variant": "evidence", "active_regulation": false, "candidate": "incremental", "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "hold_measured_arm", "drift_streak": 2, "object_height_delta_m": 0.00011703504087200167, "phase": "probe", "progress_streak": 2, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0036051799083380485, "retry_index": 0, "t_seconds": 11.459999999999088, "table_supported": true, "tcp_probe_height_delta_m": 0.0037052290579069475 }, "final_observation": false, "observation_origin": "privileged_native_simulator_state", "phase": "guard_stop", "pose_error_increment_rad": null, "probe_index": 0, "proposed_cumulative_correction_rad": null, "reason": "supported_object_only", "refused_bounds": null, "retention_variant": "incremental", "retry_index": 1, "status": "acquiring_retry", "t_seconds": 11.459999999999088, "type": "retry_started", "update_gain_per_boundary": 1.0, "update_law": "increment = pose_action(frozen_admission_pose) - current_measured_joints; proposal = previous_correction + 1.0 * increment; refuse unlimited proposal outside +/-0.03 rad; slew accepted correction by at most 0.002 rad per joint per 20 ms; target = admission_issued_target + accepted_correction", "variant": "incremental" }, { "accumulated_correction_rad": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "acquisition_variant": "evidence", "active_regulation": false, "candidate": "incremental", "diagnostic": { "bilateral_contact": false, "contact_loss_streak": 0, "decision": "recenter_with_open_jaw", "drift_streak": 2, "object_height_delta_m": -2.7018207539739048e-05, "phase": "retry_recenter", "progress_streak": 2, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.009726352291520206, "retry_index": 1, "t_seconds": 13.119999999998168, "table_supported": true, "tcp_probe_height_delta_m": 0.009684217495933498 }, "final_observation": false, "observation_origin": "privileged_native_simulator_state", "phase": "guard_retry_recenter", "pose_error_increment_rad": null, "probe_index": 0, "proposed_cumulative_correction_rad": null, "reason": "open_recenter_complete", "refused_bounds": null, "retention_variant": "incremental", "retry_index": 1, "status": "acquiring", "t_seconds": 13.119999999998168, "type": "retry_completed", "update_gain_per_boundary": 1.0, "update_law": "increment = pose_action(frozen_admission_pose) - current_measured_joints; proposal = previous_correction + 1.0 * increment; refuse unlimited proposal outside +/-0.03 rad; slew accepted correction by at most 0.002 rad per joint per 20 ms; target = admission_issued_target + accepted_correction", "variant": "incremental" }, { "accumulated_correction_rad": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "acquisition_variant": "evidence", "active_regulation": false, "candidate": "incremental", "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "continue", "drift_streak": 0, "object_height_delta_m": 0.0, "phase": "probe", "progress_streak": 0, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0, "retry_index": 1, "t_seconds": 13.99999999999768, "table_supported": true, "tcp_probe_height_delta_m": 0.0 }, "final_observation": false, "observation_origin": "privileged_native_simulator_state", "phase": "guard_probe", "pose_error_increment_rad": null, "probe_index": 1, "proposed_cumulative_correction_rad": null, "reason": "slow_load_bearing_check", "refused_bounds": null, "retention_variant": "incremental", "retry_index": 1, "status": "probing", "t_seconds": 13.99999999999768, "type": "probe_started", "update_gain_per_boundary": 1.0, "update_law": "increment = pose_action(frozen_admission_pose) - current_measured_joints; proposal = previous_correction + 1.0 * increment; refuse unlimited proposal outside +/-0.03 rad; slew accepted correction by at most 0.002 rad per joint per 20 ms; target = admission_issued_target + accepted_correction", "variant": "incremental" }, { "accumulated_correction_rad": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "acquisition_variant": "evidence", "active_regulation": false, "candidate": "incremental", "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "hold_measured_arm", "drift_streak": 2, "object_height_delta_m": 0.00013750675465348805, "phase": "probe", "progress_streak": 2, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.003549168225962695, "retry_index": 1, "t_seconds": 14.37999999999747, "table_supported": true, "tcp_probe_height_delta_m": 0.003643428442584501 }, "final_observation": false, "observation_origin": "privileged_native_simulator_state", "phase": "guard_stop", "pose_error_increment_rad": null, "probe_index": 1, "proposed_cumulative_correction_rad": null, "reason": "object_not_following", "refused_bounds": null, "retention_variant": "incremental", "retry_index": 1, "status": "probing", "t_seconds": 14.37999999999747, "type": "alarm", "update_gain_per_boundary": 1.0, "update_law": "increment = pose_action(frozen_admission_pose) - current_measured_joints; proposal = previous_correction + 1.0 * increment; refuse unlimited proposal outside +/-0.03 rad; slew accepted correction by at most 0.002 rad per joint per 20 ms; target = admission_issued_target + accepted_correction", "variant": "incremental" }, { "accumulated_correction_rad": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "acquisition_variant": "evidence", "active_regulation": false, "candidate": "incremental", "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "hold_measured_arm_and_freeze_issued_jaw", "drift_streak": 2, "object_height_delta_m": 0.00013750675465348805, "phase": "probe", "progress_streak": 2, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.003549168225962695, "retry_index": 1, "t_seconds": 14.37999999999747, "table_supported": true, "tcp_probe_height_delta_m": 0.003643428442584501 }, "final_observation": false, "observation_origin": "privileged_native_simulator_state", "phase": "probe_stop", "pose_error_increment_rad": null, "probe_index": 1, "proposed_cumulative_correction_rad": null, "reason": "retry_budget_exhausted:object_not_following", "refused_bounds": null, "retention_variant": "incremental", "retry_index": 1, "status": "invalidated_hold", "t_seconds": 14.37999999999747, "type": "abort", "update_gain_per_boundary": 1.0, "update_law": "increment = pose_action(frozen_admission_pose) - current_measured_joints; proposal = previous_correction + 1.0 * increment; refuse unlimited proposal outside +/-0.03 rad; slew accepted correction by at most 0.002 rad per joint per 20 ms; target = admission_issued_target + accepted_correction", "variant": "incremental" } ], "ever_admitted": false, "final_observed": true, "frozen_jaw_target_m": 0.0, "initial_context": { "object_position_m": [ 0.30399993910084466, -0.0240001631643647, 0.07989224451748381 ], "observation_origin": "privileged_native_simulator_state", "t_seconds": 0.0, "tcp_position_m": [ 0.4890696662845219, 0.0014141975654808877, 0.3665849431043091 ], "tcp_quaternion_wxyz": [ 0.6580840948238629, 2.7730466224793136e-07, 0.7529444362872891, -1.9485471114950535e-06 ] }, "last_observed_s": 20.00000000000146, "observation_origin": "privileged_native_simulator_state", "physical_robot_ready": false, "probes": [ { "disposition": "interrupted", "end_time_s": 11.459999999999088, "local_offset_origin_m": [ 0.0023012499131345315, 0.00029502406863538797, 0.0019268048003935761 ], "object_origin_m": [ 0.3038433966370635, -0.023953893545889646, 0.0799192627873234 ], "observation_origin": "privileged_native_simulator_state", "probe_index": 0, "reason": "object_not_following", "start_time_s": 11.079999999999298, "tcp_origin_m": [ 0.30612476091779883, -0.024239616058043256, 0.08187095609499989 ], "tcp_quaternion_wxyz": [ 0.005368231308274985, -0.0016106118722012466, 0.9999841712787908, -0.0004951907594521749 ] }, { "disposition": "invalidated_hold", "end_time_s": 14.37999999999747, "local_offset_origin_m": [ -0.002046891843315855, 0.0002330236179597897, 0.0024109213024392714 ], "object_origin_m": [ 0.3058391034136717, -0.02404964677711175, 0.07985630928713797 ], "observation_origin": "privileged_native_simulator_state", "probe_index": 1, "reason": "retry_budget_exhausted:object_not_following", "start_time_s": 13.99999999999768, "tcp_origin_m": [ 0.3038141690419925, -0.02428345393514363, 0.08228562663045906 ], "tcp_quaternion_wxyz": [ -0.004521521491172635, -0.00015423972983309508, 0.9999897654583612, 3.212541549437036e-05 ] } ], "retention": { "accumulated_correction_rad": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "active_regulation": false, "candidate": "incremental", "final_controller_status": "invalidated_hold", "hold_reference": null, "input_refusals": [], "native_joint_control_limits_rad": [ [ -2.618, 2.618 ], [ 0.0, 3.14 ], [ -2.697, 0.0 ], [ -1.832, 1.832 ], [ -1.22, 1.22 ], [ -3.14, 3.14 ] ], "update_gain_per_boundary": 1.0, "update_law": "increment = pose_action(frozen_admission_pose) - current_measured_joints; proposal = previous_correction + 1.0 * increment; refuse unlimited proposal outside +/-0.03 rad; slew accepted correction by at most 0.002 rad per joint per 20 ms; target = admission_issued_target + accepted_correction", "variant": "incremental" }, "retry_count": 1, "schema": "dvidia.piper-incremental-hold/v3", "status": "invalidated_hold", "stop_targets_rad": [ -0.08397175685067186, 1.74106756519235, -1.1549804450650354, -0.0008751052111647475, 1.0719814323663786, -0.08387144795638805 ], "variant": "incremental" }, "scene_id": "m0525-f52-p0", "timing": { "policy_cpu": { "maximum_s": 0.00028100000000108594, "mean_s": 6.375100000006739e-05, "over_20ms": 0, "p50_s": 6.400000000894579e-05, "p95_s": 9.704999999655679e-05, "p99_s": 0.00016303000000050357, "samples": 1000 }, "policy_wall": { "maximum_s": 0.0005284999497234821, "mean_s": 6.550294579938054e-05, "over_20ms": 0, "p50_s": 6.462493911385536e-05, "p95_s": 0.00010192226618528366, "p99_s": 0.00022924446966499087, "samples": 1000 }, "step_cpu": { "maximum_s": 0.008975000000006617, "mean_s": 0.0023285089999994994, "over_20ms": 0, "p50_s": 0.0017664999999951192, "p95_s": 0.0039584999999974, "p99_s": 0.005475210000004153, "samples": 1000 }, "step_wall": { "maximum_s": 0.01073287520557642, "mean_s": 0.0024191755363717677, "over_20ms": 0, "p50_s": 0.0017743960488587618, "p95_s": 0.004580424842424687, "p99_s": 0.005934980232268568, "samples": 1000 } }, "valid": true, "variant": "incremental" }, { "error": null, "evaluation": { "claims": { "false_maintained_grip": 0, "false_maintained_pose": 0, "maintained_checks": 0, "scope": "Claimed qualified boundaries after admission, compared with every native row since admission; grip includes correct initial prefix. Counts are diagnostic, not independent trials." }, "corrections": { "bound_refusal_counts": {}, "flag_counts": { "correction_rate_limited": 0 }, "hold_record_count": 282, "input_refusals": [], "maximum_abs_accepted_correction_rate_rad_s": null, "maximum_abs_active_correction_rad": null, "maximum_abs_desired_correction_rad": null, "maximum_abs_pose_error_increment_rad": null, "rate_limited_axis_occurrences": 0, "scope": "Includes recorded final diagnostic checks; only command_issued rows represent issued controls." }, "decomposition": null, "final": { "both_qualified": false, "controller_qualified": false, "evidence_admissible": false, "native_qualified": false }, "first_admission": null, "grip_only": { "combined_qualified_pause": false, "complete_5s": false, "controller_retained_at_5s": false, "native_pause_success": false, "reason": "no_admission", "required_s": 5.0, "success": false }, "native": { "arrays_sha256": "34c302932c31aaa3a84e57517f70f616223cae8f58b8ef9e1463fdd18707348f", "complete": true, "maximum_per_finger_force_n": 0.5016501429359427, "rows": 20000, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "physical_robot_ready": false, "primary": { "combined_qualified_pause": false, "complete_5s": false, "controller_retained_at_5s": false, "first_tcp_pose_failure_s": null, "native_pause_success": false, "reason": "no_admission", "required_s": 5.0, "success": false }, "probes": [ { "claims": [], "disposition": "interrupted", "final_native_qualified_from_origin": false, "probe_index": 0, "start_time_s": 11.079999999999298 }, { "claims": [], "disposition": "invalidated_hold", "final_native_qualified_from_origin": false, "probe_index": 1, "start_time_s": 13.99999999999768 } ], "receipt": { "admission": { "observation_origin": "privileged_native_simulation_plus_caller_planning_assumptions", "physical_robot_ready": false, "planning": { "computed": { "conservative_required_load_n": 0.7801486874999999, "gravity_m_s2": 9.80665, "pose_specific_payload_limit_force_n": 0.980665, "two_finger_friction_capacity_n": 10.4 }, "observation_origin": "caller_declared_not_verified", "physical_robot_ready": false, "reasons": [ "Run and record a cautious test lift under the same calibrated pose and load conditions before simulated transport planning." ], "schema": "dvidia.task-feasibility-result/v1", "scope": "Planning assessment only. Parallel two-finger vertical-lift approximation; ignores moment, center of mass, deformation, transient impacts and unmodeled contact effects. Unknown values remain unknown; mass is never inferred from images. Probe/test-lift/controller integration is not implemented. No hardware actuation is performed; this is not hardware qualification.", "status": "test_lift_required" }, "probe": { "admissible": false, "historical_qualified": false, "latest_qualified": false, "physical_robot_ready": false, "reasons": [ "latest_native_window_not_qualified", "no_controller_qualification_for_this_probe", "latest_controller_not_qualified" ], "receipt_sha256": "736e2ce462da37f83d10fe565f05eb09b6e9760fe195ad67ecf62f73c60b7bcc", "schema": "dvidia.probe-evidence-verification/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.", "verified": true }, "schema": "dvidia.task-feasibility-with-probe/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification. Unknown planning values remain unknown. The unchanged approximate vertical-lift planning gate describes declared loads; it supplies no transport path, geospatial-goal contract or actuator permission. This wrapper never issues controls.", "status": "test_lift_required" }, "context": { "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe", "calibration_id": "synthetic_probe_v01", "calibration_scope": "simulation_assumptions_not_hardware", "command_sha256": "9bb251bcd8cad86d49e6aeb0fa02f6058f0d3b6670ac86716a333487a7e2d0e4", "feasibility_sha256": "c2fa3d26b0be6dfbc61f774d0909d34060823101e76700d427257a4000ab18bd", "grasp_id": "m0525-f52-p0-issued_joint-probe-1", "initial_object_position_m": [ 0.30399993910084466, -0.0240001631643647, 0.07989224451748381 ], "model_sha256": "52e12cc22f48a4551c7b92f0909952a5c753a7a6df285c135b8e772070353fba", "native_status": { "simulation_time_s": 20.00000000000146, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "object_id": "task_block", "per_finger_force_ceiling_n": 10.0, "pose_binding_sha256": "b86dd715ec50d3cee95ef4177a871df342e5b990cf342653e89e1b749bd9f55d", "probe_index": 1, "probe_origin_object_position_m": [ 0.3058391034136717, -0.02404964677711175, 0.07985630928713797 ], "probe_origin_tcp_local_offset_m": [ -0.002046891843315855, 0.0002330236179597897, 0.0024109213024392714 ], "probe_start_s": 13.99999999999768, "robot_profile": "piper", "run_id": "m0525-f52-p0-issued_joint", "schema": "dvidia.probe-context/v1", "source_sha256": "d28324843344114f1ee863cee3c48dbca8aa37fd11222623563a0b1d40c364a6" }, "physical_robot_ready": false, "planning_input": { "allowed_pose_tolerance_m": 0.003, "calibration_id": "synthetic_probe_v01", "friction_interval": [ 0.52, 0.52 ], "geometry_known": true, "gripper_max_opening_interval_m": [ 0.07, 0.07 ], "gripper_min_closure_m": 0.0, "mass_interval_kg": [ 0.0525, 0.0525 ], "object_width_interval_m": [ 0.04, 0.04 ], "observations_fresh": true, "per_finger_normal_force_budget_n": 10.0, "planned_upward_accel_m_s2": 0.1, "pose_specific_payload_limit_kg": 0.1, "pose_uncertainty_m": 0.0, "reachability": "reachable", "safety_factor": 1.5, "schema": "dvidia.task-feasibility-input/v1", "slip_detected": false, "test_lift_passed": false }, "receipt": { "audit": { "controller_claim_mismatches": [], "controller_claims_checked": 1, "controller_conservative_abstention_count": 0, "controller_coverage": "Only the supplied claims are checked; omitted decisions are not inferred.", "controller_false_qualification_count": 0, "controller_positive_claims": 0, "force_ceiling_known": true, "maximum_observed_per_finger_force_n": 0.5016501429359427, "reasons": [], "rows": 20000, "unexpected_contact_native_ticks": 0, "valid": true }, "context": { "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe", "calibration_id": "synthetic_probe_v01", "calibration_scope": "simulation_assumptions_not_hardware", "command_sha256": "9bb251bcd8cad86d49e6aeb0fa02f6058f0d3b6670ac86716a333487a7e2d0e4", "feasibility_sha256": "c2fa3d26b0be6dfbc61f774d0909d34060823101e76700d427257a4000ab18bd", "grasp_id": "m0525-f52-p0-issued_joint-probe-1", "initial_object_position_m": [ 0.30399993910084466, -0.0240001631643647, 0.07989224451748381 ], "model_sha256": "52e12cc22f48a4551c7b92f0909952a5c753a7a6df285c135b8e772070353fba", "native_status": { "simulation_time_s": 20.00000000000146, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "object_id": "task_block", "per_finger_force_ceiling_n": 10.0, "pose_binding_sha256": "b86dd715ec50d3cee95ef4177a871df342e5b990cf342653e89e1b749bd9f55d", "probe_index": 1, "probe_origin_object_position_m": [ 0.3058391034136717, -0.02404964677711175, 0.07985630928713797 ], "probe_origin_tcp_local_offset_m": [ -0.002046891843315855, 0.0002330236179597897, 0.0024109213024392714 ], "probe_start_s": 13.99999999999768, "robot_profile": "piper", "run_id": "m0525-f52-p0-issued_joint", "schema": "dvidia.probe-context/v1", "source_sha256": "d28324843344114f1ee863cee3c48dbca8aa37fd11222623563a0b1d40c364a6" }, "context_sha256": "a2dd7f09024ec8949f5d58d953511b327eae7b7af217099a38dccf8b7c7b2030", "controller_qualifications": [ { "probe_index": 1, "qualified": false, "t_seconds": 20.00000000000146 } ], "criteria": { "distance_comparison_epsilon": 1e-12, "initial_sample_tolerance_m": 0.001, "maximum_tcp_local_drift_m": 0.003, "minimum_continuous_dwell_s": 0.1, "minimum_per_finger_force_n_exclusive": 0.01, "minimum_rise_m": 0.006, "native_dt_s": 0.001, "origin_tolerance_m": 1e-09, "time_tolerance_s": 