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gap_reports/gap_4256c619-682d-43c2-a6ab-6331485cbf53.md

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+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4256c619-682d-43c2-a6ab-6331485cbf53.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4256c619-682d-43c2-a6ab-6331485cbf53.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2817 |
+| Sim rows | 251 |
+| Real episode_id | `4256c619-682d-43c2-a6ab-6331485cbf53` |
+| Sim episode_id | `4256c619-682d-43c2-a6ab-6331485cbf53` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 240 | 22 | 3.548 | 13.42 | 23.25 | 1986.00 | 0.5751 |
+| 1 | descend | 258 | 23 | 1.139 | 6.83 | 11.84 | 3625.96 | 0.6306 |
+| 2 | settle | 374 | 33 | 0.023 | 0.68 | 1.18 | 3625.96 | 0.6398 |
+| 3 | close | 147 | 13 | 0.935 | 5.81 | 10.06 | 1490.46 | 0.9520 |
+| 4 | lift | 425 | 37 | 3.433 | 14.08 | 24.38 | 1650.91 | 1.0484 |
+| 5 | move_xy | 407 | 36 | 7.995 | 34.32 | 59.45 | 2169.18 | 0.8716 |
+| 6 | lower | 392 | 34 | 0.081 | 1.20 | 2.08 | 1029.38 | 0.8785 |
+| 7 | open | 148 | 14 | 0.784 | 4.64 | 8.04 | 3626.18 | 0.5860 |
+| 8 | retract | 426 | 37 | 3.370 | 13.84 | 23.98 | 2270.14 | 0.6977 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.374 |
+| TCP position RMSE (mm, per-axis) | 14.34 |
+| EE position RMS L2 (mm) | 27.49 |
+| TCP rotvec (mrad) | 2565.89 |
+| W1 effort mean (A) | 0.7586 |
+| W1 effort per joint (A) | j0=0.2382, j1=1.1644, j2=1.4411, j3=0.6996, j4=0.3713, j5=0.6368 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00070 | -0.00026 | -0.00048 | 0.00089 | 0.030 |
+| 1 | 0.00070 | -0.00051 | -0.00080 | 0.00118 | 0.041 |
+| 2 | 0.00071 | -0.00055 | -0.00078 | 0.00119 | 0.039 |
+| 3 | 0.00142 | -0.00015 | -0.00070 | 0.00159 | 0.132 |
+| 4 | 0.00019 | -0.00012 | -0.00012 | 0.00025 | 0.090 |
+| 5 | 0.00169 | -0.00083 | -0.00122 | 0.00224 | 0.153 |
+| 6 | 0.00142 | -0.00076 | -0.00105 | 0.00193 | 0.125 |
+| 7 | 0.00051 | -0.00023 | -0.00056 | 0.00079 | 0.042 |
+| 8 | -0.00005 | -0.00007 | -0.00014 | 0.00016 | 0.028 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_4281c8c9-f7b9-41b8-af84-9a964c0777e6.md

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+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4281c8c9-f7b9-41b8-af84-9a964c0777e6.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4281c8c9-f7b9-41b8-af84-9a964c0777e6.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 554 |
+| Sim rows | 71 |
+| Real episode_id | `4281c8c9-f7b9-41b8-af84-9a964c0777e6` |
+| Sim episode_id | `4281c8c9-f7b9-41b8-af84-9a964c0777e6` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 345 | 34 | 2.587 | 10.12 | 17.53 | 590.09 | 0.7895 |
+| 1 | descend | 209 | 21 | 0.024 | 0.42 | 0.73 | 2.18 | 0.7949 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.829 |
+| TCP position RMSE (mm, per-axis) | 7.16 |
+| EE position RMS L2 (mm) | 13.84 |
+| TCP rotvec (mrad) | 417.26 |
+| W1 effort mean (A) | 0.7915 |
+| W1 effort per joint (A) | j0=0.1719, j1=1.6675, j2=1.7639, j3=0.8819, j4=0.1352, j5=0.1286 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | -0.00019 | -0.00022 | 0.00078 | 0.00083 | 0.027 |
+| 1 | -0.00003 | -0.00023 | 0.00069 | 0.00073 | 0.042 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_4284bc1b-cc03-4e41-a4de-9b9bd22b4002.md

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+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4284bc1b-cc03-4e41-a4de-9b9bd22b4002.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4284bc1b-cc03-4e41-a4de-9b9bd22b4002.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2186 |
+| Sim rows | 221 |
+| Real episode_id | `4284bc1b-cc03-4e41-a4de-9b9bd22b4002` |
+| Sim episode_id | `4284bc1b-cc03-4e41-a4de-9b9bd22b4002` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 148 | 15 | 2.589 | 12.49 | 21.63 | 2021.15 | 0.5802 |
+| 1 | descend | 289 | 29 | 1.416 | 9.04 | 15.66 | 3625.35 | 0.7039 |
+| 2 | settle | 326 | 32 | 0.022 | 0.73 | 1.26 | 3625.27 | 0.7318 |
+| 3 | close | 124 | 13 | 1.058 | 7.02 | 12.17 | 3516.73 | 1.0387 |
+| 4 | lift | 265 | 27 | 2.431 | 11.74 | 20.34 | 2336.13 | 1.0923 |
+| 5 | move_xy | 291 | 29 | 4.892 | 26.27 | 45.51 | 2772.57 | 0.8819 |
+| 6 | lower | 346 | 34 | 0.081 | 1.27 | 2.19 | 3552.01 | 0.9740 |
+| 7 | open | 127 | 13 | 0.935 | 5.96 | 10.32 | 3625.50 | 0.6401 |
+| 8 | retract | 270 | 27 | 2.243 | 10.81 | 18.72 | 2314.07 | 0.7264 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.251 |
+| TCP position RMSE (mm, per-axis) | 11.88 |
+| EE position RMS L2 (mm) | 21.18 |
+| TCP rotvec (mrad) | 3109.10 |
+| W1 effort mean (A) | 0.8069 |
+| W1 effort per joint (A) | j0=0.2423, j1=1.4014, j2=1.5674, j3=0.7162, j4=0.3255, j5=0.5889 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00041 | -0.00035 | -0.00068 | 0.00087 | 0.038 |
+| 1 | 0.00042 | -0.00070 | -0.00099 | 0.00128 | 0.044 |
+| 2 | 0.00043 | -0.00072 | -0.00094 | 0.00126 | 0.041 |
+| 3 | 0.00084 | -0.00057 | -0.00066 | 0.00121 | 0.086 |
+| 4 | -0.00006 | -0.00063 | -0.00071 | 0.00095 | 0.102 |
+| 5 | 0.00110 | -0.00110 | -0.00155 | 0.00220 | 0.114 |
+| 6 | 0.00156 | -0.00100 | -0.00176 | 0.00256 | 0.168 |
+| 7 | 0.00025 | -0.00048 | -0.00075 | 0.00093 | 0.049 |
+| 8 | -0.00009 | -0.00016 | -0.00019 | 0.00026 | 0.030 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_42961e7a-140a-49d4-a03e-39a6c6674bc8.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/42961e7a-140a-49d4-a03e-39a6c6674bc8.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/42961e7a-140a-49d4-a03e-39a6c6674bc8.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2772 |
+| Sim rows | 249 |
+| Real episode_id | `42961e7a-140a-49d4-a03e-39a6c6674bc8` |
+| Sim episode_id | `42961e7a-140a-49d4-a03e-39a6c6674bc8` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 248 | 22 | 3.333 | 16.93 | 29.33 | 1966.63 | 0.6160 |
+| 1 | descend | 371 | 33 | 1.082 | 7.59 | 13.14 | 3624.73 | 0.7964 |
+| 2 | settle | 372 | 33 | 0.025 | 0.96 | 1.66 | 3624.60 | 0.7135 |
+| 3 | close | 142 | 13 | 0.828 | 5.61 | 9.72 | 3625.11 | 1.0310 |
+| 4 | lift | 334 | 30 | 2.884 | 15.82 | 27.41 | 2338.81 | 1.1298 |
+| 5 | move_xy | 423 | 37 | 6.020 | 34.75 | 60.19 | 2775.64 | 0.9183 |
+| 6 | lower | 406 | 36 | 0.091 | 1.68 | 2.91 | 3625.07 | 1.0203 |
+| 7 | open | 139 | 13 | 0.817 | 5.60 | 9.70 | 3624.69 | 0.7605 |
+| 8 | retract | 337 | 30 | 2.905 | 15.95 | 27.62 | 2344.68 | 0.7498 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.721 |
+| TCP position RMSE (mm, per-axis) | 15.36 |
+| EE position RMS L2 (mm) | 29.11 |
+| TCP rotvec (mrad) | 3131.15 |
+| W1 effort mean (A) | 0.8438 |
+| W1 effort per joint (A) | j0=0.2262, j1=1.5072, j2=1.6998, j3=0.7571, j4=0.2628, j5=0.6096 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00093 | -0.00039 | -0.00075 | 0.00126 | 0.027 |
+| 1 | 0.00092 | -0.00073 | -0.00118 | 0.00166 | 0.048 |
+| 2 | 0.00091 | -0.00077 | -0.00114 | 0.00165 | 0.051 |
+| 3 | 0.00139 | -0.00051 | -0.00082 | 0.00169 | 0.102 |
+| 4 | 0.00018 | -0.00045 | -0.00065 | 0.00081 | 0.100 |
+| 5 | 0.00192 | -0.00096 | -0.00093 | 0.00234 | 0.117 |
+| 6 | 0.00175 | -0.00109 | -0.00186 | 0.00278 | 0.130 |
+| 7 | 0.00074 | -0.00041 | -0.00095 | 0.00127 | 0.042 |
+| 8 | -0.00013 | -0.00018 | -0.00018 | 0.00029 | 0.032 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_42d727f5-c406-4892-bf45-98b948359bac.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/42d727f5-c406-4892-bf45-98b948359bac.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/42d727f5-c406-4892-bf45-98b948359bac.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2781 |
+| Sim rows | 247 |
+| Real episode_id | `42d727f5-c406-4892-bf45-98b948359bac` |
+| Sim episode_id | `42d727f5-c406-4892-bf45-98b948359bac` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 284 | 25 | 3.797 | 16.61 | 28.76 | 2006.52 | 0.5820 |
+| 1 | descend | 261 | 23 | 0.597 | 3.85 | 6.66 | 3625.32 | 0.7009 |
+| 2 | settle | 359 | 31 | 0.023 | 0.82 | 1.42 | 3625.24 | 0.6504 |
+| 3 | close | 139 | 13 | 0.824 | 5.41 | 9.37 | 3420.31 | 0.9393 |
+| 4 | lift | 363 | 32 | 3.669 | 16.97 | 29.39 | 2376.75 | 1.1150 |
+| 5 | move_xy | 494 | 43 | 8.151 | 40.02 | 69.31 | 2820.57 | 0.8610 |
+| 6 | lower | 381 | 33 | 0.091 | 1.52 | 2.63 | 3471.73 | 0.8988 |
+| 7 | open | 137 | 13 | 0.594 | 4.02 | 6.97 | 3625.49 | 0.6265 |
+| 8 | retract | 363 | 32 | 3.664 | 17.02 | 29.48 | 2361.27 | 0.7315 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.482 |
+| TCP position RMSE (mm, per-axis) | 16.73 |
+| EE position RMS L2 (mm) | 34.29 |
+| TCP rotvec (mrad) | 3098.16 |
+| W1 effort mean (A) | 0.7801 |
+| W1 effort per joint (A) | j0=0.2154, j1=1.3128, j2=1.4885, j3=0.7385, j4=0.3290, j5=0.5961 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00088 | -0.00030 | -0.00067 | 0.00115 | 0.028 |
+| 1 | 0.00083 | -0.00058 | -0.00101 | 0.00143 | 0.055 |
+| 2 | 0.00088 | -0.00059 | -0.00096 | 0.00143 | 0.045 |
+| 3 | 0.00129 | -0.00028 | -0.00155 | 0.00204 | 0.124 |
+| 4 | 0.00024 | -0.00014 | -0.00041 | 0.00050 | 0.090 |
+| 5 | 0.00185 | -0.00084 | -0.00168 | 0.00264 | 0.140 |
+| 6 | 0.00179 | -0.00075 | -0.00195 | 0.00275 | 0.141 |
+| 7 | 0.00067 | -0.00029 | -0.00073 | 0.00104 | 0.040 |
+| 8 | -0.00012 | -0.00017 | -0.00018 | 0.00028 | 0.030 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_42fef4d1-91cb-4d24-8775-91c786e592ee.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/42fef4d1-91cb-4d24-8775-91c786e592ee.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/42fef4d1-91cb-4d24-8775-91c786e592ee.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2509 |
+| Sim rows | 222 |
+| Real episode_id | `42fef4d1-91cb-4d24-8775-91c786e592ee` |
+| Sim episode_id | `42fef4d1-91cb-4d24-8775-91c786e592ee` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 206 | 18 | 2.419 | 13.34 | 23.11 | 1890.00 | 0.6190 |
+| 1 | descend | 340 | 30 | 0.744 | 5.08 | 8.79 | 3624.64 | 0.8255 |
+| 2 | settle | 381 | 33 | 0.030 | 0.98 | 1.70 | 3552.48 | 0.7397 |
+| 3 | close | 144 | 13 | 0.873 | 6.09 | 10.55 | 3625.22 | 1.0520 |
+| 4 | lift | 253 | 22 | 2.078 | 11.94 | 20.68 | 2379.45 | 1.1714 |
+| 5 | move_xy | 380 | 33 | 5.317 | 32.47 | 56.23 | 2820.27 | 0.9377 |
+| 6 | lower | 412 | 36 | 0.097 | 1.73 | 2.99 | 3624.99 | 1.0980 |
+| 7 | open | 142 | 13 | 0.967 | 6.61 | 11.44 | 3624.77 | 0.7230 |
+| 8 | retract | 251 | 22 | 2.100 | 12.05 | 20.87 | 2366.75 | 0.7552 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.239 |
+| TCP position RMSE (mm, per-axis) | 13.46 |
+| EE position RMS L2 (mm) | 25.21 |
+| TCP rotvec (mrad) | 3126.40 |
+| W1 effort mean (A) | 0.8669 |
+| W1 effort per joint (A) | j0=0.2944, j1=1.5525, j2=1.6233, j3=0.7611, j4=0.3789, j5=0.5913 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00079 | -0.00045 | -0.00069 | 0.00114 | 0.027 |
+| 1 | 0.00076 | -0.00085 | -0.00125 | 0.00169 | 0.055 |
+| 2 | 0.00079 | -0.00088 | -0.00118 | 0.00167 | 0.056 |
+| 3 | 0.00123 | -0.00067 | -0.00097 | 0.00171 | 0.079 |
+| 4 | 0.00016 | -0.00048 | -0.00046 | 0.00069 | 0.115 |
+| 5 | 0.00155 | -0.00114 | -0.00171 | 0.00258 | 0.115 |
+| 6 | 0.00265 | -0.00137 | -0.00198 | 0.00358 | 0.263 |
+| 7 | 0.00060 | -0.00057 | -0.00098 | 0.00128 | 0.058 |
+| 8 | -0.00012 | -0.00024 | -0.00022 | 0.00034 | 0.042 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_430d5a0c-09a9-4ccd-872c-1b6ce7e788d0.md

