diff --git a/gap_reports/gap_4256c619-682d-43c2-a6ab-6331485cbf53.md b/gap_reports/gap_4256c619-682d-43c2-a6ab-6331485cbf53.md
new file mode 100644
index 0000000000000000000000000000000000000000..f9ed165b3e2a723a9d9bc92743fc37f3f1fe19ea
--- /dev/null
+++ b/gap_reports/gap_4256c619-682d-43c2-a6ab-6331485cbf53.md
@@ -0,0 +1,73 @@
+# 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.
diff --git a/gap_reports/gap_4281c8c9-f7b9-41b8-af84-9a964c0777e6.md b/gap_reports/gap_4281c8c9-f7b9-41b8-af84-9a964c0777e6.md
new file mode 100644
index 0000000000000000000000000000000000000000..94fd6898f9e6f9b239151a843ac11fc246f8c2e8
--- /dev/null
+++ b/gap_reports/gap_4281c8c9-f7b9-41b8-af84-9a964c0777e6.md
@@ -0,0 +1,59 @@
+# 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.
diff --git a/gap_reports/gap_4284bc1b-cc03-4e41-a4de-9b9bd22b4002.md b/gap_reports/gap_4284bc1b-cc03-4e41-a4de-9b9bd22b4002.md
new file mode 100644
index 0000000000000000000000000000000000000000..60d7847a3d399d898e9e81a0e59d9af6594b2ff2
--- /dev/null
+++ b/gap_reports/gap_4284bc1b-cc03-4e41-a4de-9b9bd22b4002.md
@@ -0,0 +1,73 @@
+# 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.
diff --git a/gap_reports/gap_42961e7a-140a-49d4-a03e-39a6c6674bc8.md b/gap_reports/gap_42961e7a-140a-49d4-a03e-39a6c6674bc8.md
new file mode 100644
index 0000000000000000000000000000000000000000..c6611199738bbf9463fcad05a9f2a07f102f9fb4
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_42d727f5-c406-4892-bf45-98b948359bac.md b/gap_reports/gap_42d727f5-c406-4892-bf45-98b948359bac.md
new file mode 100644
index 0000000000000000000000000000000000000000..a095e8d5973ad11718c268e66e0c1bc1220d756d
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_42fef4d1-91cb-4d24-8775-91c786e592ee.md b/gap_reports/gap_42fef4d1-91cb-4d24-8775-91c786e592ee.md
new file mode 100644
index 0000000000000000000000000000000000000000..c4d96b6a1833554850f516957814e118ce623b2a
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_430d5a0c-09a9-4ccd-872c-1b6ce7e788d0.md b/gap_reports/gap_430d5a0c-09a9-4ccd-872c-1b6ce7e788d0.md
new file mode 100644
index 0000000000000000000000000000000000000000..b63223dd37028e5de0074ed9dbbda6d5ea94e329
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_430f333f-1809-4c4c-8180-d1a6cdd3226f.md b/gap_reports/gap_430f333f-1809-4c4c-8180-d1a6cdd3226f.md
new file mode 100644
index 0000000000000000000000000000000000000000..15ac1f7c7fccbce68a47ae5b5ad4c09aed6e7cb7
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_431dad02-5655-41b4-93dc-dcd082808d1b.md b/gap_reports/gap_431dad02-5655-41b4-93dc-dcd082808d1b.md
new file mode 100644
index 0000000000000000000000000000000000000000..8fd4c4435830f6ba9d2bbb8243400b951f00b791
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_43694742-8ec3-461f-8956-33ef01c0a3b0.md b/gap_reports/gap_43694742-8ec3-461f-8956-33ef01c0a3b0.md
new file mode 100644
index 0000000000000000000000000000000000000000..a8c11790f1690c88ea7bc4de240158ed4efcf348
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_436b8d20-7c5f-468f-b1bb-23ce3313494f.md b/gap_reports/gap_436b8d20-7c5f-468f-b1bb-23ce3313494f.md
new file mode 100644
index 0000000000000000000000000000000000000000..1bdd0916b17a3481c330d26aca7869aebddd7c9a
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_437f812a-2120-4c43-b832-48f816849db9.md b/gap_reports/gap_437f812a-2120-4c43-b832-48f816849db9.md
new file mode 100644
index 0000000000000000000000000000000000000000..87b0d50dbfa09fd4d7f3368abe9ac5c1b4d3a893
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_438b4bc6-8443-4fd3-b7a5-02ca35e25560.md b/gap_reports/gap_438b4bc6-8443-4fd3-b7a5-02ca35e25560.md
new file mode 100644
index 0000000000000000000000000000000000000000..0029d7bf05b4c97c11d668d06037fa963e7c7f06
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_43954580-8bdd-4d7d-a204-76625b1ee330.md b/gap_reports/gap_43954580-8bdd-4d7d-a204-76625b1ee330.md
new file mode 100644
index 0000000000000000000000000000000000000000..de3f6b10d3463c689e412e50aa99d8add25cdc6a
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_43997f0e-87c7-4700-8250-ded1dd2818c2.md b/gap_reports/gap_43997f0e-87c7-4700-8250-ded1dd2818c2.md
new file mode 100644
index 0000000000000000000000000000000000000000..b8631fc32c2e27a7c57299c11c9678834a4294c2
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_4399f3ba-7aba-4396-8772-cf66de4e6424.md b/gap_reports/gap_4399f3ba-7aba-4396-8772-cf66de4e6424.md
new file mode 100644
index 0000000000000000000000000000000000000000..45c5331fce0d917c443796a21b5c046dc1257881
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_439a0e72-dd56-4d9c-9283-8b5af714806d.md b/gap_reports/gap_439a0e72-dd56-4d9c-9283-8b5af714806d.md
new file mode 100644
index 0000000000000000000000000000000000000000..1b2a1bf8b30c35d54cb95e3b737d85a7960952b0
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_439c3ade-d684-43f7-82e8-b3cacc299ae1.md b/gap_reports/gap_439c3ade-d684-43f7-82e8-b3cacc299ae1.md
new file mode 100644
index 0000000000000000000000000000000000000000..66f4acb0b28ac4ec0859a340a313235d267c6f75
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_43ad0aa0-e423-4a26-969f-ef0b3dea32fc.md b/gap_reports/gap_43ad0aa0-e423-4a26-969f-ef0b3dea32fc.md
new file mode 100644
index 0000000000000000000000000000000000000000..90fdb201a844a525355f9f7fad78abcb289d8dd8
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_43af4611-410c-47e6-9b18-4a4fd11dcfbb.md b/gap_reports/gap_43af4611-410c-47e6-9b18-4a4fd11dcfbb.md
new file mode 100644
index 0000000000000000000000000000000000000000..ed8809353f9ddf33869684de62033b0ede2737c1
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_43afb4ec-c6ff-4f0b-96dc-8ba5b7bb1878.md b/gap_reports/gap_43afb4ec-c6ff-4f0b-96dc-8ba5b7bb1878.md
new file mode 100644
index 0000000000000000000000000000000000000000..447413b85ed0c15dca040ca790ef1ed11fb5729d
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_43b13467-a408-4d67-b09c-0992868daa60.md b/gap_reports/gap_43b13467-a408-4d67-b09c-0992868daa60.md
new file mode 100644
index 0000000000000000000000000000000000000000..3a08d35599a0b4855c0a80d986684058745e1f64
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_43b970fa-6790-4dfe-978b-5ecda2b1ce54.md b/gap_reports/gap_43b970fa-6790-4dfe-978b-5ecda2b1ce54.md
new file mode 100644
index 0000000000000000000000000000000000000000..db6de6f87d8b65276fc8e6d6eaf6bc5985468f67
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_43d1eecb-1c73-4e0b-a047-5f2ded2b303a.md b/gap_reports/gap_43d1eecb-1c73-4e0b-a047-5f2ded2b303a.md
new file mode 100644
index 0000000000000000000000000000000000000000..0e87130ea9feeee10e615830e5097ebc00c9df92
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_43d9d0ea-f8f5-48d5-974f-f83efd7ce37d.md b/gap_reports/gap_43d9d0ea-f8f5-48d5-974f-f83efd7ce37d.md
new file mode 100644
index 0000000000000000000000000000000000000000..69825958fc5549cac5a100fc29228c84618ceff7
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_43df7a89-e5f8-4505-8e3c-d969042de410.md b/gap_reports/gap_43df7a89-e5f8-4505-8e3c-d969042de410.md
new file mode 100644
index 0000000000000000000000000000000000000000..0436245e7594c9bf71c85d3ce723daf0edd5a484
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_43e7a9f3-1a2b-45bc-b79b-a2006506704c.md b/gap_reports/gap_43e7a9f3-1a2b-45bc-b79b-a2006506704c.md
new file mode 100644
index 0000000000000000000000000000000000000000..44ed4d163a8f165b3639864c4ff582c763b859cf
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_43ffa637-d277-48ae-8b0a-221fa9c6dda3.md b/gap_reports/gap_43ffa637-d277-48ae-8b0a-221fa9c6dda3.md
new file mode 100644
index 0000000000000000000000000000000000000000..f9f1f05d8c4c4a4f65c2e3b3e0ef5556b3da1417
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_4413d1f2-8ec2-44ea-b2ef-05ae2f331d9f.md b/gap_reports/gap_4413d1f2-8ec2-44ea-b2ef-05ae2f331d9f.md
new file mode 100644
index 0000000000000000000000000000000000000000..b08cf214fea3d925585c3c9860cfdb4969b01566
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_44374292-d95b-4fb8-aaa6-4111c1eed068.md b/gap_reports/gap_44374292-d95b-4fb8-aaa6-4111c1eed068.md
new file mode 100644
index 0000000000000000000000000000000000000000..3a0d0200f538e71ef02d5b7c06f9a9d97d1db684
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_443dd5c5-fd87-44d1-a3cd-afd1e7ec781d.md b/gap_reports/gap_443dd5c5-fd87-44d1-a3cd-afd1e7ec781d.md
new file mode 100644
index 0000000000000000000000000000000000000000..1ee1a95ada6577f1e0811e693cb4b68b4eda1ca7
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_44407d7c-b898-4057-bbbb-c3d00264ec6a.md b/gap_reports/gap_44407d7c-b898-4057-bbbb-c3d00264ec6a.md
new file mode 100644
index 0000000000000000000000000000000000000000..496dc1af75f5576aaf0952cfefd55ae7458bd6e0
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_444c5047-2fe4-4c36-ac73-860ee1212a6b.md b/gap_reports/gap_444c5047-2fe4-4c36-ac73-860ee1212a6b.md
new file mode 100644
index 0000000000000000000000000000000000000000..0aeae2896beda6690e7702ef9ce6c437d82b3418
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_44549c08-6110-46da-82f7-eec004d0eeef.md b/gap_reports/gap_44549c08-6110-46da-82f7-eec004d0eeef.md
new file mode 100644
index 0000000000000000000000000000000000000000..3b6dffd49afb0e9a2b4559aa88696d1558fc25fa
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_445a699b-74ff-4981-ad63-3409c95095f5.md b/gap_reports/gap_445a699b-74ff-4981-ad63-3409c95095f5.md
new file mode 100644
index 0000000000000000000000000000000000000000..10b57003dd94eb8c7cfea2f21ca7dda41f49d6ac
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_445b2070-530c-4ea6-9d9f-c0adfdd05c5a.md b/gap_reports/gap_445b2070-530c-4ea6-9d9f-c0adfdd05c5a.md
new file mode 100644
index 0000000000000000000000000000000000000000..c7b7778b56576bab241c5350ea800801fcbda9bb
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_449750ab-18de-4903-9343-5ca9c19b1e92.md b/gap_reports/gap_449750ab-18de-4903-9343-5ca9c19b1e92.md
new file mode 100644
index 0000000000000000000000000000000000000000..7a855dcff8c82c8432aad0bb7b6eb2806ecba041
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_44a64238-3d4c-46ed-ac47-be35a04758a4.md b/gap_reports/gap_44a64238-3d4c-46ed-ac47-be35a04758a4.md
new file mode 100644
index 0000000000000000000000000000000000000000..b2ff991762037618149f42254886d17a45b3fa13
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_44b61a79-1455-4d88-88fe-38ba9dc8b5ca.md b/gap_reports/gap_44b61a79-1455-4d88-88fe-38ba9dc8b5ca.md
new file mode 100644
index 0000000000000000000000000000000000000000..b99198e9ec0c567d1ceed221a371c97d87cdf15f
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_44d27141-80a9-428b-bf29-f7a27fd07599.md b/gap_reports/gap_44d27141-80a9-428b-bf29-f7a27fd07599.md
new file mode 100644
index 0000000000000000000000000000000000000000..ca6c0bf9647cc60f5e1b42e56b0f42ddac2b3770
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_44d3cafc-97ad-4135-a6eb-c7566262745e.md b/gap_reports/gap_44d3cafc-97ad-4135-a6eb-c7566262745e.md
new file mode 100644
index 0000000000000000000000000000000000000000..5bd0c6b90c4da7909a65c81ba951b9ab32a688dc
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_44e7d91f-b5e8-4190-843c-3e4bb86c1bb5.md b/gap_reports/gap_44e7d91f-b5e8-4190-843c-3e4bb86c1bb5.md
new file mode 100644
index 0000000000000000000000000000000000000000..54bb6db3518c771b9c8f34a81a1fd089a601c707
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_4505ef46-18a7-422b-9db3-1282cf37bfaa.md b/gap_reports/gap_4505ef46-18a7-422b-9db3-1282cf37bfaa.md
new file mode 100644
index 0000000000000000000000000000000000000000..31167c38046d2c31daf7d0110b919d656c6846cd
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_4527f097-c72c-4667-935a-7dd458092f9b.md b/gap_reports/gap_4527f097-c72c-4667-935a-7dd458092f9b.md
new file mode 100644
index 0000000000000000000000000000000000000000..f574ce2fc019db07f7e716246d43bfec941b2940
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_452c54b5-05b8-4be0-a7cc-13962b4d8342.md b/gap_reports/gap_452c54b5-05b8-4be0-a7cc-13962b4d8342.md
new file mode 100644
index 0000000000000000000000000000000000000000..cca27a442bf073922364cbf331907190fd136663
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_453c5c07-5d1b-4efc-9148-da9aaa34c25f.md b/gap_reports/gap_453c5c07-5d1b-4efc-9148-da9aaa34c25f.md
new file mode 100644
index 0000000000000000000000000000000000000000..70560a50cf942190d01b4a345585b75e9b218953
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_45824799-c45d-4f79-b5c1-8992627803fe.md b/gap_reports/gap_45824799-c45d-4f79-b5c1-8992627803fe.md
new file mode 100644
index 0000000000000000000000000000000000000000..5cd9d378cd27483fa7e981125841e175d22e7e00
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_45887269-d921-4eb3-91f7-757a0208d272.md b/gap_reports/gap_45887269-d921-4eb3-91f7-757a0208d272.md
new file mode 100644
index 0000000000000000000000000000000000000000..4d3329edc96d23af9f02ff61932ea455912ba7e8
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_458db074-a653-4aca-9cf3-dd3be48ef716.md b/gap_reports/gap_458db074-a653-4aca-9cf3-dd3be48ef716.md
new file mode 100644
index 0000000000000000000000000000000000000000..893959f861d022e29212125fc59017111a62d37b
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_459450be-8fc9-403b-af2c-d21818c3ee1c.md b/gap_reports/gap_459450be-8fc9-403b-af2c-d21818c3ee1c.md
new file mode 100644
index 0000000000000000000000000000000000000000..b2b66f107bec921f136fdddfcc1c74f953f22e6e
--- /dev/null
+++ b/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.
diff --git a/gap_reports/gap_45ca43e4-b283-424a-9ac2-feb9f1439e2f.md b/gap_reports/gap_45ca43e4-b283-424a-9ac2-feb9f1439e2f.md
new file mode 100644
index 0000000000000000000000000000000000000000..ae290ecf74a0c9b7e15d5f660847900ca011f71f
--- /dev/null
+++ b/gap_reports/gap_45ca43e4-b283-424a-9ac2-feb9f1439e2f.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/45ca43e4-b283-424a-9ac2-feb9f1439e2f.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/45ca43e4-b283-424a-9ac2-feb9f1439e2f.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2705 |
+| Sim rows | 241 |
+| Real episode_id | `45ca43e4-b283-424a-9ac2-feb9f1439e2f` |
+| Sim episode_id | `45ca43e4-b283-424a-9ac2-feb9f1439e2f` |
+
+## 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 | 17 | 2.657 | 11.02 | 19.09 | 2059.12 | 0.5917 |
+| 1 | descend | 528 | 46 | 0.575 | 3.77 | 6.53 | 3625.41 | 0.7566 |
+| 2 | settle | 369 | 32 | 0.024 | 0.77 | 1.34 | 3625.23 | 0.6762 |
+| 3 | close | 130 | 12 | 0.881 | 5.67 | 9.82 | 3221.74 | 0.9990 |
+| 4 | lift | 305 | 27 | 3.198 | 14.97 | 25.94 | 2062.87 | 1.0975 |
+| 5 | move_xy | 350 | 31 | 7.388 | 37.31 | 64.62 | 2678.03 | 0.8930 |
+| 6 | lower | 403 | 35 | 0.083 | 1.33 | 2.31 | 3329.95 | 1.0129 |
+| 7 | open | 130 | 12 | 0.933 | 5.97 | 10.35 | 3625.47 | 0.6863 |
+| 8 | retract | 304 | 27 | 3.291 | 15.41 | 26.69 | 2370.80 | 0.7357 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.068 |
+| TCP position RMSE (mm, per-axis) | 15.13 |
+| EE position RMS L2 (mm) | 27.21 |
+| TCP rotvec (mrad) | 3021.88 |
+| W1 effort mean (A) | 0.8109 |
+| W1 effort per joint (A) | j0=0.2319, j1=1.3133, j2=1.6882, j3=0.7762, j4=0.2672, j5=0.5888 |
+
+## 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 | 0.00062 | -0.00023 | -0.00064 | 0.00092 | 0.038 |
+| 1 | 0.00058 | -0.00064 | -0.00099 | 0.00131 | 0.050 |
+| 2 | 0.00065 | -0.00063 | -0.00098 | 0.00133 | 0.042 |
+| 3 | 0.00157 | -0.00045 | -0.00141 | 0.00215 | 0.150 |
+| 4 | 0.00053 | -0.00019 | -0.00048 | 0.00074 | 0.152 |
+| 5 | 0.00176 | -0.00093 | -0.00105 | 0.00225 | 0.154 |
+| 6 | 0.00170 | -0.00092 | -0.00120 | 0.00228 | 0.148 |
+| 7 | 0.00040 | -0.00038 | -0.00070 | 0.00089 | 0.043 |
+| 8 | -0.00010 | -0.00017 | -0.00019 | 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.
diff --git a/gap_reports/gap_46428e3c-fc34-49bc-9267-e69213fac43d.md b/gap_reports/gap_46428e3c-fc34-49bc-9267-e69213fac43d.md
new file mode 100644
index 0000000000000000000000000000000000000000..675eb6a6ac7530d571c8043ab5204d37c61b87ae
--- /dev/null
+++ b/gap_reports/gap_46428e3c-fc34-49bc-9267-e69213fac43d.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/46428e3c-fc34-49bc-9267-e69213fac43d.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/46428e3c-fc34-49bc-9267-e69213fac43d.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1791 |
+| Sim rows | 182 |
+| Real episode_id | `46428e3c-fc34-49bc-9267-e69213fac43d` |
+| Sim episode_id | `46428e3c-fc34-49bc-9267-e69213fac43d` |
+
+## 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 | 164 | 17 | 2.921 | 13.16 | 22.80 | 277.50 | 0.6764 |
+| 1 | descend | 83 | 9 | 0.699 | 3.96 | 6.85 | 4.26 | 0.6522 |
+| 2 | settle | 36 | 4 | 0.021 | 2.37 | 4.10 | 4.83 | 0.6861 |
+| 3 | close | 306 | 30 | 0.072 | 2.31 | 4.00 | 5.90 | 1.1040 |
+| 4 | lift | 84 | 9 | 0.684 | 3.77 | 6.53 | 5.21 | 1.2889 |
+| 5 | move_xy | 227 | 23 | 9.906 | 35.23 | 61.02 | 113.77 | 1.3316 |
+| 6 | lower | 83 | 9 | 0.645 | 3.74 | 6.48 | 4.59 | 1.1454 |
+| 7 | open | 262 | 26 | 0.032 | 2.60 | 4.50 | 5.09 | 0.6020 |
+| 8 | retract | 84 | 9 | 0.738 | 3.72 | 6.44 | 4.50 | 0.6689 |
+| 9 | return | 462 | 46 | 6.399 | 23.66 | 40.98 | 1039.57 | 0.6817 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.867 |
+| TCP position RMSE (mm, per-axis) | 14.32 |
+| EE position RMS L2 (mm) | 31.09 |
+| TCP rotvec (mrad) | 342.17 |
+| W1 effort mean (A) | 0.8226 |
+| W1 effort per joint (A) | j0=0.1591, j1=1.5354, j2=1.6413, j3=0.8455, j4=0.2353, j5=0.5188 |
+
+## 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 | 0.00187 | -0.00350 | -0.00002 | 0.00397 | 0.035 |
+| 1 | 0.00237 | -0.00333 | -0.00005 | 0.00409 | 0.041 |
+| 2 | 0.00235 | -0.00335 | -0.00020 | 0.00410 | 0.049 |
+| 3 | 0.00249 | -0.00293 | -0.00091 | 0.00395 | 0.119 |
+| 4 | 0.00217 | -0.00329 | -0.00118 | 0.00412 | 0.139 |
+| 5 | 0.00134 | -0.00355 | -0.00148 | 0.00408 | 0.070 |
+| 6 | 0.00166 | -0.00405 | -0.00159 | 0.00466 | 0.096 |
+| 7 | 0.00152 | -0.00408 | -0.00111 | 0.00449 | 0.036 |
+| 8 | 0.00129 | -0.00365 | -0.00128 | 0.00408 | 0.050 |
+| 9 | -0.00006 | -0.00003 | -0.00019 | 0.00020 | 0.026 |
+
+## 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.
diff --git a/gap_reports/gap_4652c5ce-8e53-4f33-9a95-831681ede226.md b/gap_reports/gap_4652c5ce-8e53-4f33-9a95-831681ede226.md
new file mode 100644
index 0000000000000000000000000000000000000000..4029dd4f0e3faaad52cdfd7b3232c9d7f7d9edab
--- /dev/null
+++ b/gap_reports/gap_4652c5ce-8e53-4f33-9a95-831681ede226.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4652c5ce-8e53-4f33-9a95-831681ede226.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4652c5ce-8e53-4f33-9a95-831681ede226.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2921 |
+| Sim rows | 260 |
+| Real episode_id | `4652c5ce-8e53-4f33-9a95-831681ede226` |
+| Sim episode_id | `4652c5ce-8e53-4f33-9a95-831681ede226` |
+
+## 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 | 247 | 22 | 3.800 | 18.31 | 31.72 | 2049.97 | 0.6287 |
+| 1 | descend | 524 | 46 | 0.639 | 4.77 | 8.26 | 3624.67 | 0.8363 |
+| 2 | settle | 371 | 33 | 0.027 | 1.01 | 1.75 | 3624.61 | 0.7195 |
+| 3 | close | 154 | 14 | 0.593 | 4.45 | 7.71 | 3625.10 | 1.0555 |
+| 4 | lift | 330 | 29 | 3.301 | 17.52 | 30.35 | 2419.68 | 1.1031 |
+| 5 | move_xy | 400 | 35 | 7.820 | 42.85 | 74.21 | 2742.71 | 0.9002 |
+| 6 | lower | 409 | 36 | 0.099 | 1.84 | 3.18 | 3624.97 | 1.0635 |
+| 7 | open | 155 | 14 | 0.635 | 4.51 | 7.81 | 3624.73 | 0.7397 |
+| 8 | retract | 331 | 29 | 3.656 | 19.76 | 34.22 | 2423.83 | 0.7594 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.351 |
+| TCP position RMSE (mm, per-axis) | 18.06 |
+| EE position RMS L2 (mm) | 33.11 |
+| TCP rotvec (mrad) | 3147.33 |
+| W1 effort mean (A) | 0.8466 |
+| W1 effort per joint (A) | j0=0.2422, j1=1.5711, j2=1.5880, j3=0.8068, j4=0.2902, j5=0.5817 |
+
+## 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 | 0.00109 | -0.00030 | -0.00080 | 0.00138 | 0.032 |
+| 1 | 0.00109 | -0.00064 | -0.00117 | 0.00172 | 0.056 |
+| 2 | 0.00111 | -0.00066 | -0.00116 | 0.00173 | 0.057 |
+| 3 | 0.00176 | -0.00041 | -0.00123 | 0.00218 | 0.124 |
+| 4 | 0.00026 | -0.00053 | -0.00064 | 0.00087 | 0.136 |
+| 5 | 0.00208 | -0.00094 | -0.00092 | 0.00247 | 0.115 |
+| 6 | 0.00211 | -0.00096 | -0.00170 | 0.00288 | 0.127 |
+| 7 | 0.00096 | -0.00030 | -0.00098 | 0.00140 | 0.045 |
+| 8 | -0.00014 | -0.00020 | -0.00019 | 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.
diff --git a/gap_reports/gap_46594003-8104-468b-a009-d2657ba9a44b.md b/gap_reports/gap_46594003-8104-468b-a009-d2657ba9a44b.md
new file mode 100644
index 0000000000000000000000000000000000000000..28ae93a705f4ded5faa1c02fd608249502b800c2
--- /dev/null
+++ b/gap_reports/gap_46594003-8104-468b-a009-d2657ba9a44b.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/46594003-8104-468b-a009-d2657ba9a44b.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/46594003-8104-468b-a009-d2657ba9a44b.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2634 |
+| Sim rows | 236 |
+| Real episode_id | `46594003-8104-468b-a009-d2657ba9a44b` |
+| Sim episode_id | `46594003-8104-468b-a009-d2657ba9a44b` |
+
+## 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 | 197 | 18 | 2.326 | 9.52 | 16.48 | 2.47 | 0.5654 |
+| 1 | descend | 430 | 38 | 1.109 | 6.50 | 11.26 | 3.50 | 0.7404 |
+| 2 | settle | 352 | 31 | 0.024 | 0.74 | 1.28 | 3.74 | 0.7335 |
+| 3 | close | 129 | 12 | 1.117 | 6.39 | 11.06 | 5.11 | 0.9181 |
+| 4 | lift | 305 | 27 | 2.355 | 9.51 | 16.47 | 3.96 | 1.0872 |
+| 5 | move_xy | 399 | 35 | 5.752 | 26.89 | 46.57 | 4.66 | 0.9239 |
+| 6 | lower | 387 | 34 | 0.085 | 1.27 | 2.20 | 6.04 | 1.0134 |
+| 7 | open | 130 | 12 | 1.128 | 6.44 | 11.16 | 3.89 | 0.6170 |
+| 8 | retract | 305 | 27 | 2.526 | 10.27 | 17.79 | 2.62 | 0.6984 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.454 |
+| TCP position RMSE (mm, per-axis) | 11.24 |
+| EE position RMS L2 (mm) | 21.23 |
+| TCP rotvec (mrad) | 4.14 |
+| W1 effort mean (A) | 0.8013 |
+| W1 effort per joint (A) | j0=0.3113, j1=1.1148, j2=1.5608, j3=0.7052, j4=0.5244, j5=0.5914 |
+
+## 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 | 0.00044 | -0.00060 | -0.00050 | 0.00090 | 0.031 |
+| 1 | 0.00047 | -0.00088 | -0.00073 | 0.00123 | 0.031 |
+| 2 | 0.00048 | -0.00086 | -0.00079 | 0.00126 | 0.036 |
+| 3 | 0.00076 | -0.00081 | -0.00074 | 0.00134 | 0.081 |
+| 4 | 0.00011 | -0.00025 | -0.00018 | 0.00033 | 0.111 |
+| 5 | 0.00110 | -0.00101 | -0.00074 | 0.00166 | 0.105 |
+| 6 | 0.00118 | -0.00122 | -0.00186 | 0.00252 | 0.134 |
+| 7 | 0.00022 | -0.00069 | -0.00053 | 0.00090 | 0.037 |
+| 8 | -0.00006 | -0.00009 | -0.00013 | 0.00017 | 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.
diff --git a/gap_reports/gap_46642df2-f5d9-4069-978b-64497dbc0125.md b/gap_reports/gap_46642df2-f5d9-4069-978b-64497dbc0125.md
new file mode 100644
index 0000000000000000000000000000000000000000..b513ee49baf43b0bd736d519ec457a25487c09c7
--- /dev/null
+++ b/gap_reports/gap_46642df2-f5d9-4069-978b-64497dbc0125.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/46642df2-f5d9-4069-978b-64497dbc0125.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/46642df2-f5d9-4069-978b-64497dbc0125.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2731 |
+| Sim rows | 243 |
+| Real episode_id | `46642df2-f5d9-4069-978b-64497dbc0125` |
+| Sim episode_id | `46642df2-f5d9-4069-978b-64497dbc0125` |
+
+## 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 | 197 | 18 | 2.899 | 13.00 | 22.51 | 1984.01 | 0.5856 |
+| 1 | descend | 422 | 37 | 1.009 | 6.59 | 11.41 | 3625.41 | 0.6904 |
+| 2 | settle | 390 | 34 | 0.024 | 0.77 | 1.34 | 3625.25 | 0.7296 |
+| 3 | close | 190 | 17 | 0.974 | 6.13 | 10.61 | 3009.89 | 0.9594 |
+| 4 | lift | 283 | 25 | 3.097 | 14.48 | 25.07 | 2190.95 | 1.1095 |
+| 5 | move_xy | 367 | 32 | 6.497 | 33.25 | 57.60 | 2844.90 | 0.8838 |
+| 6 | lower | 409 | 36 | 0.087 | 1.38 | 2.40 | 3556.22 | 1.0162 |
+| 7 | open | 189 | 17 | 0.947 | 6.04 | 10.46 | 3625.48 | 0.6632 |
+| 8 | retract | 284 | 25 | 3.064 | 14.39 | 24.93 | 2376.20 | 0.7333 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.838 |
+| TCP position RMSE (mm, per-axis) | 14.19 |
+| EE position RMS L2 (mm) | 25.47 |
+| TCP rotvec (mrad) | 3048.00 |
+| W1 effort mean (A) | 0.8026 |
+| W1 effort per joint (A) | j0=0.2226, j1=1.3604, j2=1.6048, j3=0.7516, j4=0.3166, j5=0.5594 |
+
+## 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 | 0.00063 | -0.00026 | -0.00066 | 0.00095 | 0.034 |
+| 1 | 0.00062 | -0.00063 | -0.00100 | 0.00133 | 0.047 |
+| 2 | 0.00066 | -0.00064 | -0.00100 | 0.00136 | 0.047 |
+| 3 | 0.00168 | -0.00042 | -0.00121 | 0.00211 | 0.159 |
+| 4 | 0.00010 | -0.00030 | -0.00017 | 0.00035 | 0.084 |
+| 5 | 0.00147 | -0.00100 | -0.00222 | 0.00285 | 0.187 |
+| 6 | 0.00138 | -0.00100 | -0.00253 | 0.00305 | 0.219 |
+| 7 | 0.00049 | -0.00039 | -0.00074 | 0.00097 | 0.051 |
+| 8 | -0.00012 | -0.00020 | -0.00020 | 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.
diff --git a/gap_reports/gap_46802726-1710-469a-92b4-d9560e4b67a9.md b/gap_reports/gap_46802726-1710-469a-92b4-d9560e4b67a9.md
new file mode 100644
index 0000000000000000000000000000000000000000..1c93a6f14714bb5f4a83bc88828487984f2bd6e4
--- /dev/null
+++ b/gap_reports/gap_46802726-1710-469a-92b4-d9560e4b67a9.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/46802726-1710-469a-92b4-d9560e4b67a9.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/46802726-1710-469a-92b4-d9560e4b67a9.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2345 |
+| Sim rows | 211 |
+| Real episode_id | `46802726-1710-469a-92b4-d9560e4b67a9` |
+| Sim episode_id | `46802726-1710-469a-92b4-d9560e4b67a9` |
+
+## 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 | 163 | 15 | 2.189 | 8.29 | 14.36 | 1905.23 | 0.5789 |
+| 1 | descend | 321 | 28 | 1.333 | 7.92 | 13.72 | 3626.01 | 1.0133 |
+| 2 | settle | 368 | 32 | 0.022 | 0.57 | 0.99 | 3625.93 | 0.9719 |
+| 3 | close | 127 | 12 | 0.924 | 5.44 | 9.42 | 2266.70 | 1.1041 |
+| 4 | lift | 268 | 24 | 2.715 | 11.03 | 19.11 | 2079.61 | 1.1820 |
+| 5 | move_xy | 303 | 27 | 4.796 | 22.34 | 38.69 | 2363.97 | 1.0457 |
+| 6 | lower | 401 | 35 | 0.078 | 1.02 | 1.76 | 1608.41 | 1.3029 |
+| 7 | open | 127 | 12 | 0.886 | 5.11 | 8.86 | 3626.23 | 0.7103 |
+| 8 | retract | 267 | 24 | 2.461 | 10.26 | 17.77 | 2284.62 | 0.8123 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.227 |
+| TCP position RMSE (mm, per-axis) | 10.08 |
+| EE position RMS L2 (mm) | 17.92 |
+| TCP rotvec (mrad) | 2706.62 |
+| W1 effort mean (A) | 1.0039 |
+| W1 effort per joint (A) | j0=0.6112, j1=1.0872, j2=1.8450, j3=1.0958, j4=0.7794, j5=0.6049 |
+
+## 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 | 0.00014 | -0.00036 | -0.00045 | 0.00059 | 0.029 |
+| 1 | 0.00013 | -0.00059 | -0.00074 | 0.00096 | 0.038 |
+| 2 | 0.00017 | -0.00057 | -0.00077 | 0.00098 | 0.035 |
+| 3 | 0.00049 | -0.00039 | -0.00036 | 0.00072 | 0.114 |
+| 4 | 0.00044 | -0.00004 | -0.00015 | 0.00046 | 0.108 |
+| 5 | 0.00119 | -0.00062 | -0.00063 | 0.00148 | 0.135 |
+| 6 | 0.00103 | -0.00077 | -0.00079 | 0.00151 | 0.133 |
+| 7 | -0.00002 | -0.00035 | -0.00056 | 0.00066 | 0.039 |
+| 8 | -0.00008 | -0.00011 | -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.
diff --git a/gap_reports/gap_4680c7f8-029b-471e-badc-2d530cb2615d.md b/gap_reports/gap_4680c7f8-029b-471e-badc-2d530cb2615d.md
new file mode 100644
index 0000000000000000000000000000000000000000..509fea7917c0bd467240e943f1be0f0903116336
--- /dev/null
+++ b/gap_reports/gap_4680c7f8-029b-471e-badc-2d530cb2615d.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4680c7f8-029b-471e-badc-2d530cb2615d.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4680c7f8-029b-471e-badc-2d530cb2615d.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2840 |
+| Sim rows | 250 |
+| Real episode_id | `4680c7f8-029b-471e-badc-2d530cb2615d` |
+| Sim episode_id | `4680c7f8-029b-471e-badc-2d530cb2615d` |
+
+## 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 | 222 | 20 | 3.527 | 14.89 | 25.80 | 3.44 | 0.6023 |
+| 1 | descend | 450 | 39 | 1.443 | 9.55 | 16.54 | 5.15 | 0.7036 |
+| 2 | settle | 358 | 31 | 0.026 | 1.01 | 1.75 | 5.35 | 0.6308 |
+| 3 | close | 133 | 12 | 0.966 | 6.02 | 10.44 | 7.01 | 0.9377 |
+| 4 | lift | 380 | 33 | 3.687 | 17.10 | 29.61 | 4.98 | 1.1297 |
+| 5 | move_xy | 408 | 35 | 8.101 | 40.07 | 69.41 | 5.50 | 0.9158 |
+| 6 | lower | 376 | 33 | 0.093 | 1.70 | 2.94 | 7.63 | 0.9301 |
+| 7 | open | 132 | 12 | 0.854 | 5.51 | 9.54 | 5.38 | 0.6142 |
+| 8 | retract | 381 | 33 | 3.586 | 16.68 | 28.89 | 3.57 | 0.7277 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.468 |
+| TCP position RMSE (mm, per-axis) | 16.86 |
+| EE position RMS L2 (mm) | 32.06 |
+| TCP rotvec (mrad) | 5.49 |
+| W1 effort mean (A) | 0.7777 |
+| W1 effort per joint (A) | j0=0.2961, j1=1.3029, j2=1.3889, j3=0.6236, j4=0.4713, j5=0.5832 |
+
+## 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 | 0.00109 | -0.00046 | -0.00053 | 0.00130 | 0.030 |
+| 1 | 0.00113 | -0.00087 | -0.00097 | 0.00172 | 0.049 |
+| 2 | 0.00112 | -0.00088 | -0.00095 | 0.00171 | 0.048 |
+| 3 | 0.00195 | -0.00043 | -0.00045 | 0.00204 | 0.127 |
+| 4 | 0.00005 | -0.00031 | -0.00020 | 0.00038 | 0.114 |
+| 5 | 0.00239 | -0.00111 | -0.00128 | 0.00293 | 0.175 |
+| 6 | 0.00220 | -0.00092 | -0.00168 | 0.00291 | 0.141 |
+| 7 | 0.00093 | -0.00053 | -0.00073 | 0.00130 | 0.036 |
+| 8 | -0.00012 | -0.00016 | -0.00017 | 0.00026 | 0.025 |
+
+## 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.