1e-08 }, "history": { "ever_qualified": false, "first_qualified_s": null, "maximum_continuous_qualifying_s": 0.0 }, "latest": { "condition_valid": false, "continuous_qualifying_s": 0.0, "controller_claim": { "probe_index": 1, "qualified": false, "t_seconds": 20.00000000000146 }, "native_tick": 20000, "qualified": false, "rise_m": 2.9404047107300935e-05, "tcp_local_drift_m": 0.0037313444677514454, "time_s": 20.00000000000146 }, "metadata_sha256": "ad8229630cc9f8718829bb8317b1a82480dcf18b9f71bd23666acfe71a003ef7", "native_arrays_sha256": "34c302932c31aaa3a84e57517f70f616223cae8f58b8ef9e1463fdd18707348f", "physical_robot_ready": false, "receipt_sha256": "736e2ce462da37f83d10fe565f05eb09b6e9760fe195ad67ecf62f73c60b7bcc", "schema": "dvidia.probe-evidence/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification." }, "status": "inspected", "verification": { "admissible": false, "historical_qualified": false, "latest_qualified": false, "physical_robot_ready": false, "reasons": [ "latest_native_window_not_qualified", "no_controller_qualification_for_this_probe", "latest_controller_not_qualified" ], "receipt_sha256": "736e2ce462da37f83d10fe565f05eb09b6e9760fe195ad67ecf62f73c60b7bcc", "schema": "dvidia.probe-evidence-verification/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.", "verified": true } }, "stationarity": { "complete_5s": false, "grip_retention_and_stationarity": false, "tcp_pose_within_bounds": false }, "status": "inspected" }, "files": { "episode.json.gz": { "bytes": 776999, "sha256": "89883ac1d9d9709fee4948ddcf3a4ed60e9596da34b8fe26221016b7457f5e99" }, "evaluation.json": { "bytes": 12386, "sha256": "781bc97b6eeff63c598af8eab1db89a53eb90228d3879f6b1181c9f666594a0d" }, "native.json": { "bytes": 13763, "sha256": "19cc1d5998901cbc12da2916add3096763081e9decbfc7193981bfabc4b871e0" }, "native.npz": { "bytes": 4082281, "sha256": "79a5070a58a7ae831f50b8969357c5a3aa2e7415c3e1fc5ce0b50d173adbc74e" }, "started.json": { "bytes": 151, "sha256": "f2d69abf15375392a3d2102e1c78faf5f1b02ff79aa5f28848f2679a3c916532" } }, "friction": 0.52, "id": "m0525-f52-p0-issued_joint", "mass_kg": 0.0525, "metrics": { "carry_complete": false, "carry_contact_loss_events": 0, "carry_contact_loss_tolerance_seconds": 0.04, "dwell_seconds": 0.0, "first_success_time_seconds": null, "grasp_seen": true, "lift_dwell_seconds": 0.0, "lift_seen": false, "max_carry_contact_loss_seconds": 0.0, "max_object_lift_m": 0.0001521117191131266, "max_pad_normal_force_n": 0.5016501429359427, "physical_robot_ready": false, "reason": "timeout", "retention_lost": false, "simulation_time": 20.00000000000146, "steps": 1000, "success": false, "target_distance_m": 0.11240771727005906, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "policy": { "abort_reason": "retry_budget_exhausted:object_not_following", "acquisition_contract": { "comparison_scope": "Closed-loop variants may acquire different trajectories through early hold/retry. This is not an isolated classifier ablation.", "control_dt_s": 0.02, "evidence_admission": "Current bilateral force >0.01 N, no table support, object rise >=6 mm and TCP-local offset drift <=3 mm continuously across sampled boundaries for elapsed >=100 ms.", "hold": "Latch measured six arm joints and the last issued jaw target at admission/terminal invalidity. No full lift/transfer, no squeeze escalation, no post-admission retry.", "invalidation": "At each subsequent 20 ms observation and final observation, invalidate immediately on lost contact/force, support, insufficient rise, >3 mm local drift or unexpected contact. Never requalify after terminal invalidity.", "observation_origin": "privileged_native_simulator_state", "parameters": { "close_timeout_s": 1.4, "consecutive_alarm_samples": 2, "max_retries": 1, "monitor_min_probe_motion_m": 0.003, "probe_height_m": 0.01, "probe_min_object_rise_m": 0.006, "probe_speed_m_s": 0.02, "probe_timeout_s": 1.4, "qualification_dwell_s": 0.1, "relative_drift_limit_m": 0.003, "retry_clearance_m": 0.012, "retry_open_timeout_s": 1.2, "retry_recenter_timeout_s": 1.5 }, "physical_robot_ready": false, "prefix": "Original GuardedPiperTaskPolicy approach/close and at most one supported open/recenter/retry; already uses authored native state, not a fully blind baseline.", "sampling_limit": "Independent 1 ms evidence may contradict sampled admission; that remains a finding. No sensor or material inference is implemented.", "schema": "dvidia.piper-probe-stop/v1", "stop_scope": "Holding native position targets is not physical arrest or calibrated force limiting; inertia and existing target rate limits can continue motion.", "timer_admission": "Same 10 mm/20 mm/s probe target law, admitted at elapsed >=600 ms from that probe start; no evidence predicate or slip alarm before admission. Unexpected contacts and bounded timeouts still stop.", "timer_admission_s": 0.6, "variants": [ "evidence", "timer" ] }, "acquisition_variant": "evidence", "active_probe_index": 1, "admission_time_s": null, "admitted": false, "contract": { "acquisition": "Unchanged ProbeStopPolicy evidence acquisition, including its bounded supported retry. All variants share the same prefix through the first admission observation.", "cartesian": "Latch measured TCP position/orientation and preceding issued targets. Fixed joint bias equals issued target minus pose_action at the admission pose. First command repeats the exact issued target; later pose_action updates receive that fixed bias.", "control_dt_s": 0.02, "final_observation": "Repeat force, original eligibility and Cartesian pose-error checks. Do not solve or issue a hypothetical next control at the terminal observation.", "invalid_measurements": "Malformed, nonfinite or noncausal observations terminally refuse and raise without issuing a command. No measured-position stop is claimed from invalid measurements.", "issued_joint": "Latch the preceding issued six joint targets and the same last issued jaw target at admission.", "limits": { "initial_joint_bias_ceiling_rad": 0.08, "joint_correction_ceiling_rad": 0.03, "joint_correction_rate_rad_s": 0.1, "native_joint_target_margin_rad": 0.02, "per_finger_force_ceiling_n": 10.0, "tcp_orientation_error_ceiling_rad": 0.05, "tcp_position_error_ceiling_m": 0.004 }, "measured_joint": "Original hold: latch measured six joint coordinates and the last issued jaw target at admission.", "observation_origin": "privileged_native_simulator_state", "physical_robot_ready": false, "qualifications": "Engineering limits and the 10 N ceiling are authored synthetic assumptions, not damage limits or calibrated physical telemetry. Position targets are not physical stops or force limiters. No load/friction inference, model training or complete placement is implemented.", "rate_scope": "The extra correction slews at at most 0.002 rad per 20 ms per joint. Original native 1 ms target slew, servos, gains and force caps remain unchanged.", "refusal": "Original eligibility loss, unexpected contact or observed pad force >10 N terminally requests measured joint hold and the frozen jaw target. Cartesian error, initial-bias, total-correction or native-margin exhaustion also refuses terminally; it never chases an already failed grip.", "sampling": "Control checks occur at 20 ms boundaries. Independent saved 1 ms native evidence must judge a continuous 5 s hold; missed between-boundary failures remain findings.", "schema": "dvidia.piper-retention/v2", "variants": [ "measured_joint", "issued_joint", "cartesian" ] }, "events": [ { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "continue", "drift_streak": 0, "object_height_delta_m": 0.0, "phase": "probe", "progress_streak": 0, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0, "retry_index": 0, "t_seconds": 11.079999999999298, "table_supported": true, "tcp_probe_height_delta_m": 0.0 }, "observation_origin": "privileged_native_simulator_state", "phase": "guard_probe", "probe_index": 0, "reason": "slow_load_bearing_check", "retention_variant": "issued_joint", "retry_index": 0, "status": "probing", "t_seconds": 11.079999999999298, "type": "probe_started", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "hold_measured_arm", "drift_streak": 2, "object_height_delta_m": 0.00011703504087200167, "phase": "probe", "progress_streak": 2, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0036051799083380485, "retry_index": 0, "t_seconds": 11.459999999999088, "table_supported": true, "tcp_probe_height_delta_m": 0.0037052290579069475 }, "observation_origin": "privileged_native_simulator_state", "phase": "guard_stop", "probe_index": 0, "reason": "object_not_following", "retention_variant": "issued_joint", "retry_index": 0, "status": "probing", "t_seconds": 11.459999999999088, "type": "alarm", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "hold_measured_arm", "drift_streak": 2, "object_height_delta_m": 0.00011703504087200167, "phase": "probe", "progress_streak": 2, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0036051799083380485, "retry_index": 0, 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"open_recenter_complete", "retention_variant": "issued_joint", "retry_index": 1, "status": "acquiring", "t_seconds": 13.119999999998168, "type": "retry_completed", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "continue", "drift_streak": 0, "object_height_delta_m": 0.0, "phase": "probe", "progress_streak": 0, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0, "retry_index": 1, "t_seconds": 13.99999999999768, "table_supported": true, "tcp_probe_height_delta_m": 0.0 }, "observation_origin": "privileged_native_simulator_state", "phase": "guard_probe", "probe_index": 1, "reason": "slow_load_bearing_check", "retention_variant": "issued_joint", "retry_index": 1, "status": "probing", "t_seconds": 13.99999999999768, "type": "probe_started", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "hold_measured_arm", "drift_streak": 2, 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"table_supported": true, "tcp_probe_height_delta_m": 0.003643428442584501 }, "observation_origin": "privileged_native_simulator_state", "phase": "probe_stop", "probe_index": 1, "reason": "retry_budget_exhausted:object_not_following", "retention_variant": "issued_joint", "retry_index": 1, "status": "invalidated_hold", "t_seconds": 14.37999999999747, "type": "abort", "variant": "evidence" } ], "ever_admitted": false, "final_observed": true, "frozen_jaw_target_m": 0.0, "initial_context": { "object_position_m": [ 0.30399993910084466, -0.0240001631643647, 0.07989224451748381 ], "observation_origin": "privileged_native_simulator_state", "t_seconds": 0.0, "tcp_position_m": [ 0.4890696662845219, 0.0014141975654808877, 0.3665849431043091 ], "tcp_quaternion_wxyz": [ 0.6580840948238629, 2.7730466224793136e-07, 0.7529444362872891, -1.9485471114950535e-06 ] }, "last_observed_s": 20.00000000000146, "observation_origin": "privileged_native_simulator_state", "physical_robot_ready": false, "probes": [ { "disposition": "interrupted", "end_time_s": 11.459999999999088, "local_offset_origin_m": [ 0.0023012499131345315, 0.00029502406863538797, 0.0019268048003935761 ], "object_origin_m": [ 0.3038433966370635, -0.023953893545889646, 0.0799192627873234 ], "observation_origin": "privileged_native_simulator_state", "probe_index": 0, "reason": "object_not_following", "start_time_s": 11.079999999999298, "tcp_origin_m": [ 0.30612476091779883, -0.024239616058043256, 0.08187095609499989 ], "tcp_quaternion_wxyz": [ 0.005368231308274985, -0.0016106118722012466, 0.9999841712787908, -0.0004951907594521749 ] }, { "disposition": "invalidated_hold", "end_time_s": 14.37999999999747, "local_offset_origin_m": [ -0.002046891843315855, 0.0002330236179597897, 0.0024109213024392714 ], "object_origin_m": [ 0.3058391034136717, -0.02404964677711175, 0.07985630928713797 ], "observation_origin": "privileged_native_simulator_state", "probe_index": 1, "reason": "retry_budget_exhausted:object_not_following", "start_time_s": 13.99999999999768, "tcp_origin_m": [ 0.3038141690419925, -0.02428345393514363, 0.08228562663045906 ], "tcp_quaternion_wxyz": [ -0.004521521491172635, -0.00015423972983309508, 0.9999897654583612, 3.212541549437036e-05 ] } ], "retention": { "hold_reference": null, "input_refusals": [], "native_joint_control_limits_rad": [ [ -2.618, 2.618 ], [ 0.0, 3.14 ], [ -2.697, 0.0 ], [ -1.832, 1.832 ], [ -1.22, 1.22 ], [ -3.14, 3.14 ] ], "variant": "issued_joint" }, "retry_count": 1, "schema": "dvidia.piper-retention/v2", "status": "invalidated_hold", "stop_targets_rad": [ -0.08397175685067186, 1.74106756519235, -1.1549804450650354, -0.0008751052111647475, 1.0719814323663786, -0.08387144795638805 ], "variant": "issued_joint" }, "scene_id": "m0525-f52-p0", "timing": { "policy_cpu": { "maximum_s": 0.0006790000000052032, "mean_s": 0.0001396529999998961, "over_20ms": 0, "p50_s": 0.00011299999999891952, "p95_s": 0.00030904999998853093, "p99_s": 0.00039408999999992025, "samples": 1000 }, "policy_wall": { "maximum_s": 0.002629375085234642, "mean_s": 0.00016861419891938567, "over_20ms": 0, "p50_s": 0.0001172083429992199, "p95_s": 0.0003888664999976752, "p99_s": 0.0008945035748183724, "samples": 1000 }, "step_cpu": { "maximum_s": 0.08429399999999987, "mean_s": 0.004022392999999866, "over_20ms": 2, "p50_s": 0.0031764999999950305, "p95_s": 0.0076881000000071234, "p99_s": 0.011228580000016563, "samples": 1000 }, "step_wall": { "maximum_s": 0.2568548331037164, "mean_s": 0.005768921781796962, "over_20ms": 17, "p50_s": 0.003500208491459489, "p95_s": 0.012495499360375107, "p99_s": 0.03176672086585312, "samples": 1000 } }, "valid": true, "variant": "issued_joint" }, { "error": null, "evaluation": { "claims": { "false_maintained_grip": 0, "false_maintained_pose": 0, "maintained_checks": 0, "scope": "Claimed qualified boundaries after admission, compared with every native row since admission; grip includes correct initial prefix. Counts are diagnostic, not independent trials." }, "corrections": { "bound_refusal_counts": {}, "flag_counts": { "correction_rate_limited": 0 }, "hold_record_count": 282, "input_refusals": [], "maximum_abs_accepted_correction_rate_rad_s": null, "maximum_abs_active_correction_rad": null, "maximum_abs_desired_correction_rad": null, "maximum_abs_pose_error_increment_rad": null, "rate_limited_axis_occurrences": 0, "scope": "Includes recorded final diagnostic checks; only command_issued rows represent issued controls." }, "decomposition": null, "final": { "both_qualified": false, "controller_qualified": false, "evidence_admissible": false, "native_qualified": false }, "first_admission": null, "grip_only": { "combined_qualified_pause": false, "complete_5s": false, "controller_retained_at_5s": false, "native_pause_success": false, "reason": "no_admission", "required_s": 5.0, "success": false }, "native": { "arrays_sha256": "34c302932c31aaa3a84e57517f70f616223cae8f58b8ef9e1463fdd18707348f", "complete": true, "maximum_per_finger_force_n": 0.5016501429359427, "rows": 20000, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "physical_robot_ready": false, "primary": { "combined_qualified_pause": false, "complete_5s": false, "controller_retained_at_5s": false, "first_tcp_pose_failure_s": null, "native_pause_success": false, "reason": "no_admission", "required_s": 5.0, "success": false }, "probes": [ { "claims": [], "disposition": "interrupted", "final_native_qualified_from_origin": false, "probe_index": 0, "start_time_s": 11.079999999999298 }, { "claims": [], "disposition": "invalidated_hold", "final_native_qualified_from_origin": false, "probe_index": 1, "start_time_s": 13.99999999999768 } ], "receipt": { "admission": { "observation_origin": "privileged_native_simulation_plus_caller_planning_assumptions", "physical_robot_ready": false, "planning": { "computed": { "conservative_required_load_n": 0.7801486874999999, "gravity_m_s2": 9.80665, "pose_specific_payload_limit_force_n": 0.980665, "two_finger_friction_capacity_n": 10.4 }, "observation_origin": "caller_declared_not_verified", "physical_robot_ready": false, "reasons": [ "Run and record a cautious test lift under the same calibrated pose and load conditions before simulated transport planning." ], "schema": "dvidia.task-feasibility-result/v1", "scope": "Planning assessment only. Parallel two-finger vertical-lift approximation; ignores moment, center of mass, deformation, transient impacts and unmodeled contact effects. Unknown values remain unknown; mass is never inferred from images. Probe/test-lift/controller integration is not implemented. No hardware actuation is performed; this is not hardware qualification.", "status": "test_lift_required" }, "probe": { "admissible": false, "historical_qualified": false, "latest_qualified": false, "physical_robot_ready": false, "reasons": [ "latest_native_window_not_qualified", "no_controller_qualification_for_this_probe", "latest_controller_not_qualified" ], "receipt_sha256": "e2ec032162aa1711c0bfcc8771c2b4a9e6b0fc48ee062dbe21409037e0ff052c", "schema": "dvidia.probe-evidence-verification/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.", "verified": true }, "schema": "dvidia.task-feasibility-with-probe/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification. Unknown planning values remain unknown. The unchanged approximate vertical-lift planning gate describes declared loads; it supplies no transport path, geospatial-goal contract or actuator permission. This wrapper never issues controls.", "status": "test_lift_required" }, "context": { "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe", "calibration_id": "synthetic_probe_v01", "calibration_scope": "simulation_assumptions_not_hardware", "command_sha256": "9bb251bcd8cad86d49e6aeb0fa02f6058f0d3b6670ac86716a333487a7e2d0e4", "feasibility_sha256": "c2fa3d26b0be6dfbc61f774d0909d34060823101e76700d427257a4000ab18bd", "grasp_id": "m0525-f52-p0-measured_joint-probe-1", "initial_object_position_m": [ 0.30399993910084466, -0.0240001631643647, 0.07989224451748381 ], "model_sha256": "52e12cc22f48a4551c7b92f0909952a5c753a7a6df285c135b8e772070353fba", "native_status": { "simulation_time_s": 20.00000000000146, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "object_id": "task_block", "per_finger_force_ceiling_n": 10.0, "pose_binding_sha256": "b86dd715ec50d3cee95ef4177a871df342e5b990cf342653e89e1b749bd9f55d", "probe_index": 1, "probe_origin_object_position_m": [ 0.3058391034136717, -0.02404964677711175, 0.07985630928713797 ], "probe_origin_tcp_local_offset_m": [ -0.002046891843315855, 0.0002330236179597897, 0.0024109213024392714 ], "probe_start_s": 13.99999999999768, "robot_profile": "piper", "run_id": "m0525-f52-p0-measured_joint", "schema": "dvidia.probe-context/v1", "source_sha256": "d28324843344114f1ee863cee3c48dbca8aa37fd11222623563a0b1d40c364a6" }, "physical_robot_ready": false, "planning_input": { "allowed_pose_tolerance_m": 0.003, "calibration_id": "synthetic_probe_v01", "friction_interval": [ 0.52, 0.52 ], "geometry_known": true, "gripper_max_opening_interval_m": [ 0.07, 0.07 ], "gripper_min_closure_m": 0.0, "mass_interval_kg": [ 0.0525, 0.0525 ], "object_width_interval_m": [ 0.04, 0.04 ], "observations_fresh": true, "per_finger_normal_force_budget_n": 10.0, "planned_upward_accel_m_s2": 0.1, "pose_specific_payload_limit_kg": 0.1, "pose_uncertainty_m": 0.0, "reachability": "reachable", "safety_factor": 1.5, "schema": "dvidia.task-feasibility-input/v1", "slip_detected": false, "test_lift_passed": false }, "receipt": { "audit": { "controller_claim_mismatches": [], "controller_claims_checked": 1, "controller_conservative_abstention_count": 0, "controller_coverage": "Only the supplied claims are checked; omitted decisions are not inferred.", "controller_false_qualification_count": 0, "controller_positive_claims": 0, "force_ceiling_known": true, "maximum_observed_per_finger_force_n": 0.5016501429359427, "reasons": [], "rows": 20000, "unexpected_contact_native_ticks": 0, "valid": true }, "context": { "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe", "calibration_id": "synthetic_probe_v01", "calibration_scope": "simulation_assumptions_not_hardware", "command_sha256": "9bb251bcd8cad86d49e6aeb0fa02f6058f0d3b6670ac86716a333487a7e2d0e4", "feasibility_sha256": "c2fa3d26b0be6dfbc61f774d0909d34060823101e76700d427257a4000ab18bd", "grasp_id": "m0525-f52-p0-measured_joint-probe-1", "initial_object_position_m": [ 0.30399993910084466, -0.0240001631643647, 0.07989224451748381 ], "model_sha256": "52e12cc22f48a4551c7b92f0909952a5c753a7a6df285c135b8e772070353fba", "native_status": { "simulation_time_s": 20.00000000000146, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "object_id": "task_block", "per_finger_force_ceiling_n": 10.0, "pose_binding_sha256": "b86dd715ec50d3cee95ef4177a871df342e5b990cf342653e89e1b749bd9f55d", "probe_index": 1, "probe_origin_object_position_m": [ 0.3058391034136717, -0.02404964677711175, 0.07985630928713797 ], "probe_origin_tcp_local_offset_m": [ -0.002046891843315855, 0.0002330236179597897, 0.0024109213024392714 ], "probe_start_s": 13.99999999999768, "robot_profile": "piper", "run_id": "m0525-f52-p0-measured_joint", "schema": "dvidia.probe-context/v1", "source_sha256": "d28324843344114f1ee863cee3c48dbca8aa37fd11222623563a0b1d40c364a6" }, "context_sha256": "98a47ed04ea53a8df88eeddea2fadcd534ea33dc573381d8e749fe37ee5466e4", "controller_qualifications": [ { "probe_index": 1, "qualified": false, "t_seconds": 20.00000000000146 } ], "criteria": { "distance_comparison_epsilon": 1e-12, "initial_sample_tolerance_m": 0.001, "maximum_tcp_local_drift_m": 0.003, "minimum_continuous_dwell_s": 0.1, "minimum_per_finger_force_n_exclusive": 0.01, "minimum_rise_m": 0.006, "native_dt_s": 0.001, "origin_tolerance_m": 1e-09, "time_tolerance_s": 1e-08 }, "history": { "ever_qualified": false, "first_qualified_s": null, "maximum_continuous_qualifying_s": 0.0 }, "latest": { "condition_valid": false, "continuous_qualifying_s": 0.0, "controller_claim": { "probe_index": 1, "qualified": false, "t_seconds": 20.00000000000146 }, "native_tick": 20000, "qualified": false, "rise_m": 2.9404047107300935e-05, "tcp_local_drift_m": 0.0037313444677514454, "time_s": 20.00000000000146 }, "metadata_sha256": "ad8229630cc9f8718829bb8317b1a82480dcf18b9f71bd23666acfe71a003ef7", "native_arrays_sha256": "34c302932c31aaa3a84e57517f70f616223cae8f58b8ef9e1463fdd18707348f", "physical_robot_ready": false, "receipt_sha256": "e2ec032162aa1711c0bfcc8771c2b4a9e6b0fc48ee062dbe21409037e0ff052c", "schema": "dvidia.probe-evidence/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification." }, "status": "inspected", "verification": { "admissible": false, "historical_qualified": false, "latest_qualified": false, "physical_robot_ready": false, "reasons": [ "latest_native_window_not_qualified", "no_controller_qualification_for_this_probe", "latest_controller_not_qualified" ], "receipt_sha256": "e2ec032162aa1711c0bfcc8771c2b4a9e6b0fc48ee062dbe21409037e0ff052c", "schema": "dvidia.probe-evidence-verification/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.", "verified": true } }, "stationarity": { "complete_5s": false, "grip_retention_and_stationarity": false, "tcp_pose_within_bounds": false }, "status": "inspected" }, "files": { "episode.json.gz": { "bytes": 774913, "sha256": "6115f228228c1036a481c5f3853554e163db8888956b7ba3adadd7b881560c83" }, "evaluation.json": { "bytes": 12394, "sha256": "84766b400305479a3cfde784dd6fe7849c1da90348c8f958fc1940854d85d6f3" }, "native.json": { "bytes": 13763, "sha256": "19cc1d5998901cbc12da2916add3096763081e9decbfc7193981bfabc4b871e0" }, "native.npz": { "bytes": 4082281, "sha256": "79a5070a58a7ae831f50b8969357c5a3aa2e7415c3e1fc5ce0b50d173adbc74e" }, "started.json": { "bytes": 153, "sha256": "fef0561a40f11ae96d8af395a5c6d2cede3f8bfef7da2c03eb9bd8733cb630be" } }, "friction": 0.52, "id": "m0525-f52-p0-measured_joint", "mass_kg": 0.0525, "metrics": { "carry_complete": false, "carry_contact_loss_events": 0, "carry_contact_loss_tolerance_seconds": 0.04, "dwell_seconds": 0.0, "first_success_time_seconds": null, "grasp_seen": true, "lift_dwell_seconds": 0.0, "lift_seen": false, "max_carry_contact_loss_seconds": 0.0, "max_object_lift_m": 0.0001521117191131266, "max_pad_normal_force_n": 0.5016501429359427, "physical_robot_ready": false, "reason": "timeout", "retention_lost": false, "simulation_time": 20.00000000000146, "steps": 1000, "success": false, "target_distance_m": 0.11240771727005906, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "policy": { "abort_reason": "retry_budget_exhausted:object_not_following", "acquisition_contract": { "comparison_scope": "Closed-loop variants may acquire different trajectories through early hold/retry. This is not an isolated classifier ablation.", "control_dt_s": 0.02, "evidence_admission": "Current bilateral force >0.01 N, no table support, object rise >=6 mm and TCP-local offset drift <=3 mm continuously across sampled boundaries for elapsed >=100 ms.", "hold": "Latch measured six arm joints and the last issued jaw target at admission/terminal invalidity. No full lift/transfer, no squeeze escalation, no post-admission retry.", "invalidation": "At each subsequent 20 ms observation and final observation, invalidate immediately on lost contact/force, support, insufficient rise, >3 mm local drift or unexpected contact. Never requalify after terminal invalidity.", "observation_origin": "privileged_native_simulator_state", "parameters": { "close_timeout_s": 1.4, "consecutive_alarm_samples": 2, "max_retries": 1, "monitor_min_probe_motion_m": 0.003, "probe_height_m": 0.01, "probe_min_object_rise_m": 0.006, "probe_speed_m_s": 0.02, "probe_timeout_s": 1.4, "qualification_dwell_s": 0.1, "relative_drift_limit_m": 0.003, "retry_clearance_m": 0.012, "retry_open_timeout_s": 1.2, "retry_recenter_timeout_s": 1.5 }, "physical_robot_ready": false, "prefix": "Original GuardedPiperTaskPolicy approach/close and at most one supported open/recenter/retry; already uses authored native state, not a fully blind baseline.", "sampling_limit": "Independent 1 ms evidence may contradict sampled admission; that remains a finding. No sensor or material inference is implemented.", "schema": "dvidia.piper-probe-stop/v1", "stop_scope": "Holding native position targets is not physical arrest or calibrated force limiting; inertia and existing target rate limits can continue motion.", "timer_admission": "Same 10 mm/20 mm/s probe target law, admitted at elapsed >=600 ms from that probe start; no evidence predicate or slip alarm before admission. Unexpected contacts and bounded timeouts still stop.", "timer_admission_s": 0.6, "variants": [ "evidence", "timer" ] }, "acquisition_variant": "evidence", "active_probe_index": 1, "admission_time_s": null, "admitted": false, "contract": { "acquisition": "Unchanged ProbeStopPolicy evidence acquisition, including its bounded supported retry. All variants share the same prefix through the first admission observation.", "cartesian": "Latch measured TCP position/orientation and preceding issued targets. Fixed joint bias equals issued target minus pose_action at the admission pose. First command repeats the exact issued target; later pose_action updates receive that fixed bias.", "control_dt_s": 0.02, "final_observation": "Repeat force, original eligibility and Cartesian pose-error checks. Do not solve or issue a hypothetical next control at the terminal observation.", "invalid_measurements": "Malformed, nonfinite or noncausal observations terminally refuse and raise without issuing a command. No measured-position stop is claimed from invalid measurements.", "issued_joint": "Latch the preceding issued six joint targets and the same last issued jaw target at admission.", "limits": { "initial_joint_bias_ceiling_rad": 0.08, "joint_correction_ceiling_rad": 0.03, "joint_correction_rate_rad_s": 0.1, "native_joint_target_margin_rad": 0.02, "per_finger_force_ceiling_n": 10.0, "tcp_orientation_error_ceiling_rad": 0.05, "tcp_position_error_ceiling_m": 0.004 }, "measured_joint": "Original hold: latch measured six joint coordinates and the last issued jaw target at admission.", "observation_origin": "privileged_native_simulator_state", "physical_robot_ready": false, "qualifications": "Engineering limits and the 10 N ceiling are authored synthetic assumptions, not damage limits or calibrated physical telemetry. Position targets are not physical stops or force limiters. No load/friction inference, model training or complete placement is implemented.", "rate_scope": "The extra correction slews at at most 0.002 rad per 20 ms per joint. Original native 1 ms target slew, servos, gains and force caps remain unchanged.", "refusal": "Original eligibility loss, unexpected contact or observed pad force >10 N terminally requests measured joint hold and the frozen jaw target. Cartesian error, initial-bias, total-correction or native-margin exhaustion also refuses terminally; it never chases an already failed grip.", "sampling": "Control checks occur at 20 ms boundaries. Independent saved 1 ms native evidence must judge a continuous 5 s hold; missed between-boundary failures remain findings.", "schema": "dvidia.piper-retention/v2", "variants": [ "measured_joint", "issued_joint", "cartesian" ] }, "events": [ { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "continue", "drift_streak": 0, "object_height_delta_m": 0.0, "phase": "probe", "progress_streak": 0, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0, "retry_index": 0, "t_seconds": 11.079999999999298, "table_supported": true, "tcp_probe_height_delta_m": 0.0 }, "observation_origin": "privileged_native_simulator_state", "phase": "guard_probe", "probe_index": 0, "reason": "slow_load_bearing_check", "retention_variant": "measured_joint", "retry_index": 0, "status": "probing", "t_seconds": 11.079999999999298, "type": "probe_started", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "hold_measured_arm", "drift_streak": 2, "object_height_delta_m": 0.00011703504087200167, "phase": "probe", "progress_streak": 2, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0036051799083380485, "retry_index": 0, "t_seconds": 11.459999999999088, "table_supported": true, "tcp_probe_height_delta_m": 0.0037052290579069475 }, "observation_origin": "privileged_native_simulator_state", "phase": "guard_stop", "probe_index": 0, "reason": "object_not_following", "retention_variant": "measured_joint", "retry_index": 0, "status": "probing", "t_seconds": 11.459999999999088, "type": "alarm", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "hold_measured_arm", "drift_streak": 2, "object_height_delta_m": 0.00011703504087200167, "phase": "probe", "progress_streak": 2, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0036051799083380485, "retry_index": 0, "t_seconds": 11.459999999999088, "table_supported": true, "tcp_probe_height_delta_m": 0.0037052290579069475 }, "observation_origin": "privileged_native_simulator_state", "phase": "guard_stop", "probe_index": 0, "reason": "supported_object_only", "retention_variant": "measured_joint", "retry_index": 1, "status": "acquiring_retry", "t_seconds": 11.459999999999088, "type": "retry_started", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": false, "contact_loss_streak": 0, "decision": "recenter_with_open_jaw", "drift_streak": 2, "object_height_delta_m": -2.7018207539739048e-05, "phase": "retry_recenter", "progress_streak": 2, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.009726352291520206, "retry_index": 1, "t_seconds": 13.119999999998168, "table_supported": true, "tcp_probe_height_delta_m": 0.009684217495933498 }, "observation_origin": "privileged_native_simulator_state", "phase": "guard_retry_recenter", "probe_index": 0, "reason": "open_recenter_complete", "retention_variant": "measured_joint", "retry_index": 1, "status": "acquiring", "t_seconds": 13.119999999998168, "type": "retry_completed", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "continue", "drift_streak": 0, "object_height_delta_m": 0.0, "phase": "probe", "progress_streak": 0, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0, "retry_index": 1, "t_seconds": 13.99999999999768, "table_supported": true, "tcp_probe_height_delta_m": 0.0 }, "observation_origin": "privileged_native_simulator_state", "phase": "guard_probe", "probe_index": 1, "reason": "slow_load_bearing_check", "retention_variant": "measured_joint", "retry_index": 1, "status": "probing", "t_seconds": 13.99999999999768, "type": "probe_started", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "hold_measured_arm", "drift_streak": 2, "object_height_delta_m": 0.00013750675465348805, "phase": "probe", "progress_streak": 2, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.003549168225962695, "retry_index": 1, "t_seconds": 14.37999999999747, "table_supported": true, "tcp_probe_height_delta_m": 0.003643428442584501 }, "observation_origin": "privileged_native_simulator_state", "phase": "guard_stop", "probe_index": 1, "reason": "object_not_following", "retention_variant": "measured_joint", "retry_index": 1, "status": "probing", "t_seconds": 14.37999999999747, "type": "alarm", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "hold_measured_arm_and_freeze_issued_jaw", "drift_streak": 2, "object_height_delta_m": 0.00013750675465348805, "phase": "probe", "progress_streak": 2, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.003549168225962695, "retry_index": 1, "t_seconds": 14.37999999999747, "table_supported": true, "tcp_probe_height_delta_m": 0.003643428442584501 }, "observation_origin": "privileged_native_simulator_state", "phase": "probe_stop", "probe_index": 1, "reason": "retry_budget_exhausted:object_not_following", "retention_variant": "measured_joint", "retry_index": 1, "status": "invalidated_hold", "t_seconds": 14.37999999999747, "type": "abort", "variant": "evidence" } ], "ever_admitted": false, "final_observed": true, "frozen_jaw_target_m": 0.0, "initial_context": { "object_position_m": [ 0.30399993910084466, -0.0240001631643647, 0.07989224451748381 ], "observation_origin": "privileged_native_simulator_state", "t_seconds": 0.0, "tcp_position_m": [ 0.4890696662845219, 0.0014141975654808877, 0.3665849431043091 ], "tcp_quaternion_wxyz": [ 0.6580840948238629, 2.7730466224793136e-07, 0.7529444362872891, -1.9485471114950535e-06 ] }, "last_observed_s": 20.00000000000146, "observation_origin": "privileged_native_simulator_state", "physical_robot_ready": false, "probes": [ { "disposition": "interrupted", "end_time_s": 11.459999999999088, "local_offset_origin_m": [ 0.0023012499131345315, 0.00029502406863538797, 0.0019268048003935761 ], "object_origin_m": [ 0.3038433966370635, -0.023953893545889646, 0.0799192627873234 ], "observation_origin": "privileged_native_simulator_state", "probe_index": 0, "reason": "object_not_following", "start_time_s": 11.079999999999298, "tcp_origin_m": [ 0.30612476091779883, -0.024239616058043256, 0.08187095609499989 ], "tcp_quaternion_wxyz": [ 0.005368231308274985, -0.0016106118722012466, 0.9999841712787908, -0.0004951907594521749 ] }, { "disposition": "invalidated_hold", "end_time_s": 14.37999999999747, "local_offset_origin_m": [ -0.002046891843315855, 0.0002330236179597897, 0.0024109213024392714 ], "object_origin_m": [ 0.3058391034136717, -0.02404964677711175, 0.07985630928713797 ], "observation_origin": "privileged_native_simulator_state", "probe_index": 1, "reason": "retry_budget_exhausted:object_not_following", "start_time_s": 13.99999999999768, "tcp_origin_m": [ 0.3038141690419925, -0.02428345393514363, 0.08228562663045906 ], "tcp_quaternion_wxyz": [ -0.004521521491172635, -0.00015423972983309508, 0.9999897654583612, 3.212541549437036e-05 ] } ], "retention": { "hold_reference": null, "input_refusals": [], "native_joint_control_limits_rad": [ [ -2.618, 2.618 ], [ 0.0, 3.14 ], [ -2.697, 0.0 ], [ -1.832, 1.832 ], [ -1.22, 1.22 ], [ -3.14, 3.14 ] ], "variant": "measured_joint" }, "retry_count": 1, "schema": "dvidia.piper-retention/v2", "status": "invalidated_hold", "stop_targets_rad": [ -0.08397175685067186, 1.74106756519235, -1.1549804450650354, -0.0008751052111647475, 1.0719814323663786, -0.08387144795638805 ], "variant": "measured_joint" }, "scene_id": "m0525-f52-p0", "timing": { "policy_cpu": { "maximum_s": 0.0010649999999827742, "mean_s": 7.632500000011078e-05, "over_20ms": 0, "p50_s": 7.449999999664669e-05, "p95_s": 0.00013599999999769352, "p99_s": 0.00021402999999963864, "samples": 1000 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Counts are diagnostic, not independent trials." }, "corrections": { "bound_refusal_counts": {}, "flag_counts": { "correction_rate_limited": 0 }, "hold_record_count": 267, "input_refusals": [], "maximum_abs_accepted_correction_rate_rad_s": null, "maximum_abs_active_correction_rad": null, "maximum_abs_desired_correction_rad": null, "maximum_abs_pose_error_increment_rad": null, "rate_limited_axis_occurrences": 0, "scope": "Includes recorded final diagnostic checks; only command_issued