@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/430d5a0c-09a9-4ccd-872c-1b6ce7e788d0.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/430d5a0c-09a9-4ccd-872c-1b6ce7e788d0.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1509 |
+| Sim rows | 154 |
+| Real episode_id | `430d5a0c-09a9-4ccd-872c-1b6ce7e788d0` |
+| Sim episode_id | `430d5a0c-09a9-4ccd-872c-1b6ce7e788d0` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 176 | 18 | 3.110 | 20.41 | 35.36 | 800.55 | 0.7478 |
+| 1 | descend | 87 | 9 | 0.809 | 4.55 | 7.89 | 7.04 | 0.8369 |
+| 2 | settle | 28 | 4 | 0.033 | 3.50 | 6.07 | 7.35 | 0.7427 |
+| 3 | close | 295 | 29 | 0.164 | 4.35 | 7.53 | 12.75 | 1.2456 |
+| 4 | lift | 87 | 9 | 0.800 | 4.87 | 8.44 | 12.53 | 1.4384 |
+| 5 | move_xy | 160 | 17 | 9.854 | 12.20 | 21.14 | 340.71 | 1.3389 |
+| 6 | lower | 85 | 9 | 19.083 | 4.11 | 7.12 | 737.86 | 1.2317 |
+| 7 | open | 281 | 28 | 19.060 | 2.67 | 4.63 | 736.94 | 0.8295 |
+| 8 | retract | 86 | 9 | 19.079 | 4.04 | 7.00 | 736.47 | 0.8471 |
+| 9 | return | 224 | 22 | 10.518 | 8.86 | 15.35 | 1167.31 | 0.8337 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 11.446 |
+| TCP position RMSE (mm, per-axis) | 8.72 |
+| EE position RMS L2 (mm) | 16.04 |
+| TCP rotvec (mrad) | 612.36 |
+| W1 effort mean (A) | 0.9958 |
+| W1 effort per joint (A) | j0=0.2130, j1=1.8941, j2=1.6396, j3=0.8047, j4=0.4621, j5=0.9611 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00256 | -0.00506 | -0.00116 | 0.00578 | 0.085 |
+| 1 | 0.00297 | -0.00510 | -0.00139 | 0.00606 | 0.054 |
+| 2 | 0.00292 | -0.00510 | -0.00154 | 0.00607 | 0.070 |
+| 3 | 0.00347 | -0.00476 | -0.00436 | 0.00733 | 0.265 |
+| 4 | 0.00273 | -0.00520 | -0.00479 | 0.00758 | 0.337 |
+| 5 | 0.00192 | -0.00394 | -0.00174 | 0.00471 | 46.710 |
+| 6 | 0.00293 | -0.00338 | -0.00215 | 0.00496 | 46.688 |
+| 7 | 0.00202 | -0.00416 | -0.00034 | 0.00463 | 46.684 |
+| 8 | 0.00147 | -0.00420 | -0.00040 | 0.00447 | 46.721 |
+| 9 | -0.00009 | -0.00013 | -0.00024 | 0.00029 | 0.030 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_430f333f-1809-4c4c-8180-d1a6cdd3226f.md

@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/430f333f-1809-4c4c-8180-d1a6cdd3226f.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/430f333f-1809-4c4c-8180-d1a6cdd3226f.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1611 |
+| Sim rows | 162 |
+| Real episode_id | `430f333f-1809-4c4c-8180-d1a6cdd3226f` |
+| Sim episode_id | `430f333f-1809-4c4c-8180-d1a6cdd3226f` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 203 | 21 | 4.964 | 19.31 | 33.45 | 621.01 | 0.6934 |
+| 1 | descend | 98 | 10 | 4.774 | 4.26 | 7.37 | 185.12 | 0.8175 |
+| 2 | settle | 34 | 4 | 4.672 | 2.31 | 4.00 | 185.04 | 0.8538 |
+| 3 | close | 307 | 30 | 4.673 | 2.40 | 4.15 | 184.78 | 1.2497 |
+| 4 | lift | 98 | 10 | 4.742 | 3.93 | 6.81 | 184.76 | 1.3913 |
+| 5 | move_xy | 230 | 23 | 7.185 | 42.80 | 74.13 | 251.15 | 1.3276 |
+| 6 | lower | 98 | 10 | 1.023 | 5.11 | 8.84 | 4.16 | 1.0816 |
+| 7 | open | 288 | 28 | 0.026 | 2.93 | 5.08 | 5.17 | 0.5569 |
+| 8 | retract | 97 | 10 | 0.963 | 4.83 | 8.36 | 4.44 | 0.7107 |
+| 9 | return | 158 | 16 | 2.041 | 10.09 | 17.48 | 1105.61 | 0.7244 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 4.139 |
+| TCP position RMSE (mm, per-axis) | 15.52 |
+| EE position RMS L2 (mm) | 31.29 |
+| TCP rotvec (mrad) | 425.20 |
+| W1 effort mean (A) | 0.9185 |
+| W1 effort per joint (A) | j0=0.2177, j1=1.8102, j2=1.6814, j3=0.9664, j4=0.1827, j5=0.6528 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00266 | -0.00316 | -0.00108 | 0.00427 | 11.561 |
+| 1 | 0.00277 | -0.00288 | -0.00025 | 0.00400 | 11.452 |
+| 2 | 0.00277 | -0.00286 | -0.00047 | 0.00401 | 11.443 |
+| 3 | 0.00267 | -0.00304 | -0.00069 | 0.00410 | 11.447 |
+| 4 | 0.00270 | -0.00342 | -0.00095 | 0.00446 | 11.557 |
+| 5 | 0.00131 | -0.00441 | -0.00107 | 0.00472 | 0.102 |
+| 6 | 0.00227 | -0.00445 | -0.00132 | 0.00516 | 0.121 |
+| 7 | 0.00202 | -0.00461 | -0.00074 | 0.00509 | 0.040 |
+| 8 | 0.00139 | -0.00432 | -0.00079 | 0.00461 | 0.042 |
+| 9 | -0.00021 | -0.00015 | -0.00028 | 0.00038 | 0.036 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_431dad02-5655-41b4-93dc-dcd082808d1b.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/431dad02-5655-41b4-93dc-dcd082808d1b.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/431dad02-5655-41b4-93dc-dcd082808d1b.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2861 |
+| Sim rows | 254 |
+| Real episode_id | `431dad02-5655-41b4-93dc-dcd082808d1b` |
+| Sim episode_id | `431dad02-5655-41b4-93dc-dcd082808d1b` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 229 | 20 | 2.690 | 11.53 | 19.97 | 1855.74 | 0.6373 |
+| 1 | descend | 398 | 35 | 0.328 | 2.42 | 4.19 | 3625.29 | 1.0185 |
+| 2 | settle | 390 | 34 | 0.025 | 0.83 | 1.44 | 3625.27 | 0.9353 |
+| 3 | close | 138 | 13 | 0.622 | 4.26 | 7.38 | 3419.86 | 1.1797 |
+| 4 | lift | 400 | 35 | 3.754 | 18.01 | 31.20 | 2285.90 | 1.2721 |
+| 5 | move_xy | 362 | 32 | 6.340 | 31.07 | 53.81 | 2493.12 | 1.0927 |
+| 6 | lower | 405 | 35 | 0.086 | 1.44 | 2.50 | 3406.39 | 1.2806 |
+| 7 | open | 137 | 13 | 0.609 | 4.10 | 7.10 | 3625.47 | 0.8278 |
+| 8 | retract | 402 | 35 | 3.555 | 16.76 | 29.02 | 2336.54 | 0.8947 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.887 |
+| TCP position RMSE (mm, per-axis) | 13.93 |
+| EE position RMS L2 (mm) | 25.72 |
+| TCP rotvec (mrad) | 3038.14 |
+| W1 effort mean (A) | 1.0312 |
+| W1 effort per joint (A) | j0=0.6879, j1=1.2775, j2=1.8103, j3=1.0712, j4=0.7408, j5=0.5996 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00087 | -0.00038 | -0.00057 | 0.00110 | 0.039 |
+| 1 | 0.00092 | -0.00055 | -0.00104 | 0.00149 | 0.050 |
+| 2 | 0.00087 | -0.00059 | -0.00097 | 0.00143 | 0.048 |
+| 3 | 0.00215 | -0.00031 | -0.00245 | 0.00328 | 0.204 |
+| 4 | 0.00009 | -0.00036 | -0.00042 | 0.00056 | 0.093 |
+| 5 | 0.00167 | -0.00091 | -0.00080 | 0.00207 | 0.117 |
+| 6 | 0.00153 | -0.00086 | -0.00091 | 0.00198 | 0.108 |
+| 7 | 0.00075 | -0.00035 | -0.00078 | 0.00114 | 0.041 |
+| 8 | -0.00009 | -0.00012 | -0.00014 | 0.00020 | 0.027 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_43694742-8ec3-461f-8956-33ef01c0a3b0.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/43694742-8ec3-461f-8956-33ef01c0a3b0.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/43694742-8ec3-461f-8956-33ef01c0a3b0.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2999 |
+| Sim rows | 267 |
+| Real episode_id | `43694742-8ec3-461f-8956-33ef01c0a3b0` |
+| Sim episode_id | `43694742-8ec3-461f-8956-33ef01c0a3b0` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 259 | 23 | 3.918 | 17.60 | 30.48 | 1989.46 | 0.5978 |
+| 1 | descend | 590 | 51 | 0.557 | 3.93 | 6.81 | 3625.35 | 0.7266 |
+| 2 | settle | 384 | 34 | 0.025 | 0.84 | 1.45 | 3625.18 | 0.6774 |
+| 3 | close | 151 | 14 | 0.546 | 3.67 | 6.35 | 3435.89 | 0.9908 |
+| 4 | lift | 324 | 29 | 3.585 | 16.58 | 28.71 | 2340.41 | 1.1227 |
+| 5 | move_xy | 433 | 38 | 7.767 | 37.99 | 65.80 | 2678.87 | 0.9121 |
+| 6 | lower | 381 | 33 | 0.088 | 1.49 | 2.58 | 3549.57 | 1.0397 |
+| 7 | open | 151 | 14 | 0.536 | 3.48 | 6.03 | 3625.30 | 0.7753 |
+| 8 | retract | 326 | 29 | 3.730 | 17.39 | 30.11 | 2392.61 | 0.7365 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.389 |
+| TCP position RMSE (mm, per-axis) | 16.24 |
+| EE position RMS L2 (mm) | 30.12 |
+| TCP rotvec (mrad) | 3094.24 |
+| W1 effort mean (A) | 0.8128 |
+| W1 effort per joint (A) | j0=0.2239, j1=1.3808, j2=1.6084, j3=0.8076, j4=0.2811, j5=0.5753 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00087 | -0.00033 | -0.00068 | 0.00115 | 0.028 |
+| 1 | 0.00090 | -0.00061 | -0.00096 | 0.00145 | 0.047 |
+| 2 | 0.00085 | -0.00059 | -0.00102 | 0.00145 | 0.053 |
+| 3 | 0.00144 | -0.00033 | -0.00194 | 0.00244 | 0.178 |
+| 4 | 0.00029 | -0.00029 | -0.00040 | 0.00057 | 0.108 |
+| 5 | 0.00220 | -0.00071 | -0.00175 | 0.00290 | 0.179 |
+| 6 | 0.00241 | -0.00091 | -0.00150 | 0.00298 | 0.211 |
+| 7 | 0.00072 | -0.00030 | -0.00075 | 0.00108 | 0.039 |
+| 8 | -0.00013 | -0.00019 | -0.00021 | 0.00031 | 0.032 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_436b8d20-7c5f-468f-b1bb-23ce3313494f.md

@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/436b8d20-7c5f-468f-b1bb-23ce3313494f.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/436b8d20-7c5f-468f-b1bb-23ce3313494f.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1137 |
+| Sim rows | 115 |
+| Real episode_id | `436b8d20-7c5f-468f-b1bb-23ce3313494f` |
+| Sim episode_id | `436b8d20-7c5f-468f-b1bb-23ce3313494f` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 184 | 18 | 8.575 | 15.91 | 27.55 | 709.18 | 0.6885 |
+| 1 | descend | 76 | 8 | 14.933 | 3.39 | 5.87 | 578.63 | 0.8369 |
+| 2 | settle | 35 | 4 | 14.915 | 2.67 | 4.62 | 578.69 | 0.8464 |
+| 3 | close | 39 | 5 | 14.915 | 3.00 | 5.19 | 579.93 | 1.2371 |
+| 4 | lift | 79 | 8 | 14.928 | 3.52 | 6.09 | 579.91 | 1.2880 |
+| 5 | move_xy | 225 | 22 | 9.298 | 28.02 | 48.53 | 1246.25 | 1.2135 |
+| 6 | lower | 77 | 8 | 0.493 | 4.37 | 7.56 | 3264.16 | 1.0683 |
+| 7 | open | 69 | 7 | 0.023 | 3.04 | 5.27 | 5.87 | 0.7230 |
+| 8 | retract | 76 | 8 | 0.437 | 3.45 | 5.98 | 5.43 | 0.7538 |
+| 9 | return | 277 | 27 | 2.764 | 19.38 | 33.57 | 1015.79 | 0.7128 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 10.290 |
+| TCP position RMSE (mm, per-axis) | 12.22 |
+| EE position RMS L2 (mm) | 29.63 |
+| TCP rotvec (mrad) | 1228.21 |
+| W1 effort mean (A) | 0.8645 |
+| W1 effort per joint (A) | j0=0.1783, j1=1.7020, j2=1.5938, j3=0.7141, j4=0.3508, j5=0.6477 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00245 | -0.00379 | -0.00012 | 0.00451 | 36.588 |
+| 1 | 0.00272 | -0.00371 | -0.00040 | 0.00462 | 36.538 |
+| 2 | 0.00269 | -0.00372 | -0.00056 | 0.00463 | 36.534 |
+| 3 | 0.00340 | -0.00301 | -0.00278 | 0.00533 | 36.532 |
+| 4 | 0.00312 | -0.00349 | -0.00274 | 0.00542 | 36.584 |
+| 5 | 0.00252 | -0.00444 | -0.00325 | 0.00605 | 0.255 |
+| 6 | 0.00295 | -0.00424 | -0.00331 | 0.00613 | 0.247 |
+| 7 | 0.00217 | -0.00467 | -0.00117 | 0.00528 | 0.052 |
+| 8 | 0.00187 | -0.00450 | -0.00124 | 0.00503 | 0.055 |
+| 9 | -0.00016 | -0.00011 | -0.00030 | 0.00036 | 0.034 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_437f812a-2120-4c43-b832-48f816849db9.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/437f812a-2120-4c43-b832-48f816849db9.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/437f812a-2120-4c43-b832-48f816849db9.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2722 |
+| Sim rows | 272 |
+| Real episode_id | `437f812a-2120-4c43-b832-48f816849db9` |
+| Sim episode_id | `437f812a-2120-4c43-b832-48f816849db9` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 250 | 25 | 3.936 | 19.59 | 33.94 | 1904.31 | 0.6280 |
+| 1 | descend | 349 | 35 | 0.573 | 4.10 | 7.10 | 3624.72 | 0.7590 |
+| 2 | settle | 306 | 30 | 0.026 | 1.00 | 1.74 | 3624.59 | 0.7426 |
+| 3 | close | 116 | 12 | 0.899 | 6.40 | 11.08 | 3625.29 | 1.0134 |
+| 4 | lift | 410 | 40 | 3.317 | 17.49 | 30.29 | 2395.52 | 1.1188 |
+| 5 | move_xy | 428 | 42 | 8.013 | 44.19 | 76.54 | 2703.66 | 0.9203 |
+| 6 | lower | 338 | 34 | 0.091 | 1.73 | 3.00 | 3551.28 | 1.0396 |
+| 7 | open | 116 | 12 | 0.725 | 5.14 | 8.90 | 3624.79 | 0.7477 |
+| 8 | retract | 409 | 40 | 3.366 | 17.84 | 30.90 | 2418.03 | 0.7527 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.394 |
+| TCP position RMSE (mm, per-axis) | 18.41 |
+| EE position RMS L2 (mm) | 36.40 |
+| TCP rotvec (mrad) | 3121.45 |
+| W1 effort mean (A) | 0.8463 |
+| W1 effort per joint (A) | j0=0.2463, j1=1.5365, j2=1.6210, j3=0.7646, j4=0.3039, j5=0.6056 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00112 | -0.00025 | -0.00084 | 0.00142 | 0.034 |
+| 1 | 0.00118 | -0.00065 | -0.00118 | 0.00179 | 0.057 |
+| 2 | 0.00110 | -0.00065 | -0.00115 | 0.00172 | 0.054 |
+| 3 | 0.00210 | -0.00028 | -0.00106 | 0.00237 | 0.152 |
+| 4 | 0.00012 | -0.00033 | -0.00043 | 0.00055 | 0.094 |
+| 5 | 0.00266 | -0.00091 | -0.00279 | 0.00396 | 0.203 |
+| 6 | 0.00240 | -0.00093 | -0.00065 | 0.00266 | 0.170 |
+| 7 | 0.00093 | -0.00025 | -0.00095 | 0.00135 | 0.042 |
+| 8 | -0.00010 | -0.00013 | -0.00015 | 0.00022 | 0.021 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_438b4bc6-8443-4fd3-b7a5-02ca35e25560.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/438b4bc6-8443-4fd3-b7a5-02ca35e25560.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/438b4bc6-8443-4fd3-b7a5-02ca35e25560.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2711 |
+| Sim rows | 241 |
+| Real episode_id | `438b4bc6-8443-4fd3-b7a5-02ca35e25560` |
+| Sim episode_id | `438b4bc6-8443-4fd3-b7a5-02ca35e25560` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 229 | 21 | 2.976 | 15.49 | 26.83 | 1945.99 | 0.6261 |
+| 1 | descend | 434 | 38 | 0.652 | 4.78 | 8.28 | 3624.72 | 0.9776 |
+| 2 | settle | 358 | 31 | 0.029 | 0.97 | 1.69 | 3624.47 | 0.7794 |
+| 3 | close | 145 | 13 | 0.706 | 5.01 | 8.68 | 3625.32 | 1.0129 |
+| 4 | lift | 308 | 27 | 2.208 | 12.35 | 21.40 | 2290.95 | 1.1454 |
+| 5 | move_xy | 407 | 36 | 6.699 | 39.40 | 68.24 | 2692.40 | 0.9277 |
+| 6 | lower | 379 | 33 | 0.086 | 1.63 | 2.82 | 3625.23 | 1.1309 |
+| 7 | open | 145 | 13 | 0.644 | 4.63 | 8.01 | 3624.58 | 0.8630 |
+| 8 | retract | 306 | 27 | 2.230 | 12.56 | 21.75 | 2279.40 | 0.7545 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.686 |
+| TCP position RMSE (mm, per-axis) | 15.55 |
+| EE position RMS L2 (mm) | 29.75 |
+| TCP rotvec (mrad) | 3112.31 |
+| W1 effort mean (A) | 0.8895 |
+| W1 effort per joint (A) | j0=0.2439, j1=1.5834, j2=1.6776, j3=0.9744, j4=0.2358, j5=0.6218 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00097 | -0.00042 | -0.00085 | 0.00135 | 0.033 |
+| 1 | 0.00103 | -0.00074 | -0.00122 | 0.00176 | 0.055 |
+| 2 | 0.00093 | -0.00077 | -0.00119 | 0.00170 | 0.056 |
+| 3 | 0.00143 | -0.00058 | -0.00062 | 0.00166 | 0.076 |
+| 4 | 0.00022 | -0.00017 | -0.00026 | 0.00038 | 0.077 |
+| 5 | 0.00231 | -0.00100 | -0.00111 | 0.00275 | 0.173 |
+| 6 | 0.00252 | -0.00117 | -0.00197 | 0.00341 | 0.206 |
+| 7 | 0.00079 | -0.00044 | -0.00099 | 0.00134 | 0.044 |
+| 8 | -0.00016 | -0.00026 | -0.00023 | 0.00038 | 0.044 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_43954580-8bdd-4d7d-a204-76625b1ee330.md