diff --git a/gap_reports/gap_46820186-7108-4f5e-bdfb-ea82a9109e1c.md b/gap_reports/gap_46820186-7108-4f5e-bdfb-ea82a9109e1c.md
new file mode 100644
index 0000000000000000000000000000000000000000..fabbb74e92136167f65097e357fb7528ebd13d17
--- /dev/null
+++ b/gap_reports/gap_46820186-7108-4f5e-bdfb-ea82a9109e1c.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/46820186-7108-4f5e-bdfb-ea82a9109e1c.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/46820186-7108-4f5e-bdfb-ea82a9109e1c.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 423 |
+| Sim rows | 58 |
+| Real episode_id | `46820186-7108-4f5e-bdfb-ea82a9109e1c` |
+| Sim episode_id | `46820186-7108-4f5e-bdfb-ea82a9109e1c` |
+
+## 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 | 212 | 21 | 2.765 | 13.33 | 23.09 | 17.29 | 0.8214 |
+| 1 | descend | 211 | 21 | 0.023 | 0.60 | 1.04 | 2.18 | 0.8928 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.955 |
+| TCP position RMSE (mm, per-axis) | 9.44 |
+| EE position RMS L2 (mm) | 16.36 |
+| TCP rotvec (mrad) | 12.32 |
+| W1 effort mean (A) | 0.8569 |
+| W1 effort per joint (A) | j0=0.1493, j1=1.9123, j2=1.8810, j3=0.9308, j4=0.1386, j5=0.1293 |
+
+## 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 | 0.00055 | 0.00027 | 0.00070 | 0.00093 | 0.035 |
+| 1 | 0.00077 | 0.00025 | 0.00067 | 0.00105 | 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.
diff --git a/gap_reports/gap_4693967c-4189-4134-8fad-5aade608c491.md b/gap_reports/gap_4693967c-4189-4134-8fad-5aade608c491.md
new file mode 100644
index 0000000000000000000000000000000000000000..ce67692e36013640d6ff00d839f11af1eab2cd22
--- /dev/null
+++ b/gap_reports/gap_4693967c-4189-4134-8fad-5aade608c491.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4693967c-4189-4134-8fad-5aade608c491.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4693967c-4189-4134-8fad-5aade608c491.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2898 |
+| Sim rows | 258 |
+| Real episode_id | `4693967c-4189-4134-8fad-5aade608c491` |
+| Sim episode_id | `4693967c-4189-4134-8fad-5aade608c491` |
+
+## 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 | 230 | 20 | 2.535 | 9.96 | 17.25 | 2000.30 | 0.5625 |
+| 1 | descend | 511 | 45 | 1.576 | 9.21 | 15.95 | 3626.07 | 0.7459 |
+| 2 | settle | 379 | 33 | 0.022 | 0.58 | 1.00 | 3625.98 | 0.6723 |
+| 3 | close | 179 | 16 | 1.185 | 6.71 | 11.62 | 2087.32 | 0.9255 |
+| 4 | lift | 281 | 25 | 2.477 | 9.93 | 17.20 | 1512.40 | 1.0887 |
+| 5 | move_xy | 453 | 40 | 5.312 | 24.41 | 42.27 | 2102.82 | 0.8815 |
+| 6 | lower | 407 | 36 | 0.084 | 1.07 | 1.85 | 1280.74 | 0.9505 |
+| 7 | open | 179 | 16 | 1.130 | 6.37 | 11.04 | 3626.19 | 0.6187 |
+| 8 | retract | 279 | 25 | 2.496 | 10.14 | 17.56 | 2338.09 | 0.6995 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.408 |
+| TCP position RMSE (mm, per-axis) | 10.89 |
+| EE position RMS L2 (mm) | 20.56 |
+| TCP rotvec (mrad) | 2616.61 |
+| W1 effort mean (A) | 0.7812 |
+| W1 effort per joint (A) | j0=0.2449, j1=1.1176, j2=1.6136, j3=0.7726, j4=0.3597, j5=0.5790 |
+
+## 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 | 0.00013 | -0.00032 | -0.00052 | 0.00062 | 0.037 |
+| 1 | 0.00015 | -0.00059 | -0.00077 | 0.00099 | 0.039 |
+| 2 | 0.00020 | -0.00058 | -0.00079 | 0.00100 | 0.038 |
+| 3 | 0.00089 | -0.00031 | -0.00038 | 0.00102 | 0.119 |
+| 4 | 0.00023 | -0.00010 | -0.00034 | 0.00042 | 0.085 |
+| 5 | 0.00079 | -0.00094 | -0.00187 | 0.00223 | 0.139 |
+| 6 | 0.00143 | -0.00093 | -0.00141 | 0.00221 | 0.196 |
+| 7 | 0.00002 | -0.00041 | -0.00052 | 0.00066 | 0.036 |
+| 8 | -0.00005 | -0.00009 | -0.00015 | 0.00018 | 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.
diff --git a/gap_reports/gap_46e16476-c538-471f-9a22-2206ca405806.md b/gap_reports/gap_46e16476-c538-471f-9a22-2206ca405806.md
new file mode 100644
index 0000000000000000000000000000000000000000..6ffc2ad68179ff024a0ad0786f612395da2103fc
--- /dev/null
+++ b/gap_reports/gap_46e16476-c538-471f-9a22-2206ca405806.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/46e16476-c538-471f-9a22-2206ca405806.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/46e16476-c538-471f-9a22-2206ca405806.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2728 |
+| Sim rows | 243 |
+| Real episode_id | `46e16476-c538-471f-9a22-2206ca405806` |
+| Sim episode_id | `46e16476-c538-471f-9a22-2206ca405806` |
+
+## 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 | 201 | 18 | 2.585 | 10.06 | 17.43 | 1913.92 | 0.5781 |
+| 1 | descend | 526 | 46 | 0.996 | 5.98 | 10.36 | 3626.07 | 0.7009 |
+| 2 | settle | 382 | 33 | 0.020 | 0.59 | 1.02 | 3625.96 | 0.6669 |
+| 3 | close | 126 | 12 | 0.853 | 5.20 | 9.01 | 1423.88 | 0.9382 |
+| 4 | lift | 318 | 28 | 3.383 | 13.79 | 23.89 | 1931.90 | 1.0757 |
+| 5 | move_xy | 353 | 31 | 6.590 | 29.69 | 51.42 | 1719.75 | 0.8649 |
+| 6 | lower | 380 | 33 | 0.083 | 1.12 | 1.93 | 1478.14 | 0.9751 |
+| 7 | open | 125 | 12 | 0.840 | 4.87 | 8.44 | 3626.22 | 0.6063 |
+| 8 | retract | 317 | 28 | 3.312 | 13.54 | 23.46 | 2285.96 | 0.7012 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.886 |
+| TCP position RMSE (mm, per-axis) | 12.67 |
+| EE position RMS L2 (mm) | 22.88 |
+| TCP rotvec (mrad) | 2565.50 |
+| W1 effort mean (A) | 0.7631 |
+| W1 effort per joint (A) | j0=0.2404, j1=1.1701, j2=1.5521, j3=0.6942, j4=0.3177, j5=0.6044 |
+
+## 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 | 0.00040 | -0.00031 | -0.00044 | 0.00067 | 0.031 |
+| 1 | 0.00047 | -0.00057 | -0.00079 | 0.00108 | 0.038 |
+| 2 | 0.00041 | -0.00057 | -0.00073 | 0.00102 | 0.033 |
+| 3 | 0.00070 | -0.00040 | -0.00124 | 0.00148 | 0.115 |
+| 4 | 0.00021 | -0.00026 | -0.00048 | 0.00059 | 0.091 |
+| 5 | 0.00122 | -0.00077 | -0.00147 | 0.00206 | 0.114 |
+| 6 | 0.00121 | -0.00081 | -0.00255 | 0.00294 | 0.218 |
+| 7 | 0.00016 | -0.00029 | -0.00055 | 0.00064 | 0.039 |
+| 8 | -0.00009 | -0.00011 | -0.00014 | 0.00020 | 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.
diff --git a/gap_reports/gap_474fbb81-ddde-47b3-a3f1-3f5e184139e2.md b/gap_reports/gap_474fbb81-ddde-47b3-a3f1-3f5e184139e2.md
new file mode 100644
index 0000000000000000000000000000000000000000..fc2e68888da3de1680b3f2a8b32c174d7135bc1e
--- /dev/null
+++ b/gap_reports/gap_474fbb81-ddde-47b3-a3f1-3f5e184139e2.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/474fbb81-ddde-47b3-a3f1-3f5e184139e2.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/474fbb81-ddde-47b3-a3f1-3f5e184139e2.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2305 |
+| Sim rows | 232 |
+| Real episode_id | `474fbb81-ddde-47b3-a3f1-3f5e184139e2` |
+| Sim episode_id | `474fbb81-ddde-47b3-a3f1-3f5e184139e2` |
+
+## 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 | 171 | 17 | 2.485 | 9.55 | 16.54 | 1960.71 | 0.5821 |
+| 1 | descend | 286 | 28 | 1.607 | 9.55 | 16.54 | 3626.04 | 0.7070 |
+| 2 | settle | 320 | 32 | 0.021 | 0.59 | 1.03 | 3625.95 | 0.7187 |
+| 3 | close | 114 | 12 | 1.045 | 6.00 | 10.39 | 1539.22 | 0.9368 |
+| 4 | lift | 301 | 30 | 2.159 | 8.66 | 14.99 | 1513.15 | 1.0967 |
+| 5 | move_xy | 342 | 34 | 7.726 | 34.42 | 59.62 | 2067.68 | 0.8703 |
+| 6 | lower | 355 | 35 | 0.076 | 1.06 | 1.84 | 1609.57 | 0.9700 |
+| 7 | open | 114 | 12 | 1.205 | 6.91 | 11.97 | 3626.27 | 0.6133 |
+| 8 | retract | 302 | 30 | 2.315 | 9.32 | 16.15 | 2218.01 | 0.7073 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.000 |
+| TCP position RMSE (mm, per-axis) | 13.39 |
+| EE position RMS L2 (mm) | 25.66 |
+| TCP rotvec (mrad) | 2576.27 |
+| W1 effort mean (A) | 0.7931 |
+| W1 effort per joint (A) | j0=0.2520, j1=1.2143, j2=1.5970, j3=0.6968, j4=0.3531, j5=0.6455 |
+
+## 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 | -0.00026 | -0.00045 | 0.00064 | 0.031 |
+| 1 | 0.00041 | -0.00056 | -0.00074 | 0.00102 | 0.033 |
+| 2 | 0.00044 | -0.00055 | -0.00076 | 0.00103 | 0.037 |
+| 3 | 0.00062 | -0.00045 | -0.00063 | 0.00099 | 0.095 |
+| 4 | 0.00011 | -0.00029 | -0.00032 | 0.00044 | 0.090 |
+| 5 | 0.00120 | -0.00084 | -0.00054 | 0.00157 | 0.132 |
+| 6 | 0.00154 | -0.00073 | -0.00080 | 0.00188 | 0.170 |
+| 7 | 0.00015 | -0.00036 | -0.00051 | 0.00064 | 0.040 |
+| 8 | -0.00007 | -0.00010 | -0.00014 | 0.00019 | 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.
diff --git a/gap_reports/gap_47557a6b-42a0-4f64-88ec-fc219379ab8f.md b/gap_reports/gap_47557a6b-42a0-4f64-88ec-fc219379ab8f.md
new file mode 100644
index 0000000000000000000000000000000000000000..2c9e08d7351e75c3af29b6fdf043e27317155e11
--- /dev/null
+++ b/gap_reports/gap_47557a6b-42a0-4f64-88ec-fc219379ab8f.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/47557a6b-42a0-4f64-88ec-fc219379ab8f.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/47557a6b-42a0-4f64-88ec-fc219379ab8f.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2698 |
+| Sim rows | 239 |
+| Real episode_id | `47557a6b-42a0-4f64-88ec-fc219379ab8f` |
+| Sim episode_id | `47557a6b-42a0-4f64-88ec-fc219379ab8f` |
+
+## 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 | 196 | 18 | 2.418 | 11.56 | 20.02 | 1937.84 | 0.5690 |
+| 1 | descend | 370 | 32 | 1.370 | 8.80 | 15.25 | 3625.37 | 0.7556 |
+| 2 | settle | 358 | 31 | 0.024 | 0.75 | 1.30 | 3625.23 | 0.6272 |
+| 3 | close | 180 | 16 | 0.967 | 6.13 | 10.63 | 2964.23 | 0.9903 |
+| 4 | lift | 313 | 28 | 2.567 | 12.25 | 21.22 | 2241.31 | 1.1232 |
+| 5 | move_xy | 393 | 34 | 5.718 | 30.70 | 53.17 | 2524.73 | 0.8920 |
+| 6 | lower | 393 | 34 | 0.082 | 1.27 | 2.21 | 3625.78 | 1.0137 |
+| 7 | open | 180 | 16 | 1.017 | 6.44 | 11.15 | 3625.45 | 0.6909 |
+| 8 | retract | 315 | 28 | 2.657 | 12.82 | 22.20 | 2373.41 | 0.7250 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.495 |
+| TCP position RMSE (mm, per-axis) | 13.12 |
+| EE position RMS L2 (mm) | 24.48 |
+| TCP rotvec (mrad) | 3021.19 |
+| W1 effort mean (A) | 0.8073 |
+| W1 effort per joint (A) | j0=0.2261, j1=1.3706, j2=1.5632, j3=0.7714, j4=0.3342, j5=0.5784 |
+
+## 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 | 0.00042 | -0.00033 | -0.00072 | 0.00090 | 0.044 |
+| 1 | 0.00042 | -0.00071 | -0.00095 | 0.00126 | 0.042 |
+| 2 | 0.00040 | -0.00071 | -0.00097 | 0.00127 | 0.045 |
+| 3 | 0.00085 | -0.00059 | -0.00123 | 0.00161 | 0.115 |
+| 4 | 0.00007 | -0.00033 | -0.00031 | 0.00046 | 0.082 |
+| 5 | 0.00098 | -0.00106 | -0.00154 | 0.00212 | 0.112 |
+| 6 | 0.00176 | -0.00101 | -0.00130 | 0.00241 | 0.199 |
+| 7 | 0.00031 | -0.00045 | -0.00080 | 0.00097 | 0.053 |
+| 8 | -0.00010 | -0.00017 | -0.00020 | 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.
diff --git a/gap_reports/gap_476ad168-25dd-49ac-bd28-44dbdcef9e68.md b/gap_reports/gap_476ad168-25dd-49ac-bd28-44dbdcef9e68.md
new file mode 100644
index 0000000000000000000000000000000000000000..954b1620e9493a795343ab27a0acb3cf44db79df
--- /dev/null
+++ b/gap_reports/gap_476ad168-25dd-49ac-bd28-44dbdcef9e68.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/476ad168-25dd-49ac-bd28-44dbdcef9e68.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/476ad168-25dd-49ac-bd28-44dbdcef9e68.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 510 |
+| Sim rows | 67 |
+| Real episode_id | `476ad168-25dd-49ac-bd28-44dbdcef9e68` |
+| Sim episode_id | `476ad168-25dd-49ac-bd28-44dbdcef9e68` |
+
+## 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 | 300 | 30 | 2.603 | 12.72 | 22.03 | 11.01 | 0.8122 |
+| 1 | descend | 210 | 21 | 0.024 | 4.03 | 6.97 | 2.27 | 0.9049 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.840 |
+| TCP position RMSE (mm, per-axis) | 9.43 |
+| EE position RMS L2 (mm) | 17.48 |
+| TCP rotvec (mrad) | 7.95 |
+| W1 effort mean (A) | 0.8503 |
+| W1 effort per joint (A) | j0=0.1638, j1=1.8334, j2=1.8042, j3=0.9593, j4=0.2133, j5=0.1278 |
+
+## 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 | 0.00673 | -0.00001 | 0.00041 | 0.00675 | 0.031 |
+| 1 | 0.00703 | -0.00002 | 0.00028 | 0.00703 | 0.043 |
+
+## 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.
diff --git a/gap_reports/gap_47b4431a-ba3d-45b7-8fb5-d2dbdaaf7fde.md b/gap_reports/gap_47b4431a-ba3d-45b7-8fb5-d2dbdaaf7fde.md
new file mode 100644
index 0000000000000000000000000000000000000000..89c7a22c6e791abc9ce39aaba5514b01dac0a712
--- /dev/null
+++ b/gap_reports/gap_47b4431a-ba3d-45b7-8fb5-d2dbdaaf7fde.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/47b4431a-ba3d-45b7-8fb5-d2dbdaaf7fde.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/47b4431a-ba3d-45b7-8fb5-d2dbdaaf7fde.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2462 |
+| Sim rows | 247 |
+| Real episode_id | `47b4431a-ba3d-45b7-8fb5-d2dbdaaf7fde` |
+| Sim episode_id | `47b4431a-ba3d-45b7-8fb5-d2dbdaaf7fde` |
+
+## 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 | 190 | 19 | 3.542 | 16.98 | 29.42 | 2053.92 | 0.6399 |
+| 1 | descend | 329 | 32 | 1.294 | 9.20 | 15.93 | 3624.77 | 0.7526 |
+| 2 | settle | 322 | 32 | 0.027 | 1.01 | 1.74 | 3624.57 | 0.7099 |
+| 3 | close | 164 | 17 | 0.898 | 6.22 | 10.78 | 3625.32 | 0.9893 |
+| 4 | lift | 309 | 31 | 2.991 | 15.75 | 27.28 | 2448.94 | 1.1068 |
+| 5 | move_xy | 327 | 32 | 8.467 | 46.15 | 79.93 | 2834.75 | 0.9574 |
+| 6 | lower | 349 | 34 | 0.098 | 1.82 | 3.14 | 3625.04 | 1.0325 |
+| 7 | open | 165 | 17 | 0.898 | 6.28 | 10.88 | 3624.75 | 0.7563 |
+| 8 | retract | 307 | 31 | 2.829 | 14.76 | 25.56 | 2430.37 | 0.7666 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.407 |
+| TCP position RMSE (mm, per-axis) | 18.41 |
+| EE position RMS L2 (mm) | 33.79 |
+| TCP rotvec (mrad) | 3159.77 |
+| W1 effort mean (A) | 0.8457 |
+| W1 effort per joint (A) | j0=0.2381, j1=1.6071, j2=1.6022, j3=0.7565, j4=0.2732, j5=0.5972 |
+
+## 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 | 0.00105 | -0.00020 | -0.00068 | 0.00126 | 0.027 |
+| 1 | 0.00110 | -0.00066 | -0.00117 | 0.00173 | 0.058 |
+| 2 | 0.00110 | -0.00065 | -0.00117 | 0.00173 | 0.055 |
+| 3 | 0.00159 | -0.00033 | -0.00114 | 0.00198 | 0.118 |
+| 4 | 0.00013 | -0.00040 | -0.00043 | 0.00060 | 0.084 |
+| 5 | 0.00224 | -0.00081 | -0.00288 | 0.00374 | 0.211 |
+| 6 | 0.00236 | -0.00093 | -0.00204 | 0.00326 | 0.156 |
+| 7 | 0.00092 | -0.00024 | -0.00098 | 0.00137 | 0.062 |
+| 8 | -0.00013 | -0.00019 | -0.00020 | 0.00031 | 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.
diff --git a/gap_reports/gap_47b5d54c-6f2a-4166-a891-713754991f21.md b/gap_reports/gap_47b5d54c-6f2a-4166-a891-713754991f21.md
new file mode 100644
index 0000000000000000000000000000000000000000..68e9b8e8b9a1f954b86246e5f85812a9a387dec3
--- /dev/null
+++ b/gap_reports/gap_47b5d54c-6f2a-4166-a891-713754991f21.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/47b5d54c-6f2a-4166-a891-713754991f21.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/47b5d54c-6f2a-4166-a891-713754991f21.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 498 |
+| Sim rows | 65 |
+| Real episode_id | `47b5d54c-6f2a-4166-a891-713754991f21` |
+| Sim episode_id | `47b5d54c-6f2a-4166-a891-713754991f21` |
+
+## 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 | 287 | 28 | 4.311 | 20.54 | 35.57 | 18.72 | 0.7597 |
+| 1 | descend | 211 | 21 | 0.026 | 11.27 | 19.53 | 2.07 | 0.7411 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.048 |
+| TCP position RMSE (mm, per-axis) | 16.57 |
+| EE position RMS L2 (mm) | 29.84 |
+| TCP rotvec (mrad) | 13.32 |
+| W1 effort mean (A) | 0.7511 |
+| W1 effort per joint (A) | j0=0.1245, j1=1.7434, j2=1.6884, j3=0.6329, j4=0.2124, j5=0.1052 |
+
+## 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 | 0.01371 | -0.01363 | -0.00254 | 0.01950 | 0.036 |
+| 1 | 0.01364 | -0.01370 | -0.00269 | 0.01952 | 0.051 |
+
+## 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.
diff --git a/gap_reports/gap_47d337ab-197d-46bd-8cac-89060f7f6aa2.md b/gap_reports/gap_47d337ab-197d-46bd-8cac-89060f7f6aa2.md
new file mode 100644
index 0000000000000000000000000000000000000000..43c2c696c2805c0e6fb650447bc1d4f638b3a665
--- /dev/null
+++ b/gap_reports/gap_47d337ab-197d-46bd-8cac-89060f7f6aa2.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/47d337ab-197d-46bd-8cac-89060f7f6aa2.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/47d337ab-197d-46bd-8cac-89060f7f6aa2.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2489 |
+| Sim rows | 249 |
+| Real episode_id | `47d337ab-197d-46bd-8cac-89060f7f6aa2` |
+| Sim episode_id | `47d337ab-197d-46bd-8cac-89060f7f6aa2` |
+
+## 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 | 3.002 | 13.84 | 23.98 | 1968.80 | 0.5782 |
+| 1 | descend | 262 | 26 | 0.671 | 4.42 | 7.66 | 3625.31 | 0.7116 |
+| 2 | settle | 319 | 31 | 0.024 | 0.76 | 1.32 | 3625.25 | 0.7281 |
+| 3 | close | 119 | 12 | 0.567 | 4.03 | 6.99 | 3221.71 | 1.0404 |
+| 4 | lift | 362 | 36 | 2.924 | 14.07 | 24.38 | 2286.79 | 1.1215 |
+| 5 | move_xy | 370 | 36 | 6.105 | 31.90 | 55.26 | 2665.11 | 0.8543 |
+| 6 | lower | 362 | 36 | 0.087 | 1.39 | 2.41 | 3412.90 | 0.9977 |
+| 7 | open | 117 | 12 | 0.609 | 3.96 | 6.86 | 3625.48 | 0.6368 |
+| 8 | retract | 361 | 36 | 3.158 | 15.45 | 26.76 | 2257.59 | 0.7188 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.707 |
+| TCP position RMSE (mm, per-axis) | 13.74 |
+| EE position RMS L2 (mm) | 26.57 |
+| TCP rotvec (mrad) | 3032.45 |
+| W1 effort mean (A) | 0.8126 |
+| W1 effort per joint (A) | j0=0.2171, j1=1.3390, j2=1.6377, j3=0.7463, j4=0.3208, j5=0.6147 |
+
+## 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 | 0.00066 | -0.00041 | -0.00075 | 0.00108 | 0.036 |
+| 1 | 0.00064 | -0.00061 | -0.00101 | 0.00134 | 0.044 |
+| 2 | 0.00064 | -0.00063 | -0.00098 | 0.00133 | 0.046 |
+| 3 | 0.00098 | -0.00057 | -0.00115 | 0.00161 | 0.086 |
+| 4 | 0.00039 | 0.00010 | 0.00002 | 0.00041 | 0.067 |
+| 5 | 0.00173 | -0.00091 | -0.00172 | 0.00260 | 0.142 |
+| 6 | 0.00141 | -0.00087 | -0.00141 | 0.00217 | 0.120 |
+| 7 | 0.00051 | -0.00039 | -0.00079 | 0.00102 | 0.042 |
+| 8 | -0.00009 | -0.00013 | -0.00015 | 0.00021 | 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.
diff --git a/gap_reports/gap_47dd6c3e-0a01-4827-8082-4c9cac621f4c.md b/gap_reports/gap_47dd6c3e-0a01-4827-8082-4c9cac621f4c.md
new file mode 100644
index 0000000000000000000000000000000000000000..34ca42dd4d1c01c24fcc621018e47d6f17f12afe
--- /dev/null
+++ b/gap_reports/gap_47dd6c3e-0a01-4827-8082-4c9cac621f4c.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/47dd6c3e-0a01-4827-8082-4c9cac621f4c.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/47dd6c3e-0a01-4827-8082-4c9cac621f4c.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 3081 |
+| Sim rows | 273 |
+| Real episode_id | `47dd6c3e-0a01-4827-8082-4c9cac621f4c` |
+| Sim episode_id | `47dd6c3e-0a01-4827-8082-4c9cac621f4c` |
+
+## 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 | 249 | 22 | 3.801 | 16.31 | 28.25 | 2015.99 | 0.5843 |
+| 1 | descend | 520 | 45 | 0.599 | 4.11 | 7.11 | 3625.34 | 0.6888 |
+| 2 | settle | 352 | 31 | 0.023 | 0.82 | 1.41 | 3625.25 | 0.6637 |
+| 3 | close | 122 | 11 | 0.652 | 4.30 | 7.45 | 3237.80 | 0.9704 |
+| 4 | lift | 441 | 39 | 3.765 | 17.21 | 29.81 | 2254.66 | 1.1226 |
+| 5 | move_xy | 434 | 38 | 8.208 | 40.41 | 69.99 | 2720.50 | 0.8801 |
+| 6 | lower | 398 | 35 | 0.088 | 1.47 | 2.54 | 3481.07 | 0.9138 |
+| 7 | open | 123 | 11 | 0.648 | 4.40 | 7.62 | 3625.50 | 0.6210 |
+| 8 | retract | 442 | 39 | 3.635 | 16.79 | 29.07 | 2332.64 | 0.7214 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.503 |
+| TCP position RMSE (mm, per-axis) | 16.78 |
+| EE position RMS L2 (mm) | 31.89 |
+| TCP rotvec (mrad) | 3055.43 |
+| W1 effort mean (A) | 0.7845 |
+| W1 effort per joint (A) | j0=0.2422, j1=1.3209, j2=1.5363, j3=0.7084, j4=0.3281, 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 | 0.00088 | -0.00032 | -0.00066 | 0.00115 | 0.027 |
+| 1 | 0.00086 | -0.00057 | -0.00096 | 0.00141 | 0.043 |
+| 2 | 0.00087 | -0.00057 | -0.00097 | 0.00142 | 0.045 |
+| 3 | 0.00136 | -0.00021 | -0.00080 | 0.00158 | 0.074 |
+| 4 | 0.00018 | -0.00029 | -0.00040 | 0.00053 | 0.094 |
+| 5 | 0.00169 | -0.00075 | -0.00168 | 0.00250 | 0.128 |
+| 6 | 0.00222 | -0.00085 | -0.00209 | 0.00317 | 0.181 |
+| 7 | 0.00066 | -0.00029 | -0.00079 | 0.00106 | 0.042 |
+| 8 | -0.00009 | -0.00011 | -0.00014 | 0.00019 | 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.
diff --git a/gap_reports/gap_47df6a52-f012-49a4-837f-2434f4204b4a.md b/gap_reports/gap_47df6a52-f012-49a4-837f-2434f4204b4a.md
new file mode 100644
index 0000000000000000000000000000000000000000..713ba6e70c2bc35f7c28f3a9fdf8ec0e35a3ea84
--- /dev/null
+++ b/gap_reports/gap_47df6a52-f012-49a4-837f-2434f4204b4a.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/47df6a52-f012-49a4-837f-2434f4204b4a.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/47df6a52-f012-49a4-837f-2434f4204b4a.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1836 |
+| Sim rows | 184 |
+| Real episode_id | `47df6a52-f012-49a4-837f-2434f4204b4a` |
+| Sim episode_id | `47df6a52-f012-49a4-837f-2434f4204b4a` |
+
+## 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 | 174 | 18 | 2.837 | 8.15 | 14.12 | 269.48 | 0.6513 |
+| 1 | descend | 101 | 10 | 1.373 | 5.53 | 9.58 | 3.71 | 0.5338 |
+| 2 | settle | 15 | 2 | 0.029 | 2.24 | 3.87 | 4.50 | 0.5657 |
+| 3 | close | 393 | 38 | 0.103 | 1.98 | 3.43 | 3.42 | 1.0380 |
+| 4 | lift | 97 | 10 | 1.018 | 4.20 | 7.27 | 2.87 | 1.1059 |
+| 5 | move_xy | 169 | 17 | 2.596 | 13.10 | 22.68 | 7.17 | 1.2482 |
+| 6 | lower | 99 | 10 | 0.919 | 4.63 | 8.02 | 5.48 | 1.2284 |
+| 7 | open | 364 | 36 | 0.025 | 2.75 | 4.76 | 5.94 | 0.7148 |
+| 8 | retract | 99 | 11 | 1.032 | 5.39 | 9.34 | 5.31 | 0.8022 |
+| 9 | return | 325 | 32 | 3.984 | 14.92 | 25.85 | 1277.64 | 0.6536 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.884 |
+| TCP position RMSE (mm, per-axis) | 7.59 |
+| EE position RMS L2 (mm) | 14.41 |
+| TCP rotvec (mrad) | 412.94 |
+| W1 effort mean (A) | 0.8223 |
+| W1 effort per joint (A) | j0=0.1475, j1=1.5077, j2=1.5055, j3=0.7269, j4=0.5158, j5=0.5305 |
+
+## 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 | 0.00123 | -0.00319 | 0.00003 | 0.00342 | 0.023 |
+| 1 | 0.00202 | -0.00330 | 0.00011 | 0.00387 | 0.052 |
+| 2 | 0.00198 | -0.00333 | 0.00002 | 0.00387 | 0.024 |
+| 3 | 0.00084 | -0.00316 | 0.00022 | 0.00328 | 0.252 |
+| 4 | -0.00007 | -0.00306 | 0.00021 | 0.00307 | 0.285 |
+| 5 | 0.00012 | -0.00306 | -0.00034 | 0.00309 | 0.201 |
+| 6 | 0.00103 | -0.00334 | -0.00065 | 0.00355 | 0.149 |
+| 7 | 0.00224 | -0.00405 | -0.00113 | 0.00477 | 0.054 |
+| 8 | 0.00167 | -0.00394 | -0.00131 | 0.00448 | 0.061 |
+| 9 | -0.00008 | -0.00012 | -0.00031 | 0.00034 | 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.
diff --git a/gap_reports/gap_47e12f7e-55ff-4357-ab90-790df5e8c809.md b/gap_reports/gap_47e12f7e-55ff-4357-ab90-790df5e8c809.md
new file mode 100644
index 0000000000000000000000000000000000000000..fd1fdbdb6f722c0325768887bec0cd8f77932bbe
--- /dev/null
+++ b/gap_reports/gap_47e12f7e-55ff-4357-ab90-790df5e8c809.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/47e12f7e-55ff-4357-ab90-790df5e8c809.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/47e12f7e-55ff-4357-ab90-790df5e8c809.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1732 |
+| Sim rows | 176 |
+| Real episode_id | `47e12f7e-55ff-4357-ab90-790df5e8c809` |
+| Sim episode_id | `47e12f7e-55ff-4357-ab90-790df5e8c809` |
+
+## 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 | 2.588 | 11.74 | 20.33 | 1195.73 | 0.7301 |
+| 1 | descend | 94 | 10 | 0.999 | 4.82 | 8.35 | 4.21 | 0.6018 |
+| 2 | settle | 33 | 4 | 0.023 | 2.78 | 4.82 | 4.84 | 0.6321 |
+| 3 | close | 392 | 39 | 0.075 | 2.71 | 4.70 | 4.85 | 1.1212 |
+| 4 | lift | 95 | 10 | 1.097 | 5.12 | 8.87 | 4.29 | 1.1538 |
+| 5 | move_xy | 206 | 21 | 8.985 | 28.62 | 49.57 | 197.62 | 1.0571 |
+| 6 | lower | 97 | 10 | 13.805 | 5.05 | 8.75 | 534.26 | 1.1529 |
+| 7 | open | 360 | 36 | 13.751 | 2.39 | 4.14 | 534.06 | 0.8565 |
+| 8 | retract | 96 | 10 | 13.793 | 4.79 | 8.29 | 533.68 | 0.8472 |
+| 9 | return | 203 | 20 | 7.802 | 17.66 | 30.59 | 987.56 | 0.8640 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 8.488 |
+| TCP position RMSE (mm, per-axis) | 11.78 |
+| EE position RMS L2 (mm) | 21.55 |
+| TCP rotvec (mrad) | 574.43 |
+| W1 effort mean (A) | 0.9328 |
+| W1 effort per joint (A) | j0=0.2249, j1=1.5378, j2=1.5422, j3=0.8015, j4=0.5389, j5=0.9515 |
+
+## 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 | -0.00385 | -0.00077 | 0.00430 | 0.038 |
+| 1 | 0.00212 | -0.00432 | -0.00064 | 0.00485 | 0.041 |
+| 2 | 0.00209 | -0.00427 | -0.00077 | 0.00481 | 0.034 |
+| 3 | 0.00235 | -0.00390 | -0.00164 | 0.00484 | 0.115 |
+| 4 | 0.00148 | -0.00325 | -0.00183 | 0.00402 | 0.149 |
+| 5 | 0.00185 | -0.00347 | -0.00095 | 0.00405 | 33.732 |
+| 6 | 0.00242 | -0.00271 | -0.00157 | 0.00396 | 33.683 |
+| 7 | 0.00228 | -0.00345 | -0.00022 | 0.00414 | 33.685 |
+| 8 | 0.00193 | -0.00376 | -0.00029 | 0.00424 | 33.755 |
+| 9 | -0.00001 | -0.00018 | -0.00028 | 0.00033 | 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.
diff --git a/gap_reports/gap_47eddd0e-9dce-4665-976a-96f51855f4ef.md b/gap_reports/gap_47eddd0e-9dce-4665-976a-96f51855f4ef.md
new file mode 100644
index 0000000000000000000000000000000000000000..6d38af5feb41778b2e6bb064b27974289992a9a6
--- /dev/null
+++ b/gap_reports/gap_47eddd0e-9dce-4665-976a-96f51855f4ef.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/47eddd0e-9dce-4665-976a-96f51855f4ef.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/47eddd0e-9dce-4665-976a-96f51855f4ef.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2574 |
+| Sim rows | 230 |
+| Real episode_id | `47eddd0e-9dce-4665-976a-96f51855f4ef` |
+| Sim episode_id | `47eddd0e-9dce-4665-976a-96f51855f4ef` |
+
+## 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 | 224 | 20 | 2.907 | 13.25 | 22.95 | 1982.72 | 0.5844 |
+| 1 | descend | 275 | 24 | 1.212 | 8.04 | 13.92 | 3625.37 | 0.7283 |
+| 2 | settle | 380 | 33 | 0.024 | 0.77 | 1.34 | 3625.20 | 0.6792 |
+| 3 | close | 116 | 11 | 0.626 | 4.17 | 7.23 | 3625.59 | 1.0202 |
+| 4 | lift | 349 | 31 | 2.458 | 11.27 | 19.53 | 2195.65 | 1.1054 |
+| 5 | move_xy | 386 | 34 | 6.663 | 34.16 | 59.16 | 2537.57 | 0.8705 |
+| 6 | lower | 380 | 33 | 0.085 | 1.35 | 2.34 | 3310.75 | 1.0784 |
+| 7 | open | 117 | 11 | 0.702 | 4.52 | 7.83 | 3625.32 | 0.7389 |
+| 8 | retract | 347 | 31 | 2.476 | 11.52 | 19.95 | 2235.98 | 0.7276 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.736 |
+| TCP position RMSE (mm, per-axis) | 13.77 |
+| EE position RMS L2 (mm) | 26.51 |
+| TCP rotvec (mrad) | 3050.05 |
+| W1 effort mean (A) | 0.8225 |
+| W1 effort per joint (A) | j0=0.2190, j1=1.3827, j2=1.6859, j3=0.7526, j4=0.2906, j5=0.6039 |
+
+## 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 | 0.00065 | -0.00033 | -0.00076 | 0.00105 | 0.042 |
+| 1 | 0.00065 | -0.00066 | -0.00099 | 0.00136 | 0.048 |
+| 2 | 0.00063 | -0.00065 | -0.00098 | 0.00133 | 0.045 |
+| 3 | 0.00131 | -0.00050 | -0.00140 | 0.00199 | 0.110 |
+| 4 | 0.00018 | -0.00009 | -0.00047 | 0.00051 | 0.093 |
+| 5 | 0.00156 | -0.00082 | -0.00124 | 0.00215 | 0.113 |
+| 6 | 0.00155 | -0.00100 | -0.00148 | 0.00236 | 0.124 |
+| 7 | 0.00039 | -0.00037 | -0.00079 | 0.00096 | 0.041 |
+| 8 | -0.00010 | -0.00014 | -0.00018 | 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.