rows represent issued controls." }, "decomposition": null, "final": { "both_qualified": false, "controller_qualified": false, "evidence_admissible": false, "native_qualified": false }, "first_admission": null, "grip_only": { "combined_qualified_pause": false, "complete_5s": false, "controller_retained_at_5s": false, "native_pause_success": false, "reason": "no_admission", "required_s": 5.0, "success": false }, "native": { "arrays_sha256": "a8bf20c5cfdfab191c23dcd6ba85d9d4f1b46f107e2acc458b54d39df80208b3", "complete": true, "maximum_per_finger_force_n": 0.5247663830642882, "rows": 20000, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "physical_robot_ready": false, "primary": { "combined_qualified_pause": false, "complete_5s": false, "controller_retained_at_5s": false, "first_tcp_pose_failure_s": null, "native_pause_success": false, "reason": "no_admission", "required_s": 5.0, "success": false }, "probes": [ { "claims": [], "disposition": "interrupted", "final_native_qualified_from_origin": false, "probe_index": 0, "start_time_s": 11.379999999999132 }, { "claims": [], "disposition": "invalidated_hold", "final_native_qualified_from_origin": false, "probe_index": 1, "start_time_s": 14.299999999997514 } ], "receipt": { "admission": { "observation_origin": "privileged_native_simulation_plus_caller_planning_assumptions", "physical_robot_ready": false, "planning": { "computed": { "conservative_required_load_n": 0.7801486874999999, "gravity_m_s2": 9.80665, "pose_specific_payload_limit_force_n": 0.980665, "two_finger_friction_capacity_n": 10.4 }, "observation_origin": "caller_declared_not_verified", "physical_robot_ready": false, "reasons": [ "Run and record a cautious test lift under the same calibrated pose and load conditions before simulated transport planning." ], "schema": "dvidia.task-feasibility-result/v1", "scope": "Planning assessment only. Parallel two-finger vertical-lift approximation; ignores moment, center of mass, deformation, transient impacts and unmodeled contact effects. Unknown values remain unknown; mass is never inferred from images. Probe/test-lift/controller integration is not implemented. No hardware actuation is performed; this is not hardware qualification.", "status": "test_lift_required" }, "probe": { "admissible": false, "historical_qualified": false, "latest_qualified": false, "physical_robot_ready": false, "reasons": [ "latest_native_window_not_qualified", "no_controller_qualification_for_this_probe", "latest_controller_not_qualified" ], "receipt_sha256": "c7ecc61807ac34d3f5feef32c2dbf7f4ce47269e0b8e8216ffd97fb32cd84dae", "schema": "dvidia.probe-evidence-verification/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.", "verified": true }, "schema": "dvidia.task-feasibility-with-probe/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification. Unknown planning values remain unknown. The unchanged approximate vertical-lift planning gate describes declared loads; it supplies no transport path, geospatial-goal contract or actuator permission. This wrapper never issues controls.", "status": "test_lift_required" }, "context": { "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe", "calibration_id": "synthetic_probe_v01", "calibration_scope": "simulation_assumptions_not_hardware", "command_sha256": "e7004eb30516e981d16e89052d26d8e3319fbf49b9905a960c23bf15f1ec484e", "feasibility_sha256": "c2fa3d26b0be6dfbc61f774d0909d34060823101e76700d427257a4000ab18bd", "grasp_id": "m0525-f52-p1-incremental-probe-1", "initial_object_position_m": [ 0.3080000005446975, -0.03499975816054938, 0.07989224451748383 ], "model_sha256": "411c585ef5ec3fb07de0533334510e197f2ce3f484f92432f51c3b4c01a316ed", "native_status": { "simulation_time_s": 20.00000000000146, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "object_id": "task_block", "per_finger_force_ceiling_n": 10.0, "pose_binding_sha256": "46501be2cbe7be61b74fac662ce353094659cf5749aaa7f513d4524da7126d19", "probe_index": 1, "probe_origin_object_position_m": [ 0.3099413576282146, -0.03508546430278777, 0.079858817884606 ], "probe_origin_tcp_local_offset_m": [ -0.0020317450040008866, 0.00023924760964065187, 0.0024163250450004196 ], "probe_start_s": 14.299999999997514, "robot_profile": "piper", "run_id": "m0525-f52-p1-incremental", "schema": "dvidia.probe-context/v1", "source_sha256": "d28324843344114f1ee863cee3c48dbca8aa37fd11222623563a0b1d40c364a6" }, "physical_robot_ready": false, "planning_input": { "allowed_pose_tolerance_m": 0.003, "calibration_id": "synthetic_probe_v01", "friction_interval": [ 0.52, 0.52 ], "geometry_known": true, "gripper_max_opening_interval_m": [ 0.07, 0.07 ], "gripper_min_closure_m": 0.0, "mass_interval_kg": [ 0.0525, 0.0525 ], "object_width_interval_m": [ 0.04, 0.04 ], "observations_fresh": true, "per_finger_normal_force_budget_n": 10.0, "planned_upward_accel_m_s2": 0.1, "pose_specific_payload_limit_kg": 0.1, "pose_uncertainty_m": 0.0, "reachability": "reachable", "safety_factor": 1.5, "schema": "dvidia.task-feasibility-input/v1", "slip_detected": false, "test_lift_passed": false }, "receipt": { "audit": { "controller_claim_mismatches": [], "controller_claims_checked": 1, "controller_conservative_abstention_count": 0, "controller_coverage": "Only the supplied claims are checked; omitted decisions are not inferred.", "controller_false_qualification_count": 0, "controller_positive_claims": 0, "force_ceiling_known": true, "maximum_observed_per_finger_force_n": 0.5247663830642882, "reasons": [], "rows": 20000, "unexpected_contact_native_ticks": 0, "valid": true }, "context": { "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe", "calibration_id": "synthetic_probe_v01", "calibration_scope": "simulation_assumptions_not_hardware", "command_sha256": "e7004eb30516e981d16e89052d26d8e3319fbf49b9905a960c23bf15f1ec484e", "feasibility_sha256": "c2fa3d26b0be6dfbc61f774d0909d34060823101e76700d427257a4000ab18bd", "grasp_id": "m0525-f52-p1-incremental-probe-1", "initial_object_position_m": [ 0.3080000005446975, -0.03499975816054938, 0.07989224451748383 ], "model_sha256": "411c585ef5ec3fb07de0533334510e197f2ce3f484f92432f51c3b4c01a316ed", "native_status": { "simulation_time_s": 20.00000000000146, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "object_id": "task_block", "per_finger_force_ceiling_n": 10.0, "pose_binding_sha256": "46501be2cbe7be61b74fac662ce353094659cf5749aaa7f513d4524da7126d19", "probe_index": 1, "probe_origin_object_position_m": [ 0.3099413576282146, -0.03508546430278777, 0.079858817884606 ], "probe_origin_tcp_local_offset_m": [ -0.0020317450040008866, 0.00023924760964065187, 0.0024163250450004196 ], "probe_start_s": 14.299999999997514, "robot_profile": "piper", "run_id": "m0525-f52-p1-incremental", "schema": "dvidia.probe-context/v1", "source_sha256": "d28324843344114f1ee863cee3c48dbca8aa37fd11222623563a0b1d40c364a6" }, "context_sha256": "5b283c4c0690aece8f976e6f97d2dbdb5ff22c6cd810cc8f192ee3a465154587", "controller_qualifications": [ { "probe_index": 1, "qualified": false, "t_seconds": 20.00000000000146 } ], "criteria": { "distance_comparison_epsilon": 1e-12, "initial_sample_tolerance_m": 0.001, "maximum_tcp_local_drift_m": 0.003, "minimum_continuous_dwell_s": 0.1, "minimum_per_finger_force_n_exclusive": 0.01, "minimum_rise_m": 0.006, "native_dt_s": 0.001, "origin_tolerance_m": 1e-09, "time_tolerance_s": 1e-08 }, "history": { "ever_qualified": false, "first_qualified_s": null, "maximum_continuous_qualifying_s": 0.0 }, "latest": { "condition_valid": false, "continuous_qualifying_s": 0.0, "controller_claim": { "probe_index": 1, "qualified": false, "t_seconds": 20.00000000000146 }, "native_tick": 20000, "qualified": false, "rise_m": 2.56729772171449e-05, "tcp_local_drift_m": 0.0037028162252107466, "time_s": 20.00000000000146 }, "metadata_sha256": "ad8229630cc9f8718829bb8317b1a82480dcf18b9f71bd23666acfe71a003ef7", "native_arrays_sha256": "a8bf20c5cfdfab191c23dcd6ba85d9d4f1b46f107e2acc458b54d39df80208b3", "physical_robot_ready": false, "receipt_sha256": "c7ecc61807ac34d3f5feef32c2dbf7f4ce47269e0b8e8216ffd97fb32cd84dae", "schema": "dvidia.probe-evidence/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification." }, "status": "inspected", "verification": { "admissible": false, "historical_qualified": false, "latest_qualified": false, "physical_robot_ready": false, "reasons": [ "latest_native_window_not_qualified", "no_controller_qualification_for_this_probe", "latest_controller_not_qualified" ], "receipt_sha256": "c7ecc61807ac34d3f5feef32c2dbf7f4ce47269e0b8e8216ffd97fb32cd84dae", "schema": "dvidia.probe-evidence-verification/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.", "verified": true } }, "stationarity": { "complete_5s": false, "grip_retention_and_stationarity": false, "tcp_pose_within_bounds": false }, "status": "inspected" }, "files": { "episode.json.gz": { "bytes": 793686, "sha256": "a9711d990fcccdae4bf1c9abd63e2751863a05b8f52df047a53db2ff8bfc769d" }, "evaluation.json": { "bytes": 12383, "sha256": "06d844360f855b2810d12a27e291a0681832d643b906d380f87d34e6b7866f85" }, "native.json": { "bytes": 13763, "sha256": "19cc1d5998901cbc12da2916add3096763081e9decbfc7193981bfabc4b871e0" }, "native.npz": { "bytes": 4080211, "sha256": "acfbcfd72263cbc37de71299ae17421637181c6faade7dcc87010bdf6cd00369" }, "started.json": { "bytes": 150, "sha256": "e3633211ccdebec214b9649a4304525521832bdce08a42ffa42c2bcbead28c87" } }, "friction": 0.52, "id": "m0525-f52-p1-incremental", "mass_kg": 0.0525, "metrics": { "carry_complete": false, "carry_contact_loss_events": 0, "carry_contact_loss_tolerance_seconds": 0.04, "dwell_seconds": 0.0, "first_success_time_seconds": null, "grasp_seen": true, "lift_dwell_seconds": 0.0, "lift_seen": false, "max_carry_contact_loss_seconds": 0.0, "max_object_lift_m": 0.00015357932655453432, "max_pad_normal_force_n": 0.5247663830642882, "physical_robot_ready": false, "reason": "timeout", "retention_lost": false, "simulation_time": 20.00000000000146, "steps": 1000, "success": false, "target_distance_m": 0.1214554450962188, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "policy": { "abort_reason": "relative_slip", "acquisition_contract": { "comparison_scope": "Closed-loop variants may acquire different trajectories through early hold/retry. This is not an isolated classifier ablation.", "control_dt_s": 0.02, "evidence_admission": "Current bilateral force >0.01 N, no table support, object rise >=6 mm and TCP-local offset drift <=3 mm continuously across sampled boundaries for elapsed >=100 ms.", "hold": "Latch measured six arm joints and the last issued jaw target at admission/terminal invalidity. No full lift/transfer, no squeeze escalation, no post-admission retry.", "invalidation": "At each subsequent 20 ms observation and final observation, invalidate immediately on lost contact/force, support, insufficient rise, >3 mm local drift or unexpected contact. Never requalify after terminal invalidity.", "observation_origin": "privileged_native_simulator_state", "parameters": { "close_timeout_s": 1.4, "consecutive_alarm_samples": 2, "max_retries": 1, "monitor_min_probe_motion_m": 0.003, "probe_height_m": 0.01, "probe_min_object_rise_m": 0.006, "probe_speed_m_s": 0.02, "probe_timeout_s": 1.4, "qualification_dwell_s": 0.1, "relative_drift_limit_m": 0.003, "retry_clearance_m": 0.012, "retry_open_timeout_s": 1.2, "retry_recenter_timeout_s": 1.5 }, "physical_robot_ready": false, "prefix": "Original GuardedPiperTaskPolicy approach/close and at most one supported open/recenter/retry; already uses authored native state, not a fully blind baseline.", "sampling_limit": "Independent 1 ms evidence may contradict sampled admission; that remains a finding. No sensor or material inference is implemented.", "schema": "dvidia.piper-probe-stop/v1", "stop_scope": "Holding native position targets is not physical arrest or calibrated force limiting; inertia and existing target rate limits can continue motion.", "timer_admission": "Same 10 mm/20 mm/s probe target law, admitted at elapsed >=600 ms from that probe start; no evidence predicate or slip alarm before admission. Unexpected contacts and bounded timeouts still stop.", "timer_admission_s": 0.6, "variants": [ "evidence", "timer" ] }, "acquisition_variant": "evidence", "active_probe_index": 1, "admission_time_s": null, "admitted": false, "candidate": "incremental", "contract": { "acquisition": "Unchanged ProbeStopPolicy evidence acquisition, including its bounded supported retry. All variants share the same prefix through the first admission observation.", "admission": "Freeze the measured TCP pose and preceding issued target. Check the unchanged 0.08 rad initial bias and 0.02 rad joint margin. Repeat the preceding issued target exactly; initialize cumulative correction to zero.", "anti_windup": "Refuse the unlimited cumulative proposal before slew limiting. Commit correction only after all checks pass. Refusal is terminal and leaves accumulated correction unchanged.", "candidate": "incremental", "control_dt_s": 0.02, "final_observation": "Check force, original eligibility and pose error without solving, integrating or issuing another command.", "invalid_measurements": "Malformed, nonfinite or noncausal observations terminally refuse and raise without issuing a command. No measured-position stop is claimed from invalid measurements.", "limits": { "initial_joint_bias_ceiling_rad": 0.08, "joint_correction_ceiling_rad": 0.03, "joint_correction_rate_rad_s": 0.1, "native_joint_target_margin_rad": 0.02, "per_finger_force_ceiling_n": 10.0, "tcp_orientation_error_ceiling_rad": 0.05, "tcp_position_error_ceiling_m": 0.004 }, "measured_joint_eligibility": "At admission, subsequent updates and final observations, refuse measured joints outside the native 0.02 rad target margin before solving. This prevents absolute-target clipping from manufacturing a nonzero increment at zero pose error.", "observation_origin": "privileged_native_simulator_state", "physical_robot_ready": false, "qualifications": "Engineering limits and the 10 N ceiling are authored synthetic assumptions, not damage limits or calibrated physical telemetry. Position targets are not physical stops or force limiters. No load/friction inference, model training or complete placement is implemented.", "rate_scope": "The extra correction slews at at most 0.002 rad per 20 ms per joint. Original native 1 ms target slew, servos, gains and force caps remain unchanged.", "refusal": "Original grip, force, pose, initial-bias, joint-margin and timeout refusals remain terminal. A valid terminal observation latches measured joints and the frozen jaw; its fallback is not active incremental regulation.", "sampling": "Control checks occur at 20 ms boundaries. Independent saved 1 ms native evidence must judge a continuous 5 s hold; missed between-boundary failures remain findings.", "schema": "dvidia.piper-incremental-hold/v3", "update_gain_per_boundary": 1.0, "update_law": "increment = pose_action(frozen_admission_pose) - current_measured_joints; proposal = previous_correction + 1.0 * increment; refuse unlimited proposal outside +/-0.03 rad; slew accepted correction by at most 0.002 rad per joint per 20 ms; target = admission_issued_target + accepted_correction", "variants": [ "incremental" ] }, "events": [ { "accumulated_correction_rad": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "acquisition_variant": "evidence", "active_regulation": false, "candidate": "incremental", "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "continue", "drift_streak": 0, "object_height_delta_m": 0.0, "phase": "probe", "progress_streak": 0, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0, "retry_index": 0, "t_seconds": 11.379999999999132, "table_supported": true, "tcp_probe_height_delta_m": 0.0 }, "final_observation": false, "observation_origin": "privileged_native_simulator_state", "phase": "guard_probe", "pose_error_increment_rad": null, "probe_index": 0, "proposed_cumulative_correction_rad": null, "reason": "slow_load_bearing_check", "refused_bounds": null, "retention_variant": "incremental", "retry_index": 0, "status": "probing", "t_seconds": 11.379999999999132, "type": "probe_started", "update_gain_per_boundary": 1.0, "update_law": "increment = pose_action(frozen_admission_pose) - current_measured_joints; proposal = previous_correction + 1.0 * increment; refuse unlimited proposal outside +/-0.03 rad; slew accepted correction by at most 0.002 rad per joint per 20 ms; target = admission_issued_target + accepted_correction", "variant": "incremental" }, { "accumulated_correction_rad": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "acquisition_variant": "evidence", "active_regulation": false, "candidate": "incremental", "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "hold_measured_arm", "drift_streak": 2, "object_height_delta_m": 0.00012354316230783757, "phase": "probe", "progress_streak": 2, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0035466532598594936, "retry_index": 0, "t_seconds": 11.759999999998922, "table_supported": true, "tcp_probe_height_delta_m": 0.0036658034167677406 }, "final_observation": false, "observation_origin": "privileged_native_simulator_state", "phase": "guard_stop", "pose_error_increment_rad": null, "probe_index": 0, "proposed_cumulative_correction_rad": null, "reason": "object_not_following", "refused_bounds": null, "retention_variant": "incremental", "retry_index": 0, "status": "probing", "t_seconds": 11.759999999998922, "type": "alarm", "update_gain_per_boundary": 1.0, "update_law": "increment = pose_action(frozen_admission_pose) - current_measured_joints; proposal = previous_correction + 1.0 * increment; refuse unlimited proposal outside +/-0.03 rad; slew accepted correction by at most 0.002 rad per joint per 20 ms; target = admission_issued_target + accepted_correction", "variant": "incremental" }, { "accumulated_correction_rad": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "acquisition_variant": "evidence", "active_regulation": false, "candidate": "incremental", "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "hold_measured_arm", "drift_streak": 2, "object_height_delta_m": 0.00012354316230783757, "phase": "probe", "progress_streak": 2, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0035466532598594936, "retry_index": 0, "t_seconds": 11.759999999998922, "table_supported": true, "tcp_probe_height_delta_m": 0.0036658034167677406 }, "final_observation": false, "observation_origin": "privileged_native_simulator_state", "phase": "guard_stop", "pose_error_increment_rad": null, "probe_index": 0, "proposed_cumulative_correction_rad": null, "reason": "supported_object_only", "refused_bounds": null, "retention_variant": "incremental", "retry_index": 1, "status": "acquiring_retry", "t_seconds": 11.759999999998922, "type": "retry_started", "update_gain_per_boundary": 1.0, "update_law": "increment = pose_action(frozen_admission_pose) - current_measured_joints; proposal = previous_correction + 1.0 * increment; refuse unlimited proposal outside +/-0.03 rad; slew accepted correction by at most 0.002 rad per joint per 20 ms; target = admission_issued_target + accepted_correction", "variant": "incremental" }, { "accumulated_correction_rad": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "acquisition_variant": "evidence", "active_regulation": false, "candidate": "incremental", "diagnostic": { "bilateral_contact": false, "contact_loss_streak": 0, "decision": "recenter_with_open_jaw", "drift_streak": 2, "object_height_delta_m": -2.5682833198051314e-05, "phase": "retry_recenter", "progress_streak": 2, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.009739576113160743, "retry_index": 1, "t_seconds": 13.419999999998002, "table_supported": true, "tcp_probe_height_delta_m": 0.009697663994797392 }, "final_observation": false, "observation_origin": "privileged_native_simulator_state", "phase": "guard_retry_recenter", "pose_error_increment_rad": null, "probe_index": 0, "proposed_cumulative_correction_rad": null, "reason": "open_recenter_complete", "refused_bounds": null, "retention_variant": "incremental", "retry_index": 1, "status": "acquiring", "t_seconds": 13.419999999998002, "type": "retry_completed", "update_gain_per_boundary": 1.0, "update_law": "increment = pose_action(frozen_admission_pose) - current_measured_joints; proposal = previous_correction + 1.0 * increment; refuse unlimited proposal outside +/-0.03 rad; slew accepted correction by at most 0.002 rad per joint per 20 ms; target = admission_issued_target + accepted_correction", "variant": "incremental" }, { "accumulated_correction_rad": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "acquisition_variant": "evidence", "active_regulation": false, "candidate": "incremental", "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "continue", "drift_streak": 0, "object_height_delta_m": 0.0, "phase": "probe", "progress_streak": 0, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0, "retry_index": 1, "t_seconds": 14.299999999997514, "table_supported": true, "tcp_probe_height_delta_m": 0.0 }, "final_observation": false, "observation_origin": "privileged_native_simulator_state", "phase": "guard_probe", "pose_error_increment_rad": null, "probe_index": 1, "proposed_cumulative_correction_rad": null, "reason": "slow_load_bearing_check", "refused_bounds": null, "retention_variant": "incremental", "retry_index": 1, "status": "probing", "t_seconds": 14.299999999997514, "type": "probe_started", "update_gain_per_boundary": 1.0, "update_law": "increment = pose_action(frozen_admission_pose) - current_measured_joints; proposal = previous_correction + 1.0 * increment; refuse unlimited proposal outside +/-0.03 rad; slew accepted correction by at most 0.002 rad per joint per 20 ms; target = admission_issued_target + accepted_correction", "variant": "incremental" }, { "accumulated_correction_rad": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "acquisition_variant": "evidence", "active_regulation": false, "candidate": "incremental", "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "hold_measured_arm", "drift_streak": 2, "object_height_delta_m": 0.00015581515357070141, "phase": "probe", "progress_streak": 0, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0034848829887218547, "retry_index": 1, "t_seconds": 14.679999999997303, "table_supported": false, "tcp_probe_height_delta_m": 0.003598010991270148 }, "final_observation": false, "observation_origin": "privileged_native_simulator_state", "phase": "guard_stop", "pose_error_increment_rad": null, "probe_index": 1, "proposed_cumulative_correction_rad": null, "reason": "relative_slip", "refused_bounds": null, "retention_variant": "incremental", "retry_index": 1, "status": "probing", "t_seconds": 14.679999999997303, "type": "alarm", "update_gain_per_boundary": 1.0, "update_law": "increment = pose_action(frozen_admission_pose) - current_measured_joints; proposal = previous_correction + 1.0 * increment; refuse unlimited proposal outside +/-0.03 rad; slew accepted correction by at most 0.002 rad per joint per 20 ms; target = admission_issued_target + accepted_correction", "variant": "incremental" }, { "accumulated_correction_rad": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "acquisition_variant": "evidence", "active_regulation": false, "candidate": "incremental", "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "hold_measured_arm_and_freeze_issued_jaw", "drift_streak": 2, "object_height_delta_m": 0.00015581515357070141, "phase": "probe", "progress_streak": 0, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0034848829887218547, "retry_index": 1, "t_seconds": 14.679999999997303, "table_supported": false, "tcp_probe_height_delta_m": 0.003598010991270148 }, "final_observation": false, "observation_origin": "privileged_native_simulator_state", "phase": "probe_stop", "pose_error_increment_rad": null, "probe_index": 1, "proposed_cumulative_correction_rad": null, "reason": "relative_slip", "refused_bounds": null, "retention_variant": "incremental", "retry_index": 1, "status": "invalidated_hold", "t_seconds": 14.679999999997303, "type": "abort", "update_gain_per_boundary": 1.0, "update_law": "increment = pose_action(frozen_admission_pose) - current_measured_joints; proposal = previous_correction + 1.0 * increment; refuse unlimited proposal outside +/-0.03 rad; slew accepted correction by at most 0.002 rad per joint per 20 ms; target = admission_issued_target + accepted_correction", "variant": "incremental" } ], "ever_admitted": false, "final_observed": true, "frozen_jaw_target_m": 0.0, "initial_context": { "object_position_m": [ 0.3080000005446975, -0.03499975816054938, 0.07989224451748383 ], "observation_origin": "privileged_native_simulator_state", "t_seconds": 0.0, "tcp_position_m": [ 0.4890696662845219, 0.0014141975654808877, 0.3665849431043091 ], "tcp_quaternion_wxyz": [ 0.6580840948238629, 2.7730466224793136e-07, 0.7529444362872891, -1.9485471114950535e-06 ] }, "last_observed_s": 20.00000000000146, "observation_origin": "privileged_native_simulator_state", "physical_robot_ready": false, "probes": [ { "disposition": "interrupted", "end_time_s": 11.759999999998922, "local_offset_origin_m": [ 0.0022644265008525265, 0.0003030412205766561, 0.0019178126751899327 ], "object_origin_m": [ 0.30784200998034505, -0.03496988300334709, 0.07991792741298175 ], "observation_origin": "privileged_native_simulator_state", "probe_index": 0, "reason": "object_not_following", "start_time_s": 11.379999999999132, "tcp_origin_m": [ 0.31008743162700386, -0.03526002991617484, 0.08185992721059851 ], "tcp_quaternion_wxyz": [ 0.005278902965141211, -0.002311308500288795, 0.9999831905503312, -0.0006400416242326041 ] }, { "disposition": "invalidated_hold", "end_time_s": 14.679999999997303, "local_offset_origin_m": [ -0.0020317450040008866, 0.00023924760964065187, 0.0024163250450004196 ], "object_origin_m": [ 0.3099413576282146, -0.03508546430278777, 0.079858817884606 ], "observation_origin": "privileged_native_simulator_state", "probe_index": 1, "reason": "relative_slip", "start_time_s": 14.299999999997514, "tcp_origin_m": [ 0.3079311523764482, -0.03532649401677, 0.08229291595696174 ], "tcp_quaternion_wxyz": [ -0.004417836820771909, -0.00023145645242690727, 0.9999901992942262, 0.00017453145594327658 ] } ], "retention": { "accumulated_correction_rad": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "active_regulation": false, "candidate": "incremental", "final_controller_status": "invalidated_hold", "hold_reference": null, "input_refusals": [], "native_joint_control_limits_rad": [ [ -2.618, 2.618 ], [ 0.0, 3.14 ], [ -2.697, 0.0 ], [ -1.832, 1.832 ], [ -1.22, 1.22 ], [ -3.14, 3.14 ] ], "update_gain_per_boundary": 1.0, "update_law": "increment = pose_action(frozen_admission_pose) - current_measured_joints; proposal = previous_correction + 1.0 * increment; refuse unlimited proposal outside +/-0.03 rad; slew accepted correction by at most 0.002 rad per joint per 20 ms; target = admission_issued_target + accepted_correction", "variant": "incremental" }, "retry_count": 1, "schema": "dvidia.piper-incremental-hold/v3", "status": "invalidated_hold", "stop_targets_rad": [ -0.11836568247295112, 1.757788248588121, -1.1772297181225428, -0.0008851331867841084, 1.07752540577845, -0.11842669497604252 ], "variant": "incremental" }, "scene_id": "m0525-f52-p1", "timing": { "policy_cpu": { "maximum_s": 0.001985999999988053, "mean_s": 0.0002288359999998022, "over_20ms": 0, "p50_s": 0.0002159999999946649, "p95_s": 0.00044805000000565083, "p99_s": 0.0005720099999768991, "samples": 1000 }, "policy_wall": { "maximum_s": 0.007227791007608175, "mean_s": 0.000331209291703999, "over_20ms": 0, "p50_s": 0.0002355002798140049, "p95_s": 0.000853439886122942, "p99_s": 0.0022033540625125162, "samples": 1000 }, "step_cpu": { "maximum_s": 0.08376499999999965, "mean_s": 0.004924870999999826, "over_20ms": 1, "p50_s": 0.004500500000006014, "p95_s": 0.008068349999986422, "p99_s": 0.01067177999998875, "samples": 1000 }, "step_wall": { "maximum_s": 0.187071000225842, "mean_s": 0.007007923459168524, "over_20ms": 16, "p50_s": 0.00557331251911819, "p95_s": 0.014463370572775584, "p99_s": 0.024439157960005096, "samples": 1000 } }, "valid": true, "variant": "incremental" }, { "error": null, "evaluation": { "claims": { "false_maintained_grip": 0, "false_maintained_pose": 0, "maintained_checks": 0, "scope": "Claimed qualified boundaries after admission, compared with every native row since admission; grip includes correct initial prefix. Counts are diagnostic, not independent trials." }, "corrections": { "bound_refusal_counts": {}, "flag_counts": { "correction_rate_limited": 0 }, "hold_record_count": 267, "input_refusals": [], "maximum_abs_accepted_correction_rate_rad_s": null, "maximum_abs_active_correction_rad": null, "maximum_abs_desired_correction_rad": null, "maximum_abs_pose_error_increment_rad": null, "rate_limited_axis_occurrences": 0, "scope": "Includes recorded final diagnostic checks; only command_issued rows represent issued controls." }, "decomposition": null, "final": { "both_qualified": false, "controller_qualified": false, "evidence_admissible": false, "native_qualified": false }, "first_admission": null, "grip_only": { "combined_qualified_pause": false, "complete_5s": false, "controller_retained_at_5s": false, "native_pause_success": false, "reason": "no_admission", "required_s": 5.0, "success": false }, "native": { "arrays_sha256": "a8bf20c5cfdfab191c23dcd6ba85d9d4f1b46f107e2acc458b54d39df80208b3", "complete": true, "maximum_per_finger_force_n": 0.5247663830642882, "rows": 20000, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "physical_robot_ready": false, "primary": { "combined_qualified_pause": false, "complete_5s": false, "controller_retained_at_5s": false, "first_tcp_pose_failure_s": null, "native_pause_success": false, "reason": "no_admission", "required_s": 5.0, "success": false }, "probes": [ { "claims": [], "disposition": "interrupted", "final_native_qualified_from_origin": false, "probe_index": 0, "start_time_s": 11.379999999999132 }, { "claims": [], "disposition": "invalidated_hold", "final_native_qualified_from_origin": false, "probe_index": 1, "start_time_s": 14.299999999997514 } ], "receipt": { "admission": { "observation_origin": "privileged_native_simulation_plus_caller_planning_assumptions", "physical_robot_ready": false, "planning": { "computed": { "conservative_required_load_n": 0.7801486874999999, "gravity_m_s2": 9.80665, "pose_specific_payload_limit_force_n": 0.980665, "two_finger_friction_capacity_n": 10.4 }, "observation_origin": "caller_declared_not_verified", "physical_robot_ready": false, "reasons": [ "Run and record a cautious test lift under the same calibrated pose and load conditions before simulated transport planning." ], "schema": "dvidia.task-feasibility-result/v1", "scope": "Planning assessment only. Parallel two-finger vertical-lift approximation; ignores moment, center of mass, deformation, transient impacts and unmodeled contact effects. Unknown values remain unknown; mass is never inferred from images. Probe/test-lift/controller integration is not implemented. No hardware actuation is performed; this is not hardware qualification.", "status": "test_lift_required" }, "probe": { "admissible": false, "historical_qualified": false, "latest_qualified": false, "physical_robot_ready": false, "reasons": [ "latest_native_window_not_qualified", "no_controller_qualification_for_this_probe", "latest_controller_not_qualified" ], "receipt_sha256": "5384800029ababe1f4c4e28a79a7591fea87d00ff622cdce989af836c4c608c2", "schema": "dvidia.probe-evidence-verification/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.", "verified": true }, "schema": "dvidia.task-feasibility-with-probe/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification. Unknown planning values remain unknown. The unchanged approximate vertical-lift planning gate describes declared loads; it supplies no transport path, geospatial-goal contract or actuator permission. This wrapper never issues controls.", "status": "test_lift_required" }, "context": { "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe", "calibration_id": "synthetic_probe_v01", "calibration_scope": "simulation_assumptions_not_hardware", "command_sha256": "e7004eb30516e981d16e89052d26d8e3319fbf49b9905a960c23bf15f1ec484e", "feasibility_sha256": "c2fa3d26b0be6dfbc61f774d0909d34060823101e76700d427257a4000ab18bd", "grasp_id": "m0525-f52-p1-measured_joint-probe-1", "initial_object_position_m": [ 0.3080000005446975, -0.03499975816054938, 0.07989224451748383 ], "model_sha256": "411c585ef5ec3fb07de0533334510e197f2ce3f484f92432f51c3b4c01a316ed", "native_status": { "simulation_time_s": 20.00000000000146, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "object_id": "task_block", "per_finger_force_ceiling_n": 10.0, "pose_binding_sha256": "46501be2cbe7be61b74fac662ce353094659cf5749aaa7f513d4524da7126d19", "probe_index": 1, "probe_origin_object_position_m": [ 0.3099413576282146, -0.03508546430278777, 0.079858817884606 ], "probe_origin_tcp_local_offset_m": [ -0.0020317450040008866, 0.00023924760964065187, 0.0024163250450004196 ], "probe_start_s": 14.299999999997514, "robot_profile": "piper", "run_id": "m0525-f52-p1-measured_joint", "schema": "dvidia.probe-context/v1", "source_sha256": "d28324843344114f1ee863cee3c48dbca8aa37fd11222623563a0b1d40c364a6" }, "physical_robot_ready": false, "planning_input": { "allowed_pose_tolerance_m": 0.003, "calibration_id": "synthetic_probe_v01", "friction_interval": [ 0.52, 0.52 ], "geometry_known": true, "gripper_max_opening_interval_m": [ 0.07, 0.07 ], "gripper_min_closure_m": 0.0, "mass_interval_kg": [ 0.0525, 0.0525 ], "object_width_interval_m": [ 0.04, 0.04 ], "observations_fresh": true, "per_finger_normal_force_budget_n": 10.0, "planned_upward_accel_m_s2": 0.1, "pose_specific_payload_limit_kg": 0.1, "pose_uncertainty_m": 0.0, "reachability": "reachable", "safety_factor": 1.5, "schema": "dvidia.task-feasibility-input/v1", "slip_detected": false, "test_lift_passed": false }, "receipt": { "audit": { "controller_claim_mismatches": [], "controller_claims_checked": 1, "controller_conservative_abstention_count": 0, "controller_coverage": "Only the supplied claims are checked; omitted decisions are not inferred.", "controller_false_qualification_count": 0, "controller_positive_claims": 0, "force_ceiling_known": true, "maximum_observed_per_finger_force_n": 0.5247663830642882, "reasons": [], "rows": 20000, "unexpected_contact_native_ticks": 0, "valid": true }, "context": { "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe", "calibration_id": "synthetic_probe_v01", "calibration_scope": "simulation_assumptions_not_hardware", "command_sha256": "e7004eb30516e981d16e89052d26d8e3319fbf49b9905a960c23bf15f1ec484e", "feasibility_sha256": "c2fa3d26b0be6dfbc61f774d0909d34060823101e76700d427257a4000ab18bd", "grasp_id": "m0525-f52-p1-measured_joint-probe-1", "initial_object_position_m": [ 0.3080000005446975, -0.03499975816054938, 0.07989224451748383 ], "model_sha256": "411c585ef5ec3fb07de0533334510e197f2ce3f484f92432f51c3b4c01a316ed", "native_status": { "simulation_time_s": 20.00000000000146, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "object_id": "task_block", "per_finger_force_ceiling_n": 10.0, "pose_binding_sha256": "46501be2cbe7be61b74fac662ce353094659cf5749aaa7f513d4524da7126d19", "probe_index": 1, "probe_origin_object_position_m": [ 0.3099413576282146, -0.03508546430278777, 0.079858817884606 ], "probe_origin_tcp_local_offset_m": [ -0.0020317450040008866, 0.00023924760964065187, 0.0024163250450004196 ], "probe_start_s": 14.299999999997514, "robot_profile": "piper", "run_id": "m0525-f52-p1-measured_joint", "schema": "dvidia.probe-context/v1", "source_sha256": "d28324843344114f1ee863cee3c48dbca8aa37fd11222623563a0b1d40c364a6" }, "context_sha256": "8f040e50e69790af6a6802c61690843ff8ca3819c52d0945fac09c0ed5a7d446", "controller_qualifications": [ { "probe_index": 1, "qualified": false, "t_seconds": 20.00000000000146 } ], "criteria": { "distance_comparison_epsilon": 1e-12, "initial_sample_tolerance_m": 0.001, "maximum_tcp_local_drift_m": 0.003, "minimum_continuous_dwell_s": 0.1, "minimum_per_finger_force_n_exclusive": 0.01, "minimum_rise_m": 0.006, "native_dt_s": 0.001, "origin_tolerance_m": 1e-09, "time_tolerance_s": 1e-08 }, "history": { "ever_qualified": false, "first_qualified_s": null, "maximum_continuous_qualifying_s": 0.0 }, "latest": { "condition_valid": false, "continuous_qualifying_s": 0.0, "controller_claim": { "probe_index": 1, "qualified": false, "t_seconds": 20.00000000000146 }, "native_tick": 20000, "qualified": false, "rise_m": 2.56729772171449e-05, "tcp_local_drift_m": 0.0037028162252107466, "time_s": 20.00000000000146 }, "metadata_sha256": "ad8229630cc9f8718829bb8317b1a82480dcf18b9f71bd23666acfe71a003ef7", "native_arrays_sha256": "a8bf20c5cfdfab191c23dcd6ba85d9d4f1b46f107e2acc458b54d39df80208b3", "physical_robot_ready": false, "receipt_sha256": "5384800029ababe1f4c4e28a79a7591fea87d00ff622cdce989af836c4c608c2", "schema": "dvidia.probe-evidence/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification." }, "status": "inspected", "verification": { "admissible": false, "historical_qualified": false, "latest_qualified": false, "physical_robot_ready": false, "reasons": [ "latest_native_window_not_qualified", "no_controller_qualification_for_this_probe", "latest_controller_not_qualified" ], "receipt_sha256": "5384800029ababe1f4c4e28a79a7591fea87d00ff622cdce989af836c4c608c2", "schema": "dvidia.probe-evidence-verification/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.", "verified": true } }, "stationarity": { "complete_5s": false, "grip_retention_and_stationarity": false, "tcp_pose_within_bounds": false }, "status": "inspected" }, "files": { "episode.json.gz": { "bytes": 777448, "sha256": "e16501613c744eb6b36f4d17d3a34d66ddb8c3e6e8cd5230ced1025386463215" }, "evaluation.json": { "bytes": 12395, "sha256": "8ca8390a6951f4c26fba951aa5281efcffb3db725f574496308a44bc899898fb" }, "native.json": { "bytes": 13763, "sha256": "19cc1d5998901cbc12da2916add3096763081e9decbfc7193981bfabc4b871e0" }, "native.npz": { "bytes": 4080211, "sha256": "acfbcfd72263cbc37de71299ae17421637181c6faade7dcc87010bdf6cd00369" }, "started.json": { "bytes": 153, "sha256": "59948b3caecc593c7b1cfbf05e842ffd9e544c87d8dd42073380cd3ff59388f7" } }, "friction": 0.52, "id": "m0525-f52-p1-measured_joint", "mass_kg": 0.0525, "metrics": { "carry_complete": false, "carry_contact_loss_events": 0, "carry_contact_loss_tolerance_seconds": 0.04, "dwell_seconds": 0.0, "first_success_time_seconds": null, "grasp_seen": true, "lift_dwell_seconds": 0.0, "lift_seen": false, "max_carry_contact_loss_seconds": 0.0, "max_object_lift_m": 0.00015357932655453432, "max_pad_normal_force_n": 0.5247663830642882, "physical_robot_ready": false, "reason": "timeout", "retention_lost": false, "simulation_time": 20.00000000000146, "steps": 1000, "success": false, "target_distance_m": 0.1214554450962188, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "policy": { "abort_reason": "relative_slip", "acquisition_contract": { "comparison_scope": "Closed-loop variants may acquire different trajectories through early hold/retry. This is not an isolated classifier ablation.", "control_dt_s": 0.02, "evidence_admission": "Current bilateral force >0.01 N, no table support, object rise >=6 mm and TCP-local offset drift <=3 mm continuously across sampled boundaries for elapsed >=100 ms.", "hold": "Latch measured six arm joints and the last issued jaw target at admission/terminal invalidity. No full lift/transfer, no squeeze escalation, no post-admission retry.", "invalidation": "At each subsequent 20 ms observation and final observation, invalidate immediately on lost contact/force, support, insufficient rise, >3 mm local drift or unexpected contact. Never requalify after terminal invalidity.", "observation_origin": "privileged_native_simulator_state", "parameters": { "close_timeout_s": 1.4, "consecutive_alarm_samples": 2, "max_retries": 1, "monitor_min_probe_motion_m": 0.003, "probe_height_m": 0.01, "probe_min_object_rise_m": 0.006, "probe_speed_m_s": 0.02, "probe_timeout_s": 1.4, "qualification_dwell_s": 0.1, "relative_drift_limit_m": 0.003, "retry_clearance_m": 0.012, "retry_open_timeout_s": 1.2, "retry_recenter_timeout_s": 1.5 }, "physical_robot_ready": false, "prefix": "Original GuardedPiperTaskPolicy approach/close and at most one supported open/recenter/retry; already uses authored native state, not a fully blind baseline.", "sampling_limit": "Independent 1 ms evidence may contradict sampled admission; that remains a finding. No sensor or material inference is implemented.", "schema": "dvidia.piper-probe-stop/v1", "stop_scope": "Holding native position targets is not physical arrest or calibrated force limiting; inertia and existing target rate limits can continue motion.", "timer_admission": "Same 10 mm/20 mm/s probe target law, admitted at elapsed >=600 ms from that probe start; no evidence predicate or slip alarm before admission. Unexpected contacts and bounded timeouts still stop.", "timer_admission_s": 0.6, "variants": [ "evidence", "timer" ] }, "acquisition_variant": "evidence", "active_probe_index": 1, "admission_time_s": null, "admitted": false, "contract": { "acquisition": "Unchanged ProbeStopPolicy evidence acquisition, including its bounded supported retry. All variants share the same prefix through the first admission observation.", "cartesian": "Latch measured TCP position/orientation and preceding issued targets. Fixed joint bias equals issued target minus pose_action at the admission pose. First command repeats the exact issued target; later pose_action updates receive that fixed bias.", "control_dt_s": 0.02, "final_observation": "Repeat force, original eligibility and Cartesian pose-error checks. Do not solve or issue a hypothetical next control at the terminal observation.", "invalid_measurements": "Malformed, nonfinite or noncausal observations terminally refuse and raise without issuing a command. No measured-position stop is claimed from invalid measurements.", "issued_joint": "Latch the preceding issued six joint targets and the same last issued jaw target at admission.", "limits": { "initial_joint_bias_ceiling_rad": 0.08, "joint_correction_ceiling_rad": 0.03, "joint_correction_rate_rad_s": 0.1, "native_joint_target_margin_rad": 0.02, "per_finger_force_ceiling_n": 10.0, "tcp_orientation_error_ceiling_rad": 0.05, "tcp_position_error_ceiling_m": 0.004 }, "measured_joint": "Original hold: latch measured six joint coordinates and the last issued jaw target at admission.", "observation_origin": "privileged_native_simulator_state", "physical_robot_ready": false, "qualifications": "Engineering limits and the 10 N ceiling are authored synthetic assumptions, not damage limits or calibrated physical telemetry. Position targets are not physical stops or force limiters. No load/friction inference, model training or complete placement is implemented.", "rate_scope": "The extra correction slews at at most 0.002 rad per 20 ms per joint. Original native 1 ms target slew, servos, gains and force caps remain unchanged.", "refusal": "Original eligibility loss, unexpected contact or observed pad force >10 N terminally requests measured joint hold and the frozen jaw target. Cartesian error, initial-bias, total-correction or native-margin exhaustion also refuses terminally; it never chases an already failed grip.", "sampling": "Control checks occur at 20 ms boundaries. Independent saved 1 ms native evidence must judge a continuous 5 s hold; missed between-boundary failures remain findings.", "schema": "dvidia.piper-retention/v2", "variants": [ "measured_joint", "issued_joint", "cartesian" ] }, "events": [ { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "continue", "drift_streak": 0, "object_height_delta_m": 0.0, "phase": "probe", "progress_streak": 0, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0, "retry_index": 0, "t_seconds": 11.379999999999132, "table_supported": true, "tcp_probe_height_delta_m": 0.0 }, "observation_origin": "privileged_native_simulator_state", "phase": "guard_probe", "probe_index": 0, "reason": "slow_load_bearing_check", "retention_variant": "measured_joint", "retry_index": 0, "status": "probing", "t_seconds": 11.379999999999132, "type": "probe_started", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "hold_measured_arm", "drift_streak": 2, "object_height_delta_m": 0.00012354316230783757, "phase": "probe", "progress_streak": 2, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0035466532598594936, "retry_index": 0, "t_seconds": 11.759999999998922, "table_supported": true, "tcp_probe_height_delta_m": 0.0036658034167677406 }, "observation_origin": "privileged_native_simulator_state", "phase": "guard_stop", "probe_index": 0, "reason": "object_not_following", "retention_variant": "measured_joint", "retry_index": 0, "status": "probing", "t_seconds": 11.759999999998922, "type": "alarm", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "hold_measured_arm", "drift_streak": 2, "object_height_delta_m": 0.00012354316230783757, "phase": "probe", "progress_streak": 2, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0035466532598594936, "retry_index": 0, "t_seconds": 11.759999999998922, "table_supported": true, "tcp_probe_height_delta_m": 0.0036658034167677406 }, "observation_origin": "privileged_native_simulator_state", "phase": "guard_stop", "probe_index": 0, "reason": "supported_object_only", "retention_variant": "measured_joint", "retry_index": 1, "status": "acquiring_retry", "t_seconds": 11.759999999998922, "type": "retry_started", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": false, "contact_loss_streak": 0, "decision": "recenter_with_open_jaw", "drift_streak": 2, "object_height_delta_m": -2.5682833198051314e-05, "phase": "retry_recenter", "progress_streak": 2, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.009739576113160743, "retry_index": 1, "t_seconds": 13.419999999998002, "table_supported": true, "tcp_probe_height_delta_m": 0.009697663994797392 }, "observation_origin": "privileged_native_simulator_state", "phase": "guard_retry_recenter", "probe_index": 0, "reason": "open_recenter_complete", "retention_variant": "measured_joint", "retry_index": 1, "status": "acquiring", "t_seconds": 13.419999999998002, "type": "retry_completed", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "continue", "drift_streak": 0, "object_height_delta_m": 0.0, "phase": "probe", "progress_streak": 0, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0, "retry_index": 1, "t_seconds": 14.299999999997514, "table_supported": true, "tcp_probe_height_delta_m": 0.0 }, "observation_origin": "privileged_native_simulator_state", "phase": "guard_probe", "probe_index": 1, "reason": "slow_load_bearing_check", "retention_variant": "measured_joint", "retry_index": 1, "status": "probing", "t_seconds": 14.299999999997514, "type": "probe_started", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "hold_measured_arm", "drift_streak": 2, "object_height_delta_m": 0.00015581515357070141, "phase": "probe", "progress_streak": 0, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0034848829887218547, "retry_index": 1, "t_seconds": 14.679999999997303, "table_supported": false, "tcp_probe_height_delta_m": 0.003598010991270148 }, "observation_origin": "privileged_native_simulator_state", "phase": "guard_stop", "probe_index": 1, "reason": "relative_slip", "retention_variant": "measured_joint", "retry_index": 1, "status": "probing", "t_seconds": 14.679999999997303, "type": "alarm", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "hold_measured_arm_and_freeze_issued_jaw", "drift_streak": 2, "object_height_delta_m": 0.00015581515357070141, "phase": "probe", "progress_streak": 0, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0034848829887218547, "retry_index": 1, "t_seconds": 14.679999999997303, "table_supported": false, "tcp_probe_height_delta_m": 0.003598010991270148 }, "observation_origin": "privileged_native_simulator_state", "phase": "probe_stop", "probe_index": 1, "reason": "relative_slip", "retention_variant": "measured_joint", "retry_index": 1, "status": "invalidated_hold", "t_seconds": 14.679999999997303, "type": "abort", "variant": "evidence" } ], "ever_admitted": false, "final_observed": true, "frozen_jaw_target_m": 0.0, "initial_context": { "object_position_m": [ 0.3080000005446975, -0.03499975816054938, 0.07989224451748383 ], "observation_origin": "privileged_native_simulator_state", "t_seconds": 0.0, "tcp_position_m": [ 0.4890696662845219, 0.0014141975654808877, 0.3665849431043091 ], "tcp_quaternion_wxyz": [ 0.6580840948238629, 2.7730466224793136e-07, 0.7529444362872891, -1.9485471114950535e-06 ] }, "last_observed_s": 20.00000000000146, "observation_origin": "privileged_native_simulator_state", "physical_robot_ready": false, "probes": [ { "disposition": "interrupted", "end_time_s": 11.759999999998922, "local_offset_origin_m": [ 0.0022644265008525265, 0.0003030412205766561, 0.0019178126751899327 ], "object_origin_m": [ 0.30784200998034505, -0.03496988300334709, 0.07991792741298175 ], "observation_origin": "privileged_native_simulator_state", "probe_index": 0, "reason": "object_not_following", "start_time_s": 11.379999999999132, "tcp_origin_m": [ 0.31008743162700386, -0.03526002991617484, 0.08185992721059851 ], "tcp_quaternion_wxyz": [ 0.005278902965141211, -0.002311308500288795, 0.9999831905503312, -0.0006400416242326041 ] }, { "disposition": "invalidated_hold", "end_time_s": 14.679999999997303, "local_offset_origin_m": [ -0.0020317450040008866, 0.00023924760964065187, 0.0024163250450004196 ], "object_origin_m": [ 0.3099413576282146, -0.03508546430278777, 0.079858817884606 ], "observation_origin": "privileged_native_simulator_state", "probe_index": 1, "reason": "relative_slip", "start_time_s": 14.299999999997514, "tcp_origin_m": [ 0.3079311523764482, -0.03532649401677, 0.08229291595696174 ], "tcp_quaternion_wxyz": [ -0.004417836820771909, -0.00023145645242690727, 0.9999901992942262, 0.00017453145594327658 ] } ], "retention": { "hold_reference": null, "input_refusals": [], "native_joint_control_limits_rad": [ [ -2.618, 2.618 ], [ 0.0, 3.14 ], [ -2.697, 0.0 ], [ -1.832, 1.832 ], [ -1.22, 1.22 ], [ -3.14, 3.14 ] ], "variant": "measured_joint" }, "retry_count": 1, "schema": "dvidia.piper-retention/v2", "status": "invalidated_hold", "stop_targets_rad": [ -0.11836568247295112, 1.757788248588121, -1.1772297181225428, -0.0008851331867841084, 1.07752540577845, -0.11842669497604252 ], "variant": "measured_joint" }, "scene_id": "m0525-f52-p1", "timing": { "policy_cpu": { "maximum_s": 0.0009430000000065775, "mean_s": 0.0001700580000002674, "over_20ms": 0, "p50_s": 0.0001310000000103173, "p95_s": 0.00037005000000362993, "p99_s": 0.0005131100000119204, "samples": 1000 }, "policy_wall": { "maximum_s": 0.008346165996044874, "mean_s": 0.00024143592547625303, "over_20ms": 0, "p50_s": 0.00013870792463421822, "p95_s": 0.0006069874390959739, "p99_s": 0.0021909082308411596, "samples": 1000 }, "step_cpu": { "maximum_s": 0.055243999999987636, "mean_s": 0.004163276000000025, "over_20ms": 1, "p50_s": 0.0038800000000094315, "p95_s": 0.0070252499999980955, "p99_s": 0.008349260000009337, "samples": 1000 }, "step_wall": { "maximum_s": 0.26989304227754474, "mean_s": 0.006200444850604981, "over_20ms": 22, "p50_s": 0.004363833460956812, "p95_s": 0.013738521048799156, "p99_s": 0.02347041711211203, "samples": 1000 } }, "valid": true, "variant": "measured_joint" }, { "error": null, "evaluation": { "claims": { "false_maintained_grip": 0, "false_maintained_pose": 0, "maintained_checks": 0, "scope": "Claimed qualified boundaries after admission, compared with every native row since admission; grip includes correct initial prefix. Counts are diagnostic, not independent trials." }, "corrections": { "bound_refusal_counts": {}, "flag_counts": { "correction_rate_limited": 0 }, "hold_record_count": 267, "input_refusals": [], "maximum_abs_accepted_correction_rate_rad_s": null, "maximum_abs_active_correction_rad": null, "maximum_abs_desired_correction_rad": null, "maximum_abs_pose_error_increment_rad": null, "rate_limited_axis_occurrences": 0, "scope": "Includes recorded final diagnostic checks; only command_issued rows represent issued controls." }, "decomposition": null, "final": { "both_qualified": false, "controller_qualified": false, "evidence_admissible": false, "native_qualified": false }, "first_admission": null, "grip_only": { "combined_qualified_pause": false, "complete_5s": false, "controller_retained_at_5s": false, "native_pause_success": false, "reason": "no_admission", "required_s": 5.0, "success": false }, "native": { "arrays_sha256": "a8bf20c5cfdfab191c23dcd6ba85d9d4f1b46f107e2acc458b54d39df80208b3", "complete": true, "maximum_per_finger_force_n": 0.5247663830642882, "rows": 20000, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "physical_robot_ready": false, "primary": { "combined_qualified_pause": false, "complete_5s": false, "controller_retained_at_5s": false, "first_tcp_pose_failure_s": null, "native_pause_success": false, "reason": "no_admission", "required_s": 5.0, "success": false }, "probes": [ { "claims": [], "disposition": "interrupted", "final_native_qualified_from_origin": false, "probe_index": 0, "start_time_s": 11.379999999999132 }, { "claims": [], "disposition": "invalidated_hold", "final_native_qualified_from_origin": false, "probe_index": 1, "start_time_s": 14.299999999997514 } ], "receipt": { "admission": { "observation_origin": "privileged_native_simulation_plus_caller_planning_assumptions", "physical_robot_ready": false, "planning": { "computed": { "conservative_required_load_n": 0.7801486874999999, "gravity_m_s2": 9.80665, "pose_specific_payload_limit_force_n": 0.980665, "two_finger_friction_capacity_n": 10.4 }, "observation_origin": "caller_declared_not_verified", "physical_robot_ready": false, "reasons": [ "Run and record a cautious test lift under the same calibrated pose and load conditions before simulated transport planning." ], "schema": "dvidia.task-feasibility-result/v1", "scope": "Planning assessment only. Parallel two-finger vertical-lift approximation; ignores moment, center of mass, deformation, transient impacts and unmodeled contact effects. Unknown values remain unknown; mass is never inferred from images. Probe/test-lift/controller integration is not implemented. No hardware actuation is performed; this is not hardware qualification.", "status": "test_lift_required" }, "probe": { "admissible": false, "historical_qualified": false, "latest_qualified": false, "physical_robot_ready": false, "reasons": [ "latest_native_window_not_qualified", "no_controller_qualification_for_this_probe", "latest_controller_not_qualified" ], "receipt_sha256": "0e3ddcda41da4290bbcc57a00c88f1472dff9fbb664c5fffd4f8f294f817be43", "schema": "dvidia.probe-evidence-verification/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.", "verified": true }, "schema": "dvidia.task-feasibility-with-probe/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification. Unknown planning values remain unknown. The unchanged approximate vertical-lift planning gate describes declared loads; it supplies no transport path, geospatial-goal contract or actuator permission. This