@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/43954580-8bdd-4d7d-a204-76625b1ee330.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/43954580-8bdd-4d7d-a204-76625b1ee330.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1186 |
+| Sim rows | 123 |
+| Real episode_id | `43954580-8bdd-4d7d-a204-76625b1ee330` |
+| Sim episode_id | `43954580-8bdd-4d7d-a204-76625b1ee330` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 157 | 16 | 2.762 | 11.58 | 20.06 | 813.27 | 0.7197 |
+| 1 | descend | 67 | 7 | 0.558 | 3.39 | 5.87 | 5.00 | 0.6817 |
+| 2 | settle | 36 | 4 | 0.023 | 2.22 | 3.84 | 5.47 | 0.7584 |
+| 3 | close | 42 | 5 | 0.144 | 1.80 | 3.12 | 6.70 | 1.0805 |
+| 4 | lift | 70 | 8 | 0.403 | 2.59 | 4.48 | 8.44 | 1.1064 |
+| 5 | move_xy | 181 | 18 | 7.775 | 27.47 | 47.57 | 5.24 | 1.1038 |
+| 6 | lower | 68 | 7 | 0.673 | 2.97 | 5.14 | 4.29 | 0.7956 |
+| 7 | open | 87 | 9 | 0.015 | 2.41 | 4.18 | 4.93 | 0.4694 |
+| 8 | retract | 69 | 8 | 0.845 | 3.31 | 5.74 | 4.45 | 0.5673 |
+| 9 | return | 409 | 41 | 4.385 | 11.93 | 20.67 | 596.89 | 0.5462 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.983 |
+| TCP position RMSE (mm, per-axis) | 10.41 |
+| EE position RMS L2 (mm) | 23.55 |
+| TCP rotvec (mrad) | 319.05 |
+| W1 effort mean (A) | 0.6766 |
+| W1 effort per joint (A) | j0=0.1663, j1=0.9913, j2=1.6421, j3=0.6882, j4=0.2528, j5=0.3187 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00181 | -0.00313 | -0.00013 | 0.00362 | 0.036 |
+| 1 | 0.00221 | -0.00314 | -0.00016 | 0.00384 | 0.045 |
+| 2 | 0.00223 | -0.00309 | -0.00044 | 0.00384 | 0.057 |
+| 3 | -0.00008 | -0.00293 | -0.00078 | 0.00303 | 0.437 |
+| 4 | -0.00027 | -0.00322 | -0.00139 | 0.00351 | 0.261 |
+| 5 | 0.00060 | -0.00342 | 0.00017 | 0.00348 | 0.177 |
+| 6 | 0.00070 | -0.00384 | 0.00005 | 0.00391 | 0.224 |
+| 7 | 0.00135 | -0.00390 | -0.00045 | 0.00415 | 0.025 |
+| 8 | 0.00131 | -0.00342 | -0.00070 | 0.00372 | 0.057 |
+| 9 | -0.00016 | -0.00007 | -0.00029 | 0.00034 | 0.032 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_43997f0e-87c7-4700-8250-ded1dd2818c2.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/43997f0e-87c7-4700-8250-ded1dd2818c2.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/43997f0e-87c7-4700-8250-ded1dd2818c2.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 3122 |
+| Sim rows | 273 |
+| Real episode_id | `43997f0e-87c7-4700-8250-ded1dd2818c2` |
+| Sim episode_id | `43997f0e-87c7-4700-8250-ded1dd2818c2` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 240 | 21 | 3.973 | 19.20 | 33.26 | 1915.24 | 0.6490 |
+| 1 | descend | 389 | 34 | 0.701 | 4.93 | 8.55 | 3624.74 | 0.8414 |
+| 2 | settle | 360 | 31 | 0.028 | 1.01 | 1.74 | 3624.60 | 0.7189 |
+| 3 | close | 195 | 17 | 1.031 | 7.17 | 12.42 | 3625.30 | 1.0417 |
+| 4 | lift | 476 | 41 | 3.419 | 17.89 | 30.99 | 2492.54 | 1.1587 |
+| 5 | move_xy | 414 | 36 | 8.058 | 43.89 | 76.01 | 2822.67 | 0.9491 |
+| 6 | lower | 376 | 33 | 0.101 | 1.86 | 3.22 | 3625.04 | 1.0626 |
+| 7 | open | 195 | 17 | 1.011 | 6.97 | 12.08 | 3624.77 | 0.7593 |
+| 8 | retract | 477 | 41 | 3.504 | 18.38 | 31.83 | 2500.67 | 0.7768 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.452 |
+| TCP position RMSE (mm, per-axis) | 18.50 |
+| EE position RMS L2 (mm) | 34.38 |
+| TCP rotvec (mrad) | 3158.78 |
+| W1 effort mean (A) | 0.8777 |
+| W1 effort per joint (A) | j0=0.2687, j1=1.6337, j2=1.6391, j3=0.7732, j4=0.3320, j5=0.6193 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00104 | -0.00017 | -0.00076 | 0.00130 | 0.031 |
+| 1 | 0.00112 | -0.00061 | -0.00121 | 0.00175 | 0.054 |
+| 2 | 0.00109 | -0.00063 | -0.00115 | 0.00171 | 0.052 |
+| 3 | 0.00189 | -0.00020 | -0.00091 | 0.00211 | 0.130 |
+| 4 | 0.00017 | -0.00015 | -0.00007 | 0.00023 | 0.103 |
+| 5 | 0.00222 | -0.00093 | -0.00103 | 0.00262 | 0.132 |
+| 6 | 0.00213 | -0.00100 | -0.00137 | 0.00272 | 0.131 |
+| 7 | 0.00091 | -0.00023 | -0.00097 | 0.00135 | 0.062 |
+| 8 | -0.00010 | -0.00013 | -0.00016 | 0.00023 | 0.023 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_4399f3ba-7aba-4396-8772-cf66de4e6424.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4399f3ba-7aba-4396-8772-cf66de4e6424.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4399f3ba-7aba-4396-8772-cf66de4e6424.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2344 |
+| Sim rows | 236 |
+| Real episode_id | `4399f3ba-7aba-4396-8772-cf66de4e6424` |
+| Sim episode_id | `4399f3ba-7aba-4396-8772-cf66de4e6424` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 185 | 19 | 3.007 | 13.64 | 23.63 | 1976.72 | 0.5835 |
+| 1 | descend | 316 | 31 | 0.969 | 6.42 | 11.11 | 3625.32 | 0.7027 |
+| 2 | settle | 316 | 31 | 0.025 | 0.77 | 1.34 | 3625.27 | 0.6399 |
+| 3 | close | 109 | 11 | 0.655 | 4.28 | 7.42 | 3109.73 | 0.9922 |
+| 4 | lift | 322 | 32 | 2.945 | 14.07 | 24.37 | 2295.00 | 1.1091 |
+| 5 | move_xy | 327 | 33 | 6.764 | 34.89 | 60.43 | 2835.29 | 0.8914 |
+| 6 | lower | 336 | 33 | 0.086 | 1.38 | 2.39 | 3392.68 | 0.9892 |
+| 7 | open | 111 | 12 | 0.720 | 4.65 | 8.05 | 3625.49 | 0.6400 |
+| 8 | retract | 322 | 32 | 2.880 | 13.84 | 23.98 | 2303.54 | 0.7194 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.861 |
+| TCP position RMSE (mm, per-axis) | 14.44 |
+| EE position RMS L2 (mm) | 27.16 |
+| TCP rotvec (mrad) | 3039.19 |
+| W1 effort mean (A) | 0.7960 |
+| W1 effort per joint (A) | j0=0.2454, j1=1.2845, j2=1.5786, j3=0.7527, j4=0.3193, j5=0.5951 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00064 | -0.00032 | -0.00072 | 0.00101 | 0.040 |
+| 1 | 0.00062 | -0.00062 | -0.00101 | 0.00134 | 0.047 |
+| 2 | 0.00062 | -0.00066 | -0.00096 | 0.00131 | 0.047 |
+| 3 | 0.00142 | -0.00042 | -0.00071 | 0.00165 | 0.134 |
+| 4 | 0.00025 | -0.00035 | -0.00061 | 0.00074 | 0.094 |
+| 5 | 0.00194 | -0.00081 | -0.00090 | 0.00228 | 0.182 |
+| 6 | 0.00152 | -0.00090 | -0.00088 | 0.00197 | 0.119 |
+| 7 | 0.00045 | -0.00035 | -0.00078 | 0.00097 | 0.045 |
+| 8 | -0.00009 | -0.00014 | -0.00016 | 0.00023 | 0.024 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_439a0e72-dd56-4d9c-9283-8b5af714806d.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/439a0e72-dd56-4d9c-9283-8b5af714806d.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/439a0e72-dd56-4d9c-9283-8b5af714806d.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 3275 |
+| Sim rows | 288 |
+| Real episode_id | `439a0e72-dd56-4d9c-9283-8b5af714806d` |
+| Sim episode_id | `439a0e72-dd56-4d9c-9283-8b5af714806d` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 221 | 20 | 2.732 | 12.24 | 21.20 | 1966.14 | 0.6004 |
+| 1 | descend | 706 | 61 | 0.707 | 4.74 | 8.21 | 3625.43 | 0.7286 |
+| 2 | settle | 361 | 32 | 0.023 | 0.75 | 1.30 | 3625.25 | 0.7528 |
+| 3 | close | 195 | 17 | 1.117 | 7.10 | 12.30 | 3388.11 | 0.9881 |
+| 4 | lift | 405 | 35 | 3.079 | 14.14 | 24.49 | 2397.06 | 1.1142 |
+| 5 | move_xy | 409 | 36 | 7.231 | 36.71 | 63.58 | 2862.62 | 0.9323 |
+| 6 | lower | 378 | 33 | 0.092 | 1.44 | 2.49 | 3471.79 | 1.0250 |
+| 7 | open | 195 | 17 | 1.171 | 7.28 | 12.62 | 3625.50 | 0.6732 |
+| 8 | retract | 405 | 35 | 3.272 | 15.22 | 26.37 | 2437.05 | 0.7444 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.038 |
+| TCP position RMSE (mm, per-axis) | 15.12 |
+| EE position RMS L2 (mm) | 27.01 |
+| TCP rotvec (mrad) | 3103.91 |
+| W1 effort mean (A) | 0.8202 |
+| W1 effort per joint (A) | j0=0.2467, j1=1.4085, j2=1.6857, j3=0.7158, j4=0.2869, j5=0.5773 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00061 | -0.00019 | -0.00067 | 0.00093 | 0.039 |
+| 1 | 0.00061 | -0.00062 | -0.00101 | 0.00133 | 0.048 |
+| 2 | 0.00062 | -0.00064 | -0.00097 | 0.00131 | 0.045 |
+| 3 | 0.00110 | -0.00032 | -0.00063 | 0.00131 | 0.100 |
+| 4 | 0.00024 | -0.00012 | -0.00020 | 0.00033 | 0.105 |
+| 5 | 0.00209 | -0.00100 | -0.00168 | 0.00286 | 0.205 |
+| 6 | 0.00192 | -0.00093 | -0.00114 | 0.00242 | 0.176 |
+| 7 | 0.00047 | -0.00035 | -0.00073 | 0.00094 | 0.052 |
+| 8 | -0.00009 | -0.00014 | -0.00017 | 0.00024 | 0.024 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_439c3ade-d684-43f7-82e8-b3cacc299ae1.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/439c3ade-d684-43f7-82e8-b3cacc299ae1.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/439c3ade-d684-43f7-82e8-b3cacc299ae1.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2809 |
+| Sim rows | 250 |
+| Real episode_id | `439c3ade-d684-43f7-82e8-b3cacc299ae1` |
+| Sim episode_id | `439c3ade-d684-43f7-82e8-b3cacc299ae1` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 214 | 19 | 3.638 | 15.63 | 27.07 | 1982.61 | 0.5996 |
+| 1 | descend | 441 | 39 | 0.854 | 5.62 | 9.73 | 3625.36 | 0.7389 |
+| 2 | settle | 380 | 33 | 0.024 | 0.82 | 1.43 | 3625.25 | 0.6497 |
+| 3 | close | 123 | 11 | 0.847 | 5.57 | 9.64 | 2728.26 | 0.9464 |
+| 4 | lift | 385 | 34 | 3.506 | 16.00 | 27.70 | 2430.48 | 1.1069 |
+| 5 | move_xy | 377 | 33 | 8.093 | 39.47 | 68.37 | 2825.55 | 0.8809 |
+| 6 | lower | 382 | 34 | 0.083 | 1.41 | 2.45 | 3216.79 | 0.9041 |
+| 7 | open | 122 | 11 | 0.932 | 5.94 | 10.29 | 3625.51 | 0.6507 |
+| 8 | retract | 385 | 34 | 3.846 | 17.95 | 31.08 | 2387.72 | 0.7298 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.466 |
+| TCP position RMSE (mm, per-axis) | 16.60 |
+| EE position RMS L2 (mm) | 30.75 |
+| TCP rotvec (mrad) | 2995.26 |
+| W1 effort mean (A) | 0.7848 |
+| W1 effort per joint (A) | j0=0.2615, j1=1.3372, j2=1.5282, j3=0.7059, j4=0.2752, j5=0.6009 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00081 | -0.00021 | -0.00058 | 0.00101 | 0.029 |
+| 1 | 0.00086 | -0.00056 | -0.00099 | 0.00143 | 0.047 |
+| 2 | 0.00088 | -0.00059 | -0.00097 | 0.00143 | 0.046 |
+| 3 | 0.00118 | -0.00033 | -0.00027 | 0.00126 | 0.074 |
+| 4 | 0.00002 | -0.00054 | -0.00066 | 0.00085 | 0.108 |
+| 5 | 0.00212 | -0.00077 | -0.00250 | 0.00337 | 0.202 |
+| 6 | 0.00168 | -0.00085 | -0.00052 | 0.00195 | 0.118 |
+| 7 | 0.00059 | -0.00028 | -0.00070 | 0.00096 | 0.041 |
+| 8 | -0.00013 | -0.00017 | -0.00018 | 0.00028 | 0.027 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_43ad0aa0-e423-4a26-969f-ef0b3dea32fc.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/43ad0aa0-e423-4a26-969f-ef0b3dea32fc.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/43ad0aa0-e423-4a26-969f-ef0b3dea32fc.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2903 |
+| Sim rows | 258 |
+| Real episode_id | `43ad0aa0-e423-4a26-969f-ef0b3dea32fc` |
+| Sim episode_id | `43ad0aa0-e423-4a26-969f-ef0b3dea32fc` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 257 | 23 | 3.325 | 12.61 | 21.85 | 1971.75 | 0.5592 |
+| 1 | descend | 380 | 33 | 1.577 | 9.26 | 16.03 | 3626.12 | 0.6905 |
+| 2 | settle | 394 | 35 | 0.019 | 0.58 | 1.00 | 3625.89 | 0.5933 |
+| 3 | close | 153 | 14 | 1.195 | 6.75 | 11.69 | 1433.11 | 0.9195 |
+| 4 | lift | 329 | 29 | 3.457 | 13.91 | 24.10 | 2002.68 | 1.0768 |
+| 5 | move_xy | 486 | 42 | 6.864 | 31.06 | 53.80 | 2128.28 | 0.8782 |
+| 6 | lower | 430 | 37 | 0.082 | 1.14 | 1.97 | 1810.56 | 0.9888 |
+| 7 | open | 152 | 14 | 0.940 | 5.36 | 9.28 | 3626.08 | 0.6476 |
+| 8 | retract | 322 | 29 | 3.477 | 14.06 | 24.35 | 2407.85 | 0.6868 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.109 |
+| TCP position RMSE (mm, per-axis) | 13.65 |
+| EE position RMS L2 (mm) | 26.54 |
+| TCP rotvec (mrad) | 2645.79 |
+| W1 effort mean (A) | 0.7724 |
+| W1 effort per joint (A) | j0=0.2149, j1=1.1652, j2=1.5875, j3=0.7607, j4=0.2681, j5=0.6381 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00038 | -0.00023 | -0.00050 | 0.00067 | 0.037 |
+| 1 | 0.00042 | -0.00055 | -0.00079 | 0.00105 | 0.040 |
+| 2 | 0.00040 | -0.00057 | -0.00070 | 0.00099 | 0.029 |
+| 3 | 0.00057 | -0.00045 | -0.00049 | 0.00087 | 0.063 |
+| 4 | 0.00014 | -0.00024 | -0.00028 | 0.00039 | 0.100 |
+| 5 | 0.00139 | -0.00073 | -0.00037 | 0.00162 | 0.146 |
+| 6 | 0.00107 | -0.00078 | -0.00080 | 0.00154 | 0.098 |
+| 7 | 0.00017 | -0.00033 | -0.00051 | 0.00063 | 0.037 |
+| 8 | -0.00008 | -0.00011 | -0.00015 | 0.00020 | 0.028 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_43af4611-410c-47e6-9b18-4a4fd11dcfbb.md