diff --git a/gap_reports/gap_47ef2c4f-17ca-4f17-b2c5-3a9c86c21f68.md b/gap_reports/gap_47ef2c4f-17ca-4f17-b2c5-3a9c86c21f68.md
new file mode 100644
index 0000000000000000000000000000000000000000..8eb8fb79e725f5e20f9bbd5bde5d2b02425870c3
--- /dev/null
+++ b/gap_reports/gap_47ef2c4f-17ca-4f17-b2c5-3a9c86c21f68.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/47ef2c4f-17ca-4f17-b2c5-3a9c86c21f68.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/47ef2c4f-17ca-4f17-b2c5-3a9c86c21f68.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 756 |
+| Sim rows | 91 |
+| Real episode_id | `47ef2c4f-17ca-4f17-b2c5-3a9c86c21f68` |
+| Sim episode_id | `47ef2c4f-17ca-4f17-b2c5-3a9c86c21f68` |
+
+## 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 | 549 | 54 | 3.735 | 17.73 | 30.71 | 444.42 | 0.7668 |
+| 1 | descend | 207 | 21 | 0.026 | 3.84 | 6.65 | 2.14 | 0.7529 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.641 |
+| TCP position RMSE (mm, per-axis) | 12.83 |
+| EE position RMS L2 (mm) | 26.40 |
+| TCP rotvec (mrad) | 314.26 |
+| W1 effort mean (A) | 0.7603 |
+| W1 effort per joint (A) | j0=0.2120, j1=1.4401, j2=1.6731, j3=0.9355, j4=0.1397, j5=0.1616 |
+
+## 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 | 0.00667 | 0.00034 | 0.00672 | 0.063 |
+| 1 | -0.00072 | 0.00656 | 0.00025 | 0.00660 | 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.
diff --git a/gap_reports/gap_47f15e8e-abdb-46b0-bcaa-71324981f579.md b/gap_reports/gap_47f15e8e-abdb-46b0-bcaa-71324981f579.md
new file mode 100644
index 0000000000000000000000000000000000000000..c515e09f3aae68abcb612fb4050462fbf9d6fe9b
--- /dev/null
+++ b/gap_reports/gap_47f15e8e-abdb-46b0-bcaa-71324981f579.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/47f15e8e-abdb-46b0-bcaa-71324981f579.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/47f15e8e-abdb-46b0-bcaa-71324981f579.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1016 |
+| Sim rows | 105 |
+| Real episode_id | `47f15e8e-abdb-46b0-bcaa-71324981f579` |
+| Sim episode_id | `47f15e8e-abdb-46b0-bcaa-71324981f579` |
+
+## 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 | 2.725 | 13.75 | 23.82 | 1045.72 | 0.7154 |
+| 1 | descend | 69 | 7 | 0.400 | 3.03 | 5.25 | 5.61 | 0.7349 |
+| 2 | settle | 29 | 4 | 0.030 | 2.34 | 4.05 | 6.05 | 0.7821 |
+| 3 | close | 40 | 5 | 0.129 | 1.97 | 3.41 | 8.40 | 1.2444 |
+| 4 | lift | 68 | 7 | 0.537 | 3.03 | 5.24 | 8.95 | 1.2986 |
+| 5 | move_xy | 177 | 18 | 2.954 | 18.70 | 32.38 | 11.57 | 1.2106 |
+| 6 | lower | 67 | 7 | 0.505 | 3.41 | 5.90 | 8.90 | 1.0722 |
+| 7 | open | 97 | 10 | 0.031 | 2.88 | 4.99 | 6.29 | 0.7552 |
+| 8 | retract | 67 | 7 | 0.482 | 3.57 | 6.18 | 5.90 | 0.7983 |
+| 9 | return | 250 | 25 | 3.301 | 15.90 | 27.55 | 1202.83 | 0.7494 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.673 |
+| TCP position RMSE (mm, per-axis) | 9.23 |
+| EE position RMS L2 (mm) | 21.59 |
+| TCP rotvec (mrad) | 504.07 |
+| W1 effort mean (A) | 0.8647 |
+| W1 effort per joint (A) | j0=0.1501, j1=1.8345, j2=1.6668, j3=0.6973, j4=0.3471, j5=0.4922 |
+
+## 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 | -0.00303 | -0.00046 | 0.00386 | 0.078 |
+| 1 | 0.00266 | -0.00303 | -0.00033 | 0.00405 | 0.042 |
+| 2 | 0.00265 | -0.00303 | -0.00053 | 0.00406 | 0.063 |
+| 3 | 0.00123 | -0.00278 | -0.00103 | 0.00321 | 0.282 |
+| 4 | 0.00091 | -0.00304 | -0.00084 | 0.00328 | 0.265 |
+| 5 | 0.00141 | -0.00310 | -0.00169 | 0.00380 | 0.281 |
+| 6 | 0.00156 | -0.00303 | -0.00141 | 0.00369 | 0.300 |
+| 7 | 0.00238 | -0.00423 | -0.00130 | 0.00502 | 0.060 |
+| 8 | 0.00200 | -0.00418 | -0.00149 | 0.00487 | 0.075 |
+| 9 | -0.00016 | -0.00014 | -0.00030 | 0.00037 | 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.
diff --git a/gap_reports/gap_481aa812-9c20-4eef-8774-40cac819fa8d.md b/gap_reports/gap_481aa812-9c20-4eef-8774-40cac819fa8d.md
new file mode 100644
index 0000000000000000000000000000000000000000..94073262663daf168551bbc9882ee4dbead431d0
--- /dev/null
+++ b/gap_reports/gap_481aa812-9c20-4eef-8774-40cac819fa8d.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/481aa812-9c20-4eef-8774-40cac819fa8d.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/481aa812-9c20-4eef-8774-40cac819fa8d.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2659 |
+| Sim rows | 237 |
+| Real episode_id | `481aa812-9c20-4eef-8774-40cac819fa8d` |
+| Sim episode_id | `481aa812-9c20-4eef-8774-40cac819fa8d` |
+
+## 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 | 283 | 25 | 3.510 | 15.23 | 26.38 | 1927.53 | 0.5877 |
+| 1 | descend | 268 | 24 | 1.158 | 7.72 | 13.37 | 3625.26 | 0.6890 |
+| 2 | settle | 366 | 32 | 0.026 | 0.83 | 1.44 | 3625.30 | 0.6044 |
+| 3 | close | 106 | 10 | 0.649 | 4.42 | 7.65 | 3625.71 | 0.9606 |
+| 4 | lift | 342 | 30 | 3.713 | 17.35 | 30.05 | 2360.69 | 1.1327 |
+| 5 | move_xy | 461 | 40 | 7.689 | 37.44 | 64.85 | 2607.41 | 0.8878 |
+| 6 | lower | 392 | 34 | 0.088 | 1.47 | 2.54 | 3552.06 | 0.8869 |
+| 7 | open | 104 | 10 | 0.578 | 3.76 | 6.51 | 3625.52 | 0.6165 |
+| 8 | retract | 337 | 30 | 3.762 | 17.68 | 30.63 | 2285.98 | 0.7321 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.358 |
+| TCP position RMSE (mm, per-axis) | 16.14 |
+| EE position RMS L2 (mm) | 32.58 |
+| TCP rotvec (mrad) | 3100.27 |
+| W1 effort mean (A) | 0.7763 |
+| W1 effort per joint (A) | j0=0.2508, j1=1.2543, j2=1.4289, j3=0.7386, j4=0.3740, j5=0.6111 |
+
+## 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 | 0.00089 | -0.00037 | -0.00063 | 0.00115 | 0.027 |
+| 1 | 0.00088 | -0.00057 | -0.00092 | 0.00139 | 0.037 |
+| 2 | 0.00086 | -0.00059 | -0.00096 | 0.00142 | 0.048 |
+| 3 | 0.00143 | -0.00040 | -0.00090 | 0.00174 | 0.099 |
+| 4 | 0.00040 | 0.00004 | -0.00026 | 0.00048 | 0.097 |
+| 5 | 0.00221 | -0.00070 | -0.00265 | 0.00352 | 0.206 |
+| 6 | 0.00246 | -0.00083 | -0.00212 | 0.00336 | 0.215 |
+| 7 | 0.00063 | -0.00033 | -0.00075 | 0.00103 | 0.036 |
+| 8 | -0.00014 | -0.00020 | -0.00020 | 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.
diff --git a/gap_reports/gap_48230114-f6b0-480d-91a4-7118fac596b1.md b/gap_reports/gap_48230114-f6b0-480d-91a4-7118fac596b1.md
new file mode 100644
index 0000000000000000000000000000000000000000..5a9fc4369208b1d0684998f45c6bd301299f72ab
--- /dev/null
+++ b/gap_reports/gap_48230114-f6b0-480d-91a4-7118fac596b1.md
@@ -0,0 +1,71 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/48230114-f6b0-480d-91a4-7118fac596b1.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/48230114-f6b0-480d-91a4-7118fac596b1.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 169 |
+| Sim rows | 31 |
+| Real episode_id | `48230114-f6b0-480d-91a4-7118fac596b1` |
+| Sim episode_id | `48230114-f6b0-480d-91a4-7118fac596b1` |
+
+## 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 | 7 | 2 | 0.015 | 0.09 | 0.16 | 0.36 | 0.4486 |
+| 1 | descend | 6 | 2 | 0.015 | 0.09 | 0.16 | 0.38 | 0.4473 |
+| 2 | settle | 30 | 4 | 0.014 | 0.09 | 0.15 | 0.34 | 0.4391 |
+| 3 | close | 36 | 5 | 0.059 | 0.43 | 0.75 | 2.96 | 0.8180 |
+| 4 | lift | 9 | 2 | 0.075 | 0.58 | 1.01 | 3.77 | 0.8075 |
+| 5 | move_xy | 6 | 2 | 0.082 | 0.63 | 1.09 | 4.05 | 0.8045 |
+| 6 | lower | 6 | 2 | 0.053 | 0.38 | 0.66 | 2.45 | 0.7977 |
+| 7 | open | 69 | 8 | 0.015 | 0.09 | 0.15 | 0.34 | 0.4190 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 0.049 |
+| TCP position RMSE (mm, per-axis) | 0.37 |
+| EE position RMS L2 (mm) | 0.50 |
+| TCP rotvec (mrad) | 2.39 |
+| W1 effort mean (A) | 0.5451 |
+| W1 effort per joint (A) | j0=0.1069, j1=0.1220, j2=1.4619, j3=1.0168, j4=0.1694, j5=0.3937 |
+
+## 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 | 0.00007 | -0.00003 | -0.00014 | 0.00016 | 0.030 |
+| 1 | 0.00005 | -0.00002 | -0.00014 | 0.00015 | 0.027 |
+| 2 | 0.00006 | -0.00002 | -0.00014 | 0.00015 | 0.028 |
+| 3 | 0.00002 | -0.00010 | -0.00072 | 0.00073 | 0.128 |
+| 4 | 0.00009 | 0.00003 | -0.00109 | 0.00110 | 0.185 |
+| 5 | 0.00012 | 0.00002 | -0.00117 | 0.00117 | 0.198 |
+| 6 | -0.00004 | 0.00012 | -0.00057 | 0.00058 | 0.096 |
+| 7 | 0.00005 | -0.00003 | -0.00013 | 0.00014 | 0.026 |
+
+## 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.
diff --git a/gap_reports/gap_482be836-f733-4df3-b57e-1255bab128c4.md b/gap_reports/gap_482be836-f733-4df3-b57e-1255bab128c4.md
new file mode 100644
index 0000000000000000000000000000000000000000..fff88531f5419bc6cab06e67306df1b65607e260
--- /dev/null
+++ b/gap_reports/gap_482be836-f733-4df3-b57e-1255bab128c4.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/482be836-f733-4df3-b57e-1255bab128c4.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/482be836-f733-4df3-b57e-1255bab128c4.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2727 |
+| Sim rows | 271 |
+| Real episode_id | `482be836-f733-4df3-b57e-1255bab128c4` |
+| Sim episode_id | `482be836-f733-4df3-b57e-1255bab128c4` |
+
+## 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 | 20 | 3.631 | 13.64 | 23.62 | 1998.92 | 0.5834 |
+| 1 | descend | 423 | 42 | 0.716 | 4.28 | 7.41 | 3626.03 | 0.6314 |
+| 2 | settle | 347 | 34 | 0.023 | 0.68 | 1.18 | 3625.97 | 0.6129 |
+| 3 | close | 110 | 11 | 0.906 | 5.37 | 9.30 | 6.56 | 0.9092 |
+| 4 | lift | 403 | 40 | 3.644 | 14.95 | 25.90 | 1669.90 | 1.0734 |
+| 5 | move_xy | 369 | 36 | 8.567 | 36.88 | 63.89 | 1904.01 | 0.8602 |
+| 6 | lower | 357 | 35 | 0.085 | 1.26 | 2.18 | 1687.10 | 0.8914 |
+| 7 | open | 109 | 11 | 0.846 | 4.94 | 8.56 | 3626.22 | 0.5844 |
+| 8 | retract | 405 | 40 | 3.914 | 15.96 | 27.65 | 2328.25 | 0.7053 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.609 |
+| TCP position RMSE (mm, per-axis) | 15.27 |
+| EE position RMS L2 (mm) | 28.68 |
+| TCP rotvec (mrad) | 2541.26 |
+| W1 effort mean (A) | 0.7446 |
+| W1 effort per joint (A) | j0=0.2663, j1=1.1527, j2=1.4409, j3=0.6322, j4=0.3717, j5=0.6041 |
+
+## 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 | 0.00067 | -0.00022 | -0.00047 | 0.00085 | 0.034 |
+| 1 | 0.00069 | -0.00054 | -0.00077 | 0.00117 | 0.036 |
+| 2 | 0.00068 | -0.00055 | -0.00077 | 0.00117 | 0.039 |
+| 3 | 0.00108 | -0.00031 | -0.00063 | 0.00129 | 0.079 |
+| 4 | 0.00017 | -0.00012 | -0.00015 | 0.00025 | 0.071 |
+| 5 | 0.00137 | -0.00082 | -0.00033 | 0.00163 | 0.127 |
+| 6 | 0.00187 | -0.00063 | -0.00129 | 0.00235 | 0.168 |
+| 7 | 0.00040 | -0.00023 | -0.00051 | 0.00069 | 0.039 |
+| 8 | -0.00006 | -0.00006 | -0.00010 | 0.00013 | 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.
diff --git a/gap_reports/gap_482e5535-5a55-4501-be75-d00fb555000e.md b/gap_reports/gap_482e5535-5a55-4501-be75-d00fb555000e.md
new file mode 100644
index 0000000000000000000000000000000000000000..48c1d1a8112935b332706882b1c5df0e97735705
--- /dev/null
+++ b/gap_reports/gap_482e5535-5a55-4501-be75-d00fb555000e.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/482e5535-5a55-4501-be75-d00fb555000e.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/482e5535-5a55-4501-be75-d00fb555000e.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2686 |
+| Sim rows | 236 |
+| Real episode_id | `482e5535-5a55-4501-be75-d00fb555000e` |
+| Sim episode_id | `482e5535-5a55-4501-be75-d00fb555000e` |
+
+## 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 | 194 | 17 | 3.097 | 11.43 | 19.80 | 3.18 | 0.5865 |
+| 1 | descend | 359 | 31 | 1.370 | 8.18 | 14.17 | 4.97 | 0.6992 |
+| 2 | settle | 389 | 34 | 0.023 | 0.87 | 1.51 | 5.07 | 0.6365 |
+| 3 | close | 143 | 13 | 1.001 | 6.15 | 10.65 | 6.72 | 0.8735 |
+| 4 | lift | 370 | 32 | 4.057 | 16.80 | 29.09 | 4.91 | 1.0639 |
+| 5 | move_xy | 335 | 29 | 7.450 | 32.34 | 56.02 | 5.10 | 0.8761 |
+| 6 | lower | 381 | 33 | 0.090 | 1.48 | 2.56 | 7.43 | 0.8997 |
+| 7 | open | 143 | 13 | 0.810 | 4.82 | 8.35 | 5.18 | 0.5862 |
+| 8 | retract | 372 | 32 | 4.139 | 16.84 | 29.17 | 3.43 | 0.6949 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.370 |
+| TCP position RMSE (mm, per-axis) | 14.43 |
+| EE position RMS L2 (mm) | 26.31 |
+| TCP rotvec (mrad) | 5.27 |
+| W1 effort mean (A) | 0.7545 |
+| W1 effort per joint (A) | j0=0.2912, j1=1.1418, j2=1.4185, j3=0.6157, j4=0.4640, j5=0.5956 |
+
+## 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 | 0.00094 | -0.00050 | -0.00035 | 0.00112 | 0.036 |
+| 1 | 0.00095 | -0.00084 | -0.00075 | 0.00148 | 0.037 |
+| 2 | 0.00096 | -0.00085 | -0.00075 | 0.00149 | 0.037 |
+| 3 | 0.00132 | -0.00065 | -0.00046 | 0.00154 | 0.124 |
+| 4 | 0.00032 | -0.00008 | -0.00030 | 0.00045 | 0.088 |
+| 5 | 0.00193 | -0.00095 | -0.00068 | 0.00226 | 0.150 |
+| 6 | 0.00167 | -0.00104 | -0.00104 | 0.00222 | 0.103 |
+| 7 | 0.00078 | -0.00051 | -0.00053 | 0.00107 | 0.034 |
+| 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.
diff --git a/gap_reports/gap_48530b13-1a2a-43a3-af20-da98438cdce5.md b/gap_reports/gap_48530b13-1a2a-43a3-af20-da98438cdce5.md
new file mode 100644
index 0000000000000000000000000000000000000000..58637db4ccf109c3e309e8fbbf8b964311ff53c9
--- /dev/null
+++ b/gap_reports/gap_48530b13-1a2a-43a3-af20-da98438cdce5.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/48530b13-1a2a-43a3-af20-da98438cdce5.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/48530b13-1a2a-43a3-af20-da98438cdce5.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2907 |
+| Sim rows | 255 |
+| Real episode_id | `48530b13-1a2a-43a3-af20-da98438cdce5` |
+| Sim episode_id | `48530b13-1a2a-43a3-af20-da98438cdce5` |
+
+## 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 | 2.093 | 9.15 | 15.85 | 2016.59 | 0.5751 |
+| 1 | descend | 530 | 46 | 0.757 | 4.86 | 8.41 | 3625.38 | 0.6937 |
+| 2 | settle | 379 | 33 | 0.022 | 0.73 | 1.26 | 3625.25 | 0.7090 |
+| 3 | close | 193 | 17 | 1.027 | 6.52 | 11.30 | 3312.21 | 1.0020 |
+| 4 | lift | 337 | 29 | 2.626 | 12.65 | 21.92 | 2247.80 | 1.1435 |
+| 5 | move_xy | 344 | 30 | 5.498 | 29.99 | 51.94 | 2661.82 | 0.8842 |
+| 6 | lower | 414 | 36 | 0.082 | 1.26 | 2.19 | 3625.89 | 0.9928 |
+| 7 | open | 193 | 17 | 1.038 | 6.51 | 11.28 | 3625.47 | 0.6487 |
+| 8 | retract | 336 | 29 | 2.621 | 12.65 | 21.92 | 2348.55 | 0.7271 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.382 |
+| TCP position RMSE (mm, per-axis) | 12.53 |
+| EE position RMS L2 (mm) | 21.84 |
+| TCP rotvec (mrad) | 3078.02 |
+| W1 effort mean (A) | 0.8030 |
+| W1 effort per joint (A) | j0=0.2413, j1=1.3837, j2=1.5750, j3=0.7063, j4=0.3636, j5=0.5483 |
+
+## 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 | 0.00039 | -0.00070 | -0.00096 | 0.00125 | 0.041 |
+| 2 | 0.00042 | -0.00072 | -0.00095 | 0.00126 | 0.040 |
+| 3 | 0.00151 | -0.00069 | -0.00175 | 0.00241 | 0.169 |
+| 4 | 0.00029 | -0.00001 | -0.00021 | 0.00036 | 0.077 |
+| 5 | 0.00109 | -0.00104 | -0.00162 | 0.00222 | 0.107 |
+| 6 | 0.00109 | -0.00121 | -0.00275 | 0.00319 | 0.224 |
+| 7 | 0.00027 | -0.00048 | -0.00078 | 0.00096 | 0.051 |
+| 8 | -0.00010 | -0.00016 | -0.00018 | 0.00026 | 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.
diff --git a/gap_reports/gap_4860feb5-a2d5-440a-81b7-d83c664b41d4.md b/gap_reports/gap_4860feb5-a2d5-440a-81b7-d83c664b41d4.md
new file mode 100644
index 0000000000000000000000000000000000000000..e3bdb77c7d26f08bffd67dc5f7501e3c8f9b7176
--- /dev/null
+++ b/gap_reports/gap_4860feb5-a2d5-440a-81b7-d83c664b41d4.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4860feb5-a2d5-440a-81b7-d83c664b41d4.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4860feb5-a2d5-440a-81b7-d83c664b41d4.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2659 |
+| Sim rows | 237 |
+| Real episode_id | `4860feb5-a2d5-440a-81b7-d83c664b41d4` |
+| Sim episode_id | `4860feb5-a2d5-440a-81b7-d83c664b41d4` |
+
+## 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 | 209 | 19 | 3.400 | 14.68 | 25.42 | 2006.22 | 0.6140 |
+| 1 | descend | 342 | 30 | 0.705 | 4.65 | 8.05 | 3625.32 | 0.9949 |
+| 2 | settle | 356 | 31 | 0.025 | 0.82 | 1.41 | 3625.28 | 1.0099 |
+| 3 | close | 121 | 11 | 0.760 | 4.92 | 8.52 | 3030.75 | 1.1502 |
+| 4 | lift | 374 | 33 | 3.627 | 16.78 | 29.06 | 2273.65 | 1.2452 |
+| 5 | move_xy | 374 | 33 | 8.001 | 39.36 | 68.18 | 2849.32 | 1.0235 |
+| 6 | lower | 392 | 34 | 0.091 | 1.52 | 2.63 | 3399.47 | 1.3294 |
+| 7 | open | 121 | 11 | 0.828 | 5.29 | 9.17 | 3625.52 | 0.8238 |
+| 8 | retract | 370 | 33 | 3.725 | 17.38 | 30.10 | 2428.30 | 0.8965 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.405 |
+| TCP position RMSE (mm, per-axis) | 16.42 |
+| EE position RMS L2 (mm) | 31.08 |
+| TCP rotvec (mrad) | 3043.78 |
+| W1 effort mean (A) | 1.0293 |
+| W1 effort per joint (A) | j0=0.6483, j1=1.3226, j2=1.8296, j3=1.0641, j4=0.7025, j5=0.6089 |
+
+## 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 | -0.00026 | -0.00055 | 0.00103 | 0.025 |
+| 1 | 0.00086 | -0.00058 | -0.00095 | 0.00141 | 0.043 |
+| 2 | 0.00085 | -0.00058 | -0.00094 | 0.00139 | 0.043 |
+| 3 | 0.00115 | -0.00043 | -0.00039 | 0.00128 | 0.104 |
+| 4 | 0.00036 | -0.00011 | -0.00035 | 0.00051 | 0.100 |
+| 5 | 0.00169 | -0.00084 | -0.00112 | 0.00219 | 0.113 |
+| 6 | 0.00185 | -0.00080 | -0.00248 | 0.00320 | 0.213 |
+| 7 | 0.00065 | -0.00025 | -0.00071 | 0.00099 | 0.040 |
+| 8 | -0.00012 | -0.00017 | -0.00018 | 0.00027 | 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.
diff --git a/gap_reports/gap_489fd4cd-6df6-482f-b93f-6fe5ba0763da.md b/gap_reports/gap_489fd4cd-6df6-482f-b93f-6fe5ba0763da.md
new file mode 100644
index 0000000000000000000000000000000000000000..542853bb187976ef82dfcf05e8a1a5bb1627288f
--- /dev/null
+++ b/gap_reports/gap_489fd4cd-6df6-482f-b93f-6fe5ba0763da.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/489fd4cd-6df6-482f-b93f-6fe5ba0763da.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/489fd4cd-6df6-482f-b93f-6fe5ba0763da.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2590 |
+| Sim rows | 231 |
+| Real episode_id | `489fd4cd-6df6-482f-b93f-6fe5ba0763da` |
+| Sim episode_id | `489fd4cd-6df6-482f-b93f-6fe5ba0763da` |
+
+## 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 | 179 | 16 | 2.245 | 11.00 | 19.05 | 1916.07 | 0.5778 |
+| 1 | descend | 412 | 36 | 0.754 | 4.91 | 8.51 | 3625.34 | 0.7254 |
+| 2 | settle | 387 | 34 | 0.024 | 0.74 | 1.28 | 3625.24 | 0.6746 |
+| 3 | close | 113 | 11 | 0.724 | 4.73 | 8.19 | 3109.88 | 1.0087 |
+| 4 | lift | 320 | 28 | 2.477 | 12.35 | 21.40 | 2256.97 | 1.1066 |
+| 5 | move_xy | 331 | 29 | 4.844 | 26.73 | 46.30 | 2748.73 | 0.9257 |
+| 6 | lower | 415 | 36 | 0.081 | 1.25 | 2.17 | 3556.34 | 1.0350 |
+| 7 | open | 115 | 11 | 0.712 | 4.57 | 7.91 | 3625.48 | 0.6974 |
+| 8 | retract | 318 | 28 | 2.515 | 12.45 | 21.57 | 2254.66 | 0.7184 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.175 |
+| TCP position RMSE (mm, per-axis) | 11.61 |
+| EE position RMS L2 (mm) | 20.76 |
+| TCP rotvec (mrad) | 3039.60 |
+| W1 effort mean (A) | 0.8179 |
+| W1 effort per joint (A) | j0=0.2324, j1=1.4070, j2=1.6479, j3=0.7056, j4=0.3317, j5=0.5826 |
+
+## 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 | 0.00042 | -0.00042 | -0.00072 | 0.00093 | 0.038 |
+| 1 | 0.00040 | -0.00071 | -0.00098 | 0.00127 | 0.046 |
+| 2 | 0.00042 | -0.00072 | -0.00095 | 0.00127 | 0.043 |
+| 3 | 0.00102 | -0.00055 | -0.00080 | 0.00140 | 0.091 |
+| 4 | 0.00036 | 0.00013 | -0.00023 | 0.00044 | 0.083 |
+| 5 | 0.00128 | -0.00089 | -0.00149 | 0.00216 | 0.141 |
+| 6 | 0.00126 | -0.00109 | -0.00177 | 0.00243 | 0.131 |
+| 7 | 0.00027 | -0.00045 | -0.00084 | 0.00099 | 0.051 |
+| 8 | -0.00010 | -0.00015 | -0.00016 | 0.00024 | 0.025 |
+
+## 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.
diff --git a/gap_reports/gap_48aa2e0f-660d-41f9-b031-62383735e9b7.md b/gap_reports/gap_48aa2e0f-660d-41f9-b031-62383735e9b7.md
new file mode 100644
index 0000000000000000000000000000000000000000..851e7eb76451b25b23cc4f2a298e603b7d1c53c5
--- /dev/null
+++ b/gap_reports/gap_48aa2e0f-660d-41f9-b031-62383735e9b7.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/48aa2e0f-660d-41f9-b031-62383735e9b7.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/48aa2e0f-660d-41f9-b031-62383735e9b7.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1640 |
+| Sim rows | 166 |
+| Real episode_id | `48aa2e0f-660d-41f9-b031-62383735e9b7` |
+| Sim episode_id | `48aa2e0f-660d-41f9-b031-62383735e9b7` |
+
+## 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 | 211 | 21 | 3.712 | 17.48 | 30.28 | 315.04 | 0.6914 |
+| 1 | descend | 87 | 9 | 1.776 | 3.28 | 5.68 | 70.81 | 0.7050 |
+| 2 | settle | 39 | 5 | 1.716 | 2.53 | 4.39 | 70.92 | 0.7280 |
+| 3 | close | 320 | 32 | 1.721 | 2.90 | 5.01 | 72.57 | 1.1636 |
+| 4 | lift | 86 | 9 | 1.799 | 3.61 | 6.26 | 72.43 | 1.3856 |
+| 5 | move_xy | 255 | 25 | 6.534 | 29.73 | 51.49 | 851.48 | 1.3676 |
+| 6 | lower | 87 | 9 | 0.530 | 3.46 | 5.99 | 1038.06 | 1.0978 |
+| 7 | open | 264 | 26 | 0.019 | 2.79 | 4.84 | 4.88 | 0.6350 |
+| 8 | retract | 85 | 9 | 0.473 | 3.24 | 5.61 | 4.43 | 0.6469 |
+| 9 | return | 206 | 21 | 3.379 | 16.05 | 27.80 | 1215.90 | 0.6809 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.841 |
+| TCP position RMSE (mm, per-axis) | 12.31 |
+| EE position RMS L2 (mm) | 25.37 |
+| TCP rotvec (mrad) | 583.17 |
+| W1 effort mean (A) | 0.9031 |
+| W1 effort per joint (A) | j0=0.1293, j1=1.7409, j2=1.6646, j3=0.9013, j4=0.3754, j5=0.6069 |
+
+## 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 | 0.00249 | -0.00354 | -0.00012 | 0.00433 | 4.252 |
+| 1 | 0.00270 | -0.00340 | -0.00040 | 0.00436 | 4.206 |
+| 2 | 0.00271 | -0.00342 | -0.00047 | 0.00439 | 4.203 |
+| 3 | 0.00334 | -0.00264 | -0.00237 | 0.00487 | 4.203 |
+| 4 | 0.00319 | -0.00312 | -0.00312 | 0.00545 | 4.252 |
+| 5 | 0.00208 | -0.00374 | -0.00159 | 0.00457 | 0.136 |
+| 6 | 0.00238 | -0.00379 | -0.00124 | 0.00464 | 0.110 |
+| 7 | 0.00210 | -0.00429 | -0.00079 | 0.00484 | 0.034 |
+| 8 | 0.00180 | -0.00399 | -0.00086 | 0.00446 | 0.046 |
+| 9 | -0.00018 | -0.00009 | -0.00026 | 0.00033 | 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.
diff --git a/gap_reports/gap_48bfa5d5-f9ee-4686-bfe1-6e79ac725ad6.md b/gap_reports/gap_48bfa5d5-f9ee-4686-bfe1-6e79ac725ad6.md
new file mode 100644
index 0000000000000000000000000000000000000000..5e0dbe2314f8cc5bc27ebf1b7d2f7f55f4a3a08f
--- /dev/null
+++ b/gap_reports/gap_48bfa5d5-f9ee-4686-bfe1-6e79ac725ad6.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/48bfa5d5-f9ee-4686-bfe1-6e79ac725ad6.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/48bfa5d5-f9ee-4686-bfe1-6e79ac725ad6.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2662 |
+| Sim rows | 237 |
+| Real episode_id | `48bfa5d5-f9ee-4686-bfe1-6e79ac725ad6` |
+| Sim episode_id | `48bfa5d5-f9ee-4686-bfe1-6e79ac725ad6` |
+
+## 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 | 285 | 25 | 3.821 | 16.76 | 29.03 | 2025.88 | 0.5866 |
+| 1 | descend | 270 | 24 | 1.087 | 7.26 | 12.58 | 3625.30 | 0.6352 |
+| 2 | settle | 365 | 32 | 0.022 | 0.81 | 1.40 | 3625.24 | 0.6632 |
+| 3 | close | 106 | 10 | 0.464 | 3.25 | 5.62 | 3349.20 | 0.9810 |
+| 4 | lift | 338 | 30 | 3.643 | 16.89 | 29.25 | 2272.24 | 1.0964 |
+| 5 | move_xy | 464 | 40 | 7.397 | 36.21 | 62.72 | 2750.27 | 0.8708 |
+| 6 | lower | 392 | 34 | 0.088 | 1.49 | 2.57 | 3399.54 | 0.9035 |
+| 7 | open | 104 | 10 | 0.589 | 3.83 | 6.63 | 3625.49 | 0.6266 |
+| 8 | retract | 338 | 30 | 3.752 | 17.42 | 30.18 | 2299.56 | 0.7322 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.307 |
+| TCP position RMSE (mm, per-axis) | 15.85 |
+| EE position RMS L2 (mm) | 31.95 |
+| TCP rotvec (mrad) | 3060.91 |
+| W1 effort mean (A) | 0.7772 |
+| W1 effort per joint (A) | j0=0.2137, j1=1.3114, j2=1.4997, j3=0.7434, j4=0.2956, j5=0.5997 |
+
+## 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 | 0.00085 | -0.00038 | -0.00065 | 0.00113 | 0.026 |
+| 1 | 0.00087 | -0.00057 | -0.00096 | 0.00141 | 0.043 |
+| 2 | 0.00085 | -0.00059 | -0.00094 | 0.00139 | 0.043 |
+| 3 | 0.00125 | -0.00047 | -0.00070 | 0.00151 | 0.068 |
+| 4 | 0.00057 | 0.00001 | -0.00015 | 0.00059 | 0.154 |
+| 5 | 0.00159 | -0.00079 | -0.00110 | 0.00208 | 0.113 |
+| 6 | 0.00179 | -0.00072 | -0.00149 | 0.00244 | 0.121 |
+| 7 | 0.00061 | -0.00034 | -0.00076 | 0.00103 | 0.036 |
+| 8 | -0.00012 | -0.00018 | -0.00020 | 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.
diff --git a/gap_reports/gap_48d69970-192f-4c32-85cc-a5df4171df9c.md b/gap_reports/gap_48d69970-192f-4c32-85cc-a5df4171df9c.md
new file mode 100644
index 0000000000000000000000000000000000000000..f58a7f74089f6af050f7780e16b3242a9783ae62
--- /dev/null
+++ b/gap_reports/gap_48d69970-192f-4c32-85cc-a5df4171df9c.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/48d69970-192f-4c32-85cc-a5df4171df9c.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/48d69970-192f-4c32-85cc-a5df4171df9c.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2563 |
+| Sim rows | 229 |
+| Real episode_id | `48d69970-192f-4c32-85cc-a5df4171df9c` |
+| Sim episode_id | `48d69970-192f-4c32-85cc-a5df4171df9c` |
+
+## 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 | 253 | 23 | 3.187 | 14.65 | 25.38 | 1986.93 | 0.5712 |
+| 1 | descend | 257 | 23 | 0.746 | 4.92 | 8.52 | 3625.30 | 0.7455 |
+| 2 | settle | 366 | 32 | 0.024 | 0.77 | 1.34 | 3625.24 | 0.7233 |
+| 3 | close | 133 | 12 | 0.526 | 3.78 | 6.55 | 3160.27 | 1.0180 |
+| 4 | lift | 295 | 26 | 3.014 | 14.78 | 25.60 | 1912.97 | 1.0878 |
+| 5 | move_xy | 443 | 39 | 6.312 | 33.05 | 57.24 | 2715.25 | 0.8621 |
+| 6 | lower | 391 | 34 | 0.088 | 1.40 | 2.43 | 3625.79 | 1.0097 |
+| 7 | open | 131 | 12 | 0.526 | 3.42 | 5.93 | 3625.44 | 0.6539 |
+| 8 | retract | 294 | 26 | 2.990 | 14.75 | 25.54 | 2277.16 | 0.7137 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.772 |
+| TCP position RMSE (mm, per-axis) | 14.12 |
+| EE position RMS L2 (mm) | 28.15 |
+| TCP rotvec (mrad) | 3031.83 |
+| W1 effort mean (A) | 0.8049 |
+| W1 effort per joint (A) | j0=0.1899, j1=1.3347, j2=1.6240, j3=0.8108, j4=0.2967, j5=0.5735 |
+
+## 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 | -0.00044 | -0.00076 | 0.00109 | 0.033 |
+| 1 | 0.00062 | -0.00063 | -0.00100 | 0.00133 | 0.047 |
+| 2 | 0.00063 | -0.00064 | -0.00101 | 0.00135 | 0.049 |
+| 3 | 0.00157 | -0.00044 | -0.00037 | 0.00167 | 0.140 |
+| 4 | 0.00020 | -0.00021 | -0.00033 | 0.00044 | 0.104 |
+| 5 | 0.00151 | -0.00099 | -0.00141 | 0.00229 | 0.122 |
+| 6 | 0.00123 | -0.00090 | -0.00160 | 0.00221 | 0.114 |
+| 7 | 0.00044 | -0.00044 | -0.00079 | 0.00100 | 0.037 |
+| 8 | -0.00015 | -0.00021 | -0.00022 | 0.00033 | 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.
diff --git a/gap_reports/gap_48dcdf78-987d-4f46-928e-1fa93ed679af.md b/gap_reports/gap_48dcdf78-987d-4f46-928e-1fa93ed679af.md
new file mode 100644
index 0000000000000000000000000000000000000000..811154cf22601a3f8aea1169825ca18d56d93244
--- /dev/null
+++ b/gap_reports/gap_48dcdf78-987d-4f46-928e-1fa93ed679af.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/48dcdf78-987d-4f46-928e-1fa93ed679af.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/48dcdf78-987d-4f46-928e-1fa93ed679af.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2306 |
+| Sim rows | 232 |
+| Real episode_id | `48dcdf78-987d-4f46-928e-1fa93ed679af` |
+| Sim episode_id | `48dcdf78-987d-4f46-928e-1fa93ed679af` |
+
+## 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 | 213 | 21 | 2.399 | 11.36 | 19.68 | 1971.65 | 0.5656 |
+| 1 | descend | 269 | 27 | 1.081 | 6.87 | 11.91 | 3625.38 | 0.7434 |
+| 2 | settle | 327 | 32 | 0.024 | 0.74 | 1.28 | 3625.28 | 0.6334 |
+| 3 | close | 108 | 11 | 0.833 | 5.46 | 9.45 | 3377.93 | 0.9284 |
+| 4 | lift | 276 | 28 | 2.681 | 13.19 | 22.85 | 2299.46 | 1.1084 |
+| 5 | move_xy | 386 | 38 | 4.626 | 24.90 | 43.12 | 2669.27 | 0.8723 |
+| 6 | lower | 341 | 34 | 0.084 | 1.28 | 2.22 | 3419.17 | 0.9411 |
+| 7 | open | 108 | 11 | 0.909 | 5.76 | 9.97 | 3625.50 | 0.6687 |
+| 8 | retract | 278 | 28 | 2.488 | 12.13 | 21.00 | 2321.60 | 0.7198 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.192 |
+| TCP position RMSE (mm, per-axis) | 11.46 |
+| EE position RMS L2 (mm) | 22.11 |
+| TCP rotvec (mrad) | 3059.07 |
+| W1 effort mean (A) | 0.7864 |
+| W1 effort per joint (A) | j0=0.2157, j1=1.3088, j2=1.5610, j3=0.7474, j4=0.2772, j5=0.6082 |
+
+## 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 | 0.00042 | -0.00044 | -0.00070 | 0.00093 | 0.034 |
+| 1 | 0.00039 | -0.00071 | -0.00097 | 0.00126 | 0.045 |
+| 2 | 0.00041 | -0.00070 | -0.00094 | 0.00124 | 0.039 |
+| 3 | 0.00107 | -0.00050 | -0.00160 | 0.00199 | 0.115 |
+| 4 | 0.00028 | -0.00016 | -0.00023 | 0.00040 | 0.075 |
+| 5 | 0.00107 | -0.00110 | -0.00212 | 0.00262 | 0.155 |
+| 6 | 0.00118 | -0.00088 | -0.00058 | 0.00159 | 0.107 |
+| 7 | 0.00023 | -0.00045 | -0.00076 | 0.00092 | 0.043 |
+| 8 | -0.00011 | -0.00017 | -0.00017 | 0.00027 | 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.