wrapper never issues controls.", "status": "test_lift_required" }, "context": { "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe", "calibration_id": "synthetic_probe_v01", "calibration_scope": "simulation_assumptions_not_hardware", "command_sha256": "e7004eb30516e981d16e89052d26d8e3319fbf49b9905a960c23bf15f1ec484e", "feasibility_sha256": "c2fa3d26b0be6dfbc61f774d0909d34060823101e76700d427257a4000ab18bd", "grasp_id": "m0525-f52-p1-cartesian-probe-1", "initial_object_position_m": [ 0.3080000005446975, -0.03499975816054938, 0.07989224451748383 ], "model_sha256": "411c585ef5ec3fb07de0533334510e197f2ce3f484f92432f51c3b4c01a316ed", "native_status": { "simulation_time_s": 20.00000000000146, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "object_id": "task_block", "per_finger_force_ceiling_n": 10.0, "pose_binding_sha256": "46501be2cbe7be61b74fac662ce353094659cf5749aaa7f513d4524da7126d19", "probe_index": 1, "probe_origin_object_position_m": [ 0.3099413576282146, -0.03508546430278777, 0.079858817884606 ], "probe_origin_tcp_local_offset_m": [ -0.0020317450040008866, 0.00023924760964065187, 0.0024163250450004196 ], "probe_start_s": 14.299999999997514, "robot_profile": "piper", "run_id": "m0525-f52-p1-cartesian", "schema": "dvidia.probe-context/v1", "source_sha256": "d28324843344114f1ee863cee3c48dbca8aa37fd11222623563a0b1d40c364a6" }, "physical_robot_ready": false, "planning_input": { "allowed_pose_tolerance_m": 0.003, "calibration_id": "synthetic_probe_v01", "friction_interval": [ 0.52, 0.52 ], "geometry_known": true, "gripper_max_opening_interval_m": [ 0.07, 0.07 ], "gripper_min_closure_m": 0.0, "mass_interval_kg": [ 0.0525, 0.0525 ], "object_width_interval_m": [ 0.04, 0.04 ], "observations_fresh": true, "per_finger_normal_force_budget_n": 10.0, "planned_upward_accel_m_s2": 0.1, "pose_specific_payload_limit_kg": 0.1, "pose_uncertainty_m": 0.0, "reachability": "reachable", "safety_factor": 1.5, "schema": "dvidia.task-feasibility-input/v1", "slip_detected": false, "test_lift_passed": false }, "receipt": { "audit": { "controller_claim_mismatches": [], "controller_claims_checked": 1, "controller_conservative_abstention_count": 0, "controller_coverage": "Only the supplied claims are checked; omitted decisions are not inferred.", "controller_false_qualification_count": 0, "controller_positive_claims": 0, "force_ceiling_known": true, "maximum_observed_per_finger_force_n": 0.5247663830642882, "reasons": [], "rows": 20000, "unexpected_contact_native_ticks": 0, "valid": true }, "context": { "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe", "calibration_id": "synthetic_probe_v01", "calibration_scope": "simulation_assumptions_not_hardware", "command_sha256": "e7004eb30516e981d16e89052d26d8e3319fbf49b9905a960c23bf15f1ec484e", "feasibility_sha256": "c2fa3d26b0be6dfbc61f774d0909d34060823101e76700d427257a4000ab18bd", "grasp_id": "m0525-f52-p1-cartesian-probe-1", "initial_object_position_m": [ 0.3080000005446975, -0.03499975816054938, 0.07989224451748383 ], "model_sha256": "411c585ef5ec3fb07de0533334510e197f2ce3f484f92432f51c3b4c01a316ed", "native_status": { "simulation_time_s": 20.00000000000146, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "object_id": "task_block", "per_finger_force_ceiling_n": 10.0, "pose_binding_sha256": "46501be2cbe7be61b74fac662ce353094659cf5749aaa7f513d4524da7126d19", "probe_index": 1, "probe_origin_object_position_m": [ 0.3099413576282146, -0.03508546430278777, 0.079858817884606 ], "probe_origin_tcp_local_offset_m": [ -0.0020317450040008866, 0.00023924760964065187, 0.0024163250450004196 ], "probe_start_s": 14.299999999997514, "robot_profile": "piper", "run_id": "m0525-f52-p1-cartesian", "schema": "dvidia.probe-context/v1", "source_sha256": "d28324843344114f1ee863cee3c48dbca8aa37fd11222623563a0b1d40c364a6" }, "context_sha256": "95aad369a00cab7a3d9c58fdca2ae6b44da87c1b559fd7bfae1a5893452ffe93", "controller_qualifications": [ { "probe_index": 1, "qualified": false, "t_seconds": 20.00000000000146 } ], "criteria": { "distance_comparison_epsilon": 1e-12, "initial_sample_tolerance_m": 0.001, "maximum_tcp_local_drift_m": 0.003, "minimum_continuous_dwell_s": 0.1, "minimum_per_finger_force_n_exclusive": 0.01, "minimum_rise_m": 0.006, "native_dt_s": 0.001, "origin_tolerance_m": 1e-09, "time_tolerance_s": 1e-08 }, "history": { "ever_qualified": false, "first_qualified_s": null, "maximum_continuous_qualifying_s": 0.0 }, "latest": { "condition_valid": false, "continuous_qualifying_s": 0.0, "controller_claim": { "probe_index": 1, "qualified": false, "t_seconds": 20.00000000000146 }, "native_tick": 20000, "qualified": false, "rise_m": 2.56729772171449e-05, "tcp_local_drift_m": 0.0037028162252107466, "time_s": 20.00000000000146 }, "metadata_sha256": "ad8229630cc9f8718829bb8317b1a82480dcf18b9f71bd23666acfe71a003ef7", "native_arrays_sha256": "a8bf20c5cfdfab191c23dcd6ba85d9d4f1b46f107e2acc458b54d39df80208b3", "physical_robot_ready": false, "receipt_sha256": "0e3ddcda41da4290bbcc57a00c88f1472dff9fbb664c5fffd4f8f294f817be43", "schema": "dvidia.probe-evidence/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification." }, "status": "inspected", "verification": { "admissible": false, "historical_qualified": false, "latest_qualified": false, "physical_robot_ready": false, "reasons": [ "latest_native_window_not_qualified", "no_controller_qualification_for_this_probe", "latest_controller_not_qualified" ], "receipt_sha256": "0e3ddcda41da4290bbcc57a00c88f1472dff9fbb664c5fffd4f8f294f817be43", "schema": "dvidia.probe-evidence-verification/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.", "verified": true } }, "stationarity": { "complete_5s": false, "grip_retention_and_stationarity": false, "tcp_pose_within_bounds": false }, "status": "inspected" }, "files": { "episode.json.gz": { "bytes": 776471, "sha256": "bd7b7a25f0911ac280a238aaba7d3ebeedcd2cee68be5d302f1ca415c4610def" }, "evaluation.json": { "bytes": 12375, "sha256": "1a155fed0aea9a8f8aad56aec93df85d05f6904bf0f497dab4fad5855f651637" }, "native.json": { "bytes": 13763, "sha256": "19cc1d5998901cbc12da2916add3096763081e9decbfc7193981bfabc4b871e0" }, "native.npz": { "bytes": 4080211, "sha256": "acfbcfd72263cbc37de71299ae17421637181c6faade7dcc87010bdf6cd00369" }, "started.json": { "bytes": 148, "sha256": "dc82f450de1d0e91a35de8fffef6fbc7b25cbe3b21022a9ee54a14fbdcb1d0aa" } }, "friction": 0.52, "id": "m0525-f52-p1-cartesian", "mass_kg": 0.0525, "metrics": { "carry_complete": false, "carry_contact_loss_events": 0, "carry_contact_loss_tolerance_seconds": 0.04, "dwell_seconds": 0.0, "first_success_time_seconds": null, "grasp_seen": true, "lift_dwell_seconds": 0.0, "lift_seen": false, "max_carry_contact_loss_seconds": 0.0, "max_object_lift_m": 0.00015357932655453432, "max_pad_normal_force_n": 0.5247663830642882, "physical_robot_ready": false, "reason": "timeout", "retention_lost": false, "simulation_time": 20.00000000000146, "steps": 1000, "success": false, "target_distance_m": 0.1214554450962188, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "policy": { "abort_reason": "relative_slip", "acquisition_contract": { "comparison_scope": "Closed-loop variants may acquire different trajectories through early hold/retry. This is not an isolated classifier ablation.", "control_dt_s": 0.02, "evidence_admission": "Current bilateral force >0.01 N, no table support, object rise >=6 mm and TCP-local offset drift <=3 mm continuously across sampled boundaries for elapsed >=100 ms.", "hold": "Latch measured six arm joints and the last issued jaw target at admission/terminal invalidity. No full lift/transfer, no squeeze escalation, no post-admission retry.", "invalidation": "At each subsequent 20 ms observation and final observation, invalidate immediately on lost contact/force, support, insufficient rise, >3 mm local drift or unexpected contact. Never requalify after terminal invalidity.", "observation_origin": "privileged_native_simulator_state", "parameters": { "close_timeout_s": 1.4, "consecutive_alarm_samples": 2, "max_retries": 1, "monitor_min_probe_motion_m": 0.003, "probe_height_m": 0.01, "probe_min_object_rise_m": 0.006, "probe_speed_m_s": 0.02, "probe_timeout_s": 1.4, "qualification_dwell_s": 0.1, "relative_drift_limit_m": 0.003, "retry_clearance_m": 0.012, "retry_open_timeout_s": 1.2, "retry_recenter_timeout_s": 1.5 }, "physical_robot_ready": false, "prefix": "Original GuardedPiperTaskPolicy approach/close and at most one supported open/recenter/retry; already uses authored native state, not a fully blind baseline.", "sampling_limit": "Independent 1 ms evidence may contradict sampled admission; that remains a finding. No sensor or material inference is implemented.", "schema": "dvidia.piper-probe-stop/v1", "stop_scope": "Holding native position targets is not physical arrest or calibrated force limiting; inertia and existing target rate limits can continue motion.", "timer_admission": "Same 10 mm/20 mm/s probe target law, admitted at elapsed >=600 ms from that probe start; no evidence predicate or slip alarm before admission. Unexpected contacts and bounded timeouts still stop.", "timer_admission_s": 0.6, "variants": [ "evidence", "timer" ] }, "acquisition_variant": "evidence", "active_probe_index": 1, "admission_time_s": null, "admitted": false, "contract": { "acquisition": "Unchanged ProbeStopPolicy evidence acquisition, including its bounded supported retry. All variants share the same prefix through the first admission observation.", "cartesian": "Latch measured TCP position/orientation and preceding issued targets. Fixed joint bias equals issued target minus pose_action at the admission pose. First command repeats the exact issued target; later pose_action updates receive that fixed bias.", "control_dt_s": 0.02, "final_observation": "Repeat force, original eligibility and Cartesian pose-error checks. Do not solve or issue a hypothetical next control at the terminal observation.", "invalid_measurements": "Malformed, nonfinite or noncausal observations terminally refuse and raise without issuing a command. No measured-position stop is claimed from invalid measurements.", "issued_joint": "Latch the preceding issued six joint targets and the same last issued jaw target at admission.", "limits": { "initial_joint_bias_ceiling_rad": 0.08, "joint_correction_ceiling_rad": 0.03, "joint_correction_rate_rad_s": 0.1, "native_joint_target_margin_rad": 0.02, "per_finger_force_ceiling_n": 10.0, "tcp_orientation_error_ceiling_rad": 0.05, "tcp_position_error_ceiling_m": 0.004 }, "measured_joint": "Original hold: latch measured six joint coordinates and the last issued jaw target at admission.", "observation_origin": "privileged_native_simulator_state", "physical_robot_ready": false, "qualifications": "Engineering limits and the 10 N ceiling are authored synthetic assumptions, not damage limits or calibrated physical telemetry. Position targets are not physical stops or force limiters. No load/friction inference, model training or complete placement is implemented.", "rate_scope": "The extra correction slews at at most 0.002 rad per 20 ms per joint. Original native 1 ms target slew, servos, gains and force caps remain unchanged.", "refusal": "Original eligibility loss, unexpected contact or observed pad force >10 N terminally requests measured joint hold and the frozen jaw target. Cartesian error, initial-bias, total-correction or native-margin exhaustion also refuses terminally; it never chases an already failed grip.", "sampling": "Control checks occur at 20 ms boundaries. Independent saved 1 ms native evidence must judge a continuous 5 s hold; missed between-boundary failures remain findings.", "schema": "dvidia.piper-retention/v2", "variants": [ "measured_joint", "issued_joint", "cartesian" ] }, "events": [ { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "continue", "drift_streak": 0, "object_height_delta_m": 0.0, "phase": "probe", "progress_streak": 0, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0, "retry_index": 0, "t_seconds": 11.379999999999132, "table_supported": true, "tcp_probe_height_delta_m": 0.0 }, "observation_origin": "privileged_native_simulator_state", "phase": "guard_probe", "probe_index": 0, "reason": "slow_load_bearing_check", "retention_variant": "cartesian", "retry_index": 0, "status": "probing", "t_seconds": 11.379999999999132, "type": "probe_started", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "hold_measured_arm", "drift_streak": 2, "object_height_delta_m": 0.00012354316230783757, "phase": "probe", "progress_streak": 2, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0035466532598594936, "retry_index": 0, "t_seconds": 11.759999999998922, "table_supported": true, "tcp_probe_height_delta_m": 0.0036658034167677406 }, "observation_origin": "privileged_native_simulator_state", "phase": "guard_stop", "probe_index": 0, "reason": "object_not_following", "retention_variant": "cartesian", "retry_index": 0, "status": "probing", "t_seconds": 11.759999999998922, "type": "alarm", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "hold_measured_arm", "drift_streak": 2, "object_height_delta_m": 0.00012354316230783757, "phase": "probe", "progress_streak": 2, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0035466532598594936, "retry_index": 0, "t_seconds": 11.759999999998922, "table_supported": true, "tcp_probe_height_delta_m": 0.0036658034167677406 }, "observation_origin": "privileged_native_simulator_state", "phase": "guard_stop", "probe_index": 0, "reason": "supported_object_only", "retention_variant": "cartesian", "retry_index": 1, "status": "acquiring_retry", "t_seconds": 11.759999999998922, "type": "retry_started", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": false, "contact_loss_streak": 0, "decision": "recenter_with_open_jaw", "drift_streak": 2, "object_height_delta_m": -2.5682833198051314e-05, "phase": "retry_recenter", "progress_streak": 2, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.009739576113160743, "retry_index": 1, "t_seconds": 13.419999999998002, "table_supported": true, "tcp_probe_height_delta_m": 0.009697663994797392 }, "observation_origin": "privileged_native_simulator_state", "phase": "guard_retry_recenter", "probe_index": 0, "reason": "open_recenter_complete", "retention_variant": "cartesian", "retry_index": 1, "status": "acquiring", "t_seconds": 13.419999999998002, "type": "retry_completed", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "continue", "drift_streak": 0, "object_height_delta_m": 0.0, "phase": "probe", "progress_streak": 0, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0, "retry_index": 1, "t_seconds": 14.299999999997514, "table_supported": true, "tcp_probe_height_delta_m": 0.0 }, "observation_origin": "privileged_native_simulator_state", "phase": "guard_probe", "probe_index": 1, "reason": "slow_load_bearing_check", "retention_variant": "cartesian", "retry_index": 1, "status": "probing", "t_seconds": 14.299999999997514, "type": "probe_started", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "hold_measured_arm", "drift_streak": 2, "object_height_delta_m": 0.00015581515357070141, "phase": "probe", "progress_streak": 0, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0034848829887218547, "retry_index": 1, "t_seconds": 14.679999999997303, "table_supported": false, "tcp_probe_height_delta_m": 0.003598010991270148 }, "observation_origin": "privileged_native_simulator_state", "phase": "guard_stop", "probe_index": 1, "reason": "relative_slip", "retention_variant": "cartesian", "retry_index": 1, "status": "probing", "t_seconds": 14.679999999997303, "type": "alarm", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "hold_measured_arm_and_freeze_issued_jaw", "drift_streak": 2, "object_height_delta_m": 0.00015581515357070141, "phase": "probe", "progress_streak": 0, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0034848829887218547, "retry_index": 1, "t_seconds": 14.679999999997303, "table_supported": false, "tcp_probe_height_delta_m": 0.003598010991270148 }, "observation_origin": "privileged_native_simulator_state", "phase": "probe_stop", "probe_index": 1, "reason": "relative_slip", "retention_variant": "cartesian", "retry_index": 1, "status": "invalidated_hold", "t_seconds": 14.679999999997303, "type": "abort", "variant": "evidence" } ], "ever_admitted": false, "final_observed": true, "frozen_jaw_target_m": 0.0, "initial_context": { "object_position_m": [ 0.3080000005446975, -0.03499975816054938, 0.07989224451748383 ], "observation_origin": "privileged_native_simulator_state", "t_seconds": 0.0, "tcp_position_m": [ 0.4890696662845219, 0.0014141975654808877, 0.3665849431043091 ], "tcp_quaternion_wxyz": [ 0.6580840948238629, 2.7730466224793136e-07, 0.7529444362872891, -1.9485471114950535e-06 ] }, "last_observed_s": 20.00000000000146, "observation_origin": "privileged_native_simulator_state", "physical_robot_ready": false, "probes": [ { "disposition": "interrupted", "end_time_s": 11.759999999998922, "local_offset_origin_m": [ 0.0022644265008525265, 0.0003030412205766561, 0.0019178126751899327 ], "object_origin_m": [ 0.30784200998034505, -0.03496988300334709, 0.07991792741298175 ], "observation_origin": "privileged_native_simulator_state", "probe_index": 0, "reason": "object_not_following", "start_time_s": 11.379999999999132, "tcp_origin_m": [ 0.31008743162700386, -0.03526002991617484, 0.08185992721059851 ], "tcp_quaternion_wxyz": [ 0.005278902965141211, -0.002311308500288795, 0.9999831905503312, -0.0006400416242326041 ] }, { "disposition": "invalidated_hold", "end_time_s": 14.679999999997303, "local_offset_origin_m": [ -0.0020317450040008866, 0.00023924760964065187, 0.0024163250450004196 ], "object_origin_m": [ 0.3099413576282146, -0.03508546430278777, 0.079858817884606 ], "observation_origin": "privileged_native_simulator_state", "probe_index": 1, "reason": "relative_slip", "start_time_s": 14.299999999997514, "tcp_origin_m": [ 0.3079311523764482, 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Counts are diagnostic, not independent trials." }, "corrections": { "bound_refusal_counts": {}, "flag_counts": { "correction_rate_limited": 0 }, "hold_record_count": 267, "input_refusals": [], "maximum_abs_accepted_correction_rate_rad_s": null, "maximum_abs_active_correction_rad": null, "maximum_abs_desired_correction_rad": null, "maximum_abs_pose_error_increment_rad": null, "rate_limited_axis_occurrences": 0, "scope": "Includes recorded final diagnostic checks; only command_issued rows represent