@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/43af4611-410c-47e6-9b18-4a4fd11dcfbb.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/43af4611-410c-47e6-9b18-4a4fd11dcfbb.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1559 |
+| Sim rows | 159 |
+| Real episode_id | `43af4611-410c-47e6-9b18-4a4fd11dcfbb` |
+| Sim episode_id | `43af4611-410c-47e6-9b18-4a4fd11dcfbb` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 152 | 15 | 3.396 | 19.23 | 33.31 | 1388.93 | 0.7568 |
+| 1 | descend | 72 | 8 | 0.684 | 4.49 | 7.78 | 5.85 | 0.6797 |
+| 2 | settle | 29 | 4 | 0.024 | 3.17 | 5.49 | 6.32 | 0.7083 |
+| 3 | close | 371 | 36 | 0.099 | 3.80 | 6.58 | 1273.83 | 1.1067 |
+| 4 | lift | 72 | 8 | 0.591 | 4.12 | 7.14 | 1108.88 | 1.2172 |
+| 5 | move_xy | 190 | 19 | 3.801 | 19.32 | 33.46 | 95.83 | 1.1123 |
+| 6 | lower | 73 | 8 | 0.582 | 3.22 | 5.57 | 6.47 | 1.0280 |
+| 7 | open | 352 | 35 | 0.026 | 2.19 | 3.79 | 4.73 | 0.5916 |
+| 8 | retract | 72 | 8 | 0.735 | 3.87 | 6.71 | 4.09 | 0.6986 |
+| 9 | return | 176 | 18 | 2.790 | 16.09 | 27.88 | 509.16 | 0.8036 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.883 |
+| TCP position RMSE (mm, per-axis) | 10.46 |
+| EE position RMS L2 (mm) | 18.85 |
+| TCP rotvec (mrad) | 710.63 |
+| W1 effort mean (A) | 0.8608 |
+| W1 effort per joint (A) | j0=0.2124, j1=1.6096, j2=1.5470, j3=0.7546, j4=0.4314, j5=0.6097 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00149 | -0.00486 | -0.00114 | 0.00521 | 0.047 |
+| 1 | 0.00171 | -0.00505 | -0.00114 | 0.00545 | 0.047 |
+| 2 | 0.00172 | -0.00504 | -0.00137 | 0.00549 | 0.051 |
+| 3 | 0.00249 | -0.00558 | -0.00234 | 0.00654 | 0.179 |
+| 4 | 0.00170 | -0.00537 | -0.00298 | 0.00637 | 0.185 |
+| 5 | 0.00178 | -0.00272 | -0.00103 | 0.00341 | 0.201 |
+| 6 | 0.00230 | -0.00185 | -0.00129 | 0.00322 | 0.209 |
+| 7 | 0.00214 | -0.00309 | -0.00009 | 0.00376 | 0.045 |
+| 8 | 0.00181 | -0.00332 | -0.00031 | 0.00379 | 0.063 |
+| 9 | 0.00002 | -0.00018 | -0.00024 | 0.00030 | 0.034 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_43afb4ec-c6ff-4f0b-96dc-8ba5b7bb1878.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/43afb4ec-c6ff-4f0b-96dc-8ba5b7bb1878.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/43afb4ec-c6ff-4f0b-96dc-8ba5b7bb1878.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2343 |
+| Sim rows | 210 |
+| Real episode_id | `43afb4ec-c6ff-4f0b-96dc-8ba5b7bb1878` |
+| Sim episode_id | `43afb4ec-c6ff-4f0b-96dc-8ba5b7bb1878` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 181 | 16 | 2.063 | 9.92 | 17.18 | 2.79 | 0.5749 |
+| 1 | descend | 256 | 23 | 0.727 | 4.91 | 8.51 | 3.84 | 0.7525 |
+| 2 | settle | 362 | 32 | 0.025 | 0.92 | 1.59 | 3.99 | 0.6923 |
+| 3 | close | 113 | 11 | 0.457 | 3.20 | 5.55 | 5.68 | 0.9446 |
+| 4 | lift | 305 | 27 | 2.458 | 12.59 | 21.81 | 3.85 | 1.0921 |
+| 5 | move_xy | 330 | 29 | 4.568 | 25.82 | 44.72 | 5.04 | 0.9286 |
+| 6 | lower | 381 | 33 | 0.094 | 1.59 | 2.76 | 6.57 | 1.0002 |
+| 7 | open | 111 | 10 | 0.436 | 2.91 | 5.04 | 3.99 | 0.6482 |
+| 8 | retract | 304 | 27 | 2.349 | 12.04 | 20.86 | 2.86 | 0.7060 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.045 |
+| TCP position RMSE (mm, per-axis) | 11.13 |
+| EE position RMS L2 (mm) | 20.86 |
+| TCP rotvec (mrad) | 4.45 |
+| W1 effort mean (A) | 0.8019 |
+| W1 effort per joint (A) | j0=0.2491, j1=1.3555, j2=1.4836, j3=0.6495, j4=0.4520, j5=0.6215 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00075 | -0.00079 | -0.00069 | 0.00129 | 0.029 |
+| 1 | 0.00071 | -0.00100 | -0.00102 | 0.00159 | 0.047 |
+| 2 | 0.00071 | -0.00102 | -0.00098 | 0.00158 | 0.044 |
+| 3 | 0.00148 | -0.00088 | -0.00083 | 0.00191 | 0.120 |
+| 4 | 0.00002 | -0.00049 | -0.00044 | 0.00066 | 0.117 |
+| 5 | 0.00149 | -0.00115 | -0.00096 | 0.00211 | 0.102 |
+| 6 | 0.00146 | -0.00138 | -0.00213 | 0.00293 | 0.152 |
+| 7 | 0.00050 | -0.00080 | -0.00083 | 0.00126 | 0.040 |
+| 8 | -0.00013 | -0.00017 | -0.00019 | 0.00029 | 0.028 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_43b13467-a408-4d67-b09c-0992868daa60.md

@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/43b13467-a408-4d67-b09c-0992868daa60.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/43b13467-a408-4d67-b09c-0992868daa60.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1558 |
+| Sim rows | 159 |
+| Real episode_id | `43b13467-a408-4d67-b09c-0992868daa60` |
+| Sim episode_id | `43b13467-a408-4d67-b09c-0992868daa60` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 156 | 16 | 16.808 | 14.05 | 24.33 | 977.27 | 0.7218 |
+| 1 | descend | 80 | 9 | 29.777 | 4.35 | 7.53 | 1135.53 | 0.9247 |
+| 2 | settle | 15 | 2 | 29.748 | 2.40 | 4.15 | 1135.73 | 0.9486 |
+| 3 | close | 321 | 32 | 29.746 | 2.51 | 4.34 | 1135.32 | 1.3219 |
+| 4 | lift | 83 | 9 | 29.771 | 4.62 | 8.01 | 1135.04 | 1.4854 |
+| 5 | move_xy | 193 | 19 | 17.359 | 32.71 | 56.65 | 546.12 | 1.4368 |
+| 6 | lower | 83 | 9 | 0.916 | 5.10 | 8.84 | 7.70 | 1.4304 |
+| 7 | open | 279 | 28 | 0.037 | 3.50 | 6.06 | 7.44 | 0.7408 |
+| 8 | retract | 81 | 9 | 1.376 | 5.95 | 10.30 | 6.88 | 0.8333 |
+| 9 | return | 267 | 26 | 2.973 | 17.72 | 30.70 | 602.95 | 0.6881 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 20.342 |
+| TCP position RMSE (mm, per-axis) | 13.07 |
+| EE position RMS L2 (mm) | 25.40 |
+| TCP rotvec (mrad) | 823.02 |
+| W1 effort mean (A) | 1.0052 |
+| W1 effort per joint (A) | j0=0.1907, j1=2.0262, j2=1.5810, j3=0.8730, j4=0.1839, j5=1.1762 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00172 | -0.00372 | 0.00001 | 0.00410 | 72.934 |
+| 1 | 0.00214 | -0.00356 | -0.00004 | 0.00416 | 72.866 |
+| 2 | 0.00216 | -0.00357 | -0.00016 | 0.00417 | 72.865 |
+| 3 | 0.00206 | -0.00381 | -0.00031 | 0.00435 | 72.860 |
+| 4 | 0.00180 | -0.00410 | -0.00105 | 0.00460 | 72.943 |
+| 5 | 0.00314 | -0.00618 | -0.00256 | 0.00739 | 0.139 |
+| 6 | 0.00350 | -0.00541 | -0.00228 | 0.00683 | 0.143 |
+| 7 | 0.00293 | -0.00509 | -0.00161 | 0.00609 | 0.078 |
+| 8 | 0.00259 | -0.00536 | -0.00149 | 0.00614 | 0.094 |
+| 9 | -0.00013 | -0.00018 | -0.00036 | 0.00042 | 0.053 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_43b970fa-6790-4dfe-978b-5ecda2b1ce54.md