diff --git a/gap_reports/gap_48e2944c-9350-4e75-a2b2-6da9cd2edeab.md b/gap_reports/gap_48e2944c-9350-4e75-a2b2-6da9cd2edeab.md
new file mode 100644
index 0000000000000000000000000000000000000000..9330439edf3c7bf042f16a585ba831a2a09ef81a
--- /dev/null
+++ b/gap_reports/gap_48e2944c-9350-4e75-a2b2-6da9cd2edeab.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/48e2944c-9350-4e75-a2b2-6da9cd2edeab.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/48e2944c-9350-4e75-a2b2-6da9cd2edeab.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1523 |
+| Sim rows | 155 |
+| Real episode_id | `48e2944c-9350-4e75-a2b2-6da9cd2edeab` |
+| Sim episode_id | `48e2944c-9350-4e75-a2b2-6da9cd2edeab` |
+
+## 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 | 129 | 13 | 1.654 | 9.93 | 17.19 | 719.25 | 0.7439 |
+| 1 | descend | 74 | 8 | 0.710 | 4.48 | 7.77 | 5.62 | 0.7201 |
+| 2 | settle | 19 | 3 | 0.023 | 2.95 | 5.11 | 6.12 | 0.7709 |
+| 3 | close | 315 | 31 | 0.087 | 2.97 | 5.15 | 7.61 | 1.2019 |
+| 4 | lift | 74 | 8 | 0.674 | 4.03 | 6.97 | 7.03 | 1.3326 |
+| 5 | move_xy | 175 | 18 | 10.486 | 21.05 | 36.47 | 326.40 | 1.2469 |
+| 6 | lower | 75 | 8 | 20.326 | 2.93 | 5.08 | 783.50 | 1.2464 |
+| 7 | open | 283 | 28 | 20.307 | 2.29 | 3.97 | 783.37 | 0.7776 |
+| 8 | retract | 76 | 8 | 20.329 | 4.16 | 7.21 | 782.98 | 0.8780 |
+| 9 | return | 303 | 30 | 11.415 | 19.47 | 33.72 | 1035.42 | 0.8573 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 12.177 |
+| TCP position RMSE (mm, per-axis) | 10.03 |
+| EE position RMS L2 (mm) | 20.54 |
+| TCP rotvec (mrad) | 594.70 |
+| W1 effort mean (A) | 0.9675 |
+| W1 effort per joint (A) | j0=0.2138, j1=1.7791, j2=1.7128, j3=0.7151, j4=0.4311, j5=0.9532 |
+
+## 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 | 0.00221 | -0.00405 | -0.00066 | 0.00466 | 0.054 |
+| 1 | 0.00260 | -0.00428 | -0.00082 | 0.00507 | 0.040 |
+| 2 | 0.00264 | -0.00428 | -0.00098 | 0.00512 | 0.051 |
+| 3 | 0.00263 | -0.00375 | -0.00195 | 0.00498 | 0.140 |
+| 4 | 0.00195 | -0.00391 | -0.00225 | 0.00491 | 0.162 |
+| 5 | 0.00172 | -0.00341 | -0.00080 | 0.00390 | 49.772 |
+| 6 | 0.00196 | -0.00250 | -0.00154 | 0.00353 | 49.747 |
+| 7 | 0.00206 | -0.00338 | -0.00012 | 0.00396 | 49.738 |
+| 8 | 0.00183 | -0.00366 | -0.00026 | 0.00410 | 49.795 |
+| 9 | -0.00002 | -0.00011 | -0.00023 | 0.00026 | 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.
diff --git a/gap_reports/gap_48ed6a0d-9ad4-4b09-8acf-7e074f23e042.md b/gap_reports/gap_48ed6a0d-9ad4-4b09-8acf-7e074f23e042.md
new file mode 100644
index 0000000000000000000000000000000000000000..4f818bc8b33269c56c702dff8cdd4ec46b53124c
--- /dev/null
+++ b/gap_reports/gap_48ed6a0d-9ad4-4b09-8acf-7e074f23e042.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/48ed6a0d-9ad4-4b09-8acf-7e074f23e042.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/48ed6a0d-9ad4-4b09-8acf-7e074f23e042.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2782 |
+| Sim rows | 249 |
+| Real episode_id | `48ed6a0d-9ad4-4b09-8acf-7e074f23e042` |
+| Sim episode_id | `48ed6a0d-9ad4-4b09-8acf-7e074f23e042` |
+
+## 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 | 223 | 20 | 3.433 | 14.83 | 25.69 | 2016.60 | 0.6024 |
+| 1 | descend | 312 | 28 | 0.755 | 5.17 | 8.95 | 3625.26 | 0.6875 |
+| 2 | settle | 359 | 32 | 0.022 | 0.81 | 1.40 | 3625.21 | 0.6947 |
+| 3 | close | 138 | 13 | 0.598 | 4.20 | 7.27 | 3420.22 | 0.9784 |
+| 4 | lift | 411 | 36 | 3.644 | 17.12 | 29.65 | 2238.56 | 1.1089 |
+| 5 | move_xy | 378 | 33 | 8.207 | 40.24 | 69.70 | 2790.92 | 0.8665 |
+| 6 | lower | 412 | 36 | 0.089 | 1.48 | 2.57 | 3556.17 | 0.9201 |
+| 7 | open | 137 | 13 | 0.583 | 3.89 | 6.73 | 3625.43 | 0.6368 |
+| 8 | retract | 412 | 36 | 3.799 | 18.13 | 31.40 | 2335.47 | 0.7242 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.466 |
+| TCP position RMSE (mm, per-axis) | 16.74 |
+| EE position RMS L2 (mm) | 31.68 |
+| TCP rotvec (mrad) | 3092.90 |
+| W1 effort mean (A) | 0.7910 |
+| W1 effort per joint (A) | j0=0.2209, j1=1.3593, j2=1.5397, j3=0.7182, j4=0.2940, j5=0.6140 |
+
+## 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 | 0.00085 | -0.00039 | -0.00064 | 0.00114 | 0.031 |
+| 1 | 0.00081 | -0.00057 | -0.00098 | 0.00139 | 0.048 |
+| 2 | 0.00085 | -0.00057 | -0.00097 | 0.00141 | 0.043 |
+| 3 | 0.00183 | -0.00039 | -0.00053 | 0.00194 | 0.152 |
+| 4 | 0.00008 | -0.00010 | -0.00008 | 0.00015 | 0.047 |
+| 5 | 0.00150 | -0.00088 | -0.00110 | 0.00206 | 0.112 |
+| 6 | 0.00185 | -0.00069 | -0.00175 | 0.00263 | 0.123 |
+| 7 | 0.00071 | -0.00033 | -0.00083 | 0.00114 | 0.042 |
+| 8 | -0.00012 | -0.00015 | -0.00017 | 0.00026 | 0.025 |
+
+## 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.
diff --git a/gap_reports/gap_48f12c5d-5706-43db-9f19-9243586865e1.md b/gap_reports/gap_48f12c5d-5706-43db-9f19-9243586865e1.md
new file mode 100644
index 0000000000000000000000000000000000000000..5f7c8424d90e5874775dce04d5e5e97918b98ce5
--- /dev/null
+++ b/gap_reports/gap_48f12c5d-5706-43db-9f19-9243586865e1.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/48f12c5d-5706-43db-9f19-9243586865e1.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/48f12c5d-5706-43db-9f19-9243586865e1.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1253 |
+| Sim rows | 130 |
+| Real episode_id | `48f12c5d-5706-43db-9f19-9243586865e1` |
+| Sim episode_id | `48f12c5d-5706-43db-9f19-9243586865e1` |
+
+## 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 | 162 | 16 | 2.433 | 13.83 | 23.95 | 803.35 | 0.7649 |
+| 1 | descend | 74 | 8 | 0.504 | 3.79 | 6.57 | 5.58 | 0.6624 |
+| 2 | settle | 14 | 2 | 0.021 | 3.00 | 5.19 | 5.84 | 0.7119 |
+| 3 | close | 32 | 4 | 0.141 | 3.41 | 5.91 | 3622.04 | 1.1540 |
+| 4 | lift | 92 | 10 | 0.836 | 5.37 | 9.30 | 3262.43 | 1.1637 |
+| 5 | move_xy | 284 | 28 | 6.780 | 32.52 | 56.32 | 1617.44 | 1.0105 |
+| 6 | lower | 111 | 12 | 7.796 | 4.34 | 7.52 | 304.16 | 1.1093 |
+| 7 | open | 71 | 8 | 7.738 | 2.26 | 3.91 | 303.14 | 0.7185 |
+| 8 | retract | 110 | 12 | 7.804 | 4.85 | 8.40 | 302.82 | 0.7817 |
+| 9 | return | 303 | 30 | 5.221 | 22.30 | 38.62 | 946.87 | 0.8276 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 5.115 |
+| TCP position RMSE (mm, per-axis) | 13.63 |
+| EE position RMS L2 (mm) | 34.29 |
+| TCP rotvec (mrad) | 1679.19 |
+| W1 effort mean (A) | 0.8793 |
+| W1 effort per joint (A) | j0=0.2723, j1=1.5702, j2=1.6077, j3=0.7350, j4=0.4139, j5=0.6765 |
+
+## 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 | 0.00203 | -0.00438 | -0.00103 | 0.00494 | 0.040 |
+| 1 | 0.00228 | -0.00457 | -0.00106 | 0.00521 | 0.037 |
+| 2 | 0.00224 | -0.00454 | -0.00112 | 0.00519 | 0.042 |
+| 3 | 0.00293 | -0.00412 | -0.00345 | 0.00612 | 0.240 |
+| 4 | 0.00210 | -0.00363 | -0.00327 | 0.00532 | 0.239 |
+| 5 | 0.00226 | -0.00291 | -0.00184 | 0.00412 | 19.008 |
+| 6 | 0.00256 | -0.00231 | -0.00170 | 0.00385 | 18.955 |
+| 7 | 0.00226 | -0.00317 | -0.00022 | 0.00390 | 18.950 |
+| 8 | 0.00203 | -0.00348 | -0.00027 | 0.00404 | 19.019 |
+| 9 | -0.00006 | -0.00012 | -0.00025 | 0.00028 | 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.
diff --git a/gap_reports/gap_4905acd2-c984-4dbf-a75e-0be3cf3e3985.md b/gap_reports/gap_4905acd2-c984-4dbf-a75e-0be3cf3e3985.md
new file mode 100644
index 0000000000000000000000000000000000000000..3b85501212da97f48d7b3004ee120d4b3916cd39
--- /dev/null
+++ b/gap_reports/gap_4905acd2-c984-4dbf-a75e-0be3cf3e3985.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4905acd2-c984-4dbf-a75e-0be3cf3e3985.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4905acd2-c984-4dbf-a75e-0be3cf3e3985.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1656 |
+| Sim rows | 169 |
+| Real episode_id | `4905acd2-c984-4dbf-a75e-0be3cf3e3985` |
+| Sim episode_id | `4905acd2-c984-4dbf-a75e-0be3cf3e3985` |
+
+## 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 | 137 | 14 | 2.082 | 8.18 | 14.16 | 442.37 | 0.6302 |
+| 1 | descend | 70 | 8 | 0.672 | 3.34 | 5.78 | 3.95 | 0.5569 |
+| 2 | settle | 38 | 5 | 0.020 | 2.37 | 4.10 | 4.43 | 0.5370 |
+| 3 | close | 373 | 36 | 0.062 | 2.24 | 3.89 | 5.24 | 0.9806 |
+| 4 | lift | 70 | 8 | 0.535 | 2.95 | 5.12 | 4.74 | 1.1000 |
+| 5 | move_xy | 173 | 17 | 6.057 | 34.58 | 59.89 | 90.16 | 1.2686 |
+| 6 | lower | 70 | 8 | 0.521 | 4.24 | 7.35 | 9.07 | 1.3172 |
+| 7 | open | 352 | 35 | 0.033 | 3.53 | 6.12 | 7.19 | 0.7922 |
+| 8 | retract | 72 | 8 | 0.452 | 3.80 | 6.58 | 6.96 | 0.8617 |
+| 9 | return | 301 | 30 | 3.074 | 19.06 | 33.01 | 676.04 | 0.6941 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.273 |
+| TCP position RMSE (mm, per-axis) | 13.04 |
+| EE position RMS L2 (mm) | 24.65 |
+| TCP rotvec (mrad) | 257.12 |
+| W1 effort mean (A) | 0.8532 |
+| W1 effort per joint (A) | j0=0.1606, j1=1.6910, j2=1.4301, j3=0.7691, j4=0.5220, j5=0.5463 |
+
+## 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 | 0.00158 | -0.00351 | 0.00020 | 0.00386 | 0.037 |
+| 1 | 0.00218 | -0.00350 | 0.00027 | 0.00414 | 0.048 |
+| 2 | 0.00218 | -0.00348 | 0.00011 | 0.00411 | 0.025 |
+| 3 | 0.00230 | -0.00305 | -0.00048 | 0.00385 | 0.114 |
+| 4 | 0.00191 | -0.00332 | -0.00068 | 0.00389 | 0.128 |
+| 5 | 0.00300 | -0.00507 | -0.00252 | 0.00641 | 0.242 |
+| 6 | 0.00330 | -0.00506 | -0.00290 | 0.00670 | 0.177 |
+| 7 | 0.00301 | -0.00513 | -0.00151 | 0.00614 | 0.074 |
+| 8 | 0.00274 | -0.00526 | -0.00161 | 0.00614 | 0.075 |
+| 9 | -0.00012 | -0.00015 | -0.00033 | 0.00038 | 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.
diff --git a/gap_reports/gap_4905d612-bdd2-4091-bbcb-c048447c9b39.md b/gap_reports/gap_4905d612-bdd2-4091-bbcb-c048447c9b39.md
new file mode 100644
index 0000000000000000000000000000000000000000..f9d15261f5b66821aebab15902b7b9a3ac9933a7
--- /dev/null
+++ b/gap_reports/gap_4905d612-bdd2-4091-bbcb-c048447c9b39.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4905d612-bdd2-4091-bbcb-c048447c9b39.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4905d612-bdd2-4091-bbcb-c048447c9b39.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2621 |
+| Sim rows | 234 |
+| Real episode_id | `4905d612-bdd2-4091-bbcb-c048447c9b39` |
+| Sim episode_id | `4905d612-bdd2-4091-bbcb-c048447c9b39` |
+
+## 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 | 228 | 20 | 2.761 | 12.37 | 21.43 | 2051.36 | 0.5793 |
+| 1 | descend | 294 | 26 | 0.867 | 5.61 | 9.72 | 3625.35 | 0.7451 |
+| 2 | settle | 376 | 33 | 0.023 | 0.76 | 1.32 | 3625.24 | 0.7167 |
+| 3 | close | 109 | 10 | 0.715 | 4.62 | 8.00 | 3625.84 | 0.9867 |
+| 4 | lift | 362 | 32 | 2.978 | 14.16 | 24.52 | 2302.52 | 1.1369 |
+| 5 | move_xy | 383 | 34 | 6.084 | 30.94 | 53.59 | 2790.89 | 0.9042 |
+| 6 | lower | 396 | 35 | 0.088 | 1.38 | 2.39 | 3481.06 | 1.0346 |
+| 7 | open | 109 | 10 | 0.706 | 4.50 | 7.79 | 3625.45 | 0.6601 |
+| 8 | retract | 364 | 32 | 3.114 | 14.88 | 25.78 | 2280.22 | 0.7206 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.687 |
+| TCP position RMSE (mm, per-axis) | 13.37 |
+| EE position RMS L2 (mm) | 25.53 |
+| TCP rotvec (mrad) | 3112.56 |
+| W1 effort mean (A) | 0.8290 |
+| W1 effort per joint (A) | j0=0.2146, j1=1.3266, j2=1.6739, j3=0.7745, j4=0.3610, j5=0.6236 |
+
+## 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 | 0.00066 | -0.00034 | -0.00075 | 0.00106 | 0.039 |
+| 1 | 0.00057 | -0.00061 | -0.00100 | 0.00131 | 0.049 |
+| 2 | 0.00064 | -0.00064 | -0.00098 | 0.00133 | 0.044 |
+| 3 | 0.00118 | -0.00043 | -0.00117 | 0.00172 | 0.096 |
+| 4 | 0.00036 | 0.00018 | -0.00008 | 0.00041 | 0.074 |
+| 5 | 0.00180 | -0.00080 | -0.00120 | 0.00231 | 0.167 |
+| 6 | 0.00204 | -0.00084 | -0.00123 | 0.00252 | 0.197 |
+| 7 | 0.00036 | -0.00038 | -0.00076 | 0.00092 | 0.039 |
+| 8 | -0.00011 | -0.00015 | -0.00016 | 0.00024 | 0.026 |
+
+## 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.
diff --git a/gap_reports/gap_4908d90f-b01f-4683-a1cb-f4e85a7b8d69.md b/gap_reports/gap_4908d90f-b01f-4683-a1cb-f4e85a7b8d69.md
new file mode 100644
index 0000000000000000000000000000000000000000..2b7633b803510623ee82fe614df2e74dd8a1399b
--- /dev/null
+++ b/gap_reports/gap_4908d90f-b01f-4683-a1cb-f4e85a7b8d69.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4908d90f-b01f-4683-a1cb-f4e85a7b8d69.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4908d90f-b01f-4683-a1cb-f4e85a7b8d69.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2577 |
+| Sim rows | 256 |
+| Real episode_id | `4908d90f-b01f-4683-a1cb-f4e85a7b8d69` |
+| Sim episode_id | `4908d90f-b01f-4683-a1cb-f4e85a7b8d69` |
+
+## 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 | 202 | 20 | 3.017 | 13.83 | 23.95 | 1959.27 | 0.5853 |
+| 1 | descend | 490 | 48 | 0.399 | 2.67 | 4.62 | 3625.38 | 0.7456 |
+| 2 | settle | 322 | 32 | 0.023 | 0.77 | 1.33 | 3625.26 | 0.7249 |
+| 3 | close | 136 | 14 | 0.763 | 4.82 | 8.35 | 3021.68 | 0.9587 |
+| 4 | lift | 294 | 29 | 2.997 | 14.00 | 24.25 | 2316.41 | 1.1198 |
+| 5 | move_xy | 362 | 35 | 6.582 | 33.62 | 58.22 | 2624.28 | 0.8750 |
+| 6 | lower | 337 | 33 | 0.085 | 1.36 | 2.35 | 3392.56 | 1.0097 |
+| 7 | open | 139 | 14 | 0.850 | 5.56 | 9.63 | 3625.48 | 0.6639 |
+| 8 | retract | 295 | 29 | 3.352 | 15.90 | 27.55 | 2321.82 | 0.7262 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.870 |
+| TCP position RMSE (mm, per-axis) | 14.27 |
+| EE position RMS L2 (mm) | 26.25 |
+| TCP rotvec (mrad) | 3010.21 |
+| W1 effort mean (A) | 0.8000 |
+| W1 effort per joint (A) | j0=0.2302, j1=1.3250, j2=1.6462, j3=0.7627, j4=0.2647, j5=0.5710 |
+
+## 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 | -0.00031 | -0.00070 | 0.00100 | 0.036 |
+| 1 | 0.00065 | -0.00062 | -0.00104 | 0.00137 | 0.049 |
+| 2 | 0.00065 | -0.00065 | -0.00098 | 0.00135 | 0.046 |
+| 3 | 0.00117 | -0.00035 | -0.00120 | 0.00171 | 0.084 |
+| 4 | 0.00027 | -0.00031 | -0.00052 | 0.00066 | 0.103 |
+| 5 | 0.00146 | -0.00087 | -0.00072 | 0.00184 | 0.107 |
+| 6 | 0.00138 | -0.00097 | -0.00219 | 0.00277 | 0.182 |
+| 7 | 0.00050 | -0.00034 | -0.00074 | 0.00096 | 0.039 |
+| 8 | -0.00010 | -0.00015 | -0.00015 | 0.00024 | 0.025 |
+
+## 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.
diff --git a/gap_reports/gap_494ae0ef-3a8a-4f4f-9f0c-38df839b3c66.md b/gap_reports/gap_494ae0ef-3a8a-4f4f-9f0c-38df839b3c66.md
new file mode 100644
index 0000000000000000000000000000000000000000..3d551d49642a835d28261d8e2b659620e06ae8c3
--- /dev/null
+++ b/gap_reports/gap_494ae0ef-3a8a-4f4f-9f0c-38df839b3c66.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/494ae0ef-3a8a-4f4f-9f0c-38df839b3c66.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/494ae0ef-3a8a-4f4f-9f0c-38df839b3c66.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2996 |
+| Sim rows | 264 |
+| Real episode_id | `494ae0ef-3a8a-4f4f-9f0c-38df839b3c66` |
+| Sim episode_id | `494ae0ef-3a8a-4f4f-9f0c-38df839b3c66` |
+
+## 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 | 211 | 19 | 2.407 | 9.66 | 16.74 | 1996.94 | 0.5716 |
+| 1 | descend | 698 | 60 | 0.682 | 4.10 | 7.10 | 3626.06 | 0.7359 |
+| 2 | settle | 376 | 33 | 0.023 | 0.58 | 1.00 | 3625.95 | 0.7304 |
+| 3 | close | 170 | 15 | 0.889 | 5.12 | 8.87 | 1860.60 | 0.9499 |
+| 4 | lift | 284 | 25 | 2.333 | 9.47 | 16.40 | 1657.44 | 1.0614 |
+| 5 | move_xy | 400 | 35 | 4.886 | 22.76 | 39.43 | 2236.78 | 0.9242 |
+| 6 | lower | 406 | 35 | 0.079 | 1.02 | 1.76 | 1434.32 | 0.9820 |
+| 7 | open | 169 | 15 | 1.041 | 6.09 | 10.55 | 3626.17 | 0.6113 |
+| 8 | retract | 282 | 25 | 2.217 | 9.05 | 15.68 | 2223.04 | 0.6838 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.170 |
+| TCP position RMSE (mm, per-axis) | 9.80 |
+| EE position RMS L2 (mm) | 17.29 |
+| TCP rotvec (mrad) | 2617.12 |
+| W1 effort mean (A) | 0.7867 |
+| W1 effort per joint (A) | j0=0.2624, j1=1.1637, j2=1.6295, j3=0.7271, j4=0.3616, j5=0.5760 |
+
+## 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 | 0.00015 | -0.00035 | -0.00052 | 0.00065 | 0.034 |
+| 1 | 0.00014 | -0.00058 | -0.00076 | 0.00097 | 0.036 |
+| 2 | 0.00017 | -0.00058 | -0.00080 | 0.00100 | 0.037 |
+| 3 | 0.00063 | -0.00047 | -0.00105 | 0.00131 | 0.088 |
+| 4 | 0.00042 | 0.00009 | -0.00006 | 0.00043 | 0.074 |
+| 5 | 0.00113 | -0.00077 | -0.00080 | 0.00158 | 0.146 |
+| 6 | 0.00064 | -0.00091 | -0.00149 | 0.00186 | 0.119 |
+| 7 | -0.00001 | -0.00037 | -0.00054 | 0.00066 | 0.037 |
+| 8 | -0.00008 | -0.00012 | -0.00015 | 0.00021 | 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.
diff --git a/gap_reports/gap_494c56bb-a3f4-435a-a006-f7f0e87e66a5.md b/gap_reports/gap_494c56bb-a3f4-435a-a006-f7f0e87e66a5.md
new file mode 100644
index 0000000000000000000000000000000000000000..a1108f05a49acdb98192e42eab9fd3ab5e4fdd86
--- /dev/null
+++ b/gap_reports/gap_494c56bb-a3f4-435a-a006-f7f0e87e66a5.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/494c56bb-a3f4-435a-a006-f7f0e87e66a5.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/494c56bb-a3f4-435a-a006-f7f0e87e66a5.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1543 |
+| Sim rows | 157 |
+| Real episode_id | `494c56bb-a3f4-435a-a006-f7f0e87e66a5` |
+| Sim episode_id | `494c56bb-a3f4-435a-a006-f7f0e87e66a5` |
+
+## 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 | 166 | 17 | 3.316 | 11.25 | 19.48 | 1165.82 | 0.7795 |
+| 1 | descend | 83 | 9 | 0.782 | 4.59 | 7.96 | 5.20 | 0.7065 |
+| 2 | settle | 38 | 5 | 0.025 | 2.69 | 4.65 | 5.76 | 0.7560 |
+| 3 | close | 402 | 39 | 0.143 | 1.77 | 3.07 | 6.76 | 1.1037 |
+| 4 | lift | 107 | 11 | 1.090 | 5.47 | 9.47 | 6.86 | 1.2417 |
+| 5 | move_xy | 253 | 25 | 3.990 | 20.73 | 35.90 | 32.18 | 1.0771 |
+| 6 | lower | 96 | 10 | 0.498 | 2.82 | 4.89 | 9.40 | 1.1711 |
+| 7 | open | 95 | 10 | 0.027 | 2.17 | 3.75 | 5.41 | 0.7015 |
+| 8 | retract | 95 | 10 | 0.585 | 3.59 | 6.21 | 4.87 | 0.7962 |
+| 9 | return | 208 | 21 | 2.750 | 18.89 | 32.72 | 867.61 | 0.8109 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.921 |
+| TCP position RMSE (mm, per-axis) | 10.00 |
+| EE position RMS L2 (mm) | 20.34 |
+| TCP rotvec (mrad) | 459.70 |
+| W1 effort mean (A) | 0.9458 |
+| W1 effort per joint (A) | j0=0.2306, j1=1.8192, j2=1.6596, j3=0.7991, j4=0.6890, j5=0.4774 |
+
+## 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 | -0.00377 | -0.00080 | 0.00423 | 0.035 |
+| 1 | 0.00221 | -0.00394 | -0.00096 | 0.00462 | 0.043 |
+| 2 | 0.00221 | -0.00397 | -0.00106 | 0.00466 | 0.055 |
+| 3 | 0.00059 | -0.00268 | -0.00125 | 0.00302 | 0.305 |
+| 4 | 0.00001 | -0.00277 | -0.00160 | 0.00320 | 0.213 |
+| 5 | 0.00075 | -0.00273 | -0.00124 | 0.00309 | 0.245 |
+| 6 | 0.00119 | -0.00234 | -0.00140 | 0.00298 | 0.235 |
+| 7 | 0.00238 | -0.00290 | -0.00034 | 0.00376 | 0.058 |
+| 8 | 0.00216 | -0.00310 | -0.00046 | 0.00380 | 0.067 |
+| 9 | -0.00005 | -0.00017 | -0.00027 | 0.00032 | 0.037 |
+
+## 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.
diff --git a/gap_reports/gap_494d4e3d-e56b-444b-88d8-b5d84a76a19d.md b/gap_reports/gap_494d4e3d-e56b-444b-88d8-b5d84a76a19d.md
new file mode 100644
index 0000000000000000000000000000000000000000..4ec6d7adce4fb5bca507c8993d7ca9763aa6b2b5
--- /dev/null
+++ b/gap_reports/gap_494d4e3d-e56b-444b-88d8-b5d84a76a19d.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/494d4e3d-e56b-444b-88d8-b5d84a76a19d.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/494d4e3d-e56b-444b-88d8-b5d84a76a19d.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2374 |
+| Sim rows | 237 |
+| Real episode_id | `494d4e3d-e56b-444b-88d8-b5d84a76a19d` |
+| Sim episode_id | `494d4e3d-e56b-444b-88d8-b5d84a76a19d` |
+
+## 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 | 199 | 20 | 3.025 | 11.82 | 20.47 | 1957.52 | 0.5742 |
+| 1 | descend | 340 | 33 | 0.805 | 4.93 | 8.54 | 3626.03 | 0.6998 |
+| 2 | settle | 347 | 34 | 0.022 | 0.60 | 1.04 | 3625.94 | 0.6961 |
+| 3 | close | 98 | 10 | 0.669 | 3.95 | 6.83 | 2316.64 | 0.9712 |
+| 4 | lift | 291 | 29 | 2.624 | 10.52 | 18.23 | 1614.85 | 1.0747 |
+| 5 | move_xy | 373 | 37 | 6.860 | 30.74 | 53.24 | 2058.79 | 0.8633 |
+| 6 | lower | 337 | 33 | 0.082 | 1.13 | 1.95 | 905.96 | 0.9614 |
+| 7 | open | 96 | 10 | 0.609 | 3.50 | 6.05 | 3626.24 | 0.6012 |
+| 8 | retract | 293 | 29 | 2.478 | 10.13 | 17.55 | 2191.15 | 0.7021 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.803 |
+| TCP position RMSE (mm, per-axis) | 12.25 |
+| EE position RMS L2 (mm) | 23.95 |
+| TCP rotvec (mrad) | 2605.81 |
+| W1 effort mean (A) | 0.7740 |
+| W1 effort per joint (A) | j0=0.2348, j1=1.1923, j2=1.5834, j3=0.7090, j4=0.3272, j5=0.5974 |
+
+## 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 | 0.00043 | -0.00028 | -0.00051 | 0.00072 | 0.038 |
+| 1 | 0.00040 | -0.00054 | -0.00078 | 0.00103 | 0.036 |
+| 2 | 0.00040 | -0.00056 | -0.00075 | 0.00102 | 0.034 |
+| 3 | 0.00071 | -0.00040 | -0.00077 | 0.00112 | 0.106 |
+| 4 | 0.00049 | 0.00011 | -0.00033 | 0.00060 | 0.116 |
+| 5 | 0.00146 | -0.00093 | -0.00101 | 0.00201 | 0.160 |
+| 6 | 0.00100 | -0.00072 | -0.00103 | 0.00160 | 0.094 |
+| 7 | 0.00017 | -0.00029 | -0.00061 | 0.00070 | 0.043 |
+| 8 | -0.00008 | -0.00012 | -0.00015 | 0.00021 | 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.
diff --git a/gap_reports/gap_4969f638-414d-4339-b22f-c7288076a6fe.md b/gap_reports/gap_4969f638-414d-4339-b22f-c7288076a6fe.md
new file mode 100644
index 0000000000000000000000000000000000000000..6cfd2b9fb058e4a52cdc498d21976d27603e781b
--- /dev/null
+++ b/gap_reports/gap_4969f638-414d-4339-b22f-c7288076a6fe.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4969f638-414d-4339-b22f-c7288076a6fe.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4969f638-414d-4339-b22f-c7288076a6fe.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2787 |
+| Sim rows | 281 |
+| Real episode_id | `4969f638-414d-4339-b22f-c7288076a6fe` |
+| Sim episode_id | `4969f638-414d-4339-b22f-c7288076a6fe` |
+
+## 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 | 196 | 20 | 3.088 | 15.99 | 27.70 | 2005.56 | 0.6259 |
+| 1 | descend | 597 | 59 | 0.394 | 2.98 | 5.17 | 3624.73 | 0.8536 |
+| 2 | settle | 329 | 32 | 0.027 | 0.97 | 1.68 | 3624.52 | 0.6638 |
+| 3 | close | 101 | 11 | 0.687 | 4.83 | 8.37 | 3625.35 | 1.0113 |
+| 4 | lift | 388 | 39 | 3.014 | 16.40 | 28.41 | 2371.28 | 1.1108 |
+| 5 | move_xy | 335 | 33 | 7.066 | 40.86 | 70.77 | 2758.45 | 0.9138 |
+| 6 | lower | 349 | 35 | 0.093 | 1.70 | 2.94 | 3625.18 | 1.0288 |
+| 7 | open | 101 | 11 | 0.711 | 4.97 | 8.61 | 3624.72 | 0.7507 |
+| 8 | retract | 391 | 39 | 2.960 | 16.20 | 28.05 | 2361.86 | 0.7448 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.953 |
+| TCP position RMSE (mm, per-axis) | 16.73 |
+| EE position RMS L2 (mm) | 29.85 |
+| TCP rotvec (mrad) | 3136.38 |
+| W1 effort mean (A) | 0.8433 |
+| W1 effort per joint (A) | j0=0.2668, j1=1.4912, j2=1.7458, j3=0.7401, j4=0.2349, j5=0.5806 |
+
+## 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 | 0.00091 | -0.00040 | -0.00073 | 0.00123 | 0.025 |
+| 1 | 0.00092 | -0.00074 | -0.00120 | 0.00168 | 0.055 |
+| 2 | 0.00094 | -0.00074 | -0.00121 | 0.00170 | 0.056 |
+| 3 | 0.00135 | -0.00053 | -0.00105 | 0.00179 | 0.095 |
+| 4 | 0.00023 | -0.00013 | -0.00022 | 0.00035 | 0.066 |
+| 5 | 0.00197 | -0.00110 | -0.00184 | 0.00292 | 0.132 |
+| 6 | 0.00213 | -0.00121 | -0.00269 | 0.00364 | 0.207 |
+| 7 | 0.00069 | -0.00042 | -0.00093 | 0.00123 | 0.040 |
+| 8 | -0.00007 | -0.00010 | -0.00012 | 0.00017 | 0.017 |
+
+## 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.
diff --git a/gap_reports/gap_496ffe0d-cd65-4fba-abf1-549bad9cad7b.md b/gap_reports/gap_496ffe0d-cd65-4fba-abf1-549bad9cad7b.md
new file mode 100644
index 0000000000000000000000000000000000000000..662f74c8603a046462a67e89f126964e0ba2ce50
--- /dev/null
+++ b/gap_reports/gap_496ffe0d-cd65-4fba-abf1-549bad9cad7b.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/496ffe0d-cd65-4fba-abf1-549bad9cad7b.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/496ffe0d-cd65-4fba-abf1-549bad9cad7b.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2734 |
+| Sim rows | 242 |
+| Real episode_id | `496ffe0d-cd65-4fba-abf1-549bad9cad7b` |
+| Sim episode_id | `496ffe0d-cd65-4fba-abf1-549bad9cad7b` |
+
+## 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 | 183 | 16 | 3.215 | 11.52 | 19.95 | 1987.90 | 0.5951 |
+| 1 | descend | 252 | 22 | 1.181 | 7.09 | 12.27 | 3625.99 | 0.6912 |
+| 2 | settle | 370 | 32 | 0.021 | 0.67 | 1.17 | 3625.98 | 0.6484 |
+| 3 | close | 149 | 14 | 0.861 | 5.05 | 8.74 | 1416.43 | 0.9351 |
+| 4 | lift | 449 | 39 | 3.712 | 15.18 | 26.28 | 2068.99 | 1.0783 |
+| 5 | move_xy | 342 | 30 | 8.253 | 36.16 | 62.62 | 1929.95 | 0.9033 |
+| 6 | lower | 392 | 34 | 0.082 | 1.23 | 2.13 | 1860.26 | 0.8801 |
+| 7 | open | 150 | 14 | 0.873 | 5.34 | 9.24 | 3626.18 | 0.5831 |
+| 8 | retract | 447 | 39 | 4.028 | 16.49 | 28.57 | 2326.20 | 0.6957 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.518 |
+| TCP position RMSE (mm, per-axis) | 15.09 |
+| EE position RMS L2 (mm) | 28.07 |
+| TCP rotvec (mrad) | 2630.59 |
+| W1 effort mean (A) | 0.7823 |
+| W1 effort per joint (A) | j0=0.2384, j1=1.2001, j2=1.4838, j3=0.7159, j4=0.4105, j5=0.6449 |
+
+## 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 | 0.00068 | -0.00024 | -0.00043 | 0.00084 | 0.046 |
+| 1 | 0.00068 | -0.00054 | -0.00077 | 0.00116 | 0.036 |
+| 2 | 0.00068 | -0.00055 | -0.00074 | 0.00114 | 0.033 |
+| 3 | 0.00114 | -0.00023 | -0.00113 | 0.00162 | 0.101 |
+| 4 | 0.00036 | -0.00001 | -0.00032 | 0.00048 | 0.092 |
+| 5 | 0.00133 | -0.00088 | -0.00050 | 0.00167 | 0.116 |
+| 6 | 0.00162 | -0.00069 | -0.00118 | 0.00212 | 0.120 |
+| 7 | 0.00049 | -0.00025 | -0.00053 | 0.00077 | 0.039 |
+| 8 | -0.00006 | -0.00007 | -0.00012 | 0.00015 | 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.