issued controls." }, "decomposition": null, "final": { "both_qualified": false, "controller_qualified": false, "evidence_admissible": false, "native_qualified": false }, "first_admission": null, "grip_only": { "combined_qualified_pause": false, "complete_5s": false, "controller_retained_at_5s": false, "native_pause_success": false, "reason": "no_admission", "required_s": 5.0, "success": false }, "native": { "arrays_sha256": "a8bf20c5cfdfab191c23dcd6ba85d9d4f1b46f107e2acc458b54d39df80208b3", "complete": true, "maximum_per_finger_force_n": 0.5247663830642882, "rows": 20000, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "physical_robot_ready": false, "primary": { "combined_qualified_pause": false, "complete_5s": false, "controller_retained_at_5s": false, "first_tcp_pose_failure_s": null, "native_pause_success": false, "reason": "no_admission", "required_s": 5.0, "success": false }, "probes": [ { "claims": [], "disposition": "interrupted", "final_native_qualified_from_origin": false, "probe_index": 0, "start_time_s": 11.379999999999132 }, { "claims": [], "disposition": "invalidated_hold", "final_native_qualified_from_origin": false, "probe_index": 1, "start_time_s": 14.299999999997514 } ], "receipt": { "admission": { "observation_origin": "privileged_native_simulation_plus_caller_planning_assumptions", "physical_robot_ready": false, "planning": { "computed": { "conservative_required_load_n": 0.7801486874999999, "gravity_m_s2": 9.80665, "pose_specific_payload_limit_force_n": 0.980665, "two_finger_friction_capacity_n": 10.4 }, "observation_origin": "caller_declared_not_verified", "physical_robot_ready": false, "reasons": [ "Run and record a cautious test lift under the same calibrated pose and load conditions before simulated transport planning." ], "schema": "dvidia.task-feasibility-result/v1", "scope": "Planning assessment only. Parallel two-finger vertical-lift approximation; ignores moment, center of mass, deformation, transient impacts and unmodeled contact effects. Unknown values remain unknown; mass is never inferred from images. Probe/test-lift/controller integration is not implemented. No hardware actuation is performed; this is not hardware qualification.", "status": "test_lift_required" }, "probe": { "admissible": false, "historical_qualified": false, "latest_qualified": false, "physical_robot_ready": false, "reasons": [ "latest_native_window_not_qualified", "no_controller_qualification_for_this_probe", "latest_controller_not_qualified" ], "receipt_sha256": "739ac2b99994be848407cb9331ed20d5161cc8cdd66f79ce345a0b2a49ab6c70", "schema": "dvidia.probe-evidence-verification/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.", "verified": true }, "schema": "dvidia.task-feasibility-with-probe/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification. Unknown planning values remain unknown. The unchanged approximate vertical-lift planning gate describes declared loads; it supplies no transport path, geospatial-goal contract or actuator permission. This wrapper never issues controls.", "status": "test_lift_required" }, "context": { "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe", "calibration_id": "synthetic_probe_v01", "calibration_scope": "simulation_assumptions_not_hardware", "command_sha256": "e7004eb30516e981d16e89052d26d8e3319fbf49b9905a960c23bf15f1ec484e", "feasibility_sha256": "c2fa3d26b0be6dfbc61f774d0909d34060823101e76700d427257a4000ab18bd", "grasp_id": "m0525-f52-p1-issued_joint-probe-1", "initial_object_position_m": [ 0.3080000005446975, -0.03499975816054938, 0.07989224451748383 ], "model_sha256": "411c585ef5ec3fb07de0533334510e197f2ce3f484f92432f51c3b4c01a316ed", "native_status": { "simulation_time_s": 20.00000000000146, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "object_id": "task_block", "per_finger_force_ceiling_n": 10.0, "pose_binding_sha256": "46501be2cbe7be61b74fac662ce353094659cf5749aaa7f513d4524da7126d19", "probe_index": 1, "probe_origin_object_position_m": [ 0.3099413576282146, -0.03508546430278777, 0.079858817884606 ], "probe_origin_tcp_local_offset_m": [ -0.0020317450040008866, 0.00023924760964065187, 0.0024163250450004196 ], "probe_start_s": 14.299999999997514, "robot_profile": "piper", "run_id": "m0525-f52-p1-issued_joint", "schema": "dvidia.probe-context/v1", "source_sha256": "d28324843344114f1ee863cee3c48dbca8aa37fd11222623563a0b1d40c364a6" }, "physical_robot_ready": false, "planning_input": { "allowed_pose_tolerance_m": 0.003, "calibration_id": "synthetic_probe_v01", "friction_interval": [ 0.52, 0.52 ], "geometry_known": true, "gripper_max_opening_interval_m": [ 0.07, 0.07 ], "gripper_min_closure_m": 0.0, "mass_interval_kg": [ 0.0525, 0.0525 ], "object_width_interval_m": [ 0.04, 0.04 ], "observations_fresh": true, "per_finger_normal_force_budget_n": 10.0, "planned_upward_accel_m_s2": 0.1, "pose_specific_payload_limit_kg": 0.1, "pose_uncertainty_m": 0.0, "reachability": "reachable", "safety_factor": 1.5, "schema": "dvidia.task-feasibility-input/v1", "slip_detected": false, "test_lift_passed": false }, "receipt": { "audit": { "controller_claim_mismatches": [], "controller_claims_checked": 1, "controller_conservative_abstention_count": 0, "controller_coverage": "Only the supplied claims are checked; omitted decisions are not inferred.", "controller_false_qualification_count": 0, "controller_positive_claims": 0, "force_ceiling_known": true, "maximum_observed_per_finger_force_n": 0.5247663830642882, "reasons": [], "rows": 20000, "unexpected_contact_native_ticks": 0, "valid": true }, "context": { "asset_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe", "calibration_id": "synthetic_probe_v01", "calibration_scope": "simulation_assumptions_not_hardware", "command_sha256": "e7004eb30516e981d16e89052d26d8e3319fbf49b9905a960c23bf15f1ec484e", "feasibility_sha256": "c2fa3d26b0be6dfbc61f774d0909d34060823101e76700d427257a4000ab18bd", "grasp_id": "m0525-f52-p1-issued_joint-probe-1", "initial_object_position_m": [ 0.3080000005446975, -0.03499975816054938, 0.07989224451748383 ], "model_sha256": "411c585ef5ec3fb07de0533334510e197f2ce3f484f92432f51c3b4c01a316ed", "native_status": { "simulation_time_s": 20.00000000000146, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "object_id": "task_block", "per_finger_force_ceiling_n": 10.0, "pose_binding_sha256": "46501be2cbe7be61b74fac662ce353094659cf5749aaa7f513d4524da7126d19", "probe_index": 1, "probe_origin_object_position_m": [ 0.3099413576282146, -0.03508546430278777, 0.079858817884606 ], "probe_origin_tcp_local_offset_m": [ -0.0020317450040008866, 0.00023924760964065187, 0.0024163250450004196 ], "probe_start_s": 14.299999999997514, "robot_profile": "piper", "run_id": "m0525-f52-p1-issued_joint", "schema": "dvidia.probe-context/v1", "source_sha256": "d28324843344114f1ee863cee3c48dbca8aa37fd11222623563a0b1d40c364a6" }, "context_sha256": "69405957cd65bb0c183b32c461b0db78e39ae3c276d03ef9fbe5f33ad806fbbd", "controller_qualifications": [ { "probe_index": 1, "qualified": false, "t_seconds": 20.00000000000146 } ], "criteria": { "distance_comparison_epsilon": 1e-12, "initial_sample_tolerance_m": 0.001, "maximum_tcp_local_drift_m": 0.003, "minimum_continuous_dwell_s": 0.1, "minimum_per_finger_force_n_exclusive": 0.01, "minimum_rise_m": 0.006, "native_dt_s": 0.001, "origin_tolerance_m": 1e-09, "time_tolerance_s": 1e-08 }, "history": { "ever_qualified": false, "first_qualified_s": null, "maximum_continuous_qualifying_s": 0.0 }, "latest": { "condition_valid": false, "continuous_qualifying_s": 0.0, "controller_claim": { "probe_index": 1, "qualified": false, "t_seconds": 20.00000000000146 }, "native_tick": 20000, "qualified": false, "rise_m": 2.56729772171449e-05, "tcp_local_drift_m": 0.0037028162252107466, "time_s": 20.00000000000146 }, "metadata_sha256": "ad8229630cc9f8718829bb8317b1a82480dcf18b9f71bd23666acfe71a003ef7", "native_arrays_sha256": "a8bf20c5cfdfab191c23dcd6ba85d9d4f1b46f107e2acc458b54d39df80208b3", "physical_robot_ready": false, "receipt_sha256": "739ac2b99994be848407cb9331ed20d5161cc8cdd66f79ce345a0b2a49ab6c70", "schema": "dvidia.probe-evidence/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification." }, "status": "inspected", "verification": { "admissible": false, "historical_qualified": false, "latest_qualified": false, "physical_robot_ready": false, "reasons": [ "latest_native_window_not_qualified", "no_controller_qualification_for_this_probe", "latest_controller_not_qualified" ], "receipt_sha256": "739ac2b99994be848407cb9331ed20d5161cc8cdd66f79ce345a0b2a49ab6c70", "schema": "dvidia.probe-evidence-verification/v1", "scope": "Post-run privileged native simulation evidence for one bound probe. Synthetic assumptions are not hardware calibration. Hashes detect corruption, not authenticity. No physical actuation, load/friction inference or physical robot qualification.", "verified": true } }, "stationarity": { "complete_5s": false, "grip_retention_and_stationarity": false, "tcp_pose_within_bounds": false }, "status": "inspected" }, "files": { "episode.json.gz": { "bytes": 777770, "sha256": "093c2716bf52c2ca0227dbc7336c73805663b157f7b3b5dd06781ca231e50524" }, "evaluation.json": { "bytes": 12387, "sha256": "178a539cc531be5a8ea4e2e88fd8eaf5a010bcc4f7854348953b0150700e1c17" }, "native.json": { "bytes": 13763, "sha256": "19cc1d5998901cbc12da2916add3096763081e9decbfc7193981bfabc4b871e0" }, "native.npz": { "bytes": 4080211, "sha256": "acfbcfd72263cbc37de71299ae17421637181c6faade7dcc87010bdf6cd00369" }, "started.json": { "bytes": 151, "sha256": "0aa7f3e0704ab487529d340e758cee48ff8d7163cd37d0649fd674b7bb0e584a" } }, "friction": 0.52, "id": "m0525-f52-p1-issued_joint", "mass_kg": 0.0525, "metrics": { "carry_complete": false, "carry_contact_loss_events": 0, "carry_contact_loss_tolerance_seconds": 0.04, "dwell_seconds": 0.0, "first_success_time_seconds": null, "grasp_seen": true, "lift_dwell_seconds": 0.0, "lift_seen": false, "max_carry_contact_loss_seconds": 0.0, "max_object_lift_m": 0.00015357932655453432, "max_pad_normal_force_n": 0.5247663830642882, "physical_robot_ready": false, "reason": "timeout", "retention_lost": false, "simulation_time": 20.00000000000146, "steps": 1000, "success": false, "target_distance_m": 0.1214554450962188, "unexpected_contact_native_ticks": 0, "valid": true, "warnings": [] }, "policy": { "abort_reason": "relative_slip", "acquisition_contract": { "comparison_scope": "Closed-loop variants may acquire different trajectories through early hold/retry. This is not an isolated classifier ablation.", "control_dt_s": 0.02, "evidence_admission": "Current bilateral force >0.01 N, no table support, object rise >=6 mm and TCP-local offset drift <=3 mm continuously across sampled boundaries for elapsed >=100 ms.", "hold": "Latch measured six arm joints and the last issued jaw target at admission/terminal invalidity. No full lift/transfer, no squeeze escalation, no post-admission retry.", "invalidation": "At each subsequent 20 ms observation and final observation, invalidate immediately on lost contact/force, support, insufficient rise, >3 mm local drift or unexpected contact. Never requalify after terminal invalidity.", "observation_origin": "privileged_native_simulator_state", "parameters": { "close_timeout_s": 1.4, "consecutive_alarm_samples": 2, "max_retries": 1, "monitor_min_probe_motion_m": 0.003, "probe_height_m": 0.01, "probe_min_object_rise_m": 0.006, "probe_speed_m_s": 0.02, "probe_timeout_s": 1.4, "qualification_dwell_s": 0.1, "relative_drift_limit_m": 0.003, "retry_clearance_m": 0.012, "retry_open_timeout_s": 1.2, "retry_recenter_timeout_s": 1.5 }, "physical_robot_ready": false, "prefix": "Original GuardedPiperTaskPolicy approach/close and at most one supported open/recenter/retry; already uses authored native state, not a fully blind baseline.", "sampling_limit": "Independent 1 ms evidence may contradict sampled admission; that remains a finding. No sensor or material inference is implemented.", "schema": "dvidia.piper-probe-stop/v1", "stop_scope": "Holding native position targets is not physical arrest or calibrated force limiting; inertia and existing target rate limits can continue motion.", "timer_admission": "Same 10 mm/20 mm/s probe target law, admitted at elapsed >=600 ms from that probe start; no evidence predicate or slip alarm before admission. Unexpected contacts and bounded timeouts still stop.", "timer_admission_s": 0.6, "variants": [ "evidence", "timer" ] }, "acquisition_variant": "evidence", "active_probe_index": 1, "admission_time_s": null, "admitted": false, "contract": { "acquisition": "Unchanged ProbeStopPolicy evidence acquisition, including its bounded supported retry. All variants share the same prefix through the first admission observation.", "cartesian": "Latch measured TCP position/orientation and preceding issued targets. Fixed joint bias equals issued target minus pose_action at the admission pose. First command repeats the exact issued target; later pose_action updates receive that fixed bias.", "control_dt_s": 0.02, "final_observation": "Repeat force, original eligibility and Cartesian pose-error checks. Do not solve or issue a hypothetical next control at the terminal observation.", "invalid_measurements": "Malformed, nonfinite or noncausal observations terminally refuse and raise without issuing a command. No measured-position stop is claimed from invalid measurements.", "issued_joint": "Latch the preceding issued six joint targets and the same last issued jaw target at admission.", "limits": { "initial_joint_bias_ceiling_rad": 0.08, "joint_correction_ceiling_rad": 0.03, "joint_correction_rate_rad_s": 0.1, "native_joint_target_margin_rad": 0.02, "per_finger_force_ceiling_n": 10.0, "tcp_orientation_error_ceiling_rad": 0.05, "tcp_position_error_ceiling_m": 0.004 }, "measured_joint": "Original hold: latch measured six joint coordinates and the last issued jaw target at admission.", "observation_origin": "privileged_native_simulator_state", "physical_robot_ready": false, "qualifications": "Engineering limits and the 10 N ceiling are authored synthetic assumptions, not damage limits or calibrated physical telemetry. Position targets are not physical stops or force limiters. No load/friction inference, model training or complete placement is implemented.", "rate_scope": "The extra correction slews at at most 0.002 rad per 20 ms per joint. Original native 1 ms target slew, servos, gains and force caps remain unchanged.", "refusal": "Original eligibility loss, unexpected contact or observed pad force >10 N terminally requests measured joint hold and the frozen jaw target. Cartesian error, initial-bias, total-correction or native-margin exhaustion also refuses terminally; it never chases an already failed grip.", "sampling": "Control checks occur at 20 ms boundaries. Independent saved 1 ms native evidence must judge a continuous 5 s hold; missed between-boundary failures remain findings.", "schema": "dvidia.piper-retention/v2", "variants": [ "measured_joint", "issued_joint", "cartesian" ] }, "events": [ { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "continue", "drift_streak": 0, "object_height_delta_m": 0.0, "phase": "probe", "progress_streak": 0, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0, "retry_index": 0, "t_seconds": 11.379999999999132, "table_supported": true, "tcp_probe_height_delta_m": 0.0 }, "observation_origin": "privileged_native_simulator_state", "phase": "guard_probe", "probe_index": 0, "reason": "slow_load_bearing_check", "retention_variant": "issued_joint", "retry_index": 0, "status": "probing", "t_seconds": 11.379999999999132, "type": "probe_started", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "hold_measured_arm", "drift_streak": 2, "object_height_delta_m": 0.00012354316230783757, "phase": "probe", "progress_streak": 2, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0035466532598594936, "retry_index": 0, "t_seconds": 11.759999999998922, "table_supported": true, "tcp_probe_height_delta_m": 0.0036658034167677406 }, "observation_origin": "privileged_native_simulator_state", "phase": "guard_stop", "probe_index": 0, "reason": "object_not_following", "retention_variant": "issued_joint", "retry_index": 0, "status": "probing", "t_seconds": 11.759999999998922, "type": "alarm", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "hold_measured_arm", "drift_streak": 2, "object_height_delta_m": 0.00012354316230783757, "phase": "probe", "progress_streak": 2, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0035466532598594936, "retry_index": 0, "t_seconds": 11.759999999998922, "table_supported": true, "tcp_probe_height_delta_m": 0.0036658034167677406 }, "observation_origin": "privileged_native_simulator_state", "phase": "guard_stop", "probe_index": 0, "reason": "supported_object_only", "retention_variant": "issued_joint", "retry_index": 1, "status": "acquiring_retry", "t_seconds": 11.759999999998922, "type": "retry_started", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": false, "contact_loss_streak": 0, "decision": "recenter_with_open_jaw", "drift_streak": 2, "object_height_delta_m": -2.5682833198051314e-05, "phase": "retry_recenter", "progress_streak": 2, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.009739576113160743, "retry_index": 1, "t_seconds": 13.419999999998002, "table_supported": true, "tcp_probe_height_delta_m": 0.009697663994797392 }, "observation_origin": "privileged_native_simulator_state", "phase": "guard_retry_recenter", "probe_index": 0, "reason": "open_recenter_complete", "retention_variant": "issued_joint", "retry_index": 1, "status": "acquiring", "t_seconds": 13.419999999998002, "type": "retry_completed", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "continue", "drift_streak": 0, "object_height_delta_m": 0.0, "phase": "probe", "progress_streak": 0, "qualification_dwell_seconds": 0.0, "qualified": false, "relative_offset_error_m": 0.0, "retry_index": 1, "t_seconds": 14.299999999997514, "table_supported": true, "tcp_probe_height_delta_m": 0.0 }, "observation_origin": "privileged_native_simulator_state", "phase": "guard_probe", "probe_index": 1, "reason": "slow_load_bearing_check", "retention_variant": "issued_joint", "retry_index": 1, "status": "probing", "t_seconds": 14.299999999997514, "type": "probe_started", "variant": "evidence" }, { "diagnostic": { "bilateral_contact": true, "contact_loss_streak": 0, "decision": "hold_measured_arm", "drift_streak": 2, 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