@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/43b970fa-6790-4dfe-978b-5ecda2b1ce54.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/43b970fa-6790-4dfe-978b-5ecda2b1ce54.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 397 |
+| Sim rows | 56 |
+| Real episode_id | `43b970fa-6790-4dfe-978b-5ecda2b1ce54` |
+| Sim episode_id | `43b970fa-6790-4dfe-978b-5ecda2b1ce54` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 186 | 19 | 4.182 | 18.15 | 31.44 | 1264.27 | 0.7977 |
+| 1 | descend | 211 | 21 | 0.027 | 7.75 | 13.43 | 1.95 | 0.8601 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.957 |
+| TCP position RMSE (mm, per-axis) | 13.96 |
+| EE position RMS L2 (mm) | 23.64 |
+| TCP rotvec (mrad) | 893.97 |
+| W1 effort mean (A) | 0.8306 |
+| W1 effort per joint (A) | j0=0.1389, j1=1.7037, j2=1.7763, j3=0.9594, j4=0.3000, j5=0.1054 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | -0.00903 | 0.00987 | -0.00078 | 0.01340 | 0.048 |
+| 1 | -0.00889 | 0.00989 | -0.00103 | 0.01334 | 0.040 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_43d1eecb-1c73-4e0b-a047-5f2ded2b303a.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/43d1eecb-1c73-4e0b-a047-5f2ded2b303a.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/43d1eecb-1c73-4e0b-a047-5f2ded2b303a.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2700 |
+| Sim rows | 239 |
+| Real episode_id | `43d1eecb-1c73-4e0b-a047-5f2ded2b303a` |
+| Sim episode_id | `43d1eecb-1c73-4e0b-a047-5f2ded2b303a` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 216 | 19 | 2.482 | 14.22 | 24.63 | 1926.31 | 0.6107 |
+| 1 | descend | 446 | 39 | 0.489 | 3.48 | 6.02 | 3624.64 | 0.7355 |
+| 2 | settle | 362 | 32 | 0.027 | 0.97 | 1.68 | 3624.53 | 0.7876 |
+| 3 | close | 158 | 14 | 0.706 | 4.77 | 8.26 | 3625.02 | 1.0413 |
+| 4 | lift | 289 | 25 | 2.255 | 13.58 | 23.53 | 2267.03 | 1.0913 |
+| 5 | move_xy | 375 | 33 | 5.447 | 33.68 | 58.34 | 2782.75 | 0.9582 |
+| 6 | lower | 408 | 36 | 0.092 | 1.65 | 2.86 | 3625.07 | 1.0689 |
+| 7 | open | 157 | 14 | 0.525 | 3.68 | 6.37 | 3624.73 | 0.7058 |
+| 8 | retract | 289 | 25 | 2.422 | 14.54 | 25.19 | 2325.97 | 0.7481 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.305 |
+| TCP position RMSE (mm, per-axis) | 14.08 |
+| EE position RMS L2 (mm) | 25.74 |
+| TCP rotvec (mrad) | 3121.60 |
+| W1 effort mean (A) | 0.8499 |
+| W1 effort per joint (A) | j0=0.2378, j1=1.5824, j2=1.6848, j3=0.7277, j4=0.2796, j5=0.5873 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00082 | -0.00053 | -0.00078 | 0.00125 | 0.034 |
+| 1 | 0.00077 | -0.00086 | -0.00123 | 0.00169 | 0.056 |
+| 2 | 0.00077 | -0.00087 | -0.00122 | 0.00169 | 0.056 |
+| 3 | 0.00157 | -0.00060 | -0.00092 | 0.00191 | 0.106 |
+| 4 | 0.00006 | -0.00045 | -0.00041 | 0.00062 | 0.106 |
+| 5 | 0.00165 | -0.00107 | -0.00097 | 0.00220 | 0.112 |
+| 6 | 0.00162 | -0.00142 | -0.00290 | 0.00361 | 0.221 |
+| 7 | 0.00065 | -0.00059 | -0.00102 | 0.00135 | 0.046 |
+| 8 | -0.00014 | -0.00021 | -0.00020 | 0.00032 | 0.038 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_43d9d0ea-f8f5-48d5-974f-f83efd7ce37d.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/43d9d0ea-f8f5-48d5-974f-f83efd7ce37d.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/43d9d0ea-f8f5-48d5-974f-f83efd7ce37d.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2902 |
+| Sim rows | 255 |
+| Real episode_id | `43d9d0ea-f8f5-48d5-974f-f83efd7ce37d` |
+| Sim episode_id | `43d9d0ea-f8f5-48d5-974f-f83efd7ce37d` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 180 | 16 | 2.117 | 9.37 | 16.23 | 2075.64 | 0.5734 |
+| 1 | descend | 532 | 46 | 0.741 | 4.77 | 8.25 | 3625.38 | 0.6944 |
+| 2 | settle | 372 | 33 | 0.023 | 0.74 | 1.27 | 3625.24 | 0.6862 |
+| 3 | close | 192 | 17 | 0.960 | 6.15 | 10.66 | 3545.20 | 0.9787 |
+| 4 | lift | 336 | 29 | 2.512 | 12.10 | 20.95 | 2332.21 | 1.1203 |
+| 5 | move_xy | 349 | 30 | 5.435 | 28.92 | 50.09 | 2825.81 | 0.9098 |
+| 6 | lower | 412 | 36 | 0.079 | 1.23 | 2.13 | 3485.32 | 0.9798 |
+| 7 | open | 193 | 17 | 1.091 | 6.89 | 11.93 | 3625.48 | 0.6508 |
+| 8 | retract | 336 | 29 | 2.552 | 12.35 | 21.40 | 2315.02 | 0.7264 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.346 |
+| TCP position RMSE (mm, per-axis) | 12.17 |
+| EE position RMS L2 (mm) | 21.26 |
+| TCP rotvec (mrad) | 3113.37 |
+| W1 effort mean (A) | 0.7953 |
+| W1 effort per joint (A) | j0=0.2419, j1=1.3851, j2=1.5674, j3=0.6949, j4=0.3128, j5=0.5696 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00039 | -0.00036 | -0.00069 | 0.00087 | 0.035 |
+| 1 | 0.00040 | -0.00072 | -0.00097 | 0.00127 | 0.043 |
+| 2 | 0.00044 | -0.00071 | -0.00098 | 0.00129 | 0.042 |
+| 3 | 0.00074 | -0.00055 | -0.00047 | 0.00104 | 0.074 |
+| 4 | 0.00028 | -0.00004 | -0.00021 | 0.00035 | 0.080 |
+| 5 | 0.00145 | -0.00095 | -0.00148 | 0.00228 | 0.155 |
+| 6 | 0.00123 | -0.00108 | -0.00141 | 0.00216 | 0.115 |
+| 7 | 0.00028 | -0.00048 | -0.00076 | 0.00094 | 0.048 |
+| 8 | -0.00009 | -0.00015 | -0.00017 | 0.00025 | 0.027 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_43df7a89-e5f8-4505-8e3c-d969042de410.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/43df7a89-e5f8-4505-8e3c-d969042de410.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/43df7a89-e5f8-4505-8e3c-d969042de410.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2427 |
+| Sim rows | 242 |
+| Real episode_id | `43df7a89-e5f8-4505-8e3c-d969042de410` |
+| Sim episode_id | `43df7a89-e5f8-4505-8e3c-d969042de410` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 155 | 16 | 2.249 | 9.70 | 16.81 | 2017.53 | 0.5788 |
+| 1 | descend | 345 | 34 | 1.111 | 7.01 | 12.15 | 3625.39 | 0.7607 |
+| 2 | settle | 328 | 32 | 0.023 | 0.73 | 1.27 | 3625.24 | 0.6992 |
+| 3 | close | 158 | 16 | 0.970 | 6.09 | 10.55 | 2647.73 | 0.9684 |
+| 4 | lift | 314 | 31 | 2.510 | 11.90 | 20.61 | 2394.89 | 1.0981 |
+| 5 | move_xy | 319 | 31 | 5.820 | 31.42 | 54.42 | 2651.35 | 0.9099 |
+| 6 | lower | 334 | 33 | 0.081 | 1.27 | 2.19 | 3549.80 | 0.9921 |
+| 7 | open | 159 | 16 | 0.992 | 6.28 | 10.88 | 3625.46 | 0.6709 |
+| 8 | retract | 315 | 31 | 2.340 | 11.24 | 19.47 | 2364.66 | 0.7290 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.447 |
+| TCP position RMSE (mm, per-axis) | 12.81 |
+| EE position RMS L2 (mm) | 23.42 |
+| TCP rotvec (mrad) | 3008.66 |
+| W1 effort mean (A) | 0.8161 |
+| W1 effort per joint (A) | j0=0.2377, j1=1.4162, j2=1.5948, j3=0.7517, j4=0.3229, j5=0.5733 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00037 | -0.00032 | -0.00067 | 0.00083 | 0.037 |
+| 1 | 0.00040 | -0.00070 | -0.00103 | 0.00131 | 0.052 |
+| 2 | 0.00042 | -0.00072 | -0.00096 | 0.00127 | 0.041 |
+| 3 | 0.00145 | -0.00048 | -0.00081 | 0.00173 | 0.193 |
+| 4 | 0.00007 | -0.00043 | -0.00046 | 0.00064 | 0.094 |
+| 5 | 0.00132 | -0.00090 | -0.00095 | 0.00186 | 0.113 |
+| 6 | 0.00194 | -0.00129 | -0.00214 | 0.00316 | 0.225 |
+| 7 | 0.00023 | -0.00046 | -0.00075 | 0.00091 | 0.050 |
+| 8 | -0.00008 | -0.00009 | -0.00013 | 0.00017 | 0.022 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_43e7a9f3-1a2b-45bc-b79b-a2006506704c.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/43e7a9f3-1a2b-45bc-b79b-a2006506704c.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/43e7a9f3-1a2b-45bc-b79b-a2006506704c.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2555 |
+| Sim rows | 228 |
+| Real episode_id | `43e7a9f3-1a2b-45bc-b79b-a2006506704c` |
+| Sim episode_id | `43e7a9f3-1a2b-45bc-b79b-a2006506704c` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 195 | 18 | 3.115 | 13.42 | 23.25 | 1960.14 | 0.6030 |
+| 1 | descend | 327 | 29 | 1.082 | 7.00 | 12.12 | 3625.35 | 0.6985 |
+| 2 | settle | 360 | 32 | 0.022 | 0.82 | 1.41 | 3625.26 | 0.6938 |
+| 3 | close | 122 | 11 | 0.869 | 5.73 | 9.93 | 2657.38 | 0.9512 |
+| 4 | lift | 355 | 31 | 3.507 | 16.34 | 28.30 | 2343.15 | 1.0985 |
+| 5 | move_xy | 339 | 30 | 7.622 | 37.17 | 64.38 | 2604.40 | 0.9038 |
+| 6 | lower | 379 | 33 | 0.086 | 1.45 | 2.50 | 3392.23 | 0.9057 |
+| 7 | open | 123 | 11 | 0.833 | 5.33 | 9.23 | 3625.51 | 0.6482 |
+| 8 | retract | 355 | 31 | 3.778 | 17.45 | 30.22 | 2433.83 | 0.7335 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.283 |
+| TCP position RMSE (mm, per-axis) | 15.80 |
+| EE position RMS L2 (mm) | 29.29 |
+| TCP rotvec (mrad) | 2982.13 |
+| W1 effort mean (A) | 0.7959 |
+| W1 effort per joint (A) | j0=0.2465, j1=1.3646, j2=1.5307, j3=0.7110, j4=0.3489, j5=0.5736 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00083 | -0.00023 | -0.00054 | 0.00102 | 0.033 |
+| 1 | 0.00087 | -0.00056 | -0.00098 | 0.00143 | 0.045 |
+| 2 | 0.00087 | -0.00058 | -0.00093 | 0.00140 | 0.041 |
+| 3 | 0.00163 | -0.00013 | -0.00163 | 0.00231 | 0.123 |
+| 4 | 0.00019 | -0.00046 | -0.00054 | 0.00073 | 0.105 |
+| 5 | 0.00164 | -0.00072 | -0.00233 | 0.00294 | 0.189 |
+| 6 | 0.00214 | -0.00084 | -0.00048 | 0.00235 | 0.175 |
+| 7 | 0.00060 | -0.00025 | -0.00069 | 0.00095 | 0.037 |
+| 8 | -0.00012 | -0.00019 | -0.00021 | 0.00031 | 0.032 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_43ffa637-d277-48ae-8b0a-221fa9c6dda3.md

@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/43ffa637-d277-48ae-8b0a-221fa9c6dda3.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/43ffa637-d277-48ae-8b0a-221fa9c6dda3.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1299 |
+| Sim rows | 134 |
+| Real episode_id | `43ffa637-d277-48ae-8b0a-221fa9c6dda3` |
+| Sim episode_id | `43ffa637-d277-48ae-8b0a-221fa9c6dda3` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 152 | 15 | 3.987 | 13.28 | 23.00 | 1475.81 | 0.7472 |
+| 1 | descend | 81 | 9 | 1.256 | 5.02 | 8.69 | 4.50 | 0.5021 |
+| 2 | settle | 32 | 4 | 0.016 | 2.66 | 4.62 | 4.86 | 0.4844 |
+| 3 | close | 307 | 30 | 0.089 | 3.19 | 5.52 | 7.75 | 0.9087 |
+| 4 | lift | 99 | 11 | 1.287 | 5.24 | 9.07 | 7.33 | 1.0763 |
+| 5 | move_xy | 200 | 20 | 5.146 | 22.08 | 38.24 | 82.09 | 0.9062 |
+| 6 | lower | 84 | 9 | 0.519 | 3.33 | 5.76 | 6.76 | 0.9635 |
+| 7 | open | 84 | 9 | 0.019 | 2.22 | 3.84 | 4.61 | 0.5668 |
+| 8 | retract | 85 | 9 | 0.520 | 3.07 | 5.32 | 4.13 | 0.6676 |
+| 9 | return | 175 | 18 | 2.582 | 11.01 | 19.06 | 272.66 | 0.7509 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.298 |
+| TCP position RMSE (mm, per-axis) | 9.38 |
+| EE position RMS L2 (mm) | 18.97 |
+| TCP rotvec (mrad) | 475.32 |
+| W1 effort mean (A) | 0.7850 |
+| W1 effort per joint (A) | j0=0.2405, j1=0.9949, j2=1.5324, j3=0.7794, j4=0.5598, j5=0.6031 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00174 | -0.00370 | -0.00022 | 0.00409 | 0.041 |
+| 1 | 0.00185 | -0.00424 | -0.00020 | 0.00463 | 0.058 |
+| 2 | 0.00185 | -0.00423 | -0.00031 | 0.00462 | 0.027 |
+| 3 | 0.00232 | -0.00487 | -0.00092 | 0.00547 | 0.128 |
+| 4 | 0.00196 | -0.00422 | -0.00095 | 0.00474 | 0.128 |
+| 5 | 0.00300 | -0.00318 | -0.00060 | 0.00441 | 0.183 |
+| 6 | 0.00314 | -0.00304 | -0.00077 | 0.00444 | 0.139 |
+| 7 | 0.00209 | -0.00322 | -0.00017 | 0.00384 | 0.040 |
+| 8 | 0.00173 | -0.00328 | -0.00032 | 0.00372 | 0.053 |
+| 9 | -0.00005 | -0.00017 | -0.00024 | 0.00030 | 0.034 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_4413d1f2-8ec2-44ea-b2ef-05ae2f331d9f.md

@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4413d1f2-8ec2-44ea-b2ef-05ae2f331d9f.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4413d1f2-8ec2-44ea-b2ef-05ae2f331d9f.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1287 |
+| Sim rows | 131 |
+| Real episode_id | `4413d1f2-8ec2-44ea-b2ef-05ae2f331d9f` |
+| Sim episode_id | `4413d1f2-8ec2-44ea-b2ef-05ae2f331d9f` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 217 | 22 | 3.140 | 15.95 | 27.63 | 501.72 | 0.6621 |
+| 1 | descend | 117 | 12 | 1.071 | 5.04 | 8.73 | 4.09 | 0.6218 |
+| 2 | settle | 35 | 4 | 0.020 | 2.08 | 3.61 | 4.72 | 0.6446 |
+| 3 | close | 45 | 5 | 0.077 | 2.16 | 3.74 | 8.03 | 1.2517 |
+| 4 | lift | 119 | 12 | 1.050 | 5.04 | 8.74 | 6.90 | 1.2427 |
+| 5 | move_xy | 257 | 25 | 3.361 | 23.60 | 40.87 | 75.89 | 1.2705 |
+| 6 | lower | 114 | 12 | 0.776 | 4.99 | 8.64 | 8.91 | 1.2711 |
+| 7 | open | 75 | 8 | 0.026 | 3.03 | 5.24 | 6.20 | 0.7670 |
+| 8 | retract | 116 | 12 | 0.918 | 5.10 | 8.84 | 5.63 | 0.8486 |
+| 9 | return | 192 | 19 | 1.838 | 12.70 | 22.00 | 246.39 | 0.6469 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.680 |
+| TCP position RMSE (mm, per-axis) | 10.45 |
+| EE position RMS L2 (mm) | 23.76 |
+| TCP rotvec (mrad) | 178.46 |
+| W1 effort mean (A) | 0.9018 |
+| W1 effort per joint (A) | j0=0.2107, j1=1.6096, j2=1.5205, j3=0.9254, j4=0.6081, j5=0.5364 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00161 | -0.00324 | 0.00005 | 0.00362 | 0.027 |
+| 1 | 0.00205 | -0.00296 | 0.00001 | 0.00360 | 0.033 |
+| 2 | 0.00205 | -0.00298 | -0.00002 | 0.00361 | 0.039 |
+| 3 | 0.00216 | -0.00296 | 0.00006 | 0.00366 | 0.141 |
+| 4 | 0.00206 | -0.00335 | -0.00023 | 0.00394 | 0.124 |
+| 5 | 0.00268 | -0.00477 | -0.00114 | 0.00559 | 0.132 |
+| 6 | 0.00305 | -0.00468 | -0.00097 | 0.00567 | 0.113 |
+| 7 | 0.00267 | -0.00440 | -0.00105 | 0.00525 | 0.056 |
+| 8 | 0.00221 | -0.00438 | -0.00116 | 0.00504 | 0.056 |
+| 9 | -0.00010 | -0.00018 | -0.00037 | 0.00042 | 0.045 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_44374292-d95b-4fb8-aaa6-4111c1eed068.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/44374292-d95b-4fb8-aaa6-4111c1eed068.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/44374292-d95b-4fb8-aaa6-4111c1eed068.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2604 |
+| Sim rows | 230 |
+| Real episode_id | `44374292-d95b-4fb8-aaa6-4111c1eed068` |
+| Sim episode_id | `44374292-d95b-4fb8-aaa6-4111c1eed068` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 274 | 24 | 3.367 | 16.47 | 28.52 | 1970.85 | 0.6283 |
+| 1 | descend | 280 | 25 | 0.565 | 4.29 | 7.43 | 3624.68 | 0.8363 |
+| 2 | settle | 387 | 34 | 0.026 | 0.96 | 1.66 | 3624.67 | 0.7487 |
+| 3 | close | 88 | 8 | 0.314 | 2.86 | 4.95 | 3624.86 | 1.0697 |
+| 4 | lift | 349 | 30 | 3.225 | 17.64 | 30.55 | 2376.68 | 1.1423 |
+| 5 | move_xy | 398 | 35 | 6.853 | 37.25 | 64.53 | 2582.38 | 0.9148 |
+| 6 | lower | 390 | 34 | 0.091 | 1.68 | 2.90 | 3625.17 | 1.0263 |
+| 7 | open | 89 | 8 | 0.251 | 1.94 | 3.36 | 3624.73 | 0.7409 |
+| 8 | retract | 349 | 30 | 3.435 | 18.65 | 32.31 | 2320.20 | 0.7565 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.000 |
+| TCP position RMSE (mm, per-axis) | 16.17 |
+| EE position RMS L2 (mm) | 31.56 |
+| TCP rotvec (mrad) | 3114.15 |
+| W1 effort mean (A) | 0.8519 |
+| W1 effort per joint (A) | j0=0.1951, j1=1.5124, j2=1.6572, j3=0.8233, j4=0.3339, j5=0.5895 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00111 | -0.00041 | -0.00079 | 0.00143 | 0.026 |
+| 1 | 0.00108 | -0.00053 | -0.00114 | 0.00166 | 0.052 |
+| 2 | 0.00110 | -0.00056 | -0.00111 | 0.00166 | 0.054 |
+| 3 | 0.00205 | -0.00061 | -0.00110 | 0.00241 | 0.149 |
+| 4 | 0.00056 | -0.00015 | -0.00041 | 0.00070 | 0.153 |
+| 5 | 0.00252 | -0.00087 | -0.00199 | 0.00333 | 0.187 |
+| 6 | 0.00218 | -0.00077 | -0.00145 | 0.00273 | 0.135 |
+| 7 | 0.00091 | -0.00040 | -0.00100 | 0.00141 | 0.049 |
+| 8 | -0.00015 | -0.00023 | -0.00023 | 0.00036 | 0.039 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_443dd5c5-fd87-44d1-a3cd-afd1e7ec781d.md