diff --git a/gap_reports/gap_49799038-a32b-4d01-b6ab-813570a84b5a.md b/gap_reports/gap_49799038-a32b-4d01-b6ab-813570a84b5a.md
new file mode 100644
index 0000000000000000000000000000000000000000..5cdf4b9777be30758c90786f3ce50fe1df2a9c1a
--- /dev/null
+++ b/gap_reports/gap_49799038-a32b-4d01-b6ab-813570a84b5a.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/49799038-a32b-4d01-b6ab-813570a84b5a.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/49799038-a32b-4d01-b6ab-813570a84b5a.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2809 |
+| Sim rows | 250 |
+| Real episode_id | `49799038-a32b-4d01-b6ab-813570a84b5a` |
+| Sim episode_id | `49799038-a32b-4d01-b6ab-813570a84b5a` |
+
+## 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 | 282 | 25 | 3.887 | 16.96 | 29.37 | 2036.62 | 0.5998 |
+| 1 | descend | 277 | 25 | 1.081 | 7.22 | 12.50 | 3559.24 | 0.7421 |
+| 2 | settle | 365 | 32 | 0.026 | 0.82 | 1.42 | 3625.26 | 0.6031 |
+| 3 | close | 145 | 13 | 0.483 | 3.47 | 6.01 | 3079.09 | 0.9292 |
+| 4 | lift | 381 | 34 | 3.573 | 17.19 | 29.77 | 2327.35 | 1.0804 |
+| 5 | move_xy | 437 | 38 | 7.241 | 35.10 | 60.79 | 2603.11 | 0.8611 |
+| 6 | lower | 396 | 35 | 0.085 | 1.45 | 2.52 | 3480.98 | 0.9034 |
+| 7 | open | 145 | 13 | 0.520 | 3.55 | 6.14 | 3625.48 | 0.6439 |
+| 8 | retract | 381 | 33 | 3.631 | 17.47 | 30.25 | 2304.79 | 0.7233 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.252 |
+| TCP position RMSE (mm, per-axis) | 15.63 |
+| EE position RMS L2 (mm) | 30.43 |
+| TCP rotvec (mrad) | 3022.24 |
+| W1 effort mean (A) | 0.7684 |
+| W1 effort per joint (A) | j0=0.2496, j1=1.2909, j2=1.4483, j3=0.7248, j4=0.3123, j5=0.5847 |
+
+## 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 | -0.00041 | -0.00068 | 0.00117 | 0.028 |
+| 1 | 0.00088 | -0.00067 | -0.00102 | 0.00150 | 0.063 |
+| 2 | 0.00088 | -0.00059 | -0.00098 | 0.00145 | 0.049 |
+| 3 | 0.00161 | -0.00048 | -0.00139 | 0.00218 | 0.109 |
+| 4 | 0.00010 | -0.00041 | -0.00053 | 0.00068 | 0.088 |
+| 5 | 0.00210 | -0.00083 | -0.00088 | 0.00242 | 0.171 |
+| 6 | 0.00160 | -0.00082 | -0.00060 | 0.00189 | 0.097 |
+| 7 | 0.00074 | -0.00035 | -0.00078 | 0.00113 | 0.039 |
+| 8 | -0.00014 | -0.00019 | -0.00019 | 0.00030 | 0.031 |
+
+## 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.
diff --git a/gap_reports/gap_4985c691-9c92-4e9d-80d9-22ca680db7ad.md b/gap_reports/gap_4985c691-9c92-4e9d-80d9-22ca680db7ad.md
new file mode 100644
index 0000000000000000000000000000000000000000..185adcc7d857b49627a86307001ca4cc97a3853f
--- /dev/null
+++ b/gap_reports/gap_4985c691-9c92-4e9d-80d9-22ca680db7ad.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4985c691-9c92-4e9d-80d9-22ca680db7ad.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4985c691-9c92-4e9d-80d9-22ca680db7ad.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2803 |
+| Sim rows | 248 |
+| Real episode_id | `4985c691-9c92-4e9d-80d9-22ca680db7ad` |
+| Sim episode_id | `4985c691-9c92-4e9d-80d9-22ca680db7ad` |
+
+## 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 | 246 | 22 | 3.113 | 15.87 | 27.48 | 1974.65 | 0.6163 |
+| 1 | descend | 334 | 29 | 1.139 | 7.88 | 13.65 | 3624.76 | 0.8142 |
+| 2 | settle | 384 | 33 | 0.027 | 0.97 | 1.67 | 3624.58 | 0.7429 |
+| 3 | close | 182 | 16 | 1.048 | 7.28 | 12.61 | 3625.01 | 1.0055 |
+| 4 | lift | 317 | 28 | 2.930 | 15.90 | 27.53 | 2443.58 | 1.1274 |
+| 5 | move_xy | 453 | 40 | 7.399 | 42.70 | 73.97 | 2829.41 | 0.9392 |
+| 6 | lower | 387 | 34 | 0.090 | 1.67 | 2.89 | 3625.02 | 1.0606 |
+| 7 | open | 182 | 16 | 0.853 | 5.95 | 10.31 | 3624.75 | 0.7454 |
+| 8 | retract | 318 | 28 | 3.023 | 16.44 | 28.47 | 2413.80 | 0.7541 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.078 |
+| TCP position RMSE (mm, per-axis) | 17.49 |
+| EE position RMS L2 (mm) | 34.19 |
+| TCP rotvec (mrad) | 3151.70 |
+| W1 effort mean (A) | 0.8539 |
+| W1 effort per joint (A) | j0=0.2486, j1=1.5302, j2=1.7002, j3=0.7803, j4=0.2994, j5=0.5649 |
+
+## 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 | -0.00029 | -0.00085 | 0.00125 | 0.041 |
+| 1 | 0.00090 | -0.00073 | -0.00121 | 0.00168 | 0.055 |
+| 2 | 0.00091 | -0.00077 | -0.00120 | 0.00169 | 0.056 |
+| 3 | 0.00160 | -0.00055 | -0.00210 | 0.00270 | 0.201 |
+| 4 | 0.00057 | -0.00003 | -0.00014 | 0.00059 | 0.154 |
+| 5 | 0.00181 | -0.00096 | -0.00157 | 0.00258 | 0.118 |
+| 6 | 0.00224 | -0.00089 | -0.00116 | 0.00268 | 0.184 |
+| 7 | 0.00066 | -0.00038 | -0.00099 | 0.00125 | 0.060 |
+| 8 | -0.00013 | -0.00023 | -0.00023 | 0.00035 | 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.
diff --git a/gap_reports/gap_49883860-22de-4e5a-8928-364ffb18dcd8.md b/gap_reports/gap_49883860-22de-4e5a-8928-364ffb18dcd8.md
new file mode 100644
index 0000000000000000000000000000000000000000..a989834b7007934a4de1bf9384d306ffd40a1791
--- /dev/null
+++ b/gap_reports/gap_49883860-22de-4e5a-8928-364ffb18dcd8.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/49883860-22de-4e5a-8928-364ffb18dcd8.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/49883860-22de-4e5a-8928-364ffb18dcd8.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2627 |
+| Sim rows | 234 |
+| Real episode_id | `49883860-22de-4e5a-8928-364ffb18dcd8` |
+| Sim episode_id | `49883860-22de-4e5a-8928-364ffb18dcd8` |
+
+## 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 | 2.467 | 9.87 | 17.10 | 1904.99 | 0.5727 |
+| 1 | descend | 308 | 27 | 1.689 | 9.96 | 17.26 | 3626.01 | 1.0102 |
+| 2 | settle | 392 | 34 | 0.023 | 0.58 | 1.00 | 3625.93 | 1.0438 |
+| 3 | close | 133 | 12 | 1.194 | 6.99 | 12.11 | 2526.83 | 1.1680 |
+| 4 | lift | 313 | 28 | 2.628 | 10.73 | 18.58 | 1942.64 | 1.1972 |
+| 5 | move_xy | 433 | 38 | 5.646 | 26.30 | 45.55 | 2106.48 | 1.0538 |
+| 6 | lower | 380 | 33 | 0.078 | 1.00 | 1.73 | 1530.02 | 1.3869 |
+| 7 | open | 134 | 12 | 1.151 | 6.72 | 11.65 | 3626.24 | 0.7319 |
+| 8 | retract | 313 | 28 | 2.720 | 11.06 | 19.16 | 2291.37 | 0.8328 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.536 |
+| TCP position RMSE (mm, per-axis) | 11.65 |
+| EE position RMS L2 (mm) | 22.39 |
+| TCP rotvec (mrad) | 2692.81 |
+| W1 effort mean (A) | 1.0209 |
+| W1 effort per joint (A) | j0=0.5968, j1=1.1225, j2=1.8736, j3=1.1384, j4=0.7803, j5=0.6140 |
+
+## 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 | 0.00014 | -0.00035 | -0.00050 | 0.00062 | 0.030 |
+| 1 | 0.00015 | -0.00057 | -0.00077 | 0.00097 | 0.035 |
+| 2 | 0.00017 | -0.00057 | -0.00078 | 0.00098 | 0.035 |
+| 3 | 0.00048 | -0.00048 | -0.00082 | 0.00107 | 0.111 |
+| 4 | -0.00005 | -0.00067 | -0.00078 | 0.00103 | 0.109 |
+| 5 | 0.00095 | -0.00087 | -0.00143 | 0.00193 | 0.126 |
+| 6 | 0.00066 | -0.00075 | -0.00130 | 0.00164 | 0.086 |
+| 7 | -0.00004 | -0.00039 | -0.00055 | 0.00068 | 0.032 |
+| 8 | -0.00008 | -0.00010 | -0.00012 | 0.00018 | 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.
diff --git a/gap_reports/gap_49888668-89fa-4708-87b8-99b8f21030cd.md b/gap_reports/gap_49888668-89fa-4708-87b8-99b8f21030cd.md
new file mode 100644
index 0000000000000000000000000000000000000000..8407b684688bcb99d3208d3f5a51e4b9dc68ee7b
--- /dev/null
+++ b/gap_reports/gap_49888668-89fa-4708-87b8-99b8f21030cd.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/49888668-89fa-4708-87b8-99b8f21030cd.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/49888668-89fa-4708-87b8-99b8f21030cd.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 3115 |
+| Sim rows | 274 |
+| Real episode_id | `49888668-89fa-4708-87b8-99b8f21030cd` |
+| Sim episode_id | `49888668-89fa-4708-87b8-99b8f21030cd` |
+
+## 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 | 283 | 25 | 3.490 | 14.65 | 25.37 | 1986.88 | 0.5907 |
+| 1 | descend | 400 | 35 | 0.632 | 4.15 | 7.19 | 3625.33 | 0.7167 |
+| 2 | settle | 392 | 34 | 0.025 | 0.83 | 1.44 | 3625.25 | 0.6942 |
+| 3 | close | 124 | 12 | 0.707 | 4.70 | 8.15 | 3400.75 | 0.9881 |
+| 4 | lift | 450 | 39 | 3.605 | 16.47 | 28.54 | 2185.34 | 1.1175 |
+| 5 | move_xy | 488 | 42 | 8.021 | 39.35 | 68.15 | 2586.57 | 0.9101 |
+| 6 | lower | 402 | 35 | 0.092 | 1.53 | 2.65 | 3480.95 | 0.9649 |
+| 7 | open | 125 | 11 | 0.661 | 4.37 | 7.57 | 3625.51 | 0.6415 |
+| 8 | retract | 451 | 39 | 3.508 | 16.31 | 28.24 | 2383.82 | 0.7278 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.386 |
+| TCP position RMSE (mm, per-axis) | 16.20 |
+| EE position RMS L2 (mm) | 32.12 |
+| TCP rotvec (mrad) | 3058.83 |
+| W1 effort mean (A) | 0.8071 |
+| W1 effort per joint (A) | j0=0.2433, j1=1.3774, j2=1.5561, j3=0.7168, j4=0.3490, j5=0.6000 |
+
+## 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 | -0.00029 | -0.00067 | 0.00113 | 0.028 |
+| 1 | 0.00087 | -0.00055 | -0.00101 | 0.00144 | 0.048 |
+| 2 | 0.00089 | -0.00058 | -0.00100 | 0.00146 | 0.050 |
+| 3 | 0.00175 | -0.00034 | -0.00097 | 0.00203 | 0.131 |
+| 4 | 0.00056 | -0.00008 | -0.00035 | 0.00067 | 0.121 |
+| 5 | 0.00241 | -0.00086 | -0.00210 | 0.00330 | 0.221 |
+| 6 | 0.00162 | -0.00084 | -0.00094 | 0.00205 | 0.111 |
+| 7 | 0.00064 | -0.00026 | -0.00078 | 0.00104 | 0.044 |
+| 8 | -0.00006 | -0.00009 | -0.00012 | 0.00016 | 0.020 |
+
+## 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.
diff --git a/gap_reports/gap_498a0fb2-3915-446c-b787-db50434b70c3.md b/gap_reports/gap_498a0fb2-3915-446c-b787-db50434b70c3.md
new file mode 100644
index 0000000000000000000000000000000000000000..78281c74a44045d2b6d3f70a3c337c103d4651ba
--- /dev/null
+++ b/gap_reports/gap_498a0fb2-3915-446c-b787-db50434b70c3.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/498a0fb2-3915-446c-b787-db50434b70c3.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/498a0fb2-3915-446c-b787-db50434b70c3.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1453 |
+| Sim rows | 149 |
+| Real episode_id | `498a0fb2-3915-446c-b787-db50434b70c3` |
+| Sim episode_id | `498a0fb2-3915-446c-b787-db50434b70c3` |
+
+## 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 | 22 | 3.136 | 16.40 | 28.40 | 944.06 | 0.7257 |
+| 1 | descend | 113 | 12 | 1.628 | 4.80 | 8.31 | 59.25 | 0.7681 |
+| 2 | settle | 24 | 3 | 1.412 | 3.36 | 5.82 | 59.41 | 0.7744 |
+| 3 | close | 367 | 36 | 1.416 | 4.17 | 7.22 | 61.31 | 1.1405 |
+| 4 | lift | 132 | 14 | 1.763 | 6.41 | 11.11 | 61.14 | 1.2045 |
+| 5 | move_xy | 172 | 17 | 3.743 | 14.69 | 25.45 | 134.17 | 1.1282 |
+| 6 | lower | 72 | 8 | 0.679 | 3.55 | 6.15 | 4.04 | 0.9127 |
+| 7 | open | 79 | 8 | 0.017 | 2.47 | 4.27 | 4.53 | 0.5995 |
+| 8 | retract | 71 | 8 | 0.750 | 3.58 | 6.20 | 3.91 | 0.6518 |
+| 9 | return | 207 | 21 | 3.031 | 11.76 | 20.37 | 1191.62 | 0.7253 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.093 |
+| TCP position RMSE (mm, per-axis) | 8.64 |
+| EE position RMS L2 (mm) | 17.05 |
+| TCP rotvec (mrad) | 484.13 |
+| W1 effort mean (A) | 0.8911 |
+| W1 effort per joint (A) | j0=0.1774, j1=1.8128, j2=1.5512, j3=0.7800, j4=0.3355, j5=0.6896 |
+
+## 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 | 0.00197 | -0.00496 | -0.00127 | 0.00549 | 3.543 |
+| 1 | 0.00237 | -0.00511 | -0.00132 | 0.00578 | 3.459 |
+| 2 | 0.00238 | -0.00513 | -0.00141 | 0.00583 | 3.458 |
+| 3 | 0.00349 | -0.00566 | -0.00379 | 0.00766 | 3.453 |
+| 4 | 0.00267 | -0.00564 | -0.00252 | 0.00673 | 3.545 |
+| 5 | 0.00168 | -0.00327 | -0.00060 | 0.00372 | 0.096 |
+| 6 | 0.00233 | -0.00339 | -0.00013 | 0.00411 | 0.076 |
+| 7 | 0.00225 | -0.00362 | -0.00018 | 0.00427 | 0.029 |
+| 8 | 0.00175 | -0.00358 | -0.00027 | 0.00400 | 0.044 |
+| 9 | 0.00005 | -0.00053 | -0.00031 | 0.00062 | 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.
diff --git a/gap_reports/gap_498a8a2d-0493-4ee9-9c25-3ffeaee49e4f.md b/gap_reports/gap_498a8a2d-0493-4ee9-9c25-3ffeaee49e4f.md
new file mode 100644
index 0000000000000000000000000000000000000000..3e4ba1748ee2848d6872c57ad9dd237bd98894bc
--- /dev/null
+++ b/gap_reports/gap_498a8a2d-0493-4ee9-9c25-3ffeaee49e4f.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/498a8a2d-0493-4ee9-9c25-3ffeaee49e4f.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/498a8a2d-0493-4ee9-9c25-3ffeaee49e4f.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2664 |
+| Sim rows | 237 |
+| Real episode_id | `498a8a2d-0493-4ee9-9c25-3ffeaee49e4f` |
+| Sim episode_id | `498a8a2d-0493-4ee9-9c25-3ffeaee49e4f` |
+
+## 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 | 199 | 18 | 2.614 | 11.73 | 20.32 | 1923.21 | 0.5600 |
+| 1 | descend | 364 | 32 | 1.697 | 10.89 | 18.86 | 3625.43 | 0.6983 |
+| 2 | settle | 427 | 37 | 0.024 | 0.74 | 1.29 | 3625.22 | 0.6767 |
+| 3 | close | 170 | 15 | 0.994 | 6.31 | 10.93 | 3449.72 | 0.9606 |
+| 4 | lift | 269 | 24 | 2.581 | 12.22 | 21.16 | 2380.77 | 1.1051 |
+| 5 | move_xy | 377 | 33 | 5.414 | 29.13 | 50.45 | 2658.18 | 0.9225 |
+| 6 | lower | 421 | 37 | 0.092 | 1.39 | 2.40 | 3489.35 | 0.9955 |
+| 7 | open | 169 | 15 | 1.000 | 6.30 | 10.91 | 3625.38 | 0.6788 |
+| 8 | retract | 268 | 24 | 2.317 | 11.16 | 19.33 | 2364.58 | 0.7198 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.428 |
+| TCP position RMSE (mm, per-axis) | 12.74 |
+| EE position RMS L2 (mm) | 23.21 |
+| TCP rotvec (mrad) | 3082.74 |
+| W1 effort mean (A) | 0.8013 |
+| W1 effort per joint (A) | j0=0.2210, j1=1.3714, j2=1.5818, j3=0.7853, j4=0.2632, j5=0.5853 |
+
+## 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 | 0.00040 | -0.00036 | -0.00070 | 0.00088 | 0.038 |
+| 1 | 0.00040 | -0.00072 | -0.00100 | 0.00130 | 0.048 |
+| 2 | 0.00041 | -0.00071 | -0.00100 | 0.00129 | 0.045 |
+| 3 | 0.00091 | -0.00069 | -0.00155 | 0.00193 | 0.163 |
+| 4 | 0.00052 | 0.00029 | 0.00003 | 0.00060 | 0.092 |
+| 5 | 0.00114 | -0.00099 | -0.00128 | 0.00198 | 0.099 |
+| 6 | 0.00111 | -0.00104 | -0.00152 | 0.00215 | 0.111 |
+| 7 | 0.00024 | -0.00045 | -0.00077 | 0.00092 | 0.050 |
+| 8 | -0.00010 | -0.00017 | -0.00018 | 0.00027 | 0.029 |
+
+## 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.
diff --git a/gap_reports/gap_498eb148-6c73-44ff-b2f6-fddd9b3a15b5.md b/gap_reports/gap_498eb148-6c73-44ff-b2f6-fddd9b3a15b5.md
new file mode 100644
index 0000000000000000000000000000000000000000..b33af7f7f06aa4a9bce4bacfebe177fb165d9629
--- /dev/null
+++ b/gap_reports/gap_498eb148-6c73-44ff-b2f6-fddd9b3a15b5.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/498eb148-6c73-44ff-b2f6-fddd9b3a15b5.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/498eb148-6c73-44ff-b2f6-fddd9b3a15b5.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1579 |
+| Sim rows | 160 |
+| Real episode_id | `498eb148-6c73-44ff-b2f6-fddd9b3a15b5` |
+| Sim episode_id | `498eb148-6c73-44ff-b2f6-fddd9b3a15b5` |
+
+## 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 | 160 | 16 | 2.551 | 11.96 | 20.71 | 377.38 | 0.6697 |
+| 1 | descend | 93 | 10 | 0.971 | 4.75 | 8.22 | 4.02 | 0.6332 |
+| 2 | settle | 26 | 3 | 0.018 | 2.27 | 3.93 | 4.70 | 0.6663 |
+| 3 | close | 320 | 32 | 0.042 | 2.37 | 4.10 | 4.44 | 0.9909 |
+| 4 | lift | 96 | 10 | 0.811 | 4.28 | 7.42 | 3.60 | 1.1724 |
+| 5 | move_xy | 210 | 21 | 7.321 | 27.75 | 48.06 | 78.35 | 1.1936 |
+| 6 | lower | 93 | 10 | 1.072 | 5.25 | 9.09 | 5.82 | 0.8978 |
+| 7 | open | 77 | 8 | 0.025 | 2.56 | 4.44 | 4.77 | 0.6527 |
+| 8 | retract | 93 | 10 | 1.002 | 4.68 | 8.10 | 4.13 | 0.6617 |
+| 9 | return | 411 | 40 | 5.782 | 19.03 | 32.96 | 1054.10 | 0.6697 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.119 |
+| TCP position RMSE (mm, per-axis) | 11.76 |
+| EE position RMS L2 (mm) | 25.58 |
+| TCP rotvec (mrad) | 354.94 |
+| W1 effort mean (A) | 0.7979 |
+| W1 effort per joint (A) | j0=0.1706, j1=1.4403, j2=1.6618, j3=0.8797, j4=0.1498, j5=0.4853 |
+
+## 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 | 0.00159 | -0.00350 | 0.00005 | 0.00384 | 0.037 |
+| 1 | 0.00221 | -0.00324 | 0.00003 | 0.00392 | 0.034 |
+| 2 | 0.00222 | -0.00324 | -0.00006 | 0.00393 | 0.041 |
+| 3 | 0.00225 | -0.00337 | -0.00028 | 0.00406 | 0.104 |
+| 4 | 0.00185 | -0.00383 | -0.00064 | 0.00430 | 0.154 |
+| 5 | 0.00165 | -0.00357 | -0.00143 | 0.00419 | 0.139 |
+| 6 | 0.00217 | -0.00404 | -0.00161 | 0.00486 | 0.117 |
+| 7 | 0.00172 | -0.00402 | -0.00090 | 0.00446 | 0.039 |
+| 8 | 0.00128 | -0.00347 | -0.00116 | 0.00387 | 0.054 |
+| 9 | -0.00005 | -0.00003 | -0.00020 | 0.00021 | 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.
diff --git a/gap_reports/gap_499c52d6-bc62-419f-9d89-de3482938db0.md b/gap_reports/gap_499c52d6-bc62-419f-9d89-de3482938db0.md
new file mode 100644
index 0000000000000000000000000000000000000000..6262a15ab730791af1de73591b2baff852f43ba6
--- /dev/null
+++ b/gap_reports/gap_499c52d6-bc62-419f-9d89-de3482938db0.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/499c52d6-bc62-419f-9d89-de3482938db0.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/499c52d6-bc62-419f-9d89-de3482938db0.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2662 |
+| Sim rows | 235 |
+| Real episode_id | `499c52d6-bc62-419f-9d89-de3482938db0` |
+| Sim episode_id | `499c52d6-bc62-419f-9d89-de3482938db0` |
+
+## 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 | 212 | 19 | 3.394 | 12.70 | 21.99 | 1960.87 | 0.5858 |
+| 1 | descend | 319 | 28 | 0.915 | 5.60 | 9.70 | 3625.97 | 0.6567 |
+| 2 | settle | 385 | 33 | 0.024 | 0.69 | 1.19 | 3626.02 | 0.6330 |
+| 3 | close | 139 | 13 | 0.841 | 5.09 | 8.82 | 1065.27 | 0.9045 |
+| 4 | lift | 348 | 30 | 4.043 | 16.60 | 28.76 | 2034.85 | 1.0829 |
+| 5 | move_xy | 368 | 32 | 8.193 | 35.34 | 61.22 | 2184.63 | 0.8739 |
+| 6 | lower | 407 | 35 | 0.083 | 1.24 | 2.15 | 1141.06 | 0.8884 |
+| 7 | open | 139 | 13 | 0.872 | 5.17 | 8.96 | 3626.22 | 0.5852 |
+| 8 | retract | 345 | 30 | 3.970 | 16.40 | 28.41 | 2317.92 | 0.6957 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.544 |
+| TCP position RMSE (mm, per-axis) | 15.06 |
+| EE position RMS L2 (mm) | 28.10 |
+| TCP rotvec (mrad) | 2582.27 |
+| W1 effort mean (A) | 0.7510 |
+| W1 effort per joint (A) | j0=0.2496, j1=1.1834, j2=1.4251, j3=0.6472, j4=0.4235, j5=0.5769 |
+
+## 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 | 0.00072 | -0.00022 | -0.00051 | 0.00091 | 0.041 |
+| 1 | 0.00069 | -0.00053 | -0.00079 | 0.00118 | 0.038 |
+| 2 | 0.00071 | -0.00055 | -0.00077 | 0.00119 | 0.037 |
+| 3 | 0.00123 | -0.00020 | -0.00141 | 0.00188 | 0.120 |
+| 4 | 0.00045 | 0.00011 | -0.00016 | 0.00049 | 0.102 |
+| 5 | 0.00158 | -0.00074 | -0.00114 | 0.00208 | 0.124 |
+| 6 | 0.00182 | -0.00051 | -0.00187 | 0.00266 | 0.175 |
+| 7 | 0.00050 | -0.00025 | -0.00054 | 0.00078 | 0.041 |
+| 8 | -0.00011 | -0.00014 | -0.00017 | 0.00025 | 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.
diff --git a/gap_reports/gap_49abfc0b-5416-4823-8ee8-792024ab7386.md b/gap_reports/gap_49abfc0b-5416-4823-8ee8-792024ab7386.md
new file mode 100644
index 0000000000000000000000000000000000000000..b2fda4fffd4597d5012bca2169774cb22738d0d1
--- /dev/null
+++ b/gap_reports/gap_49abfc0b-5416-4823-8ee8-792024ab7386.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/49abfc0b-5416-4823-8ee8-792024ab7386.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/49abfc0b-5416-4823-8ee8-792024ab7386.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1847 |
+| Sim rows | 188 |
+| Real episode_id | `49abfc0b-5416-4823-8ee8-792024ab7386` |
+| Sim episode_id | `49abfc0b-5416-4823-8ee8-792024ab7386` |
+
+## 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 | 2.491 | 7.20 | 12.47 | 756.81 | 0.6523 |
+| 1 | descend | 104 | 11 | 1.164 | 4.68 | 8.11 | 3.68 | 0.5360 |
+| 2 | settle | 17 | 3 | 0.014 | 2.24 | 3.88 | 4.41 | 0.5940 |
+| 3 | close | 392 | 39 | 0.109 | 1.97 | 3.41 | 3.24 | 1.0388 |
+| 4 | lift | 99 | 11 | 0.970 | 3.98 | 6.89 | 2.51 | 1.1287 |
+| 5 | move_xy | 167 | 17 | 2.681 | 13.45 | 23.30 | 7.47 | 1.2345 |
+| 6 | lower | 101 | 11 | 0.948 | 4.78 | 8.28 | 5.33 | 1.2284 |
+| 7 | open | 366 | 36 | 0.026 | 2.76 | 4.78 | 5.94 | 0.7183 |
+| 8 | retract | 96 | 10 | 0.988 | 5.17 | 8.96 | 5.29 | 0.8024 |
+| 9 | return | 329 | 32 | 4.089 | 15.32 | 26.54 | 1324.19 | 0.6483 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.852 |
+| TCP position RMSE (mm, per-axis) | 7.56 |
+| EE position RMS L2 (mm) | 14.52 |
+| TCP rotvec (mrad) | 482.33 |
+| W1 effort mean (A) | 0.8218 |
+| W1 effort per joint (A) | j0=0.1638, j1=1.5018, j2=1.4856, j3=0.7426, j4=0.5044, j5=0.5329 |
+
+## 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 | 0.00122 | -0.00319 | 0.00004 | 0.00342 | 0.025 |
+| 1 | 0.00201 | -0.00329 | 0.00006 | 0.00386 | 0.039 |
+| 2 | 0.00201 | -0.00332 | 0.00001 | 0.00388 | 0.026 |
+| 3 | 0.00101 | -0.00335 | 0.00019 | 0.00350 | 0.171 |
+| 4 | 0.00018 | -0.00326 | 0.00022 | 0.00328 | 0.223 |
+| 5 | 0.00052 | -0.00336 | -0.00074 | 0.00348 | 0.137 |
+| 6 | 0.00096 | -0.00339 | -0.00045 | 0.00356 | 0.175 |
+| 7 | 0.00225 | -0.00406 | -0.00115 | 0.00479 | 0.058 |
+| 8 | 0.00169 | -0.00396 | -0.00134 | 0.00451 | 0.065 |
+| 9 | -0.00007 | -0.00011 | -0.00030 | 0.00033 | 0.037 |
+
+## 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.
diff --git a/gap_reports/gap_49c43a2d-10fb-4779-95c5-79945f6f4b80.md b/gap_reports/gap_49c43a2d-10fb-4779-95c5-79945f6f4b80.md
new file mode 100644
index 0000000000000000000000000000000000000000..310f4dd7168e92121aa53d008526074ddad5f22b
--- /dev/null
+++ b/gap_reports/gap_49c43a2d-10fb-4779-95c5-79945f6f4b80.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/49c43a2d-10fb-4779-95c5-79945f6f4b80.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/49c43a2d-10fb-4779-95c5-79945f6f4b80.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2709 |
+| Sim rows | 241 |
+| Real episode_id | `49c43a2d-10fb-4779-95c5-79945f6f4b80` |
+| Sim episode_id | `49c43a2d-10fb-4779-95c5-79945f6f4b80` |
+
+## 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 | 183 | 16 | 3.132 | 11.37 | 19.69 | 1969.74 | 0.5947 |
+| 1 | descend | 346 | 30 | 1.362 | 8.05 | 13.95 | 3626.02 | 0.6627 |
+| 2 | settle | 373 | 33 | 0.020 | 0.67 | 1.17 | 3625.96 | 0.6509 |
+| 3 | close | 131 | 12 | 0.863 | 5.03 | 8.71 | 890.08 | 0.9210 |
+| 4 | lift | 410 | 36 | 3.605 | 14.54 | 25.19 | 1810.31 | 1.0707 |
+| 5 | move_xy | 338 | 30 | 8.331 | 36.42 | 63.08 | 1943.88 | 0.8549 |
+| 6 | lower | 389 | 34 | 0.087 | 1.27 | 2.20 | 1312.53 | 0.8517 |
+| 7 | open | 131 | 12 | 0.876 | 5.25 | 9.10 | 3626.24 | 0.5811 |
+| 8 | retract | 408 | 36 | 3.674 | 14.89 | 25.78 | 2305.74 | 0.7005 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.481 |
+| TCP position RMSE (mm, per-axis) | 14.94 |
+| EE position RMS L2 (mm) | 27.43 |
+| TCP rotvec (mrad) | 2543.23 |
+| W1 effort mean (A) | 0.7598 |
+| W1 effort per joint (A) | j0=0.2330, j1=1.1959, j2=1.4940, j3=0.6767, j4=0.3380, 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 | 0.00067 | -0.00024 | -0.00041 | 0.00082 | 0.042 |
+| 1 | 0.00067 | -0.00057 | -0.00075 | 0.00115 | 0.038 |
+| 2 | 0.00070 | -0.00057 | -0.00075 | 0.00117 | 0.035 |
+| 3 | 0.00097 | -0.00027 | -0.00056 | 0.00115 | 0.100 |
+| 4 | 0.00049 | 0.00014 | -0.00015 | 0.00053 | 0.091 |
+| 5 | 0.00159 | -0.00068 | -0.00076 | 0.00189 | 0.124 |
+| 6 | 0.00145 | -0.00073 | -0.00138 | 0.00214 | 0.102 |
+| 7 | 0.00043 | -0.00024 | -0.00051 | 0.00071 | 0.038 |
+| 8 | -0.00008 | -0.00011 | -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.
diff --git a/gap_reports/gap_49d70be5-ca4c-4b69-b787-078083714179.md b/gap_reports/gap_49d70be5-ca4c-4b69-b787-078083714179.md
new file mode 100644
index 0000000000000000000000000000000000000000..026a1ffa18f8f2caef92d2fd6fb5a3fe5800d330
--- /dev/null
+++ b/gap_reports/gap_49d70be5-ca4c-4b69-b787-078083714179.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/49d70be5-ca4c-4b69-b787-078083714179.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/49d70be5-ca4c-4b69-b787-078083714179.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2696 |
+| Sim rows | 241 |
+| Real episode_id | `49d70be5-ca4c-4b69-b787-078083714179` |
+| Sim episode_id | `49d70be5-ca4c-4b69-b787-078083714179` |
+
+## 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 | 218 | 19 | 2.710 | 10.79 | 18.69 | 1964.64 | 0.5720 |
+| 1 | descend | 400 | 35 | 0.471 | 2.94 | 5.09 | 3626.03 | 0.7103 |
+| 2 | settle | 355 | 31 | 0.021 | 0.60 | 1.03 | 3625.96 | 0.7050 |
+| 3 | close | 105 | 10 | 0.572 | 3.45 | 5.98 | 1552.65 | 0.9282 |
+| 4 | lift | 371 | 33 | 3.220 | 13.37 | 23.16 | 1963.90 | 1.0967 |
+| 5 | move_xy | 372 | 33 | 6.329 | 28.30 | 49.01 | 2116.45 | 0.8869 |
+| 6 | lower | 400 | 35 | 0.079 | 1.09 | 1.89 | 1241.45 | 0.9324 |
+| 7 | open | 104 | 10 | 0.521 | 3.09 | 5.36 | 3626.26 | 0.5903 |
+| 8 | retract | 371 | 33 | 3.202 | 13.33 | 23.09 | 2290.06 | 0.6917 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.766 |
+| TCP position RMSE (mm, per-axis) | 12.04 |
+| EE position RMS L2 (mm) | 22.67 |
+| TCP rotvec (mrad) | 2599.95 |
+| W1 effort mean (A) | 0.7807 |
+| W1 effort per joint (A) | j0=0.2302, j1=1.1840, j2=1.6071, j3=0.6895, j4=0.3658, j5=0.6074 |
+
+## 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 | 0.00044 | -0.00033 | -0.00052 | 0.00075 | 0.032 |
+| 1 | 0.00041 | -0.00052 | -0.00080 | 0.00104 | 0.040 |
+| 2 | 0.00044 | -0.00055 | -0.00077 | 0.00104 | 0.037 |
+| 3 | 0.00083 | -0.00045 | -0.00032 | 0.00100 | 0.074 |
+| 4 | 0.00013 | -0.00022 | -0.00029 | 0.00038 | 0.071 |
+| 5 | 0.00117 | -0.00078 | -0.00140 | 0.00198 | 0.107 |
+| 6 | 0.00111 | -0.00068 | -0.00090 | 0.00158 | 0.095 |
+| 7 | 0.00014 | -0.00031 | -0.00064 | 0.00072 | 0.042 |
+| 8 | -0.00006 | -0.00008 | -0.00012 | 0.00016 | 0.026 |
+
+## 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.
diff --git a/gap_reports/gap_49e19fc8-a128-4f3a-b332-3f92174ace14.md b/gap_reports/gap_49e19fc8-a128-4f3a-b332-3f92174ace14.md
new file mode 100644
index 0000000000000000000000000000000000000000..8c6edc09b2e988b3897c73638bf8c0fec8e30a6c
--- /dev/null
+++ b/gap_reports/gap_49e19fc8-a128-4f3a-b332-3f92174ace14.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/49e19fc8-a128-4f3a-b332-3f92174ace14.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/49e19fc8-a128-4f3a-b332-3f92174ace14.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 614 |
+| Sim rows | 77 |
+| Real episode_id | `49e19fc8-a128-4f3a-b332-3f92174ace14` |
+| Sim episode_id | `49e19fc8-a128-4f3a-b332-3f92174ace14` |
+
+## 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 | 405 | 40 | 2.616 | 11.73 | 20.32 | 512.91 | 0.7470 |
+| 1 | descend | 209 | 21 | 0.024 | 5.82 | 10.07 | 1.88 | 0.7693 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.850 |
+| TCP position RMSE (mm, per-axis) | 9.26 |
+| EE position RMS L2 (mm) | 17.52 |
+| TCP rotvec (mrad) | 362.68 |
+| W1 effort mean (A) | 0.7546 |
+| W1 effort per joint (A) | j0=0.1085, j1=1.6983, j2=1.7664, j3=0.7246, j4=0.0973, j5=0.1322 |
+
+## 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 | -0.00633 | -0.00789 | -0.00021 | 0.01012 | 0.036 |
+| 1 | -0.00625 | -0.00789 | -0.00039 | 0.01007 | 0.048 |
+
+## 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.
diff --git a/gap_reports/gap_49fb509e-452c-47cf-bffc-8cf21b64cc8e.md b/gap_reports/gap_49fb509e-452c-47cf-bffc-8cf21b64cc8e.md
new file mode 100644
index 0000000000000000000000000000000000000000..4764d5173be0da23268004b2134513aff73e348c
--- /dev/null
+++ b/gap_reports/gap_49fb509e-452c-47cf-bffc-8cf21b64cc8e.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/49fb509e-452c-47cf-bffc-8cf21b64cc8e.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/49fb509e-452c-47cf-bffc-8cf21b64cc8e.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 3055 |
+| Sim rows | 270 |
+| Real episode_id | `49fb509e-452c-47cf-bffc-8cf21b64cc8e` |
+| Sim episode_id | `49fb509e-452c-47cf-bffc-8cf21b64cc8e` |
+
+## 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 | 191 | 17 | 2.729 | 11.19 | 19.39 | 1927.75 | 0.5925 |
+| 1 | descend | 800 | 69 | 0.654 | 4.40 | 7.63 | 3625.43 | 0.7145 |
+| 2 | settle | 386 | 34 | 0.023 | 0.76 | 1.31 | 3625.26 | 0.7307 |
+| 3 | close | 142 | 13 | 0.879 | 5.40 | 9.36 | 2965.59 | 0.9485 |
+| 4 | lift | 307 | 27 | 3.190 | 14.79 | 25.62 | 2404.42 | 1.1210 |
+| 5 | move_xy | 376 | 33 | 6.923 | 35.56 | 61.60 | 2618.40 | 0.8838 |
+| 6 | lower | 403 | 35 | 0.084 | 1.35 | 2.34 | 3554.18 | 1.0137 |
+| 7 | open | 142 | 13 | 1.193 | 7.60 | 13.17 | 3625.53 | 0.6434 |
+| 8 | retract | 308 | 27 | 3.338 | 15.54 | 26.91 | 2444.31 | 0.7367 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.969 |
+| TCP position RMSE (mm, per-axis) | 14.75 |
+| EE position RMS L2 (mm) | 25.65 |
+| TCP rotvec (mrad) | 3040.21 |
+| W1 effort mean (A) | 0.7972 |
+| W1 effort per joint (A) | j0=0.2582, j1=1.3349, j2=1.6392, j3=0.7249, j4=0.2828, j5=0.5436 |
+
+## 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 | 0.00058 | -0.00019 | -0.00067 | 0.00090 | 0.042 |
+| 1 | 0.00062 | -0.00063 | -0.00098 | 0.00132 | 0.045 |
+| 2 | 0.00062 | -0.00064 | -0.00097 | 0.00132 | 0.045 |
+| 3 | 0.00091 | -0.00037 | -0.00074 | 0.00124 | 0.086 |
+| 4 | 0.00021 | -0.00039 | -0.00056 | 0.00072 | 0.092 |
+| 5 | 0.00128 | -0.00092 | -0.00134 | 0.00207 | 0.099 |
+| 6 | 0.00144 | -0.00087 | -0.00180 | 0.00246 | 0.115 |
+| 7 | 0.00039 | -0.00034 | -0.00073 | 0.00089 | 0.047 |
+| 8 | -0.00010 | -0.00017 | -0.00019 | 0.00028 | 0.029 |
+
+## 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.
diff --git a/gap_reports/gap_4a09939a-7e23-42de-b71f-2729d8390e55.md b/gap_reports/gap_4a09939a-7e23-42de-b71f-2729d8390e55.md
new file mode 100644
index 0000000000000000000000000000000000000000..420897bdc976ef505ec25bcbc5410baaaf7dfe38
--- /dev/null
+++ b/gap_reports/gap_4a09939a-7e23-42de-b71f-2729d8390e55.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4a09939a-7e23-42de-b71f-2729d8390e55.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4a09939a-7e23-42de-b71f-2729d8390e55.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1571 |
+| Sim rows | 162 |
+| Real episode_id | `4a09939a-7e23-42de-b71f-2729d8390e55` |
+| Sim episode_id | `4a09939a-7e23-42de-b71f-2729d8390e55` |
+
+## 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 | 136 | 14 | 2.173 | 10.31 | 17.86 | 562.54 | 0.6921 |
+| 1 | descend | 87 | 10 | 0.758 | 4.10 | 7.10 | 4.57 | 0.6418 |
+| 2 | settle | 29 | 4 | 0.019 | 2.74 | 4.74 | 5.15 | 0.6651 |
+| 3 | close | 384 | 38 | 0.094 | 3.43 | 5.95 | 7.34 | 1.1145 |
+| 4 | lift | 91 | 10 | 0.804 | 4.84 | 8.38 | 6.64 | 1.1437 |
+| 5 | move_xy | 130 | 13 | 1.955 | 11.91 | 20.63 | 20.52 | 1.0588 |
+| 6 | lower | 92 | 10 | 0.919 | 4.05 | 7.01 | 5.14 | 1.0142 |
+| 7 | open | 362 | 36 | 0.015 | 2.40 | 4.16 | 4.38 | 0.5049 |
+| 8 | retract | 90 | 10 | 0.909 | 3.88 | 6.72 | 3.70 | 0.6026 |
+| 9 | return | 170 | 17 | 2.193 | 8.15 | 14.12 | 654.21 | 0.6121 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.275 |
+| TCP position RMSE (mm, per-axis) | 6.41 |
+| EE position RMS L2 (mm) | 10.48 |
+| TCP rotvec (mrad) | 272.96 |
+| W1 effort mean (A) | 0.7817 |
+| W1 effort per joint (A) | j0=0.1607, j1=1.3105, j2=1.4477, j3=0.8309, j4=0.4253, j5=0.5150 |
+
+## 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 | 0.00185 | -0.00383 | -0.00059 | 0.00429 | 0.031 |
+| 1 | 0.00233 | -0.00406 | -0.00059 | 0.00472 | 0.038 |
+| 2 | 0.00234 | -0.00406 | -0.00070 | 0.00474 | 0.040 |
+| 3 | 0.00325 | -0.00471 | -0.00136 | 0.00589 | 0.152 |
+| 4 | 0.00258 | -0.00472 | -0.00137 | 0.00555 | 0.182 |
+| 5 | 0.00173 | -0.00371 | -0.00018 | 0.00410 | 0.110 |
+| 6 | 0.00269 | -0.00354 | -0.00021 | 0.00445 | 0.078 |
+| 7 | 0.00217 | -0.00355 | 0.00004 | 0.00416 | 0.027 |
+| 8 | 0.00144 | -0.00345 | -0.00008 | 0.00374 | 0.050 |
+| 9 | -0.00004 | -0.00013 | -0.00023 | 0.00027 | 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.
diff --git a/gap_reports/gap_4a161c3a-fd06-4c93-97da-dca9874b86a6.md b/gap_reports/gap_4a161c3a-fd06-4c93-97da-dca9874b86a6.md
new file mode 100644
index 0000000000000000000000000000000000000000..c3b441a6686761bc7e7265432ab51cbd520a6e0f
--- /dev/null
+++ b/gap_reports/gap_4a161c3a-fd06-4c93-97da-dca9874b86a6.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4a161c3a-fd06-4c93-97da-dca9874b86a6.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4a161c3a-fd06-4c93-97da-dca9874b86a6.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2544 |
+| Sim rows | 228 |
+| Real episode_id | `4a161c3a-fd06-4c93-97da-dca9874b86a6` |
+| Sim episode_id | `4a161c3a-fd06-4c93-97da-dca9874b86a6` |
+
+## 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 | 162 | 15 | 1.827 | 7.05 | 12.21 | 1932.20 | 0.5644 |
+| 1 | descend | 326 | 29 | 1.321 | 7.79 | 13.50 | 3626.04 | 0.7011 |
+| 2 | settle | 433 | 38 | 0.021 | 0.57 | 0.98 | 3625.85 | 0.5783 |
+| 3 | close | 112 | 10 | 0.815 | 4.77 | 8.26 | 1701.79 | 0.9469 |
+| 4 | lift | 332 | 29 | 2.753 | 11.31 | 19.59 | 1597.57 | 1.0796 |
+| 5 | move_xy | 302 | 27 | 5.131 | 24.19 | 41.91 | 2016.02 | 0.9008 |
+| 6 | lower | 436 | 38 | 0.080 | 1.03 | 1.78 | 1417.61 | 1.0212 |
+| 7 | open | 114 | 11 | 0.867 | 5.02 | 8.69 | 3625.99 | 0.6361 |
+| 8 | retract | 327 | 29 | 2.667 | 11.12 | 19.26 | 2268.53 | 0.6670 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.298 |
+| TCP position RMSE (mm, per-axis) | 10.52 |
+| EE position RMS L2 (mm) | 18.60 |
+| TCP rotvec (mrad) | 2578.65 |
+| W1 effort mean (A) | 0.7849 |
+| W1 effort per joint (A) | j0=0.2029, j1=1.1372, j2=1.6552, j3=0.8090, j4=0.2965, j5=0.6085 |
+
+## 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 | 0.00012 | -0.00036 | -0.00048 | 0.00061 | 0.030 |
+| 1 | 0.00015 | -0.00059 | -0.00079 | 0.00100 | 0.037 |
+| 2 | 0.00016 | -0.00059 | -0.00077 | 0.00098 | 0.035 |
+| 3 | 0.00029 | -0.00064 | -0.00116 | 0.00136 | 0.121 |
+| 4 | 0.00047 | -0.00008 | -0.00022 | 0.00053 | 0.141 |
+| 5 | 0.00136 | -0.00085 | -0.00130 | 0.00206 | 0.188 |
+| 6 | 0.00077 | -0.00088 | -0.00065 | 0.00134 | 0.101 |
+| 7 | -0.00007 | -0.00035 | -0.00057 | 0.00067 | 0.041 |
+| 8 | -0.00007 | -0.00007 | -0.00013 | 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.
diff --git a/gap_reports/gap_4a17421d-df25-4d80-b3a2-66966687ccf2.md b/gap_reports/gap_4a17421d-df25-4d80-b3a2-66966687ccf2.md
new file mode 100644
index 0000000000000000000000000000000000000000..12cb5bd76e429c63963623afcf0b7251a40f3ead
--- /dev/null
+++ b/gap_reports/gap_4a17421d-df25-4d80-b3a2-66966687ccf2.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4a17421d-df25-4d80-b3a2-66966687ccf2.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4a17421d-df25-4d80-b3a2-66966687ccf2.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2713 |
+| Sim rows | 242 |
+| Real episode_id | `4a17421d-df25-4d80-b3a2-66966687ccf2` |
+| Sim episode_id | `4a17421d-df25-4d80-b3a2-66966687ccf2` |
+
+## 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 | 269 | 24 | 3.184 | 12.06 | 20.88 | 2001.95 | 0.5579 |
+| 1 | descend | 318 | 28 | 0.872 | 5.24 | 9.07 | 3625.94 | 0.7001 |
+| 2 | settle | 362 | 32 | 0.022 | 0.60 | 1.04 | 3625.98 | 0.7148 |
+| 3 | close | 101 | 9 | 0.506 | 3.23 | 5.60 | 1494.54 | 0.9564 |
+| 4 | lift | 352 | 31 | 3.210 | 13.58 | 23.52 | 1945.41 | 1.0582 |
+| 5 | move_xy | 448 | 39 | 6.802 | 30.75 | 53.27 | 1820.86 | 0.8605 |
+| 6 | lower | 411 | 36 | 0.076 | 1.07 | 1.86 | 1580.51 | 0.9112 |
+| 7 | open | 102 | 10 | 0.569 | 3.46 | 5.99 | 3626.28 | 0.5865 |
+| 8 | retract | 350 | 31 | 3.405 | 14.30 | 24.77 | 2235.01 | 0.6723 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.975 |
+| TCP position RMSE (mm, per-axis) | 13.04 |
+| EE position RMS L2 (mm) | 25.99 |
+| TCP rotvec (mrad) | 2588.01 |
+| W1 effort mean (A) | 0.7669 |
+| W1 effort per joint (A) | j0=0.2341, j1=1.1555, j2=1.5283, j3=0.6847, j4=0.3604, j5=0.6387 |
+
+## 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 | -0.00038 | -0.00061 | 0.00081 | 0.038 |
+| 1 | 0.00039 | -0.00057 | -0.00073 | 0.00100 | 0.034 |
+| 2 | 0.00041 | -0.00057 | -0.00074 | 0.00102 | 0.034 |
+| 3 | 0.00109 | -0.00041 | -0.00113 | 0.00162 | 0.124 |
+| 4 | 0.00013 | -0.00038 | -0.00051 | 0.00064 | 0.109 |
+| 5 | 0.00150 | -0.00073 | -0.00154 | 0.00227 | 0.164 |
+| 6 | 0.00112 | -0.00068 | -0.00082 | 0.00154 | 0.109 |
+| 7 | 0.00027 | -0.00036 | -0.00062 | 0.00077 | 0.035 |
+| 8 | -0.00006 | -0.00011 | -0.00015 | 0.00019 | 0.029 |
+
+## 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.
diff --git a/gap_reports/gap_4a1c0f7a-20e0-4373-a172-6a8d9667a661.md b/gap_reports/gap_4a1c0f7a-20e0-4373-a172-6a8d9667a661.md
new file mode 100644
index 0000000000000000000000000000000000000000..f702a198c0af1c7c1b14dc4a90442dbc808ff31f
--- /dev/null
+++ b/gap_reports/gap_4a1c0f7a-20e0-4373-a172-6a8d9667a661.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4a1c0f7a-20e0-4373-a172-6a8d9667a661.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4a1c0f7a-20e0-4373-a172-6a8d9667a661.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 860 |
+| Sim rows | 100 |
+| Real episode_id | `4a1c0f7a-20e0-4373-a172-6a8d9667a661` |
+| Sim episode_id | `4a1c0f7a-20e0-4373-a172-6a8d9667a661` |
+
+## 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 | 651 | 63 | 7.078 | 32.75 | 56.72 | 10.87 | 0.7832 |
+| 1 | descend | 209 | 21 | 0.029 | 0.54 | 0.94 | 2.11 | 0.8029 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 5.005 |
+| TCP position RMSE (mm, per-axis) | 23.16 |
+| EE position RMS L2 (mm) | 49.35 |
+| TCP rotvec (mrad) | 7.83 |
+| W1 effort mean (A) | 0.7880 |
+| W1 effort per joint (A) | j0=0.2135, j1=1.6488, j2=1.6701, j3=0.8227, j4=0.1741, j5=0.1986 |
+
+## 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 | 0.00002 | -0.00068 | 0.00067 | 0.00095 | 0.048 |
+| 1 | 0.00019 | -0.00071 | 0.00065 | 0.00098 | 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.
diff --git a/gap_reports/gap_4a23510e-f35d-4ff0-8b65-f39d0352310f.md b/gap_reports/gap_4a23510e-f35d-4ff0-8b65-f39d0352310f.md
new file mode 100644
index 0000000000000000000000000000000000000000..e16900c046be6cf7b9331655b707df6ce37918ca
--- /dev/null
+++ b/gap_reports/gap_4a23510e-f35d-4ff0-8b65-f39d0352310f.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4a23510e-f35d-4ff0-8b65-f39d0352310f.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4a23510e-f35d-4ff0-8b65-f39d0352310f.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1680 |
+| Sim rows | 171 |
+| Real episode_id | `4a23510e-f35d-4ff0-8b65-f39d0352310f` |
+| Sim episode_id | `4a23510e-f35d-4ff0-8b65-f39d0352310f` |
+
+## 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 | 161 | 16 | 3.330 | 17.40 | 30.15 | 1227.07 | 0.6988 |
+| 1 | descend | 81 | 9 | 0.869 | 4.32 | 7.48 | 5.20 | 0.7734 |
+| 2 | settle | 15 | 2 | 0.040 | 1.94 | 3.36 | 5.84 | 0.7200 |
+| 3 | close | 374 | 37 | 0.177 | 1.89 | 3.28 | 9.50 | 1.2114 |
+| 4 | lift | 81 | 9 | 0.859 | 4.11 | 7.12 | 9.26 | 1.3231 |
+| 5 | move_xy | 190 | 19 | 7.448 | 32.16 | 55.71 | 40.38 | 1.2183 |
+| 6 | lower | 80 | 9 | 1.173 | 4.57 | 7.91 | 4.30 | 0.8962 |
+| 7 | open | 375 | 37 | 0.016 | 2.54 | 4.40 | 4.68 | 0.4781 |
+| 8 | retract | 82 | 9 | 1.093 | 4.59 | 7.95 | 3.82 | 0.5975 |
+| 9 | return | 241 | 24 | 4.194 | 12.92 | 22.37 | 1137.65 | 0.5820 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.971 |
+| TCP position RMSE (mm, per-axis) | 12.63 |
+| EE position RMS L2 (mm) | 22.98 |
+| TCP rotvec (mrad) | 529.33 |
+| W1 effort mean (A) | 0.8099 |
+| W1 effort per joint (A) | j0=0.1534, j1=1.4727, j2=1.5198, j3=0.8634, j4=0.4579, j5=0.3923 |
+
+## 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 | 0.00188 | -0.00283 | -0.00064 | 0.00345 | 0.102 |
+| 1 | 0.00226 | -0.00254 | -0.00016 | 0.00341 | 0.048 |
+| 2 | 0.00220 | -0.00255 | -0.00032 | 0.00338 | 0.058 |
+| 3 | 0.00035 | -0.00290 | -0.00148 | 0.00328 | 0.282 |
+| 4 | 0.00055 | -0.00339 | -0.00200 | 0.00398 | 0.252 |
+| 5 | 0.00076 | -0.00255 | -0.00039 | 0.00269 | 0.152 |
+| 6 | 0.00101 | -0.00270 | -0.00004 | 0.00288 | 0.311 |
+| 7 | 0.00188 | -0.00395 | -0.00050 | 0.00440 | 0.023 |
+| 8 | 0.00135 | -0.00335 | -0.00064 | 0.00367 | 0.053 |
+| 9 | -0.00018 | -0.00011 | -0.00028 | 0.00035 | 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.
diff --git a/gap_reports/gap_4a24657d-4f78-4f34-a319-0eb195fb3d73.md b/gap_reports/gap_4a24657d-4f78-4f34-a319-0eb195fb3d73.md
new file mode 100644
index 0000000000000000000000000000000000000000..4a0efc569fb1dda9d8e9d7f1d88492fea35f85a5
--- /dev/null
+++ b/gap_reports/gap_4a24657d-4f78-4f34-a319-0eb195fb3d73.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4a24657d-4f78-4f34-a319-0eb195fb3d73.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4a24657d-4f78-4f34-a319-0eb195fb3d73.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2811 |
+| Sim rows | 249 |
+| Real episode_id | `4a24657d-4f78-4f34-a319-0eb195fb3d73` |
+| Sim episode_id | `4a24657d-4f78-4f34-a319-0eb195fb3d73` |
+
+## 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 | 192 | 17 | 2.438 | 12.65 | 21.91 | 1886.51 | 0.6223 |
+| 1 | descend | 381 | 33 | 0.676 | 4.67 | 8.10 | 3624.73 | 0.7470 |
+| 2 | settle | 362 | 32 | 0.026 | 0.96 | 1.66 | 3624.57 | 0.7570 |
+| 3 | close | 184 | 16 | 0.818 | 5.81 | 10.06 | 3625.10 | 1.0068 |
+| 4 | lift | 387 | 34 | 2.956 | 16.16 | 27.98 | 2409.79 | 1.1220 |
+| 5 | move_xy | 350 | 31 | 7.072 | 40.73 | 70.55 | 2781.01 | 0.9401 |
+| 6 | lower | 377 | 33 | 0.084 | 1.60 | 2.78 | 3625.13 | 1.0520 |
+| 7 | open | 193 | 17 | 0.864 | 5.99 | 10.38 | 3624.71 | 0.7331 |
+| 8 | retract | 385 | 34 | 3.092 | 17.02 | 29.47 | 2408.74 | 0.7515 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.908 |
+| TCP position RMSE (mm, per-axis) | 16.55 |
+| EE position RMS L2 (mm) | 30.06 |
+| TCP rotvec (mrad) | 3137.58 |
+| W1 effort mean (A) | 0.8513 |
+| W1 effort per joint (A) | j0=0.2471, j1=1.5568, j2=1.6770, j3=0.7472, j4=0.2812, j5=0.5983 |
+
+## 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 | -0.00029 | -0.00077 | 0.00120 | 0.039 |
+| 1 | 0.00091 | -0.00074 | -0.00118 | 0.00167 | 0.054 |
+| 2 | 0.00090 | -0.00075 | -0.00118 | 0.00166 | 0.055 |
+| 3 | 0.00186 | -0.00037 | -0.00105 | 0.00217 | 0.153 |
+| 4 | 0.00010 | -0.00026 | -0.00020 | 0.00034 | 0.085 |
+| 5 | 0.00215 | -0.00100 | -0.00131 | 0.00271 | 0.145 |
+| 6 | 0.00206 | -0.00106 | -0.00125 | 0.00263 | 0.142 |
+| 7 | 0.00079 | -0.00039 | -0.00098 | 0.00132 | 0.048 |
+| 8 | -0.00013 | -0.00018 | -0.00017 | 0.00028 | 0.031 |
+
+## 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.
diff --git a/gap_reports/gap_4a9f744a-bdcc-4bc7-85c1-cca6ed5f4101.md b/gap_reports/gap_4a9f744a-bdcc-4bc7-85c1-cca6ed5f4101.md
new file mode 100644
index 0000000000000000000000000000000000000000..5ff9d17e9177667c6be52ea8d3a52811d7031012
--- /dev/null
+++ b/gap_reports/gap_4a9f744a-bdcc-4bc7-85c1-cca6ed5f4101.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4a9f744a-bdcc-4bc7-85c1-cca6ed5f4101.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4a9f744a-bdcc-4bc7-85c1-cca6ed5f4101.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 441 |
+| Sim rows | 60 |
+| Real episode_id | `4a9f744a-bdcc-4bc7-85c1-cca6ed5f4101` |
+| Sim episode_id | `4a9f744a-bdcc-4bc7-85c1-cca6ed5f4101` |
+
+## 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 | 231 | 23 | 2.492 | 10.46 | 18.12 | 959.15 | 0.7664 |
+| 1 | descend | 210 | 21 | 0.021 | 0.84 | 1.45 | 2.13 | 0.7766 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.762 |
+| TCP position RMSE (mm, per-axis) | 7.42 |
+| EE position RMS L2 (mm) | 13.16 |
+| TCP rotvec (mrad) | 678.23 |
+| W1 effort mean (A) | 0.7711 |
+| W1 effort per joint (A) | j0=0.1654, j1=1.7599, j2=1.6001, j3=0.8770, j4=0.1350, j5=0.0888 |
+
+## 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 | -0.00133 | 0.00020 | 0.00072 | 0.00152 | 0.043 |
+| 1 | -0.00126 | 0.00009 | 0.00065 | 0.00142 | 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.
diff --git a/gap_reports/gap_4aa5e338-6eda-41e0-8c72-0bb0272ad083.md b/gap_reports/gap_4aa5e338-6eda-41e0-8c72-0bb0272ad083.md
new file mode 100644
index 0000000000000000000000000000000000000000..ce073d081659224e1101a5912e74e13a61057ef3
--- /dev/null
+++ b/gap_reports/gap_4aa5e338-6eda-41e0-8c72-0bb0272ad083.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4aa5e338-6eda-41e0-8c72-0bb0272ad083.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4aa5e338-6eda-41e0-8c72-0bb0272ad083.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1170 |
+| Sim rows | 122 |
+| Real episode_id | `4aa5e338-6eda-41e0-8c72-0bb0272ad083` |
+| Sim episode_id | `4aa5e338-6eda-41e0-8c72-0bb0272ad083` |
+
+## 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 | 202 | 20 | 3.839 | 20.57 | 35.64 | 1675.42 | 0.7270 |
+| 1 | descend | 82 | 9 | 0.582 | 3.88 | 6.72 | 5.34 | 0.6222 |
+| 2 | settle | 25 | 3 | 0.020 | 3.04 | 5.27 | 5.68 | 0.6825 |
+| 3 | close | 38 | 5 | 0.063 | 3.34 | 5.78 | 1115.32 | 1.0544 |
+| 4 | lift | 100 | 11 | 0.895 | 5.02 | 8.70 | 707.27 | 1.0463 |
+| 5 | move_xy | 265 | 26 | 6.430 | 26.46 | 45.83 | 844.68 | 0.9348 |
+| 6 | lower | 92 | 10 | 8.984 | 3.67 | 6.36 | 351.68 | 1.0387 |
+| 7 | open | 75 | 8 | 8.960 | 2.63 | 4.56 | 350.37 | 0.6917 |
+| 8 | retract | 93 | 10 | 8.982 | 3.52 | 6.10 | 350.07 | 0.7560 |
+| 9 | return | 198 | 20 | 5.128 | 11.60 | 20.08 | 919.39 | 0.8168 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 5.702 |
+| TCP position RMSE (mm, per-axis) | 11.63 |
+| EE position RMS L2 (mm) | 27.97 |
+| TCP rotvec (mrad) | 804.92 |
+| W1 effort mean (A) | 0.8221 |
+| W1 effort per joint (A) | j0=0.2659, j1=1.3529, j2=1.5387, j3=0.7786, j4=0.3426, j5=0.6538 |
+
+## 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 | 0.00128 | -0.00465 | -0.00107 | 0.00494 | 0.034 |
+| 1 | 0.00142 | -0.00498 | -0.00104 | 0.00528 | 0.034 |
+| 2 | 0.00144 | -0.00497 | -0.00116 | 0.00531 | 0.040 |
+| 3 | 0.00190 | -0.00542 | -0.00206 | 0.00610 | 0.140 |
+| 4 | 0.00167 | -0.00503 | -0.00065 | 0.00534 | 0.130 |
+| 5 | 0.00258 | -0.00344 | -0.00116 | 0.00445 | 21.979 |
+| 6 | 0.00295 | -0.00336 | -0.00233 | 0.00504 | 21.950 |
+| 7 | 0.00227 | -0.00396 | -0.00031 | 0.00457 | 21.945 |
+| 8 | 0.00194 | -0.00398 | -0.00040 | 0.00445 | 21.977 |
+| 9 | -0.00005 | -0.00016 | -0.00027 | 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.
diff --git a/gap_reports/gap_4aad7517-17a6-4514-9f28-34a6b754d94c.md b/gap_reports/gap_4aad7517-17a6-4514-9f28-34a6b754d94c.md
new file mode 100644
index 0000000000000000000000000000000000000000..f92e6f5f6a96e353afa654ef0dbb3cfc88b08be7
--- /dev/null
+++ b/gap_reports/gap_4aad7517-17a6-4514-9f28-34a6b754d94c.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4aad7517-17a6-4514-9f28-34a6b754d94c.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4aad7517-17a6-4514-9f28-34a6b754d94c.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2701 |
+| Sim rows | 242 |
+| Real episode_id | `4aad7517-17a6-4514-9f28-34a6b754d94c` |
+| Sim episode_id | `4aad7517-17a6-4514-9f28-34a6b754d94c` |
+
+## 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 | 187 | 17 | 2.777 | 13.46 | 23.31 | 1947.96 | 0.6281 |
+| 1 | descend | 430 | 38 | 0.626 | 4.39 | 7.61 | 3624.73 | 0.7541 |
+| 2 | settle | 368 | 32 | 0.026 | 0.95 | 1.65 | 3624.55 | 0.7731 |
+| 3 | close | 151 | 14 | 0.984 | 6.72 | 11.64 | 3625.31 | 1.0472 |
+| 4 | lift | 340 | 30 | 3.023 | 16.33 | 28.28 | 2447.72 | 1.1222 |
+| 5 | move_xy | 329 | 29 | 6.709 | 38.52 | 66.72 | 2740.25 | 0.9322 |
+| 6 | lower | 407 | 36 | 0.090 | 1.67 | 2.88 | 3625.03 | 1.0799 |
+| 7 | open | 151 | 14 | 0.907 | 6.22 | 10.77 | 3624.69 | 0.7479 |
+| 8 | retract | 338 | 30 | 2.992 | 16.24 | 28.13 | 2454.68 | 0.7560 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.848 |
+| TCP position RMSE (mm, per-axis) | 15.99 |
+| EE position RMS L2 (mm) | 28.36 |
+| TCP rotvec (mrad) | 3144.99 |
+| W1 effort mean (A) | 0.8627 |
+| W1 effort per joint (A) | j0=0.2501, j1=1.5573, j2=1.7199, j3=0.7789, j4=0.2808, j5=0.5891 |
+
+## 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 | 0.00085 | -0.00029 | -0.00068 | 0.00112 | 0.026 |
+| 1 | 0.00087 | -0.00073 | -0.00118 | 0.00164 | 0.054 |
+| 2 | 0.00090 | -0.00073 | -0.00121 | 0.00168 | 0.057 |
+| 3 | 0.00172 | -0.00035 | -0.00070 | 0.00189 | 0.139 |
+| 4 | 0.00011 | -0.00035 | -0.00039 | 0.00053 | 0.102 |
+| 5 | 0.00213 | -0.00099 | -0.00202 | 0.00310 | 0.175 |
+| 6 | 0.00194 | -0.00098 | -0.00227 | 0.00314 | 0.140 |
+| 7 | 0.00071 | -0.00040 | -0.00099 | 0.00128 | 0.059 |
+| 8 | -0.00014 | -0.00023 | -0.00023 | 0.00035 | 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.
diff --git a/gap_reports/gap_4aba16b3-6c5b-43d5-835f-6820d55ff4a3.md b/gap_reports/gap_4aba16b3-6c5b-43d5-835f-6820d55ff4a3.md
new file mode 100644
index 0000000000000000000000000000000000000000..5b261a76a8de1185c79b85bae194eb1be1365000
--- /dev/null
+++ b/gap_reports/gap_4aba16b3-6c5b-43d5-835f-6820d55ff4a3.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4aba16b3-6c5b-43d5-835f-6820d55ff4a3.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4aba16b3-6c5b-43d5-835f-6820d55ff4a3.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2482 |
+| Sim rows | 221 |
+| Real episode_id | `4aba16b3-6c5b-43d5-835f-6820d55ff4a3` |
+| Sim episode_id | `4aba16b3-6c5b-43d5-835f-6820d55ff4a3` |
+
+## 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 | 202 | 18 | 2.799 | 12.91 | 22.36 | 1874.45 | 0.5828 |
+| 1 | descend | 300 | 27 | 0.636 | 4.27 | 7.40 | 3625.32 | 0.6968 |
+| 2 | settle | 364 | 32 | 0.023 | 0.76 | 1.32 | 3625.25 | 0.7371 |
+| 3 | close | 134 | 12 | 0.622 | 4.38 | 7.59 | 3221.23 | 0.9750 |
+| 4 | lift | 318 | 28 | 3.056 | 14.76 | 25.57 | 2126.07 | 1.1075 |
+| 5 | move_xy | 335 | 29 | 5.572 | 28.79 | 49.87 | 2693.92 | 0.9092 |
+| 6 | lower | 376 | 33 | 0.092 | 1.45 | 2.51 | 3392.15 | 1.0050 |
+| 7 | open | 135 | 12 | 0.599 | 3.91 | 6.77 | 3625.48 | 0.6728 |
+| 8 | retract | 318 | 28 | 3.067 | 14.61 | 25.31 | 2281.97 | 0.7193 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.556 |
+| TCP position RMSE (mm, per-axis) | 12.83 |
+| EE position RMS L2 (mm) | 23.57 |
+| TCP rotvec (mrad) | 3014.98 |
+| W1 effort mean (A) | 0.8124 |
+| W1 effort per joint (A) | j0=0.2120, j1=1.3641, j2=1.6511, j3=0.7572, j4=0.3368, j5=0.5532 |
+
+## 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 | 0.00068 | -0.00035 | -0.00074 | 0.00106 | 0.041 |
+| 1 | 0.00062 | -0.00063 | -0.00100 | 0.00133 | 0.047 |
+| 2 | 0.00064 | -0.00065 | -0.00095 | 0.00132 | 0.042 |
+| 3 | 0.00157 | -0.00062 | -0.00240 | 0.00293 | 0.213 |
+| 4 | 0.00015 | -0.00041 | -0.00060 | 0.00074 | 0.094 |
+| 5 | 0.00161 | -0.00073 | -0.00124 | 0.00216 | 0.145 |
+| 6 | 0.00133 | -0.00095 | -0.00160 | 0.00228 | 0.119 |
+| 7 | 0.00048 | -0.00038 | -0.00082 | 0.00102 | 0.045 |
+| 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.
diff --git a/gap_reports/gap_4ac43216-6be6-4e0c-b7b5-520fd9cdbd3d.md b/gap_reports/gap_4ac43216-6be6-4e0c-b7b5-520fd9cdbd3d.md
new file mode 100644
index 0000000000000000000000000000000000000000..3226c310b95dd4b1ba88a270174c7898f6fd8c31
--- /dev/null
+++ b/gap_reports/gap_4ac43216-6be6-4e0c-b7b5-520fd9cdbd3d.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4ac43216-6be6-4e0c-b7b5-520fd9cdbd3d.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4ac43216-6be6-4e0c-b7b5-520fd9cdbd3d.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1740 |
+| Sim rows | 177 |
+| Real episode_id | `4ac43216-6be6-4e0c-b7b5-520fd9cdbd3d` |
+| Sim episode_id | `4ac43216-6be6-4e0c-b7b5-520fd9cdbd3d` |
+
+## 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 | 16 | 2.042 | 12.95 | 22.43 | 682.46 | 0.7571 |
+| 1 | descend | 78 | 8 | 0.713 | 4.69 | 8.13 | 6.29 | 0.7332 |
+| 2 | settle | 20 | 3 | 0.027 | 3.21 | 5.56 | 6.76 | 0.7600 |
+| 3 | close | 392 | 39 | 0.154 | 3.79 | 6.56 | 3622.46 | 1.2287 |
+| 4 | lift | 78 | 8 | 0.739 | 4.43 | 7.68 | 3264.89 | 1.2634 |
+| 5 | move_xy | 159 | 17 | 7.050 | 18.59 | 32.19 | 1588.18 | 1.2193 |
+| 6 | lower | 75 | 8 | 13.546 | 4.12 | 7.14 | 526.03 | 1.0770 |
+| 7 | open | 384 | 38 | 13.515 | 2.58 | 4.48 | 525.45 | 0.6740 |
+| 8 | retract | 78 | 8 | 13.551 | 4.36 | 7.55 | 524.91 | 0.7373 |
+| 9 | return | 324 | 32 | 7.582 | 11.22 | 19.43 | 1150.19 | 0.7759 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 8.138 |
+| TCP position RMSE (mm, per-axis) | 8.65 |
+| EE position RMS L2 (mm) | 15.29 |
+| TCP rotvec (mrad) | 1700.62 |
+| W1 effort mean (A) | 0.9111 |
+| W1 effort per joint (A) | j0=0.1753, j1=1.7190, j2=1.5730, j3=0.7777, j4=0.4422, j5=0.7795 |
+
+## 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 | 0.00208 | -0.00467 | -0.00104 | 0.00522 | 0.054 |
+| 1 | 0.00243 | -0.00485 | -0.00131 | 0.00558 | 0.048 |
+| 2 | 0.00241 | -0.00483 | -0.00138 | 0.00558 | 0.052 |
+| 3 | 0.00295 | -0.00434 | -0.00396 | 0.00658 | 0.239 |
+| 4 | 0.00216 | -0.00453 | -0.00449 | 0.00673 | 0.303 |
+| 5 | 0.00178 | -0.00376 | -0.00161 | 0.00446 | 33.077 |
+| 6 | 0.00296 | -0.00296 | -0.00161 | 0.00448 | 33.118 |
+| 7 | 0.00211 | -0.00393 | -0.00017 | 0.00446 | 33.103 |
+| 8 | 0.00156 | -0.00402 | -0.00032 | 0.00432 | 33.133 |
+| 9 | -0.00005 | -0.00009 | -0.00023 | 0.00025 | 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.
diff --git a/gap_reports/gap_4ae7f237-6564-41df-9c24-3243a2435915.md b/gap_reports/gap_4ae7f237-6564-41df-9c24-3243a2435915.md
new file mode 100644
index 0000000000000000000000000000000000000000..0f10790de0c8153c6d84842503f96d5102a97865
--- /dev/null
+++ b/gap_reports/gap_4ae7f237-6564-41df-9c24-3243a2435915.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4ae7f237-6564-41df-9c24-3243a2435915.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4ae7f237-6564-41df-9c24-3243a2435915.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1403 |
+| Sim rows | 143 |
+| Real episode_id | `4ae7f237-6564-41df-9c24-3243a2435915` |
+| Sim episode_id | `4ae7f237-6564-41df-9c24-3243a2435915` |
+
+## 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 | 11.343 | 15.87 | 27.49 | 507.95 | 0.6741 |
+| 1 | descend | 74 | 8 | 20.337 | 4.08 | 7.07 | 782.99 | 0.7998 |
+| 2 | settle | 24 | 3 | 20.310 | 2.30 | 3.99 | 783.41 | 0.8350 |
+| 3 | close | 317 | 31 | 20.306 | 2.44 | 4.23 | 782.84 | 1.2395 |
+| 4 | lift | 73 | 8 | 20.333 | 4.50 | 7.79 | 782.57 | 1.3456 |
+| 5 | move_xy | 171 | 17 | 12.159 | 23.52 | 40.73 | 377.22 | 1.3314 |
+| 6 | lower | 72 | 8 | 0.825 | 4.62 | 8.01 | 6.07 | 1.1660 |
+| 7 | open | 283 | 28 | 0.020 | 2.80 | 4.85 | 4.79 | 0.5541 |
+| 8 | retract | 74 | 8 | 0.798 | 3.99 | 6.91 | 4.09 | 0.6392 |
+| 9 | return | 167 | 17 | 2.184 | 11.36 | 19.67 | 633.06 | 0.6749 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 13.908 |
+| TCP position RMSE (mm, per-axis) | 10.14 |
+| EE position RMS L2 (mm) | 18.67 |
+| TCP rotvec (mrad) | 570.37 |
+| W1 effort mean (A) | 0.8983 |
+| W1 effort per joint (A) | j0=0.1530, j1=1.5816, j2=1.5857, j3=0.9297, j4=0.1781, j5=0.9617 |
+
+## 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 | 0.00166 | -0.00359 | 0.00006 | 0.00395 | 49.592 |
+| 1 | 0.00205 | -0.00343 | 0.00010 | 0.00399 | 49.750 |
+| 2 | 0.00207 | -0.00339 | -0.00010 | 0.00397 | 49.746 |
+| 3 | 0.00197 | -0.00380 | -0.00014 | 0.00428 | 49.740 |
+| 4 | 0.00177 | -0.00390 | -0.00062 | 0.00433 | 49.796 |
+| 5 | 0.00227 | -0.00458 | -0.00103 | 0.00522 | 0.146 |
+| 6 | 0.00287 | -0.00493 | -0.00103 | 0.00580 | 0.132 |
+| 7 | 0.00219 | -0.00427 | -0.00062 | 0.00484 | 0.030 |
+| 8 | 0.00169 | -0.00393 | -0.00085 | 0.00436 | 0.066 |
+| 9 | -0.00018 | -0.00010 | -0.00026 | 0.00033 | 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.