@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/443dd5c5-fd87-44d1-a3cd-afd1e7ec781d.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/443dd5c5-fd87-44d1-a3cd-afd1e7ec781d.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 488 |
+| Sim rows | 64 |
+| Real episode_id | `443dd5c5-fd87-44d1-a3cd-afd1e7ec781d` |
+| Sim episode_id | `443dd5c5-fd87-44d1-a3cd-afd1e7ec781d` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 280 | 27 | 2.735 | 13.51 | 23.40 | 251.31 | 0.8126 |
+| 1 | descend | 208 | 21 | 0.025 | 1.57 | 2.71 | 2.21 | 0.9021 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.934 |
+| TCP position RMSE (mm, per-axis) | 9.62 |
+| EE position RMS L2 (mm) | 17.81 |
+| TCP rotvec (mrad) | 177.71 |
+| W1 effort mean (A) | 0.8506 |
+| W1 effort per joint (A) | j0=0.2272, j1=1.7648, j2=1.9352, j3=0.8718, j4=0.1483, j5=0.1562 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | -0.00080 | 0.00254 | 0.00069 | 0.00275 | 0.034 |
+| 1 | -0.00060 | 0.00252 | 0.00060 | 0.00266 | 0.042 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_44407d7c-b898-4057-bbbb-c3d00264ec6a.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/44407d7c-b898-4057-bbbb-c3d00264ec6a.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/44407d7c-b898-4057-bbbb-c3d00264ec6a.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2593 |
+| Sim rows | 230 |
+| Real episode_id | `44407d7c-b898-4057-bbbb-c3d00264ec6a` |
+| Sim episode_id | `44407d7c-b898-4057-bbbb-c3d00264ec6a` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 155 | 14 | 2.356 | 9.64 | 16.70 | 1953.71 | 0.5741 |
+| 1 | descend | 368 | 32 | 1.089 | 6.39 | 11.07 | 3626.05 | 0.7489 |
+| 2 | settle | 366 | 32 | 0.021 | 0.57 | 0.98 | 3625.95 | 0.6597 |
+| 3 | close | 133 | 12 | 1.248 | 7.26 | 12.57 | 1542.68 | 0.9370 |
+| 4 | lift | 368 | 32 | 2.719 | 11.05 | 19.15 | 2056.53 | 1.0888 |
+| 5 | move_xy | 323 | 29 | 6.095 | 28.79 | 49.87 | 1890.66 | 0.8892 |
+| 6 | lower | 379 | 33 | 0.077 | 0.98 | 1.70 | 1698.88 | 1.0365 |
+| 7 | open | 132 | 12 | 1.143 | 6.48 | 11.22 | 3626.15 | 0.6228 |
+| 8 | retract | 369 | 32 | 2.616 | 10.66 | 18.46 | 2288.61 | 0.6857 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.603 |
+| TCP position RMSE (mm, per-axis) | 11.99 |
+| EE position RMS L2 (mm) | 21.43 |
+| TCP rotvec (mrad) | 2615.54 |
+| W1 effort mean (A) | 0.8073 |
+| W1 effort per joint (A) | j0=0.2464, j1=1.1839, j2=1.6424, j3=0.7602, j4=0.4017, j5=0.6092 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00010 | -0.00031 | -0.00046 | 0.00057 | 0.034 |
+| 1 | 0.00016 | -0.00058 | -0.00078 | 0.00099 | 0.037 |
+| 2 | 0.00019 | -0.00057 | -0.00075 | 0.00096 | 0.037 |
+| 3 | 0.00031 | -0.00056 | -0.00068 | 0.00094 | 0.089 |
+| 4 | 0.00031 | -0.00005 | -0.00031 | 0.00044 | 0.086 |
+| 5 | 0.00084 | -0.00084 | -0.00075 | 0.00140 | 0.114 |
+| 6 | 0.00121 | -0.00081 | -0.00100 | 0.00176 | 0.164 |
+| 7 | -0.00006 | -0.00044 | -0.00050 | 0.00066 | 0.038 |
+| 8 | -0.00007 | -0.00009 | -0.00013 | 0.00017 | 0.028 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_444c5047-2fe4-4c36-ac73-860ee1212a6b.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/444c5047-2fe4-4c36-ac73-860ee1212a6b.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/444c5047-2fe4-4c36-ac73-860ee1212a6b.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2763 |
+| Sim rows | 245 |
+| Real episode_id | `444c5047-2fe4-4c36-ac73-860ee1212a6b` |
+| Sim episode_id | `444c5047-2fe4-4c36-ac73-860ee1212a6b` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 216 | 19 | 2.312 | 12.54 | 21.71 | 1910.48 | 0.6078 |
+| 1 | descend | 400 | 35 | 0.801 | 5.51 | 9.54 | 3624.74 | 0.7564 |
+| 2 | settle | 398 | 35 | 0.026 | 0.97 | 1.68 | 3624.54 | 0.7951 |
+| 3 | close | 154 | 14 | 0.958 | 6.55 | 11.35 | 3625.16 | 1.0445 |
+| 4 | lift | 320 | 28 | 2.504 | 14.37 | 24.88 | 2345.99 | 1.1086 |
+| 5 | move_xy | 384 | 33 | 4.716 | 28.46 | 49.29 | 2787.08 | 0.9506 |
+| 6 | lower | 421 | 37 | 0.098 | 1.75 | 3.03 | 3624.97 | 1.1075 |
+| 7 | open | 152 | 14 | 0.942 | 6.49 | 11.24 | 3624.68 | 0.7456 |
+| 8 | retract | 318 | 28 | 2.438 | 14.03 | 24.31 | 2379.25 | 0.7318 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.167 |
+| TCP position RMSE (mm, per-axis) | 12.87 |
+| EE position RMS L2 (mm) | 23.31 |
+| TCP rotvec (mrad) | 3131.89 |
+| W1 effort mean (A) | 0.8626 |
+| W1 effort per joint (A) | j0=0.2626, j1=1.5893, j2=1.7112, j3=0.7466, j4=0.2949, j5=0.5712 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00077 | -0.00042 | -0.00068 | 0.00111 | 0.028 |
+| 1 | 0.00074 | -0.00089 | -0.00118 | 0.00165 | 0.056 |
+| 2 | 0.00079 | -0.00089 | -0.00120 | 0.00169 | 0.055 |
+| 3 | 0.00212 | -0.00051 | -0.00088 | 0.00235 | 0.179 |
+| 4 | 0.00011 | -0.00025 | -0.00013 | 0.00030 | 0.112 |
+| 5 | 0.00172 | -0.00133 | -0.00239 | 0.00323 | 0.165 |
+| 6 | 0.00172 | -0.00123 | -0.00196 | 0.00288 | 0.126 |
+| 7 | 0.00058 | -0.00057 | -0.00099 | 0.00128 | 0.058 |
+| 8 | -0.00012 | -0.00020 | -0.00019 | 0.00030 | 0.034 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_44549c08-6110-46da-82f7-eec004d0eeef.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/44549c08-6110-46da-82f7-eec004d0eeef.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/44549c08-6110-46da-82f7-eec004d0eeef.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2766 |
+| Sim rows | 248 |
+| Real episode_id | `44549c08-6110-46da-82f7-eec004d0eeef` |
+| Sim episode_id | `44549c08-6110-46da-82f7-eec004d0eeef` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 208 | 19 | 3.290 | 16.53 | 28.63 | 1979.02 | 0.6361 |
+| 1 | descend | 330 | 29 | 0.753 | 5.42 | 9.38 | 3624.71 | 0.8450 |
+| 2 | settle | 362 | 32 | 0.027 | 0.99 | 1.72 | 3624.59 | 0.7338 |
+| 3 | close | 115 | 11 | 0.558 | 4.20 | 7.27 | 3625.03 | 1.0441 |
+| 4 | lift | 442 | 39 | 3.349 | 17.83 | 30.88 | 2339.09 | 1.1395 |
+| 5 | move_xy | 355 | 31 | 8.539 | 47.07 | 81.53 | 2754.64 | 0.9130 |
+| 6 | lower | 394 | 35 | 0.094 | 1.76 | 3.04 | 3625.22 | 0.9969 |
+| 7 | open | 116 | 11 | 0.540 | 3.80 | 6.59 | 3624.68 | 0.7659 |
+| 8 | retract | 444 | 39 | 3.262 | 17.46 | 30.24 | 2383.62 | 0.7498 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.444 |
+| TCP position RMSE (mm, per-axis) | 18.79 |
+| EE position RMS L2 (mm) | 35.07 |
+| TCP rotvec (mrad) | 3133.25 |
+| W1 effort mean (A) | 0.8594 |
+| W1 effort per joint (A) | j0=0.2414, j1=1.5805, j2=1.6336, j3=0.7783, j4=0.2749, j5=0.6480 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00111 | -0.00034 | -0.00073 | 0.00137 | 0.032 |
+| 1 | 0.00153 | -0.00065 | -0.00120 | 0.00205 | 0.056 |
+| 2 | 0.00111 | -0.00066 | -0.00114 | 0.00172 | 0.052 |
+| 3 | 0.00227 | -0.00047 | -0.00172 | 0.00288 | 0.172 |
+| 4 | 0.00017 | -0.00010 | -0.00005 | 0.00021 | 0.100 |
+| 5 | 0.00243 | -0.00093 | -0.00175 | 0.00314 | 0.159 |
+| 6 | 0.00248 | -0.00087 | -0.00154 | 0.00305 | 0.175 |
+| 7 | 0.00089 | -0.00034 | -0.00097 | 0.00136 | 0.044 |
+| 8 | -0.00011 | -0.00015 | -0.00016 | 0.00024 | 0.024 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_445a699b-74ff-4981-ad63-3409c95095f5.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/445a699b-74ff-4981-ad63-3409c95095f5.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/445a699b-74ff-4981-ad63-3409c95095f5.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2862 |
+| Sim rows | 254 |
+| Real episode_id | `445a699b-74ff-4981-ad63-3409c95095f5` |
+| Sim episode_id | `445a699b-74ff-4981-ad63-3409c95095f5` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 204 | 18 | 3.442 | 16.71 | 28.94 | 2030.37 | 0.6542 |
+| 1 | descend | 356 | 31 | 0.836 | 5.96 | 10.32 | 3624.69 | 0.8203 |
+| 2 | settle | 375 | 33 | 0.028 | 1.01 | 1.74 | 3624.60 | 0.7076 |
+| 3 | close | 137 | 13 | 0.772 | 5.48 | 9.49 | 3625.23 | 1.0299 |
+| 4 | lift | 448 | 39 | 3.271 | 17.17 | 29.74 | 2487.99 | 1.1254 |
+| 5 | move_xy | 378 | 33 | 8.795 | 48.03 | 83.20 | 2803.09 | 0.9715 |
+| 6 | lower | 378 | 33 | 0.091 | 1.74 | 3.01 | 3625.10 | 1.0476 |
+| 7 | open | 138 | 13 | 0.910 | 6.38 | 11.05 | 3624.77 | 0.7736 |
+| 8 | retract | 448 | 39 | 3.326 | 17.55 | 30.40 | 2487.69 | 0.7527 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.545 |
+| TCP position RMSE (mm, per-axis) | 19.15 |
+| EE position RMS L2 (mm) | 35.81 |
+| TCP rotvec (mrad) | 3163.28 |
+| W1 effort mean (A) | 0.8703 |
+| W1 effort per joint (A) | j0=0.2739, j1=1.5896, j2=1.6195, j3=0.7608, j4=0.3527, j5=0.6252 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00107 | -0.00024 | -0.00062 | 0.00126 | 0.025 |
+| 1 | 0.00110 | -0.00061 | -0.00122 | 0.00175 | 0.056 |
+| 2 | 0.00112 | -0.00064 | -0.00117 | 0.00174 | 0.056 |
+| 3 | 0.00167 | -0.00030 | -0.00117 | 0.00206 | 0.108 |
+| 4 | 0.00007 | -0.00038 | -0.00038 | 0.00054 | 0.087 |
+| 5 | 0.00215 | -0.00092 | -0.00146 | 0.00276 | 0.123 |
+| 6 | 0.00206 | -0.00094 | -0.00102 | 0.00249 | 0.120 |
+| 7 | 0.00089 | -0.00023 | -0.00097 | 0.00134 | 0.045 |
+| 8 | -0.00007 | -0.00009 | -0.00013 | 0.00017 | 0.019 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_445b2070-530c-4ea6-9d9f-c0adfdd05c5a.md

@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/445b2070-530c-4ea6-9d9f-c0adfdd05c5a.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/445b2070-530c-4ea6-9d9f-c0adfdd05c5a.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1741 |
+| Sim rows | 177 |
+| Real episode_id | `445b2070-530c-4ea6-9d9f-c0adfdd05c5a` |
+| Sim episode_id | `445b2070-530c-4ea6-9d9f-c0adfdd05c5a` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 156 | 16 | 2.281 | 8.99 | 15.57 | 385.40 | 0.6422 |
+| 1 | descend | 103 | 11 | 1.109 | 4.65 | 8.06 | 3.73 | 0.5508 |
+| 2 | settle | 11 | 2 | 0.018 | 2.27 | 3.93 | 4.46 | 0.5481 |
+| 3 | close | 381 | 37 | 0.089 | 2.38 | 4.13 | 8.02 | 1.1028 |
+| 4 | lift | 102 | 11 | 1.083 | 4.64 | 8.04 | 7.32 | 1.2258 |
+| 5 | move_xy | 181 | 18 | 3.758 | 13.49 | 23.36 | 70.90 | 1.2673 |
+| 6 | lower | 100 | 11 | 0.860 | 5.00 | 8.66 | 8.96 | 1.2846 |
+| 7 | open | 359 | 35 | 0.027 | 2.60 | 4.49 | 5.80 | 0.6350 |
+| 8 | retract | 99 | 11 | 0.827 | 4.71 | 8.16 | 5.25 | 0.7823 |
+| 9 | return | 249 | 25 | 3.880 | 11.96 | 20.71 | 1120.93 | 0.7419 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.955 |
+| TCP position RMSE (mm, per-axis) | 7.17 |
+| EE position RMS L2 (mm) | 12.79 |
+| TCP rotvec (mrad) | 375.54 |
+| W1 effort mean (A) | 0.8675 |
+| W1 effort per joint (A) | j0=0.1244, j1=1.4526, j2=1.5822, j3=0.8820, j4=0.5552, j5=0.6087 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00143 | -0.00330 | 0.00010 | 0.00360 | 0.032 |
+| 1 | 0.00215 | -0.00329 | 0.00009 | 0.00393 | 0.045 |
+| 2 | 0.00215 | -0.00329 | 0.00003 | 0.00393 | 0.025 |
+| 3 | 0.00256 | -0.00351 | 0.00016 | 0.00435 | 0.121 |
+| 4 | 0.00194 | -0.00339 | -0.00004 | 0.00390 | 0.112 |
+| 5 | 0.00259 | -0.00440 | -0.00141 | 0.00530 | 0.137 |
+| 6 | 0.00331 | -0.00459 | -0.00153 | 0.00586 | 0.176 |
+| 7 | 0.00216 | -0.00383 | -0.00100 | 0.00451 | 0.059 |
+| 8 | 0.00168 | -0.00378 | -0.00117 | 0.00430 | 0.061 |
+| 9 | -0.00007 | -0.00012 | -0.00028 | 0.00031 | 0.033 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_449750ab-18de-4903-9343-5ca9c19b1e92.md