diff --git a/gap_reports/gap_4b09170b-0827-4934-bd5d-c125a26ec124.md b/gap_reports/gap_4b09170b-0827-4934-bd5d-c125a26ec124.md
new file mode 100644
index 0000000000000000000000000000000000000000..80483e0c90ad8c1377f3db12a171b6f0226dd87e
--- /dev/null
+++ b/gap_reports/gap_4b09170b-0827-4934-bd5d-c125a26ec124.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4b09170b-0827-4934-bd5d-c125a26ec124.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4b09170b-0827-4934-bd5d-c125a26ec124.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2896 |
+| Sim rows | 257 |
+| Real episode_id | `4b09170b-0827-4934-bd5d-c125a26ec124` |
+| Sim episode_id | `4b09170b-0827-4934-bd5d-c125a26ec124` |
+
+## 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 | 237 | 21 | 3.534 | 18.40 | 31.88 | 1823.88 | 0.6204 |
+| 1 | descend | 388 | 34 | 0.722 | 5.16 | 8.93 | 3624.77 | 0.7391 |
+| 2 | settle | 433 | 38 | 0.025 | 0.96 | 1.66 | 3624.57 | 0.7468 |
+| 3 | close | 158 | 14 | 0.803 | 5.60 | 9.69 | 3625.16 | 1.0301 |
+| 4 | lift | 340 | 30 | 3.035 | 16.33 | 28.28 | 2431.90 | 1.1487 |
+| 5 | move_xy | 427 | 37 | 7.011 | 40.55 | 70.23 | 2773.76 | 0.9373 |
+| 6 | lower | 416 | 36 | 0.091 | 1.68 | 2.91 | 3625.21 | 1.0451 |
+| 7 | open | 160 | 15 | 1.015 | 6.97 | 12.07 | 3624.73 | 0.7297 |
+| 8 | retract | 337 | 30 | 2.886 | 15.68 | 27.16 | 2410.32 | 0.7383 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.007 |
+| TCP position RMSE (mm, per-axis) | 17.01 |
+| EE position RMS L2 (mm) | 31.87 |
+| TCP rotvec (mrad) | 3134.81 |
+| W1 effort mean (A) | 0.8451 |
+| W1 effort per joint (A) | j0=0.2411, j1=1.4943, j2=1.6722, j3=0.7869, j4=0.2634, j5=0.6129 |
+
+## 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 | 0.00091 | -0.00034 | -0.00072 | 0.00121 | 0.025 |
+| 1 | 0.00091 | -0.00079 | -0.00114 | 0.00166 | 0.054 |
+| 2 | 0.00090 | -0.00076 | -0.00116 | 0.00166 | 0.055 |
+| 3 | 0.00174 | -0.00043 | -0.00054 | 0.00187 | 0.124 |
+| 4 | 0.00054 | -0.00006 | -0.00021 | 0.00058 | 0.129 |
+| 5 | 0.00190 | -0.00106 | -0.00070 | 0.00229 | 0.117 |
+| 6 | 0.00215 | -0.00115 | -0.00296 | 0.00384 | 0.219 |
+| 7 | 0.00080 | -0.00041 | -0.00096 | 0.00132 | 0.058 |
+| 8 | -0.00013 | -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.
diff --git a/gap_reports/gap_4b0b0d72-53b7-4e0c-8204-c08d9024e014.md b/gap_reports/gap_4b0b0d72-53b7-4e0c-8204-c08d9024e014.md
new file mode 100644
index 0000000000000000000000000000000000000000..791b49577a351eba12a86f1a6f1958de023c56a8
--- /dev/null
+++ b/gap_reports/gap_4b0b0d72-53b7-4e0c-8204-c08d9024e014.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4b0b0d72-53b7-4e0c-8204-c08d9024e014.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4b0b0d72-53b7-4e0c-8204-c08d9024e014.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2845 |
+| Sim rows | 255 |
+| Real episode_id | `4b0b0d72-53b7-4e0c-8204-c08d9024e014` |
+| Sim episode_id | `4b0b0d72-53b7-4e0c-8204-c08d9024e014` |
+
+## 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 | 220 | 20 | 2.873 | 11.16 | 19.32 | 1924.90 | 0.5817 |
+| 1 | descend | 347 | 30 | 1.473 | 8.77 | 15.19 | 3626.01 | 0.9500 |
+| 2 | settle | 365 | 32 | 0.023 | 0.60 | 1.04 | 3625.97 | 1.0646 |
+| 3 | close | 148 | 14 | 1.076 | 6.02 | 10.43 | 5.68 | 1.1135 |
+| 4 | lift | 405 | 36 | 3.190 | 12.86 | 22.27 | 1887.95 | 1.2217 |
+| 5 | move_xy | 399 | 35 | 6.842 | 30.47 | 52.77 | 1992.28 | 1.0573 |
+| 6 | lower | 406 | 36 | 0.081 | 1.11 | 1.93 | 1694.70 | 1.4019 |
+| 7 | open | 148 | 14 | 1.125 | 6.65 | 11.51 | 3626.26 | 0.7330 |
+| 8 | retract | 407 | 36 | 3.408 | 13.92 | 24.11 | 2301.66 | 0.8441 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.008 |
+| TCP position RMSE (mm, per-axis) | 13.21 |
+| EE position RMS L2 (mm) | 24.79 |
+| TCP rotvec (mrad) | 2557.21 |
+| W1 effort mean (A) | 1.0234 |
+| W1 effort per joint (A) | j0=0.6303, j1=1.1768, j2=1.8166, j3=1.0316, j4=0.8502, j5=0.6349 |
+
+## 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 | -0.00029 | -0.00044 | 0.00065 | 0.025 |
+| 1 | 0.00042 | -0.00053 | -0.00075 | 0.00101 | 0.038 |
+| 2 | 0.00038 | -0.00055 | -0.00075 | 0.00101 | 0.034 |
+| 3 | 0.00087 | -0.00027 | -0.00117 | 0.00148 | 0.107 |
+| 4 | 0.00011 | -0.00006 | 0.00002 | 0.00013 | 0.049 |
+| 5 | 0.00152 | -0.00081 | -0.00075 | 0.00188 | 0.166 |
+| 6 | 0.00143 | -0.00070 | -0.00080 | 0.00178 | 0.144 |
+| 7 | 0.00024 | -0.00029 | -0.00057 | 0.00068 | 0.035 |
+| 8 | -0.00007 | -0.00010 | -0.00012 | 0.00017 | 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.
diff --git a/gap_reports/gap_4b28c257-a7f5-47fe-80df-b5f9658ddb75.md b/gap_reports/gap_4b28c257-a7f5-47fe-80df-b5f9658ddb75.md
new file mode 100644
index 0000000000000000000000000000000000000000..4db848f20dd89bd06ff1e192db596b753ebc3e6b
--- /dev/null
+++ b/gap_reports/gap_4b28c257-a7f5-47fe-80df-b5f9658ddb75.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4b28c257-a7f5-47fe-80df-b5f9658ddb75.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4b28c257-a7f5-47fe-80df-b5f9658ddb75.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2759 |
+| Sim rows | 243 |
+| Real episode_id | `4b28c257-a7f5-47fe-80df-b5f9658ddb75` |
+| Sim episode_id | `4b28c257-a7f5-47fe-80df-b5f9658ddb75` |
+
+## 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 | 194 | 17 | 2.818 | 12.33 | 21.36 | 1965.14 | 0.5879 |
+| 1 | descend | 325 | 29 | 0.743 | 5.01 | 8.67 | 3625.30 | 0.6774 |
+| 2 | settle | 373 | 32 | 0.024 | 0.77 | 1.33 | 3625.25 | 0.7293 |
+| 3 | close | 135 | 12 | 0.493 | 3.37 | 5.83 | 3274.64 | 1.0027 |
+| 4 | lift | 447 | 39 | 3.146 | 14.99 | 25.96 | 2275.12 | 1.1045 |
+| 5 | move_xy | 321 | 28 | 6.203 | 32.30 | 55.95 | 2744.88 | 0.8641 |
+| 6 | lower | 378 | 33 | 0.089 | 1.42 | 2.45 | 3549.47 | 1.0265 |
+| 7 | open | 136 | 12 | 0.508 | 3.47 | 6.00 | 3625.49 | 0.6226 |
+| 8 | retract | 450 | 39 | 2.886 | 13.89 | 24.05 | 2254.25 | 0.7199 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.702 |
+| TCP position RMSE (mm, per-axis) | 13.60 |
+| EE position RMS L2 (mm) | 24.76 |
+| TCP rotvec (mrad) | 3062.41 |
+| W1 effort mean (A) | 0.8170 |
+| W1 effort per joint (A) | j0=0.2194, j1=1.3745, j2=1.6405, j3=0.7196, j4=0.3450, j5=0.6030 |
+
+## 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 | 0.00071 | -0.00040 | -0.00072 | 0.00109 | 0.037 |
+| 1 | 0.00065 | -0.00062 | -0.00100 | 0.00135 | 0.045 |
+| 2 | 0.00063 | -0.00065 | -0.00098 | 0.00133 | 0.048 |
+| 3 | 0.00112 | -0.00052 | -0.00080 | 0.00147 | 0.124 |
+| 4 | 0.00014 | -0.00039 | -0.00056 | 0.00070 | 0.084 |
+| 5 | 0.00147 | -0.00077 | -0.00134 | 0.00213 | 0.099 |
+| 6 | 0.00131 | -0.00091 | -0.00114 | 0.00196 | 0.107 |
+| 7 | 0.00053 | -0.00044 | -0.00076 | 0.00103 | 0.033 |
+| 8 | -0.00008 | -0.00010 | -0.00015 | 0.00020 | 0.025 |
+
+## 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.
diff --git a/gap_reports/gap_4b408390-db6f-4d16-9c83-888ff222aeb2.md b/gap_reports/gap_4b408390-db6f-4d16-9c83-888ff222aeb2.md
new file mode 100644
index 0000000000000000000000000000000000000000..6c2c8971b918231876b0ff5bfb99105c7e68d33a
--- /dev/null
+++ b/gap_reports/gap_4b408390-db6f-4d16-9c83-888ff222aeb2.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4b408390-db6f-4d16-9c83-888ff222aeb2.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4b408390-db6f-4d16-9c83-888ff222aeb2.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2770 |
+| Sim rows | 245 |
+| Real episode_id | `4b408390-db6f-4d16-9c83-888ff222aeb2` |
+| Sim episode_id | `4b408390-db6f-4d16-9c83-888ff222aeb2` |
+
+## 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 | 264 | 23 | 3.451 | 15.53 | 26.89 | 1957.86 | 0.5780 |
+| 1 | descend | 350 | 31 | 0.998 | 6.58 | 11.40 | 3625.37 | 0.7080 |
+| 2 | settle | 370 | 32 | 0.024 | 0.76 | 1.32 | 3625.25 | 0.7298 |
+| 3 | close | 152 | 14 | 0.760 | 4.79 | 8.30 | 3436.41 | 0.9745 |
+| 4 | lift | 297 | 26 | 3.139 | 14.78 | 25.59 | 2314.19 | 1.1031 |
+| 5 | move_xy | 475 | 41 | 6.500 | 33.38 | 57.81 | 2734.20 | 0.8905 |
+| 6 | lower | 414 | 36 | 0.089 | 1.42 | 2.47 | 3588.90 | 0.9820 |
+| 7 | open | 151 | 14 | 0.895 | 5.60 | 9.70 | 3625.50 | 0.6407 |
+| 8 | retract | 297 | 26 | 3.019 | 14.15 | 24.51 | 2333.07 | 0.7304 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.896 |
+| TCP position RMSE (mm, per-axis) | 14.43 |
+| EE position RMS L2 (mm) | 28.34 |
+| TCP rotvec (mrad) | 3095.28 |
+| W1 effort mean (A) | 0.8017 |
+| W1 effort per joint (A) | j0=0.2142, j1=1.3099, j2=1.6053, j3=0.7564, j4=0.3118, j5=0.6123 |
+
+## 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 | 0.00066 | -0.00027 | -0.00076 | 0.00104 | 0.043 |
+| 1 | 0.00062 | -0.00062 | -0.00103 | 0.00135 | 0.051 |
+| 2 | 0.00064 | -0.00063 | -0.00098 | 0.00133 | 0.042 |
+| 3 | 0.00117 | -0.00040 | -0.00097 | 0.00158 | 0.090 |
+| 4 | 0.00013 | -0.00045 | -0.00041 | 0.00063 | 0.122 |
+| 5 | 0.00144 | -0.00093 | -0.00199 | 0.00262 | 0.143 |
+| 6 | 0.00147 | -0.00087 | -0.00055 | 0.00179 | 0.121 |
+| 7 | 0.00047 | -0.00032 | -0.00078 | 0.00096 | 0.039 |
+| 8 | -0.00010 | -0.00017 | -0.00021 | 0.00029 | 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.
diff --git a/gap_reports/gap_4b6e81e2-3513-4788-845a-abd1d3944e9e.md b/gap_reports/gap_4b6e81e2-3513-4788-845a-abd1d3944e9e.md
new file mode 100644
index 0000000000000000000000000000000000000000..889c5b1b377c7dc9d1cdb2f21b62613644cbf4ed
--- /dev/null
+++ b/gap_reports/gap_4b6e81e2-3513-4788-845a-abd1d3944e9e.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4b6e81e2-3513-4788-845a-abd1d3944e9e.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4b6e81e2-3513-4788-845a-abd1d3944e9e.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2645 |
+| Sim rows | 235 |
+| Real episode_id | `4b6e81e2-3513-4788-845a-abd1d3944e9e` |
+| Sim episode_id | `4b6e81e2-3513-4788-845a-abd1d3944e9e` |
+
+## 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 | 239 | 21 | 3.007 | 13.65 | 23.64 | 1962.00 | 0.5803 |
+| 1 | descend | 286 | 25 | 0.900 | 5.98 | 10.36 | 3625.33 | 0.7653 |
+| 2 | settle | 389 | 34 | 0.023 | 0.77 | 1.34 | 3625.26 | 0.7007 |
+| 3 | close | 147 | 14 | 0.637 | 4.20 | 7.27 | 3436.11 | 0.9878 |
+| 4 | lift | 320 | 28 | 3.098 | 14.67 | 25.42 | 2284.17 | 1.0974 |
+| 5 | move_xy | 396 | 35 | 6.332 | 32.85 | 56.89 | 2769.00 | 0.8695 |
+| 6 | lower | 395 | 34 | 0.087 | 1.38 | 2.40 | 3476.67 | 0.9846 |
+| 7 | open | 149 | 14 | 0.582 | 3.87 | 6.71 | 3625.48 | 0.6486 |
+| 8 | retract | 324 | 28 | 3.215 | 15.31 | 26.52 | 2278.59 | 0.7229 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.801 |
+| TCP position RMSE (mm, per-axis) | 14.09 |
+| EE position RMS L2 (mm) | 26.79 |
+| TCP rotvec (mrad) | 3077.70 |
+| W1 effort mean (A) | 0.8054 |
+| W1 effort per joint (A) | j0=0.2020, j1=1.3520, j2=1.6449, j3=0.7776, j4=0.2733, j5=0.5825 |
+
+## 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 | 0.00068 | -0.00038 | -0.00078 | 0.00110 | 0.039 |
+| 1 | 0.00063 | -0.00063 | -0.00103 | 0.00136 | 0.049 |
+| 2 | 0.00064 | -0.00064 | -0.00097 | 0.00133 | 0.043 |
+| 3 | 0.00155 | -0.00046 | -0.00076 | 0.00179 | 0.129 |
+| 4 | 0.00070 | -0.00000 | -0.00037 | 0.00079 | 0.152 |
+| 5 | 0.00196 | -0.00094 | -0.00172 | 0.00277 | 0.176 |
+| 6 | 0.00151 | -0.00091 | -0.00201 | 0.00267 | 0.139 |
+| 7 | 0.00052 | -0.00038 | -0.00081 | 0.00103 | 0.044 |
+| 8 | -0.00012 | -0.00017 | -0.00020 | 0.00029 | 0.031 |
+
+## 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.
diff --git a/gap_reports/gap_4b79a161-936c-43ec-8ac6-8e9a08fc0cd6.md b/gap_reports/gap_4b79a161-936c-43ec-8ac6-8e9a08fc0cd6.md
new file mode 100644
index 0000000000000000000000000000000000000000..5d6b4b099ea70cc0fde0840c27499998fd9849b6
--- /dev/null
+++ b/gap_reports/gap_4b79a161-936c-43ec-8ac6-8e9a08fc0cd6.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4b79a161-936c-43ec-8ac6-8e9a08fc0cd6.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4b79a161-936c-43ec-8ac6-8e9a08fc0cd6.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2911 |
+| Sim rows | 255 |
+| Real episode_id | `4b79a161-936c-43ec-8ac6-8e9a08fc0cd6` |
+| Sim episode_id | `4b79a161-936c-43ec-8ac6-8e9a08fc0cd6` |
+
+## 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 | 3.083 | 11.69 | 20.25 | 1946.59 | 0.5835 |
+| 1 | descend | 324 | 28 | 1.363 | 8.01 | 13.88 | 3626.05 | 0.7245 |
+| 2 | settle | 380 | 33 | 0.022 | 0.60 | 1.03 | 3625.98 | 0.7017 |
+| 3 | close | 168 | 15 | 1.114 | 6.28 | 10.88 | 1860.97 | 0.9788 |
+| 4 | lift | 406 | 35 | 3.273 | 13.18 | 22.82 | 1670.85 | 1.0866 |
+| 5 | move_xy | 441 | 38 | 7.089 | 31.88 | 55.22 | 1810.65 | 0.9094 |
+| 6 | lower | 393 | 34 | 0.079 | 1.07 | 1.85 | 1712.12 | 0.9948 |
+| 7 | open | 166 | 15 | 1.149 | 6.50 | 11.25 | 3626.24 | 0.6372 |
+| 8 | retract | 404 | 35 | 3.454 | 14.01 | 24.26 | 2400.05 | 0.7079 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.106 |
+| TCP position RMSE (mm, per-axis) | 13.62 |
+| EE position RMS L2 (mm) | 26.16 |
+| TCP rotvec (mrad) | 2613.21 |
+| W1 effort mean (A) | 0.8017 |
+| W1 effort per joint (A) | j0=0.2590, j1=1.2443, j2=1.6011, j3=0.6888, j4=0.3914, j5=0.6256 |
+
+## 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 | 0.00036 | -0.00025 | -0.00040 | 0.00059 | 0.025 |
+| 1 | 0.00041 | -0.00054 | -0.00079 | 0.00105 | 0.038 |
+| 2 | 0.00042 | -0.00056 | -0.00074 | 0.00102 | 0.036 |
+| 3 | 0.00084 | -0.00026 | -0.00034 | 0.00094 | 0.100 |
+| 4 | 0.00033 | -0.00003 | -0.00018 | 0.00037 | 0.096 |
+| 5 | 0.00120 | -0.00075 | -0.00048 | 0.00150 | 0.119 |
+| 6 | 0.00143 | -0.00076 | -0.00192 | 0.00251 | 0.156 |
+| 7 | 0.00023 | -0.00032 | -0.00047 | 0.00061 | 0.033 |
+| 8 | -0.00006 | -0.00008 | -0.00011 | 0.00015 | 0.026 |
+
+## 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.
diff --git a/gap_reports/gap_4b840cfc-2494-4d43-8e6d-bf9e48dfec0c.md b/gap_reports/gap_4b840cfc-2494-4d43-8e6d-bf9e48dfec0c.md
new file mode 100644
index 0000000000000000000000000000000000000000..b31d8b2cf2fdcb08b9d2dc0d1b0f6baa188873a4
--- /dev/null
+++ b/gap_reports/gap_4b840cfc-2494-4d43-8e6d-bf9e48dfec0c.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4b840cfc-2494-4d43-8e6d-bf9e48dfec0c.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4b840cfc-2494-4d43-8e6d-bf9e48dfec0c.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2670 |
+| Sim rows | 238 |
+| Real episode_id | `4b840cfc-2494-4d43-8e6d-bf9e48dfec0c` |
+| Sim episode_id | `4b840cfc-2494-4d43-8e6d-bf9e48dfec0c` |
+
+## 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 | 169 | 15 | 2.403 | 8.55 | 14.81 | 1952.51 | 0.5886 |
+| 1 | descend | 363 | 32 | 1.499 | 8.67 | 15.02 | 3626.04 | 0.6873 |
+| 2 | settle | 383 | 34 | 0.022 | 0.59 | 1.03 | 3625.96 | 0.6903 |
+| 3 | close | 138 | 13 | 1.143 | 6.54 | 11.33 | 2098.19 | 0.9861 |
+| 4 | lift | 388 | 34 | 3.070 | 12.37 | 21.42 | 2101.59 | 1.0528 |
+| 5 | move_xy | 328 | 29 | 6.683 | 29.89 | 51.77 | 1912.18 | 0.8843 |
+| 6 | lower | 378 | 33 | 0.081 | 1.11 | 1.92 | 1225.95 | 0.9497 |
+| 7 | open | 132 | 12 | 1.028 | 5.87 | 10.16 | 3626.24 | 0.6101 |
+| 8 | retract | 391 | 34 | 3.178 | 12.86 | 22.28 | 2341.11 | 0.7014 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.879 |
+| TCP position RMSE (mm, per-axis) | 12.64 |
+| EE position RMS L2 (mm) | 22.93 |
+| TCP rotvec (mrad) | 2639.80 |
+| W1 effort mean (A) | 0.7773 |
+| W1 effort per joint (A) | j0=0.2580, j1=1.2159, j2=1.5685, j3=0.6627, j4=0.3556, 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 | 0.00035 | -0.00026 | -0.00040 | 0.00059 | 0.034 |
+| 1 | 0.00040 | -0.00056 | -0.00072 | 0.00100 | 0.030 |
+| 2 | 0.00041 | -0.00056 | -0.00074 | 0.00101 | 0.034 |
+| 3 | 0.00063 | -0.00044 | -0.00043 | 0.00089 | 0.115 |
+| 4 | 0.00011 | -0.00012 | -0.00008 | 0.00018 | 0.051 |
+| 5 | 0.00128 | -0.00070 | -0.00129 | 0.00195 | 0.150 |
+| 6 | 0.00110 | -0.00076 | -0.00138 | 0.00192 | 0.110 |
+| 7 | 0.00015 | -0.00035 | -0.00050 | 0.00062 | 0.035 |
+| 8 | -0.00006 | -0.00007 | -0.00013 | 0.00016 | 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.
diff --git a/gap_reports/gap_4b847de3-a9fd-458e-bef3-ffa122951677.md b/gap_reports/gap_4b847de3-a9fd-458e-bef3-ffa122951677.md
new file mode 100644
index 0000000000000000000000000000000000000000..00fbaf8ce0baf19fe6837fa42aa846d3ef5525ce
--- /dev/null
+++ b/gap_reports/gap_4b847de3-a9fd-458e-bef3-ffa122951677.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4b847de3-a9fd-458e-bef3-ffa122951677.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4b847de3-a9fd-458e-bef3-ffa122951677.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2457 |
+| Sim rows | 220 |
+| Real episode_id | `4b847de3-a9fd-458e-bef3-ffa122951677` |
+| Sim episode_id | `4b847de3-a9fd-458e-bef3-ffa122951677` |
+
+## 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 | 2.284 | 8.81 | 15.26 | 1909.84 | 0.5862 |
+| 1 | descend | 354 | 31 | 1.412 | 8.35 | 14.47 | 3626.05 | 0.7130 |
+| 2 | settle | 369 | 32 | 0.022 | 0.57 | 0.99 | 3625.93 | 0.6669 |
+| 3 | close | 150 | 14 | 1.216 | 7.03 | 12.18 | 1294.08 | 0.9600 |
+| 4 | lift | 283 | 25 | 2.736 | 11.03 | 19.10 | 1653.16 | 1.0814 |
+| 5 | move_xy | 327 | 29 | 5.926 | 27.38 | 47.43 | 2317.60 | 0.9072 |
+| 6 | lower | 385 | 34 | 0.085 | 1.11 | 1.93 | 2002.07 | 1.0313 |
+| 7 | open | 150 | 14 | 0.916 | 5.11 | 8.85 | 3626.20 | 0.6190 |
+| 8 | retract | 284 | 25 | 2.706 | 10.95 | 18.96 | 2356.97 | 0.7010 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.570 |
+| TCP position RMSE (mm, per-axis) | 11.62 |
+| EE position RMS L2 (mm) | 21.03 |
+| TCP rotvec (mrad) | 2633.86 |
+| W1 effort mean (A) | 0.7959 |
+| W1 effort per joint (A) | j0=0.2491, j1=1.1645, j2=1.6064, j3=0.7367, j4=0.4284, j5=0.5902 |
+
+## 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 | -0.00030 | -0.00044 | 0.00054 | 0.032 |
+| 1 | 0.00015 | -0.00056 | -0.00082 | 0.00100 | 0.038 |
+| 2 | 0.00017 | -0.00057 | -0.00079 | 0.00099 | 0.036 |
+| 3 | 0.00053 | -0.00058 | -0.00099 | 0.00127 | 0.117 |
+| 4 | 0.00030 | -0.00008 | -0.00015 | 0.00035 | 0.099 |
+| 5 | 0.00131 | -0.00061 | -0.00036 | 0.00149 | 0.153 |
+| 6 | 0.00105 | -0.00086 | -0.00169 | 0.00217 | 0.142 |
+| 7 | -0.00005 | -0.00042 | -0.00050 | 0.00066 | 0.036 |
+| 8 | -0.00005 | -0.00008 | -0.00012 | 0.00015 | 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.
diff --git a/gap_reports/gap_4b85bcfb-7589-47c5-84ce-af433497cfc1.md b/gap_reports/gap_4b85bcfb-7589-47c5-84ce-af433497cfc1.md
new file mode 100644
index 0000000000000000000000000000000000000000..a67f2f9fdaea532da1edb43d1c6ea3422aca1d60
--- /dev/null
+++ b/gap_reports/gap_4b85bcfb-7589-47c5-84ce-af433497cfc1.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4b85bcfb-7589-47c5-84ce-af433497cfc1.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4b85bcfb-7589-47c5-84ce-af433497cfc1.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2456 |
+| Sim rows | 221 |
+| Real episode_id | `4b85bcfb-7589-47c5-84ce-af433497cfc1` |
+| Sim episode_id | `4b85bcfb-7589-47c5-84ce-af433497cfc1` |
+
+## 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 | 164 | 15 | 2.165 | 10.19 | 17.65 | 2041.43 | 0.5780 |
+| 1 | descend | 338 | 30 | 0.927 | 6.01 | 10.41 | 3625.30 | 0.7899 |
+| 2 | settle | 379 | 33 | 0.024 | 0.74 | 1.29 | 3625.26 | 0.6247 |
+| 3 | close | 107 | 10 | 0.481 | 3.24 | 5.61 | 3625.74 | 0.9459 |
+| 4 | lift | 337 | 30 | 2.405 | 12.26 | 21.23 | 2199.36 | 1.0879 |
+| 5 | move_xy | 291 | 26 | 4.958 | 27.97 | 48.44 | 2795.49 | 0.8769 |
+| 6 | lower | 397 | 35 | 0.089 | 1.35 | 2.33 | 3480.97 | 0.9938 |
+| 7 | open | 106 | 10 | 0.478 | 3.12 | 5.41 | 3625.49 | 0.6641 |
+| 8 | retract | 337 | 30 | 2.476 | 12.72 | 22.04 | 2225.46 | 0.7085 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.173 |
+| TCP position RMSE (mm, per-axis) | 11.82 |
+| EE position RMS L2 (mm) | 21.12 |
+| TCP rotvec (mrad) | 3099.55 |
+| W1 effort mean (A) | 0.8049 |
+| W1 effort per joint (A) | j0=0.2199, j1=1.3545, j2=1.5959, j3=0.7543, j4=0.3254, j5=0.5792 |
+
+## 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 | 0.00046 | -0.00045 | -0.00071 | 0.00096 | 0.039 |
+| 1 | 0.00040 | -0.00070 | -0.00096 | 0.00126 | 0.042 |
+| 2 | 0.00041 | -0.00070 | -0.00095 | 0.00125 | 0.040 |
+| 3 | 0.00099 | -0.00071 | -0.00128 | 0.00176 | 0.090 |
+| 4 | 0.00026 | -0.00013 | -0.00033 | 0.00045 | 0.092 |
+| 5 | 0.00128 | -0.00104 | -0.00137 | 0.00214 | 0.121 |
+| 6 | 0.00150 | -0.00100 | -0.00119 | 0.00216 | 0.159 |
+| 7 | 0.00022 | -0.00053 | -0.00081 | 0.00099 | 0.042 |
+| 8 | -0.00011 | -0.00017 | -0.00019 | 0.00027 | 0.031 |
+
+## 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.
diff --git a/gap_reports/gap_4b8bf4cc-99e0-4d82-88e3-d7cfa014ef7a.md b/gap_reports/gap_4b8bf4cc-99e0-4d82-88e3-d7cfa014ef7a.md
new file mode 100644
index 0000000000000000000000000000000000000000..d3f829e307b920e373c6f66739b570231c5c46ea
--- /dev/null
+++ b/gap_reports/gap_4b8bf4cc-99e0-4d82-88e3-d7cfa014ef7a.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4b8bf4cc-99e0-4d82-88e3-d7cfa014ef7a.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4b8bf4cc-99e0-4d82-88e3-d7cfa014ef7a.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2077 |
+| Sim rows | 210 |
+| Real episode_id | `4b8bf4cc-99e0-4d82-88e3-d7cfa014ef7a` |
+| Sim episode_id | `4b8bf4cc-99e0-4d82-88e3-d7cfa014ef7a` |
+
+## 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 | 166 | 17 | 2.212 | 10.52 | 18.22 | 1969.71 | 0.5738 |
+| 1 | descend | 195 | 20 | 0.791 | 5.10 | 8.83 | 3625.30 | 0.7245 |
+| 2 | settle | 323 | 32 | 0.024 | 0.74 | 1.29 | 3625.24 | 0.6908 |
+| 3 | close | 127 | 13 | 0.680 | 4.36 | 7.56 | 3625.76 | 1.0091 |
+| 4 | lift | 264 | 26 | 2.360 | 12.04 | 20.86 | 2253.62 | 1.0958 |
+| 5 | move_xy | 285 | 28 | 5.041 | 27.89 | 48.30 | 2775.19 | 0.8591 |
+| 6 | lower | 334 | 33 | 0.084 | 1.28 | 2.21 | 3471.83 | 0.9997 |
+| 7 | open | 125 | 13 | 0.676 | 4.30 | 7.45 | 3625.41 | 0.6754 |
+| 8 | retract | 258 | 26 | 2.449 | 12.56 | 21.76 | 2257.00 | 0.7196 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.197 |
+| TCP position RMSE (mm, per-axis) | 11.82 |
+| EE position RMS L2 (mm) | 21.82 |
+| TCP rotvec (mrad) | 3098.08 |
+| W1 effort mean (A) | 0.8061 |
+| W1 effort per joint (A) | j0=0.1977, j1=1.3726, j2=1.5932, j3=0.7617, j4=0.3363, j5=0.5750 |
+
+## 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 | 0.00043 | -0.00044 | -0.00071 | 0.00095 | 0.036 |
+| 1 | 0.00040 | -0.00070 | -0.00098 | 0.00127 | 0.045 |
+| 2 | 0.00043 | -0.00072 | -0.00098 | 0.00129 | 0.046 |
+| 3 | 0.00097 | -0.00060 | -0.00103 | 0.00154 | 0.107 |
+| 4 | 0.00025 | -0.00027 | -0.00044 | 0.00057 | 0.083 |
+| 5 | 0.00126 | -0.00102 | -0.00133 | 0.00210 | 0.116 |
+| 6 | 0.00112 | -0.00089 | -0.00089 | 0.00169 | 0.094 |
+| 7 | 0.00028 | -0.00048 | -0.00080 | 0.00098 | 0.045 |
+| 8 | -0.00013 | -0.00017 | -0.00020 | 0.00029 | 0.031 |
+
+## 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.
diff --git a/gap_reports/gap_4b989d0d-5a23-4e57-8b24-5a4685347690.md b/gap_reports/gap_4b989d0d-5a23-4e57-8b24-5a4685347690.md
new file mode 100644
index 0000000000000000000000000000000000000000..00bcc24f499b05423cd207f4d5c527a0c15f5ee4
--- /dev/null
+++ b/gap_reports/gap_4b989d0d-5a23-4e57-8b24-5a4685347690.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4b989d0d-5a23-4e57-8b24-5a4685347690.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4b989d0d-5a23-4e57-8b24-5a4685347690.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2569 |
+| Sim rows | 259 |
+| Real episode_id | `4b989d0d-5a23-4e57-8b24-5a4685347690` |
+| Sim episode_id | `4b989d0d-5a23-4e57-8b24-5a4685347690` |
+
+## 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 | 19 | 2.623 | 14.45 | 25.03 | 1945.50 | 0.6196 |
+| 1 | descend | 366 | 36 | 1.224 | 8.38 | 14.51 | 3624.71 | 0.7763 |
+| 2 | settle | 333 | 33 | 0.027 | 0.97 | 1.68 | 3624.55 | 0.7907 |
+| 3 | close | 145 | 15 | 1.166 | 7.89 | 13.67 | 3625.00 | 1.0347 |
+| 4 | lift | 354 | 35 | 2.534 | 14.47 | 25.07 | 2359.74 | 1.1090 |
+| 5 | move_xy | 331 | 33 | 5.146 | 30.90 | 53.52 | 2796.64 | 0.9539 |
+| 6 | lower | 361 | 36 | 0.094 | 1.69 | 2.92 | 3625.03 | 1.0995 |
+| 7 | open | 144 | 15 | 1.037 | 7.12 | 12.33 | 3624.74 | 0.7362 |
+| 8 | retract | 351 | 35 | 2.587 | 14.87 | 25.76 | 2377.58 | 0.7453 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.367 |
+| TCP position RMSE (mm, per-axis) | 14.07 |
+| EE position RMS L2 (mm) | 25.33 |
+| TCP rotvec (mrad) | 3136.23 |
+| W1 effort mean (A) | 0.8670 |
+| W1 effort per joint (A) | j0=0.2550, j1=1.6149, j2=1.7119, j3=0.7443, j4=0.2660, j5=0.6100 |
+
+## 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 | -0.00043 | -0.00069 | 0.00112 | 0.030 |
+| 1 | 0.00074 | -0.00087 | -0.00123 | 0.00168 | 0.058 |
+| 2 | 0.00078 | -0.00088 | -0.00118 | 0.00167 | 0.054 |
+| 3 | 0.00136 | -0.00062 | -0.00130 | 0.00198 | 0.103 |
+| 4 | 0.00042 | -0.00002 | -0.00008 | 0.00043 | 0.122 |
+| 5 | 0.00219 | -0.00129 | -0.00173 | 0.00307 | 0.178 |
+| 6 | 0.00213 | -0.00126 | -0.00173 | 0.00302 | 0.180 |
+| 7 | 0.00058 | -0.00052 | -0.00103 | 0.00129 | 0.062 |
+| 8 | -0.00011 | -0.00015 | -0.00017 | 0.00025 | 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.
diff --git a/gap_reports/gap_4b9e3137-9ec8-429b-bd2c-bc43b77b5d8a.md b/gap_reports/gap_4b9e3137-9ec8-429b-bd2c-bc43b77b5d8a.md
new file mode 100644
index 0000000000000000000000000000000000000000..11523371aa3a3084a5f44d5b8536b96bcc6c47fa
--- /dev/null
+++ b/gap_reports/gap_4b9e3137-9ec8-429b-bd2c-bc43b77b5d8a.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4b9e3137-9ec8-429b-bd2c-bc43b77b5d8a.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4b9e3137-9ec8-429b-bd2c-bc43b77b5d8a.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1579 |
+| Sim rows | 159 |
+| Real episode_id | `4b9e3137-9ec8-429b-bd2c-bc43b77b5d8a` |
+| Sim episode_id | `4b9e3137-9ec8-429b-bd2c-bc43b77b5d8a` |
+
+## 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 | 175 | 18 | 2.842 | 13.08 | 22.65 | 358.97 | 0.7245 |
+| 1 | descend | 90 | 9 | 3.594 | 4.66 | 8.07 | 139.98 | 0.7321 |
+| 2 | settle | 21 | 3 | 3.506 | 3.14 | 5.43 | 140.24 | 0.7506 |
+| 3 | close | 314 | 31 | 3.507 | 3.79 | 6.56 | 141.72 | 1.1035 |
+| 4 | lift | 91 | 10 | 3.591 | 5.03 | 8.71 | 141.40 | 1.3334 |
+| 5 | move_xy | 235 | 23 | 6.812 | 39.24 | 67.97 | 279.30 | 1.2609 |
+| 6 | lower | 90 | 9 | 4.743 | 3.62 | 6.27 | 186.92 | 1.3394 |
+| 7 | open | 263 | 26 | 4.674 | 2.31 | 4.00 | 185.19 | 0.7960 |
+| 8 | retract | 90 | 9 | 4.745 | 4.03 | 6.97 | 185.11 | 0.8197 |
+| 9 | return | 210 | 21 | 4.338 | 24.23 | 41.96 | 858.61 | 0.7916 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 4.365 |
+| TCP position RMSE (mm, per-axis) | 15.50 |
+| EE position RMS L2 (mm) | 31.68 |
+| TCP rotvec (mrad) | 335.70 |
+| W1 effort mean (A) | 0.9585 |
+| W1 effort per joint (A) | j0=0.2165, j1=1.9455, j2=1.6257, j3=0.8313, j4=0.3237, j5=0.8080 |
+
+## 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 | -0.00469 | -0.00090 | 0.00504 | 8.668 |
+| 1 | 0.00205 | -0.00492 | -0.00100 | 0.00542 | 8.586 |
+| 2 | 0.00205 | -0.00491 | -0.00115 | 0.00545 | 8.587 |
+| 3 | 0.00293 | -0.00514 | -0.00298 | 0.00662 | 8.580 |
+| 4 | 0.00237 | -0.00521 | -0.00218 | 0.00613 | 8.645 |
+| 5 | 0.00318 | -0.00251 | -0.00261 | 0.00482 | 11.554 |
+| 6 | 0.00322 | -0.00193 | -0.00202 | 0.00426 | 11.452 |
+| 7 | 0.00281 | -0.00282 | -0.00048 | 0.00401 | 11.447 |
+| 8 | 0.00283 | -0.00300 | -0.00074 | 0.00419 | 11.546 |
+| 9 | -0.00002 | -0.00017 | -0.00034 | 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.