@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/449750ab-18de-4903-9343-5ca9c19b1e92.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/449750ab-18de-4903-9343-5ca9c19b1e92.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1570 |
+| Sim rows | 158 |
+| Real episode_id | `449750ab-18de-4903-9343-5ca9c19b1e92` |
+| Sim episode_id | `449750ab-18de-4903-9343-5ca9c19b1e92` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 121 | 12 | 7.569 | 11.61 | 20.11 | 822.99 | 0.6360 |
+| 1 | descend | 76 | 8 | 13.550 | 4.13 | 7.15 | 525.04 | 0.6640 |
+| 2 | settle | 26 | 3 | 13.518 | 2.59 | 4.49 | 525.50 | 0.6345 |
+| 3 | close | 389 | 38 | 13.518 | 2.62 | 4.54 | 526.69 | 1.0717 |
+| 4 | lift | 77 | 8 | 13.553 | 4.22 | 7.32 | 526.18 | 1.1854 |
+| 5 | move_xy | 154 | 16 | 8.377 | 16.90 | 29.27 | 1462.52 | 1.2664 |
+| 6 | lower | 78 | 8 | 0.955 | 5.34 | 9.24 | 3623.67 | 1.0613 |
+| 7 | open | 365 | 36 | 0.020 | 2.98 | 5.16 | 5.14 | 0.5037 |
+| 8 | retract | 77 | 8 | 0.871 | 4.30 | 7.45 | 4.36 | 0.6500 |
+| 9 | return | 207 | 21 | 2.729 | 15.38 | 26.64 | 979.59 | 0.6924 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 9.324 |
+| TCP position RMSE (mm, per-axis) | 8.73 |
+| EE position RMS L2 (mm) | 15.25 |
+| TCP rotvec (mrad) | 1342.12 |
+| W1 effort mean (A) | 0.8179 |
+| W1 effort per joint (A) | j0=0.1366, j1=1.3097, j2=1.4084, j3=0.7544, j4=0.4589, j5=0.8393 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00140 | -0.00392 | -0.00006 | 0.00417 | 33.114 |
+| 1 | 0.00213 | -0.00397 | 0.00009 | 0.00450 | 33.117 |
+| 2 | 0.00209 | -0.00398 | -0.00010 | 0.00450 | 33.110 |
+| 3 | 0.00287 | -0.00316 | -0.00156 | 0.00454 | 33.111 |
+| 4 | 0.00205 | -0.00365 | -0.00184 | 0.00458 | 33.137 |
+| 5 | 0.00194 | -0.00478 | -0.00222 | 0.00561 | 0.228 |
+| 6 | 0.00256 | -0.00517 | -0.00195 | 0.00609 | 0.175 |
+| 7 | 0.00167 | -0.00480 | -0.00079 | 0.00514 | 0.036 |
+| 8 | 0.00126 | -0.00430 | -0.00101 | 0.00459 | 0.064 |
+| 9 | -0.00015 | -0.00010 | -0.00024 | 0.00030 | 0.032 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_44a64238-3d4c-46ed-ac47-be35a04758a4.md

@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/44a64238-3d4c-46ed-ac47-be35a04758a4.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/44a64238-3d4c-46ed-ac47-be35a04758a4.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1507 |
+| Sim rows | 152 |
+| Real episode_id | `44a64238-3d4c-46ed-ac47-be35a04758a4` |
+| Sim episode_id | `44a64238-3d4c-46ed-ac47-be35a04758a4` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 148 | 15 | 2.344 | 10.38 | 17.98 | 392.72 | 0.6795 |
+| 1 | descend | 75 | 8 | 0.548 | 3.72 | 6.45 | 4.70 | 0.6129 |
+| 2 | settle | 26 | 3 | 0.027 | 2.93 | 5.08 | 5.07 | 0.6180 |
+| 3 | close | 318 | 31 | 0.114 | 3.43 | 5.94 | 8.80 | 0.9481 |
+| 4 | lift | 75 | 8 | 0.650 | 3.99 | 6.91 | 8.34 | 1.1835 |
+| 5 | move_xy | 191 | 19 | 4.560 | 30.39 | 52.64 | 139.79 | 1.1851 |
+| 6 | lower | 77 | 8 | 2.764 | 3.58 | 6.20 | 110.18 | 1.1882 |
+| 7 | open | 288 | 29 | 2.691 | 2.44 | 4.23 | 108.49 | 0.7044 |
+| 8 | retract | 77 | 8 | 2.757 | 3.65 | 6.33 | 108.28 | 0.7765 |
+| 9 | return | 232 | 23 | 3.498 | 18.97 | 32.85 | 584.47 | 0.7511 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.485 |
+| TCP position RMSE (mm, per-axis) | 12.14 |
+| EE position RMS L2 (mm) | 23.85 |
+| TCP rotvec (mrad) | 234.78 |
+| W1 effort mean (A) | 0.8467 |
+| W1 effort per joint (A) | j0=0.1907, j1=1.7085, j2=1.4957, j3=0.7878, j4=0.2744, j5=0.6231 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00174 | -0.00433 | -0.00071 | 0.00472 | 0.044 |
+| 1 | 0.00202 | -0.00460 | -0.00060 | 0.00507 | 0.043 |
+| 2 | 0.00206 | -0.00460 | -0.00073 | 0.00509 | 0.036 |
+| 3 | 0.00303 | -0.00467 | -0.00172 | 0.00582 | 0.186 |
+| 4 | 0.00233 | -0.00469 | -0.00091 | 0.00532 | 0.117 |
+| 5 | 0.00300 | -0.00287 | -0.00351 | 0.00543 | 6.665 |
+| 6 | 0.00311 | -0.00239 | -0.00275 | 0.00479 | 6.586 |
+| 7 | 0.00263 | -0.00331 | -0.00040 | 0.00424 | 6.590 |
+| 8 | 0.00242 | -0.00350 | -0.00072 | 0.00432 | 6.647 |
+| 9 | -0.00006 | -0.00017 | -0.00033 | 0.00038 | 0.040 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_44b61a79-1455-4d88-88fe-38ba9dc8b5ca.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/44b61a79-1455-4d88-88fe-38ba9dc8b5ca.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/44b61a79-1455-4d88-88fe-38ba9dc8b5ca.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2578 |
+| Sim rows | 229 |
+| Real episode_id | `44b61a79-1455-4d88-88fe-38ba9dc8b5ca` |
+| Sim episode_id | `44b61a79-1455-4d88-88fe-38ba9dc8b5ca` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 189 | 17 | 2.899 | 11.17 | 19.35 | 1920.12 | 0.5682 |
+| 1 | descend | 258 | 23 | 0.876 | 5.33 | 9.24 | 3625.95 | 0.6554 |
+| 2 | settle | 373 | 32 | 0.022 | 0.60 | 1.03 | 3625.92 | 0.7206 |
+| 3 | close | 137 | 13 | 0.546 | 3.33 | 5.77 | 1716.45 | 0.9324 |
+| 4 | lift | 383 | 33 | 3.183 | 13.43 | 23.27 | 2113.20 | 1.0796 |
+| 5 | move_xy | 320 | 28 | 5.826 | 26.16 | 45.30 | 1734.45 | 0.8916 |
+| 6 | lower | 397 | 35 | 0.079 | 1.08 | 1.87 | 1434.13 | 0.9937 |
+| 7 | open | 137 | 13 | 0.565 | 3.44 | 5.95 | 3626.00 | 0.6729 |
+| 8 | retract | 384 | 33 | 3.187 | 13.49 | 23.37 | 2243.30 | 0.6819 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.667 |
+| TCP position RMSE (mm, per-axis) | 11.66 |
+| EE position RMS L2 (mm) | 21.38 |
+| TCP rotvec (mrad) | 2595.70 |
+| W1 effort mean (A) | 0.8061 |
+| W1 effort per joint (A) | j0=0.2049, j1=1.2286, j2=1.6205, j3=0.8071, j4=0.3362, j5=0.6390 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00041 | -0.00032 | -0.00055 | 0.00075 | 0.038 |
+| 1 | 0.00039 | -0.00051 | -0.00076 | 0.00099 | 0.035 |
+| 2 | 0.00040 | -0.00053 | -0.00081 | 0.00105 | 0.037 |
+| 3 | 0.00111 | -0.00037 | -0.00094 | 0.00150 | 0.130 |
+| 4 | 0.00009 | -0.00031 | -0.00029 | 0.00043 | 0.112 |
+| 5 | 0.00091 | -0.00081 | -0.00127 | 0.00176 | 0.110 |
+| 6 | 0.00096 | -0.00079 | -0.00062 | 0.00139 | 0.117 |
+| 7 | 0.00026 | -0.00032 | -0.00066 | 0.00078 | 0.043 |
+| 8 | -0.00008 | -0.00009 | -0.00013 | 0.00018 | 0.024 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_44d27141-80a9-428b-bf29-f7a27fd07599.md

@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/44d27141-80a9-428b-bf29-f7a27fd07599.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/44d27141-80a9-428b-bf29-f7a27fd07599.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 469 |
+| Sim rows | 62 |
+| Real episode_id | `44d27141-80a9-428b-bf29-f7a27fd07599` |
+| Sim episode_id | `44d27141-80a9-428b-bf29-f7a27fd07599` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 257 | 25 | 2.805 | 9.78 | 16.94 | 9.76 | 0.7954 |
+| 1 | descend | 212 | 21 | 0.026 | 3.46 | 5.99 | 2.24 | 0.7602 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.983 |
+| TCP position RMSE (mm, per-axis) | 7.34 |
+| EE position RMS L2 (mm) | 13.17 |
+| TCP rotvec (mrad) | 7.08 |
+| W1 effort mean (A) | 0.7795 |
+| W1 effort per joint (A) | j0=0.1184, j1=1.7471, j2=1.7029, j3=0.8240, j4=0.1735, j5=0.1109 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00518 | -0.00253 | 0.00043 | 0.00578 | 0.044 |
+| 1 | 0.00545 | -0.00258 | 0.00035 | 0.00604 | 0.044 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_44d3cafc-97ad-4135-a6eb-c7566262745e.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/44d3cafc-97ad-4135-a6eb-c7566262745e.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/44d3cafc-97ad-4135-a6eb-c7566262745e.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2710 |
+| Sim rows | 242 |
+| Real episode_id | `44d3cafc-97ad-4135-a6eb-c7566262745e` |
+| Sim episode_id | `44d3cafc-97ad-4135-a6eb-c7566262745e` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 238 | 21 | 3.338 | 12.37 | 21.42 | 1938.18 | 0.5737 |
+| 1 | descend | 387 | 34 | 1.221 | 7.47 | 12.95 | 3626.00 | 0.6571 |
+| 2 | settle | 363 | 32 | 0.022 | 0.68 | 1.17 | 3626.00 | 0.6428 |
+| 3 | close | 133 | 12 | 0.944 | 5.86 | 10.14 | 890.68 | 0.9050 |
+| 4 | lift | 314 | 28 | 3.851 | 15.94 | 27.60 | 1854.62 | 1.0836 |
+| 5 | move_xy | 424 | 37 | 7.979 | 34.94 | 60.51 | 2324.05 | 0.8696 |
+| 6 | lower | 406 | 36 | 0.082 | 1.23 | 2.13 | 1766.82 | 0.8757 |
+| 7 | open | 132 | 12 | 0.872 | 5.17 | 8.96 | 3626.21 | 0.5885 |
+| 8 | retract | 313 | 28 | 4.008 | 16.80 | 29.09 | 2327.69 | 0.7034 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.478 |
+| TCP position RMSE (mm, per-axis) | 15.01 |
+| EE position RMS L2 (mm) | 28.86 |
+| TCP rotvec (mrad) | 2611.42 |
+| W1 effort mean (A) | 0.7512 |
+| W1 effort per joint (A) | j0=0.2575, j1=1.1372, j2=1.4379, j3=0.6717, j4=0.3959, j5=0.6071 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00069 | -0.00025 | -0.00048 | 0.00087 | 0.029 |
+| 1 | 0.00075 | -0.00056 | -0.00074 | 0.00119 | 0.034 |
+| 2 | 0.00068 | -0.00056 | -0.00075 | 0.00116 | 0.038 |
+| 3 | 0.00153 | -0.00019 | -0.00124 | 0.00198 | 0.130 |
+| 4 | 0.00012 | -0.00025 | -0.00019 | 0.00034 | 0.101 |
+| 5 | 0.00145 | -0.00075 | -0.00062 | 0.00174 | 0.114 |
+| 6 | 0.00147 | -0.00071 | -0.00092 | 0.00188 | 0.110 |
+| 7 | 0.00048 | -0.00023 | -0.00054 | 0.00076 | 0.041 |
+| 8 | -0.00011 | -0.00015 | -0.00017 | 0.00025 | 0.030 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_44e7d91f-b5e8-4190-843c-3e4bb86c1bb5.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/44e7d91f-b5e8-4190-843c-3e4bb86c1bb5.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/44e7d91f-b5e8-4190-843c-3e4bb86c1bb5.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2449 |
+| Sim rows | 219 |
+| Real episode_id | `44e7d91f-b5e8-4190-843c-3e4bb86c1bb5` |
+| Sim episode_id | `44e7d91f-b5e8-4190-843c-3e4bb86c1bb5` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 188 | 17 | 2.644 | 11.59 | 20.08 | 1960.91 | 0.5870 |
+| 1 | descend | 338 | 30 | 0.841 | 5.63 | 9.76 | 3625.35 | 0.7327 |
+| 2 | settle | 386 | 34 | 0.024 | 0.77 | 1.34 | 3625.20 | 0.6872 |
+| 3 | close | 106 | 10 | 0.452 | 3.06 | 5.29 | 3625.87 | 0.9679 |
+| 4 | lift | 317 | 28 | 2.486 | 12.17 | 21.08 | 2020.01 | 1.1118 |
+| 5 | move_xy | 309 | 27 | 6.094 | 31.83 | 55.13 | 2736.05 | 0.8810 |
+| 6 | lower | 379 | 33 | 0.083 | 1.34 | 2.33 | 3471.79 | 1.0777 |
+| 7 | open | 107 | 10 | 0.437 | 2.93 | 5.08 | 3625.26 | 0.7539 |
+| 8 | retract | 319 | 28 | 2.582 | 12.74 | 22.07 | 2204.89 | 0.7215 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.541 |
+| TCP position RMSE (mm, per-axis) | 12.95 |
+| EE position RMS L2 (mm) | 23.49 |
+| TCP rotvec (mrad) | 3071.39 |
+| W1 effort mean (A) | 0.8217 |
+| W1 effort per joint (A) | j0=0.2583, j1=1.4320, j2=1.6487, j3=0.7357, j4=0.2572, j5=0.5984 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00069 | -0.00036 | -0.00077 | 0.00110 | 0.038 |
+| 1 | 0.00061 | -0.00065 | -0.00098 | 0.00132 | 0.043 |
+| 2 | 0.00062 | -0.00064 | -0.00098 | 0.00133 | 0.046 |
+| 3 | 0.00098 | -0.00062 | -0.00069 | 0.00135 | 0.067 |
+| 4 | 0.00019 | -0.00015 | -0.00015 | 0.00029 | 0.085 |
+| 5 | 0.00141 | -0.00094 | -0.00162 | 0.00234 | 0.112 |
+| 6 | 0.00154 | -0.00086 | -0.00119 | 0.00213 | 0.116 |
+| 7 | 0.00040 | -0.00045 | -0.00081 | 0.00101 | 0.041 |
+| 8 | -0.00013 | -0.00020 | -0.00021 | 0.00032 | 0.032 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_4505ef46-18a7-422b-9db3-1282cf37bfaa.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4505ef46-18a7-422b-9db3-1282cf37bfaa.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4505ef46-18a7-422b-9db3-1282cf37bfaa.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2814 |
+| Sim rows | 250 |
+| Real episode_id | `4505ef46-18a7-422b-9db3-1282cf37bfaa` |
+| Sim episode_id | `4505ef46-18a7-422b-9db3-1282cf37bfaa` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 221 | 20 | 3.039 | 11.73 | 20.32 | 1951.25 | 0.5750 |
+| 1 | descend | 480 | 42 | 0.680 | 4.03 | 6.97 | 3626.06 | 0.6918 |
+| 2 | settle | 358 | 31 | 0.022 | 0.60 | 1.04 | 3625.95 | 0.6863 |
+| 3 | close | 160 | 15 | 0.942 | 5.34 | 9.25 | 1115.85 | 0.9401 |
+| 4 | lift | 320 | 28 | 3.014 | 12.04 | 20.85 | 2115.19 | 1.0776 |
+| 5 | move_xy | 413 | 36 | 6.694 | 30.26 | 52.42 | 2082.53 | 0.8919 |
+| 6 | lower | 380 | 33 | 0.080 | 1.11 | 1.92 | 1477.93 | 0.9586 |
+| 7 | open | 159 | 15 | 1.025 | 5.85 | 10.13 | 3626.22 | 0.6141 |
+| 8 | retract | 323 | 28 | 2.775 | 11.32 | 19.60 | 2291.47 | 0.7061 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.853 |
+| TCP position RMSE (mm, per-axis) | 12.50 |
+| EE position RMS L2 (mm) | 23.43 |
+| TCP rotvec (mrad) | 2597.95 |
+| W1 effort mean (A) | 0.7661 |
+| W1 effort per joint (A) | j0=0.2440, j1=1.1800, j2=1.5373, j3=0.6969, j4=0.3431, j5=0.5951 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00035 | -0.00030 | -0.00043 | 0.00063 | 0.023 |
+| 1 | 0.00042 | -0.00055 | -0.00079 | 0.00105 | 0.038 |
+| 2 | 0.00041 | -0.00057 | -0.00075 | 0.00103 | 0.034 |
+| 3 | 0.00076 | -0.00043 | -0.00078 | 0.00117 | 0.096 |
+| 4 | 0.00007 | -0.00043 | -0.00041 | 0.00060 | 0.110 |
+| 5 | 0.00145 | -0.00075 | -0.00101 | 0.00192 | 0.160 |
+| 6 | 0.00107 | -0.00077 | -0.00047 | 0.00140 | 0.118 |
+| 7 | 0.00022 | -0.00034 | -0.00052 | 0.00066 | 0.036 |
+| 8 | -0.00009 | -0.00012 | -0.00016 | 0.00022 | 0.033 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_4527f097-c72c-4667-935a-7dd458092f9b.md

@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4527f097-c72c-4667-935a-7dd458092f9b.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4527f097-c72c-4667-935a-7dd458092f9b.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1518 |
+| Sim rows | 154 |
+| Real episode_id | `4527f097-c72c-4667-935a-7dd458092f9b` |
+| Sim episode_id | `4527f097-c72c-4667-935a-7dd458092f9b` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 150 | 15 | 2.417 | 11.60 | 20.08 | 632.67 | 0.7895 |
+| 1 | descend | 65 | 7 | 0.261 | 3.17 | 5.49 | 6.30 | 0.7719 |
+| 2 | settle | 21 | 3 | 0.028 | 2.99 | 5.18 | 6.67 | 0.8667 |
+| 3 | close | 395 | 39 | 0.128 | 3.54 | 6.13 | 12.06 | 1.3469 |
+| 4 | lift | 63 | 7 | 0.421 | 3.98 | 6.90 | 11.70 | 1.3850 |
+| 5 | move_xy | 151 | 15 | 3.444 | 11.11 | 19.25 | 85.22 | 1.3264 |
+| 6 | lower | 65 | 7 | 0.325 | 3.04 | 5.26 | 6.81 | 1.1645 |
+| 7 | open | 357 | 35 | 0.024 | 2.74 | 4.75 | 4.98 | 0.6577 |
+| 8 | retract | 68 | 7 | 0.478 | 3.49 | 6.04 | 4.49 | 0.7465 |
+| 9 | return | 183 | 19 | 2.688 | 12.17 | 21.08 | 818.16 | 0.8064 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.598 |
+| TCP position RMSE (mm, per-axis) | 6.95 |
+| EE position RMS L2 (mm) | 12.32 |
+| TCP rotvec (mrad) | 328.24 |
+| W1 effort mean (A) | 0.9873 |
+| W1 effort per joint (A) | j0=0.2279, j1=1.9260, j2=1.6518, j3=0.8485, j4=0.5661, j5=0.7033 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00235 | -0.00420 | -0.00098 | 0.00491 | 0.054 |
+| 1 | 0.00256 | -0.00434 | -0.00113 | 0.00516 | 0.049 |
+| 2 | 0.00258 | -0.00433 | -0.00126 | 0.00520 | 0.057 |
+| 3 | 0.00347 | -0.00515 | -0.00177 | 0.00646 | 0.162 |
+| 4 | 0.00253 | -0.00461 | -0.00175 | 0.00554 | 0.231 |
+| 5 | 0.00182 | -0.00403 | -0.00075 | 0.00448 | 0.199 |
+| 6 | 0.00245 | -0.00393 | -0.00037 | 0.00464 | 0.142 |
+| 7 | 0.00246 | -0.00404 | -0.00055 | 0.00476 | 0.053 |
+| 8 | 0.00215 | -0.00404 | -0.00071 | 0.00464 | 0.060 |
+| 9 | -0.00014 | -0.00019 | -0.00030 | 0.00038 | 0.041 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_452c54b5-05b8-4be0-a7cc-13962b4d8342.md

@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/452c54b5-05b8-4be0-a7cc-13962b4d8342.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/452c54b5-05b8-4be0-a7cc-13962b4d8342.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 986 |
+| Sim rows | 103 |
+| Real episode_id | `452c54b5-05b8-4be0-a7cc-13962b4d8342` |
+| Sim episode_id | `452c54b5-05b8-4be0-a7cc-13962b4d8342` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 140 | 15 | 6.688 | 14.43 | 25.00 | 335.53 | 0.6581 |
+| 1 | descend | 65 | 7 | 11.962 | 3.29 | 5.70 | 464.40 | 0.7096 |
+| 2 | settle | 36 | 4 | 11.942 | 2.27 | 3.93 | 464.86 | 0.7162 |
+| 3 | close | 29 | 4 | 11.942 | 2.48 | 4.30 | 464.27 | 1.1058 |
+| 4 | lift | 67 | 7 | 11.955 | 3.23 | 5.59 | 463.87 | 1.1143 |
+| 5 | move_xy | 189 | 19 | 8.012 | 26.90 | 46.60 | 163.59 | 1.1636 |
+| 6 | lower | 64 | 7 | 0.502 | 4.94 | 8.55 | 7.97 | 1.1677 |
+| 7 | open | 98 | 10 | 0.027 | 3.27 | 5.67 | 6.91 | 0.7943 |
+| 8 | retract | 66 | 7 | 0.533 | 3.86 | 6.69 | 6.59 | 0.8522 |
+| 9 | return | 232 | 23 | 2.521 | 20.41 | 35.35 | 733.65 | 0.6562 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 8.289 |
+| TCP position RMSE (mm, per-axis) | 11.96 |
+| EE position RMS L2 (mm) | 28.55 |
+| TCP rotvec (mrad) | 392.46 |
+| W1 effort mean (A) | 0.8212 |
+| W1 effort per joint (A) | j0=0.1895, j1=1.6015, j2=1.4764, j3=0.7978, j4=0.2728, j5=0.5893 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00163 | -0.00357 | 0.00019 | 0.00393 | 29.267 |
+| 1 | 0.00208 | -0.00333 | 0.00016 | 0.00392 | 29.251 |
+| 2 | 0.00207 | -0.00335 | 0.00001 | 0.00394 | 29.248 |
+| 3 | 0.00199 | -0.00381 | 0.00013 | 0.00430 | 29.251 |
+| 4 | 0.00168 | -0.00391 | -0.00012 | 0.00426 | 29.277 |
+| 5 | 0.00276 | -0.00581 | -0.00281 | 0.00702 | 0.187 |
+| 6 | 0.00300 | -0.00643 | -0.00184 | 0.00733 | 0.196 |
+| 7 | 0.00235 | -0.00492 | -0.00150 | 0.00566 | 0.061 |
+| 8 | 0.00196 | -0.00480 | -0.00179 | 0.00548 | 0.081 |
+| 9 | -0.00013 | -0.00012 | -0.00036 | 0.00040 | 0.044 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_453c5c07-5d1b-4efc-9148-da9aaa34c25f.md

@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/453c5c07-5d1b-4efc-9148-da9aaa34c25f.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/453c5c07-5d1b-4efc-9148-da9aaa34c25f.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 478 |
+| Sim rows | 64 |
+| Real episode_id | `453c5c07-5d1b-4efc-9148-da9aaa34c25f` |
+| Sim episode_id | `453c5c07-5d1b-4efc-9148-da9aaa34c25f` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 268 | 27 | 2.564 | 10.73 | 18.59 | 11.36 | 0.8595 |
+| 1 | descend | 210 | 21 | 0.023 | 7.37 | 12.76 | 2.36 | 0.8780 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.813 |
+| TCP position RMSE (mm, per-axis) | 9.20 |
+| EE position RMS L2 (mm) | 16.29 |
+| TCP rotvec (mrad) | 8.21 |
+| W1 effort mean (A) | 0.8675 |
+| W1 effort per joint (A) | j0=0.1413, j1=1.8433, j2=1.6747, j3=1.1154, j4=0.3013, j5=0.1289 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.01150 | 0.00507 | -0.00068 | 0.01258 | 0.051 |
+| 1 | 0.01167 | 0.00514 | -0.00070 | 0.01277 | 0.042 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_45824799-c45d-4f79-b5c1-8992627803fe.md

@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/45824799-c45d-4f79-b5c1-8992627803fe.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/45824799-c45d-4f79-b5c1-8992627803fe.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 555 |
+| Sim rows | 71 |
+| Real episode_id | `45824799-c45d-4f79-b5c1-8992627803fe` |
+| Sim episode_id | `45824799-c45d-4f79-b5c1-8992627803fe` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 345 | 34 | 4.003 | 21.49 | 37.21 | 752.35 | 0.8208 |
+| 1 | descend | 210 | 21 | 0.029 | 1.14 | 1.98 | 2.07 | 0.8069 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.831 |
+| TCP position RMSE (mm, per-axis) | 15.21 |
+| EE position RMS L2 (mm) | 29.37 |
+| TCP rotvec (mrad) | 532.00 |
+| W1 effort mean (A) | 0.8151 |
+| W1 effort per joint (A) | j0=0.1953, j1=1.6384, j2=1.8418, j3=0.9557, j4=0.1177, j5=0.1416 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | -0.00082 | 0.00163 | 0.00064 | 0.00194 | 0.041 |
+| 1 | -0.00067 | 0.00169 | 0.00061 | 0.00192 | 0.041 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_45887269-d921-4eb3-91f7-757a0208d272.md

@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/45887269-d921-4eb3-91f7-757a0208d272.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/45887269-d921-4eb3-91f7-757a0208d272.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 826 |
+| Sim rows | 97 |
+| Real episode_id | `45887269-d921-4eb3-91f7-757a0208d272` |
+| Sim episode_id | `45887269-d921-4eb3-91f7-757a0208d272` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 617 | 60 | 3.532 | 18.22 | 31.55 | 1340.76 | 0.8049 |
+| 1 | descend | 209 | 21 | 0.024 | 5.66 | 9.80 | 2.24 | 0.7627 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.497 |
+| TCP position RMSE (mm, per-axis) | 13.49 |
+| EE position RMS L2 (mm) | 27.71 |
+| TCP rotvec (mrad) | 948.06 |
+| W1 effort mean (A) | 0.7942 |
+| W1 effort per joint (A) | j0=0.1934, j1=1.7149, j2=1.6365, j3=0.9178, j4=0.1401, j5=0.1624 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | -0.00160 | 0.00969 | -0.00016 | 0.00983 | 0.035 |
+| 1 | -0.00160 | 0.00962 | -0.00016 | 0.00975 | 0.040 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_458db074-a653-4aca-9cf3-dd3be48ef716.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/458db074-a653-4aca-9cf3-dd3be48ef716.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/458db074-a653-4aca-9cf3-dd3be48ef716.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2842 |
+| Sim rows | 252 |
+| Real episode_id | `458db074-a653-4aca-9cf3-dd3be48ef716` |
+| Sim episode_id | `458db074-a653-4aca-9cf3-dd3be48ef716` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 204 | 18 | 2.285 | 12.57 | 21.76 | 1830.18 | 0.6118 |
+| 1 | descend | 429 | 37 | 1.154 | 7.90 | 13.68 | 3624.72 | 0.8102 |
+| 2 | settle | 384 | 34 | 0.028 | 0.98 | 1.70 | 3624.51 | 0.7035 |
+| 3 | close | 142 | 13 | 0.940 | 6.35 | 11.01 | 3625.25 | 0.9794 |
+| 4 | lift | 389 | 34 | 2.511 | 14.34 | 24.84 | 2410.95 | 1.1053 |
+| 5 | move_xy | 361 | 32 | 4.405 | 26.38 | 45.69 | 2784.33 | 0.9808 |
+| 6 | lower | 403 | 35 | 0.095 | 1.71 | 2.96 | 3624.97 | 1.0945 |
+| 7 | open | 142 | 13 | 1.166 | 7.90 | 13.68 | 3624.74 | 0.7262 |
+| 8 | retract | 388 | 34 | 2.462 | 14.07 | 24.37 | 2413.51 | 0.7475 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.123 |
+| TCP position RMSE (mm, per-axis) | 12.59 |
+| EE position RMS L2 (mm) | 22.58 |
+| TCP rotvec (mrad) | 3134.70 |
+| W1 effort mean (A) | 0.8572 |
+| W1 effort per joint (A) | j0=0.2462, j1=1.5746, j2=1.6904, j3=0.7495, j4=0.2877, j5=0.5947 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00076 | -0.00036 | -0.00065 | 0.00106 | 0.032 |
+| 1 | 0.00085 | -0.00086 | -0.00118 | 0.00169 | 0.046 |
+| 2 | 0.00077 | -0.00086 | -0.00120 | 0.00167 | 0.054 |
+| 3 | 0.00174 | -0.00067 | -0.00212 | 0.00282 | 0.177 |
+| 4 | 0.00009 | -0.00033 | -0.00020 | 0.00039 | 0.101 |
+| 5 | 0.00186 | -0.00146 | -0.00330 | 0.00407 | 0.241 |
+| 6 | 0.00209 | -0.00128 | -0.00151 | 0.00288 | 0.165 |
+| 7 | 0.00057 | -0.00051 | -0.00099 | 0.00125 | 0.060 |
+| 8 | -0.00008 | -0.00010 | -0.00012 | 0.00018 | 0.018 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_459450be-8fc9-403b-af2c-d21818c3ee1c.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/459450be-8fc9-403b-af2c-d21818c3ee1c.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/459450be-8fc9-403b-af2c-d21818c3ee1c.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 3097 |
+| Sim rows | 273 |
+| Real episode_id | `459450be-8fc9-403b-af2c-d21818c3ee1c` |
+| Sim episode_id | `459450be-8fc9-403b-af2c-d21818c3ee1c` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 255 | 23 | 2.960 | 12.58 | 21.80 | 1926.44 | 0.5867 |
+| 1 | descend | 519 | 45 | 0.483 | 3.48 | 6.03 | 3625.42 | 0.6696 |
+| 2 | settle | 380 | 33 | 0.023 | 0.77 | 1.34 | 3625.33 | 0.7557 |
+| 3 | close | 132 | 12 | 0.616 | 4.27 | 7.40 | 3159.07 | 1.0165 |
+| 4 | lift | 438 | 38 | 3.694 | 16.91 | 29.29 | 2360.41 | 1.1058 |
+| 5 | move_xy | 401 | 35 | 7.214 | 34.68 | 60.06 | 2479.96 | 0.8234 |
+| 6 | lower | 402 | 35 | 0.084 | 1.38 | 2.39 | 3425.21 | 0.9853 |
+| 7 | open | 133 | 12 | 0.606 | 4.00 | 6.93 | 3625.44 | 0.6593 |
+| 8 | retract | 437 | 38 | 3.467 | 16.00 | 27.72 | 2345.99 | 0.7260 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.117 |
+| TCP position RMSE (mm, per-axis) | 14.73 |
+| EE position RMS L2 (mm) | 27.34 |
+| TCP rotvec (mrad) | 3019.91 |
+| W1 effort mean (A) | 0.7962 |
+| W1 effort per joint (A) | j0=0.2559, j1=1.3162, j2=1.5636, j3=0.7532, j4=0.2667, j5=0.6216 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00086 | -0.00027 | -0.00064 | 0.00110 | 0.030 |
+| 1 | 0.00085 | -0.00051 | -0.00090 | 0.00134 | 0.043 |
+| 2 | 0.00087 | -0.00051 | -0.00091 | 0.00135 | 0.045 |
+| 3 | 0.00179 | -0.00021 | -0.00116 | 0.00215 | 0.149 |
+| 4 | 0.00027 | -0.00002 | -0.00022 | 0.00035 | 0.067 |
+| 5 | 0.00187 | -0.00075 | -0.00088 | 0.00220 | 0.155 |
+| 6 | 0.00152 | -0.00063 | -0.00195 | 0.00256 | 0.164 |
+| 7 | 0.00070 | -0.00027 | -0.00073 | 0.00105 | 0.041 |
+| 8 | -0.00008 | -0.00009 | -0.00011 | 0.00016 | 0.018 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.