diff --git a/gap_reports/gap_4bb2ae86-aae5-46cf-84ee-79e5c831c024.md b/gap_reports/gap_4bb2ae86-aae5-46cf-84ee-79e5c831c024.md
new file mode 100644
index 0000000000000000000000000000000000000000..fabfb1f066e5baf725898e05472396113a0952f9
--- /dev/null
+++ b/gap_reports/gap_4bb2ae86-aae5-46cf-84ee-79e5c831c024.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4bb2ae86-aae5-46cf-84ee-79e5c831c024.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4bb2ae86-aae5-46cf-84ee-79e5c831c024.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2478 |
+| Sim rows | 221 |
+| Real episode_id | `4bb2ae86-aae5-46cf-84ee-79e5c831c024` |
+| Sim episode_id | `4bb2ae86-aae5-46cf-84ee-79e5c831c024` |
+
+## 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 | 212 | 19 | 3.140 | 13.32 | 23.07 | 1960.57 | 0.5953 |
+| 1 | descend | 257 | 23 | 1.113 | 7.38 | 12.79 | 3625.45 | 0.7234 |
+| 2 | settle | 384 | 34 | 0.023 | 0.76 | 1.31 | 3625.30 | 0.6067 |
+| 3 | close | 114 | 11 | 0.610 | 4.06 | 7.04 | 3625.80 | 0.9347 |
+| 4 | lift | 337 | 29 | 3.633 | 16.69 | 28.91 | 2243.46 | 1.1250 |
+| 5 | move_xy | 347 | 30 | 8.317 | 39.78 | 68.89 | 2531.09 | 0.8699 |
+| 6 | lower | 378 | 33 | 0.085 | 1.40 | 2.42 | 3351.60 | 0.9756 |
+| 7 | open | 114 | 11 | 0.643 | 4.17 | 7.22 | 3625.46 | 0.6615 |
+| 8 | retract | 335 | 29 | 3.617 | 16.63 | 28.80 | 2433.97 | 0.7342 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.454 |
+| TCP position RMSE (mm, per-axis) | 16.35 |
+| EE position RMS L2 (mm) | 30.96 |
+| TCP rotvec (mrad) | 3073.50 |
+| W1 effort mean (A) | 0.7961 |
+| W1 effort per joint (A) | j0=0.2232, j1=1.2971, j2=1.5278, j3=0.7973, j4=0.2988, j5=0.6324 |
+
+## 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 | -0.00026 | -0.00055 | 0.00105 | 0.031 |
+| 1 | 0.00084 | -0.00052 | -0.00089 | 0.00133 | 0.044 |
+| 2 | 0.00082 | -0.00051 | -0.00088 | 0.00131 | 0.042 |
+| 3 | 0.00154 | -0.00020 | -0.00131 | 0.00203 | 0.097 |
+| 4 | 0.00013 | -0.00040 | -0.00049 | 0.00065 | 0.088 |
+| 5 | 0.00159 | -0.00076 | -0.00102 | 0.00203 | 0.104 |
+| 6 | 0.00161 | -0.00061 | -0.00108 | 0.00203 | 0.110 |
+| 7 | 0.00062 | -0.00026 | -0.00070 | 0.00097 | 0.037 |
+| 8 | -0.00012 | -0.00019 | -0.00020 | 0.00030 | 0.031 |
+
+## 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.
diff --git a/gap_reports/gap_4bbcfd5c-96ab-49e5-a750-247086951374.md b/gap_reports/gap_4bbcfd5c-96ab-49e5-a750-247086951374.md
new file mode 100644
index 0000000000000000000000000000000000000000..1a26541b68f1fa804e1389ce9202f499db4b9660
--- /dev/null
+++ b/gap_reports/gap_4bbcfd5c-96ab-49e5-a750-247086951374.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4bbcfd5c-96ab-49e5-a750-247086951374.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4bbcfd5c-96ab-49e5-a750-247086951374.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2760 |
+| Sim rows | 245 |
+| Real episode_id | `4bbcfd5c-96ab-49e5-a750-247086951374` |
+| Sim episode_id | `4bbcfd5c-96ab-49e5-a750-247086951374` |
+
+## 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 | 210 | 19 | 3.439 | 14.78 | 25.60 | 1985.73 | 0.5938 |
+| 1 | descend | 443 | 39 | 1.337 | 8.73 | 15.12 | 3625.34 | 0.7149 |
+| 2 | settle | 359 | 31 | 0.026 | 0.83 | 1.44 | 3599.95 | 0.7119 |
+| 3 | close | 125 | 11 | 0.862 | 5.48 | 9.49 | 3178.52 | 0.9944 |
+| 4 | lift | 361 | 32 | 3.488 | 16.16 | 27.98 | 2309.97 | 1.1075 |
+| 5 | move_xy | 374 | 33 | 8.269 | 40.44 | 70.05 | 2551.60 | 0.8871 |
+| 6 | lower | 403 | 35 | 0.085 | 1.44 | 2.49 | 3554.19 | 0.9081 |
+| 7 | open | 124 | 11 | 0.966 | 6.11 | 10.59 | 3625.52 | 0.6214 |
+| 8 | retract | 361 | 32 | 3.538 | 16.53 | 28.63 | 2428.62 | 0.7365 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.470 |
+| TCP position RMSE (mm, per-axis) | 16.78 |
+| EE position RMS L2 (mm) | 31.17 |
+| TCP rotvec (mrad) | 3049.05 |
+| W1 effort mean (A) | 0.7974 |
+| W1 effort per joint (A) | j0=0.3090, j1=1.3002, j2=1.4785, j3=0.6897, j4=0.4011, 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 | 0.00081 | -0.00019 | -0.00058 | 0.00102 | 0.034 |
+| 1 | 0.00090 | -0.00059 | -0.00089 | 0.00139 | 0.034 |
+| 2 | 0.00086 | -0.00058 | -0.00098 | 0.00143 | 0.048 |
+| 3 | 0.00130 | -0.00026 | -0.00109 | 0.00172 | 0.115 |
+| 4 | 0.00048 | 0.00006 | -0.00001 | 0.00048 | 0.122 |
+| 5 | 0.00161 | -0.00083 | -0.00143 | 0.00231 | 0.124 |
+| 6 | 0.00204 | -0.00077 | -0.00225 | 0.00313 | 0.169 |
+| 7 | 0.00063 | -0.00027 | -0.00071 | 0.00099 | 0.045 |
+| 8 | -0.00012 | -0.00018 | -0.00019 | 0.00029 | 0.029 |
+
+## 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.
diff --git a/gap_reports/gap_4bed6c15-48c7-4f5f-ae40-c5b9c716013b.md b/gap_reports/gap_4bed6c15-48c7-4f5f-ae40-c5b9c716013b.md
new file mode 100644
index 0000000000000000000000000000000000000000..448e97d54e70fbd536338f429335dc623ce70f02
--- /dev/null
+++ b/gap_reports/gap_4bed6c15-48c7-4f5f-ae40-c5b9c716013b.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4bed6c15-48c7-4f5f-ae40-c5b9c716013b.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4bed6c15-48c7-4f5f-ae40-c5b9c716013b.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2832 |
+| Sim rows | 250 |
+| Real episode_id | `4bed6c15-48c7-4f5f-ae40-c5b9c716013b` |
+| Sim episode_id | `4bed6c15-48c7-4f5f-ae40-c5b9c716013b` |
+
+## 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 | 19 | 2.771 | 10.12 | 17.53 | 1804.24 | 0.5914 |
+| 1 | descend | 428 | 37 | 0.954 | 5.67 | 9.82 | 3626.02 | 0.6664 |
+| 2 | settle | 378 | 33 | 0.024 | 0.68 | 1.18 | 3533.65 | 0.6927 |
+| 3 | close | 194 | 17 | 1.138 | 6.65 | 11.53 | 1661.36 | 0.9276 |
+| 4 | lift | 345 | 30 | 3.327 | 13.70 | 23.73 | 1914.05 | 1.0888 |
+| 5 | move_xy | 355 | 31 | 7.862 | 34.21 | 59.26 | 2018.91 | 0.8294 |
+| 6 | lower | 394 | 34 | 0.081 | 1.21 | 2.10 | 1500.30 | 0.8783 |
+| 7 | open | 193 | 17 | 1.120 | 6.21 | 10.76 | 3626.19 | 0.5932 |
+| 8 | retract | 339 | 30 | 3.373 | 13.96 | 24.18 | 2419.97 | 0.7181 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.256 |
+| TCP position RMSE (mm, per-axis) | 14.03 |
+| EE position RMS L2 (mm) | 25.17 |
+| TCP rotvec (mrad) | 2595.85 |
+| W1 effort mean (A) | 0.7570 |
+| W1 effort per joint (A) | j0=0.2739, j1=1.1669, j2=1.4493, j3=0.6907, j4=0.3845, j5=0.5766 |
+
+## 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 | 0.00063 | -0.00014 | -0.00041 | 0.00076 | 0.046 |
+| 1 | 0.00066 | -0.00059 | -0.00066 | 0.00110 | 0.026 |
+| 2 | 0.00067 | -0.00056 | -0.00076 | 0.00116 | 0.040 |
+| 3 | 0.00145 | -0.00003 | -0.00095 | 0.00174 | 0.133 |
+| 4 | 0.00033 | -0.00008 | -0.00013 | 0.00036 | 0.082 |
+| 5 | 0.00156 | -0.00065 | -0.00087 | 0.00190 | 0.124 |
+| 6 | 0.00177 | -0.00076 | -0.00132 | 0.00233 | 0.151 |
+| 7 | 0.00054 | -0.00025 | -0.00054 | 0.00080 | 0.045 |
+| 8 | -0.00010 | -0.00015 | -0.00018 | 0.00025 | 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.
diff --git a/gap_reports/gap_4c0921e2-db93-4cac-8c5f-2e8bc8b09d26.md b/gap_reports/gap_4c0921e2-db93-4cac-8c5f-2e8bc8b09d26.md
new file mode 100644
index 0000000000000000000000000000000000000000..010547416ce70048b5e155c46c6f6ce7d12fb29d
--- /dev/null
+++ b/gap_reports/gap_4c0921e2-db93-4cac-8c5f-2e8bc8b09d26.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4c0921e2-db93-4cac-8c5f-2e8bc8b09d26.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4c0921e2-db93-4cac-8c5f-2e8bc8b09d26.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 3355 |
+| Sim rows | 293 |
+| Real episode_id | `4c0921e2-db93-4cac-8c5f-2e8bc8b09d26` |
+| Sim episode_id | `4c0921e2-db93-4cac-8c5f-2e8bc8b09d26` |
+
+## 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 | 182 | 16 | 2.745 | 11.27 | 19.52 | 3.06 | 0.6065 |
+| 1 | descend | 852 | 73 | 0.379 | 2.60 | 4.50 | 4.47 | 0.7138 |
+| 2 | settle | 384 | 34 | 0.027 | 0.94 | 1.63 | 4.65 | 0.6633 |
+| 3 | close | 172 | 15 | 0.975 | 6.27 | 10.86 | 6.25 | 0.9513 |
+| 4 | lift | 432 | 37 | 3.198 | 14.69 | 25.45 | 4.15 | 1.0711 |
+| 5 | move_xy | 347 | 30 | 7.756 | 39.31 | 68.09 | 5.20 | 0.9208 |
+| 6 | lower | 385 | 34 | 0.096 | 1.66 | 2.87 | 7.18 | 1.0097 |
+| 7 | open | 171 | 15 | 0.929 | 5.92 | 10.26 | 4.59 | 0.6336 |
+| 8 | retract | 430 | 37 | 3.300 | 15.23 | 26.38 | 3.23 | 0.7223 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.176 |
+| TCP position RMSE (mm, per-axis) | 15.65 |
+| EE position RMS L2 (mm) | 26.28 |
+| TCP rotvec (mrad) | 4.91 |
+| W1 effort mean (A) | 0.7798 |
+| W1 effort per joint (A) | j0=0.2958, j1=1.3448, j2=1.5224, j3=0.6205, j4=0.3631, j5=0.5325 |
+
+## 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 | -0.00046 | -0.00067 | 0.00119 | 0.041 |
+| 1 | 0.00092 | -0.00089 | -0.00100 | 0.00162 | 0.043 |
+| 2 | 0.00090 | -0.00090 | -0.00100 | 0.00162 | 0.049 |
+| 3 | 0.00121 | -0.00074 | -0.00128 | 0.00191 | 0.131 |
+| 4 | 0.00010 | -0.00031 | -0.00034 | 0.00047 | 0.099 |
+| 5 | 0.00178 | -0.00114 | -0.00189 | 0.00284 | 0.121 |
+| 6 | 0.00195 | -0.00111 | -0.00150 | 0.00270 | 0.131 |
+| 7 | 0.00074 | -0.00063 | -0.00071 | 0.00121 | 0.048 |
+| 8 | -0.00008 | -0.00008 | -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.
diff --git a/gap_reports/gap_4c1dc1d4-ec7a-4f91-9074-db25386900fd.md b/gap_reports/gap_4c1dc1d4-ec7a-4f91-9074-db25386900fd.md
new file mode 100644
index 0000000000000000000000000000000000000000..ef4f99a204dc59de4411f4274d1bec919eeae776
--- /dev/null
+++ b/gap_reports/gap_4c1dc1d4-ec7a-4f91-9074-db25386900fd.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4c1dc1d4-ec7a-4f91-9074-db25386900fd.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4c1dc1d4-ec7a-4f91-9074-db25386900fd.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1618 |
+| Sim rows | 165 |
+| Real episode_id | `4c1dc1d4-ec7a-4f91-9074-db25386900fd` |
+| Sim episode_id | `4c1dc1d4-ec7a-4f91-9074-db25386900fd` |
+
+## 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 | 147 | 15 | 6.321 | 6.76 | 11.71 | 844.16 | 0.6159 |
+| 1 | descend | 79 | 8 | 12.440 | 3.79 | 6.56 | 482.95 | 0.6509 |
+| 2 | settle | 18 | 3 | 12.416 | 2.65 | 4.59 | 483.50 | 0.6493 |
+| 3 | close | 367 | 36 | 12.417 | 2.72 | 4.71 | 484.61 | 1.0643 |
+| 4 | lift | 80 | 9 | 12.434 | 3.55 | 6.15 | 483.93 | 1.2134 |
+| 5 | move_xy | 167 | 17 | 6.568 | 7.40 | 12.82 | 237.52 | 1.2193 |
+| 6 | lower | 80 | 9 | 0.744 | 4.77 | 8.26 | 8.69 | 1.1504 |
+| 7 | open | 366 | 36 | 0.022 | 2.71 | 4.69 | 5.30 | 0.6611 |
+| 8 | retract | 78 | 8 | 0.523 | 3.58 | 6.20 | 4.76 | 0.7514 |
+| 9 | return | 236 | 24 | 2.367 | 12.27 | 21.25 | 857.09 | 0.7161 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 8.410 |
+| TCP position RMSE (mm, per-axis) | 5.79 |
+| EE position RMS L2 (mm) | 10.71 |
+| TCP rotvec (mrad) | 493.94 |
+| W1 effort mean (A) | 0.8422 |
+| W1 effort per joint (A) | j0=0.1162, j1=1.4264, j2=1.5428, j3=0.8057, j4=0.3935, j5=0.7687 |
+
+## 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 | 0.00142 | -0.00399 | -0.00004 | 0.00424 | 30.439 |
+| 1 | 0.00200 | -0.00414 | 0.00005 | 0.00460 | 30.413 |
+| 2 | 0.00197 | -0.00416 | -0.00004 | 0.00461 | 30.413 |
+| 3 | 0.00281 | -0.00353 | -0.00156 | 0.00477 | 30.413 |
+| 4 | 0.00213 | -0.00367 | -0.00154 | 0.00452 | 30.415 |
+| 5 | 0.00211 | -0.00335 | -0.00294 | 0.00494 | 0.265 |
+| 6 | 0.00268 | -0.00295 | -0.00292 | 0.00494 | 0.249 |
+| 7 | 0.00244 | -0.00396 | -0.00070 | 0.00471 | 0.050 |
+| 8 | 0.00196 | -0.00386 | -0.00085 | 0.00442 | 0.055 |
+| 9 | -0.00009 | -0.00013 | -0.00029 | 0.00033 | 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.
diff --git a/gap_reports/gap_4c339826-d78e-4685-89a0-f77d55314b67.md b/gap_reports/gap_4c339826-d78e-4685-89a0-f77d55314b67.md
new file mode 100644
index 0000000000000000000000000000000000000000..fa3db3b3e28f2752a2bb997a0faa3458e6dbc4f4
--- /dev/null
+++ b/gap_reports/gap_4c339826-d78e-4685-89a0-f77d55314b67.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4c339826-d78e-4685-89a0-f77d55314b67.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4c339826-d78e-4685-89a0-f77d55314b67.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 3350 |
+| Sim rows | 292 |
+| Real episode_id | `4c339826-d78e-4685-89a0-f77d55314b67` |
+| Sim episode_id | `4c339826-d78e-4685-89a0-f77d55314b67` |
+
+## 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 | 182 | 16 | 2.768 | 11.47 | 19.87 | 3.04 | 0.6072 |
+| 1 | descend | 851 | 73 | 0.376 | 2.60 | 4.50 | 4.46 | 0.7234 |
+| 2 | settle | 385 | 33 | 0.026 | 0.95 | 1.65 | 4.63 | 0.7084 |
+| 3 | close | 172 | 15 | 0.967 | 6.29 | 10.90 | 6.57 | 0.9174 |
+| 4 | lift | 429 | 37 | 3.295 | 15.07 | 26.09 | 4.34 | 1.1227 |
+| 5 | move_xy | 346 | 30 | 6.452 | 33.48 | 57.98 | 5.23 | 0.9140 |
+| 6 | lower | 384 | 34 | 0.091 | 1.59 | 2.75 | 6.72 | 0.9873 |
+| 7 | open | 171 | 15 | 1.017 | 6.49 | 11.23 | 4.67 | 0.6381 |
+| 8 | retract | 430 | 37 | 3.238 | 14.94 | 25.87 | 3.20 | 0.7244 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.843 |
+| TCP position RMSE (mm, per-axis) | 14.12 |
+| EE position RMS L2 (mm) | 23.68 |
+| TCP rotvec (mrad) | 4.91 |
+| W1 effort mean (A) | 0.7862 |
+| W1 effort per joint (A) | j0=0.2920, j1=1.3570, j2=1.5251, j3=0.6408, j4=0.3491, j5=0.5533 |
+
+## 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 | 0.00090 | -0.00050 | -0.00065 | 0.00122 | 0.040 |
+| 1 | 0.00092 | -0.00091 | -0.00101 | 0.00165 | 0.047 |
+| 2 | 0.00093 | -0.00093 | -0.00098 | 0.00164 | 0.045 |
+| 3 | 0.00128 | -0.00072 | -0.00084 | 0.00169 | 0.093 |
+| 4 | 0.00056 | -0.00011 | -0.00027 | 0.00063 | 0.165 |
+| 5 | 0.00196 | -0.00132 | -0.00316 | 0.00395 | 0.271 |
+| 6 | 0.00180 | -0.00119 | -0.00131 | 0.00253 | 0.116 |
+| 7 | 0.00077 | -0.00064 | -0.00075 | 0.00125 | 0.052 |
+| 8 | -0.00007 | -0.00010 | -0.00012 | 0.00017 | 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.
diff --git a/gap_reports/gap_4c3aad5a-1920-4d3c-af56-986d39480101.md b/gap_reports/gap_4c3aad5a-1920-4d3c-af56-986d39480101.md
new file mode 100644
index 0000000000000000000000000000000000000000..ef56c4c4d351f7ee090c02b7a4af9760efde70cd
--- /dev/null
+++ b/gap_reports/gap_4c3aad5a-1920-4d3c-af56-986d39480101.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4c3aad5a-1920-4d3c-af56-986d39480101.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4c3aad5a-1920-4d3c-af56-986d39480101.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2812 |
+| Sim rows | 246 |
+| Real episode_id | `4c3aad5a-1920-4d3c-af56-986d39480101` |
+| Sim episode_id | `4c3aad5a-1920-4d3c-af56-986d39480101` |
+
+## 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 | 22 | 3.207 | 12.59 | 21.80 | 1918.65 | 0.5787 |
+| 1 | descend | 277 | 24 | 1.378 | 8.16 | 14.13 | 3626.01 | 0.6852 |
+| 2 | settle | 393 | 34 | 0.023 | 0.60 | 1.04 | 3626.00 | 0.6294 |
+| 3 | close | 135 | 12 | 0.974 | 5.59 | 9.69 | 1405.88 | 0.8999 |
+| 4 | lift | 382 | 33 | 3.168 | 12.75 | 22.08 | 2063.44 | 1.0972 |
+| 5 | move_xy | 477 | 41 | 7.087 | 32.25 | 55.87 | 2081.43 | 0.8824 |
+| 6 | lower | 381 | 33 | 0.078 | 1.09 | 1.89 | 1810.06 | 0.9746 |
+| 7 | open | 136 | 12 | 1.103 | 6.40 | 11.08 | 3626.26 | 0.6172 |
+| 8 | retract | 381 | 33 | 3.425 | 13.99 | 24.23 | 2334.95 | 0.6893 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.097 |
+| TCP position RMSE (mm, per-axis) | 13.73 |
+| EE position RMS L2 (mm) | 27.35 |
+| TCP rotvec (mrad) | 2633.58 |
+| W1 effort mean (A) | 0.7735 |
+| W1 effort per joint (A) | j0=0.2524, j1=1.1545, j2=1.5176, j3=0.6947, j4=0.4231, j5=0.5987 |
+
+## 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 | 0.00040 | -0.00028 | -0.00050 | 0.00070 | 0.031 |
+| 1 | 0.00040 | -0.00053 | -0.00079 | 0.00103 | 0.038 |
+| 2 | 0.00040 | -0.00057 | -0.00072 | 0.00100 | 0.034 |
+| 3 | 0.00106 | -0.00029 | -0.00050 | 0.00121 | 0.109 |
+| 4 | -0.00005 | -0.00075 | -0.00078 | 0.00108 | 0.124 |
+| 5 | 0.00127 | -0.00069 | -0.00120 | 0.00187 | 0.138 |
+| 6 | 0.00103 | -0.00081 | -0.00094 | 0.00161 | 0.099 |
+| 7 | 0.00021 | -0.00030 | -0.00055 | 0.00066 | 0.033 |
+| 8 | -0.00007 | -0.00009 | -0.00013 | 0.00017 | 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.
diff --git a/gap_reports/gap_4c41a6eb-511d-44d8-8dfa-bd5d68debf09.md b/gap_reports/gap_4c41a6eb-511d-44d8-8dfa-bd5d68debf09.md
new file mode 100644
index 0000000000000000000000000000000000000000..937a2fef5c40b478ea0b197f18f4846775756b78
--- /dev/null
+++ b/gap_reports/gap_4c41a6eb-511d-44d8-8dfa-bd5d68debf09.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4c41a6eb-511d-44d8-8dfa-bd5d68debf09.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4c41a6eb-511d-44d8-8dfa-bd5d68debf09.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2824 |
+| Sim rows | 250 |
+| Real episode_id | `4c41a6eb-511d-44d8-8dfa-bd5d68debf09` |
+| Sim episode_id | `4c41a6eb-511d-44d8-8dfa-bd5d68debf09` |
+
+## 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 | 230 | 20 | 3.522 | 17.36 | 30.07 | 1882.02 | 0.6297 |
+| 1 | descend | 381 | 33 | 1.073 | 7.69 | 13.33 | 3624.71 | 0.7152 |
+| 2 | settle | 375 | 33 | 0.025 | 1.00 | 1.73 | 3624.59 | 0.7187 |
+| 3 | close | 156 | 14 | 0.753 | 5.21 | 9.03 | 3435.44 | 1.0462 |
+| 4 | lift | 387 | 34 | 3.011 | 15.93 | 27.59 | 2374.42 | 1.1330 |
+| 5 | move_xy | 374 | 33 | 7.327 | 40.10 | 69.45 | 2709.85 | 0.9030 |
+| 6 | lower | 378 | 33 | 0.092 | 1.76 | 3.05 | 3625.05 | 1.0628 |
+| 7 | open | 157 | 14 | 0.712 | 4.89 | 8.47 | 3624.72 | 0.7502 |
+| 8 | retract | 386 | 34 | 3.017 | 16.01 | 27.74 | 2384.27 | 0.7567 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.100 |
+| TCP position RMSE (mm, per-axis) | 16.78 |
+| EE position RMS L2 (mm) | 30.92 |
+| TCP rotvec (mrad) | 3101.36 |
+| W1 effort mean (A) | 0.8391 |
+| W1 effort per joint (A) | j0=0.2313, j1=1.5959, j2=1.5772, j3=0.7558, j4=0.3008, j5=0.5735 |
+
+## 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 | 0.00109 | -0.00026 | -0.00072 | 0.00134 | 0.033 |
+| 1 | 0.00112 | -0.00066 | -0.00117 | 0.00175 | 0.054 |
+| 2 | 0.00110 | -0.00067 | -0.00113 | 0.00171 | 0.053 |
+| 3 | 0.00216 | -0.00023 | -0.00086 | 0.00233 | 0.160 |
+| 4 | 0.00007 | -0.00058 | -0.00072 | 0.00092 | 0.095 |
+| 5 | 0.00223 | -0.00087 | -0.00269 | 0.00360 | 0.203 |
+| 6 | 0.00212 | -0.00094 | -0.00148 | 0.00275 | 0.125 |
+| 7 | 0.00102 | -0.00032 | -0.00097 | 0.00144 | 0.042 |
+| 8 | -0.00011 | -0.00017 | -0.00018 | 0.00027 | 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.
diff --git a/gap_reports/gap_4c45c8bc-c5b2-4350-b627-c3a71728c1c7.md b/gap_reports/gap_4c45c8bc-c5b2-4350-b627-c3a71728c1c7.md
new file mode 100644
index 0000000000000000000000000000000000000000..3bd6c956daa29992a53c3eab1fe04fecd3adb018
--- /dev/null
+++ b/gap_reports/gap_4c45c8bc-c5b2-4350-b627-c3a71728c1c7.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4c45c8bc-c5b2-4350-b627-c3a71728c1c7.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4c45c8bc-c5b2-4350-b627-c3a71728c1c7.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2906 |
+| Sim rows | 259 |
+| Real episode_id | `4c45c8bc-c5b2-4350-b627-c3a71728c1c7` |
+| Sim episode_id | `4c45c8bc-c5b2-4350-b627-c3a71728c1c7` |
+
+## 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 | 231 | 21 | 3.642 | 17.16 | 29.72 | 1893.07 | 0.6345 |
+| 1 | descend | 339 | 30 | 1.013 | 7.20 | 12.46 | 3624.75 | 0.7606 |
+| 2 | settle | 361 | 32 | 0.027 | 1.01 | 1.75 | 3624.57 | 0.7139 |
+| 3 | close | 133 | 12 | 0.948 | 6.69 | 11.59 | 3625.09 | 1.0711 |
+| 4 | lift | 447 | 39 | 3.415 | 17.81 | 30.85 | 2514.34 | 1.1554 |
+| 5 | move_xy | 405 | 36 | 7.837 | 43.08 | 74.61 | 2773.03 | 0.9563 |
+| 6 | lower | 407 | 36 | 0.094 | 1.78 | 3.09 | 3625.02 | 1.0597 |
+| 7 | open | 132 | 12 | 0.802 | 5.65 | 9.78 | 3624.74 | 0.7707 |
+| 8 | retract | 451 | 39 | 3.327 | 17.49 | 30.29 | 2485.24 | 0.7534 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.333 |
+| TCP position RMSE (mm, per-axis) | 17.97 |
+| EE position RMS L2 (mm) | 34.13 |
+| TCP rotvec (mrad) | 3152.93 |
+| W1 effort mean (A) | 0.8656 |
+| W1 effort per joint (A) | j0=0.2549, j1=1.5753, j2=1.6268, j3=0.7542, j4=0.3296, j5=0.6531 |
+
+## 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 | 0.00106 | -0.00020 | -0.00075 | 0.00131 | 0.034 |
+| 1 | 0.00111 | -0.00065 | -0.00120 | 0.00176 | 0.062 |
+| 2 | 0.00112 | -0.00065 | -0.00119 | 0.00176 | 0.058 |
+| 3 | 0.00155 | -0.00038 | -0.00069 | 0.00174 | 0.090 |
+| 4 | 0.00012 | -0.00028 | -0.00025 | 0.00039 | 0.089 |
+| 5 | 0.00193 | -0.00098 | -0.00088 | 0.00233 | 0.117 |
+| 6 | 0.00217 | -0.00092 | -0.00114 | 0.00262 | 0.128 |
+| 7 | 0.00088 | -0.00028 | -0.00096 | 0.00133 | 0.062 |
+| 8 | -0.00008 | -0.00012 | -0.00015 | 0.00021 | 0.020 |
+
+## 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.
diff --git a/gap_reports/gap_4c63b0d7-d799-41c4-8f9a-51265e37b68f.md b/gap_reports/gap_4c63b0d7-d799-41c4-8f9a-51265e37b68f.md
new file mode 100644
index 0000000000000000000000000000000000000000..3a9b7effb154d8efccc531665f58bd3bfe4ccee4
--- /dev/null
+++ b/gap_reports/gap_4c63b0d7-d799-41c4-8f9a-51265e37b68f.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4c63b0d7-d799-41c4-8f9a-51265e37b68f.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4c63b0d7-d799-41c4-8f9a-51265e37b68f.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 3083 |
+| Sim rows | 272 |
+| Real episode_id | `4c63b0d7-d799-41c4-8f9a-51265e37b68f` |
+| Sim episode_id | `4c63b0d7-d799-41c4-8f9a-51265e37b68f` |
+
+## 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 | 227 | 20 | 2.961 | 13.07 | 22.63 | 1939.96 | 0.5880 |
+| 1 | descend | 722 | 62 | 0.608 | 3.96 | 6.87 | 3625.44 | 0.7001 |
+| 2 | settle | 408 | 35 | 0.022 | 0.75 | 1.31 | 3625.25 | 0.6785 |
+| 3 | close | 149 | 14 | 0.910 | 5.92 | 10.25 | 3021.52 | 0.9668 |
+| 4 | lift | 293 | 26 | 3.085 | 14.40 | 24.95 | 2433.63 | 1.1071 |
+| 5 | move_xy | 433 | 38 | 7.271 | 37.11 | 64.27 | 2631.81 | 0.8938 |
+| 6 | lower | 409 | 35 | 0.084 | 1.35 | 2.33 | 3554.31 | 1.0496 |
+| 7 | open | 150 | 14 | 0.835 | 5.29 | 9.17 | 3625.41 | 0.7022 |
+| 8 | retract | 292 | 26 | 2.878 | 13.44 | 23.29 | 2428.33 | 0.7339 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.006 |
+| TCP position RMSE (mm, per-axis) | 14.97 |
+| EE position RMS L2 (mm) | 27.38 |
+| TCP rotvec (mrad) | 3049.62 |
+| W1 effort mean (A) | 0.7925 |
+| W1 effort per joint (A) | j0=0.2238, j1=1.3246, j2=1.6352, j3=0.7649, j4=0.2675, j5=0.5390 |
+
+## 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 | -0.00020 | -0.00073 | 0.00097 | 0.045 |
+| 1 | 0.00061 | -0.00063 | -0.00099 | 0.00132 | 0.046 |
+| 2 | 0.00063 | -0.00066 | -0.00094 | 0.00131 | 0.045 |
+| 3 | 0.00115 | -0.00022 | -0.00086 | 0.00145 | 0.098 |
+| 4 | 0.00023 | -0.00014 | -0.00026 | 0.00037 | 0.066 |
+| 5 | 0.00132 | -0.00101 | -0.00125 | 0.00208 | 0.104 |
+| 6 | 0.00139 | -0.00099 | -0.00111 | 0.00204 | 0.110 |
+| 7 | 0.00046 | -0.00034 | -0.00079 | 0.00097 | 0.056 |
+| 8 | -0.00011 | -0.00018 | -0.00020 | 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.
diff --git a/gap_reports/gap_4c823372-6954-4a9d-9648-eb5a6e35c0c1.md b/gap_reports/gap_4c823372-6954-4a9d-9648-eb5a6e35c0c1.md
new file mode 100644
index 0000000000000000000000000000000000000000..8d8499e5417e9e45d9921ac30c5d04dfea69ff26
--- /dev/null
+++ b/gap_reports/gap_4c823372-6954-4a9d-9648-eb5a6e35c0c1.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4c823372-6954-4a9d-9648-eb5a6e35c0c1.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4c823372-6954-4a9d-9648-eb5a6e35c0c1.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2754 |
+| Sim rows | 244 |
+| Real episode_id | `4c823372-6954-4a9d-9648-eb5a6e35c0c1` |
+| Sim episode_id | `4c823372-6954-4a9d-9648-eb5a6e35c0c1` |
+
+## 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 | 220 | 19 | 2.419 | 11.82 | 20.47 | 1985.66 | 0.5605 |
+| 1 | descend | 401 | 35 | 0.658 | 4.29 | 7.43 | 3625.35 | 0.6946 |
+| 2 | settle | 387 | 34 | 0.022 | 0.72 | 1.25 | 3625.23 | 0.7012 |
+| 3 | close | 175 | 16 | 0.782 | 5.10 | 8.83 | 3461.90 | 1.0133 |
+| 4 | lift | 290 | 25 | 2.354 | 11.70 | 20.26 | 2253.32 | 1.0948 |
+| 5 | move_xy | 415 | 36 | 5.335 | 29.05 | 50.31 | 2864.09 | 0.8884 |
+| 6 | lower | 398 | 35 | 0.086 | 1.31 | 2.27 | 3406.31 | 0.9902 |
+| 7 | open | 176 | 16 | 0.726 | 4.65 | 8.05 | 3625.47 | 0.6688 |
+| 8 | retract | 292 | 26 | 2.423 | 12.08 | 20.92 | 2275.16 | 0.7240 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.293 |
+| TCP position RMSE (mm, per-axis) | 12.18 |
+| EE position RMS L2 (mm) | 22.86 |
+| TCP rotvec (mrad) | 3080.71 |
+| W1 effort mean (A) | 0.7972 |
+| W1 effort per joint (A) | j0=0.2112, j1=1.3686, j2=1.5677, j3=0.7471, j4=0.3302, j5=0.5585 |
+
+## 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 | 0.00044 | -0.00042 | -0.00078 | 0.00099 | 0.042 |
+| 1 | 0.00041 | -0.00071 | -0.00099 | 0.00129 | 0.045 |
+| 2 | 0.00039 | -0.00072 | -0.00097 | 0.00127 | 0.043 |
+| 3 | 0.00099 | -0.00063 | -0.00121 | 0.00168 | 0.112 |
+| 4 | -0.00007 | -0.00057 | -0.00057 | 0.00080 | 0.094 |
+| 5 | 0.00133 | -0.00111 | -0.00136 | 0.00220 | 0.133 |
+| 6 | 0.00128 | -0.00104 | -0.00115 | 0.00201 | 0.122 |
+| 7 | 0.00031 | -0.00046 | -0.00075 | 0.00094 | 0.039 |
+| 8 | -0.00010 | -0.00015 | -0.00016 | 0.00024 | 0.026 |
+
+## 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.
diff --git a/gap_reports/gap_4c85a026-c6af-43dc-ab3b-e52f5a13e2d2.md b/gap_reports/gap_4c85a026-c6af-43dc-ab3b-e52f5a13e2d2.md
new file mode 100644
index 0000000000000000000000000000000000000000..13a4156b03c747531b5bc341803dc8e4f20497bd
--- /dev/null
+++ b/gap_reports/gap_4c85a026-c6af-43dc-ab3b-e52f5a13e2d2.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4c85a026-c6af-43dc-ab3b-e52f5a13e2d2.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4c85a026-c6af-43dc-ab3b-e52f5a13e2d2.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2699 |
+| Sim rows | 238 |
+| Real episode_id | `4c85a026-c6af-43dc-ab3b-e52f5a13e2d2` |
+| Sim episode_id | `4c85a026-c6af-43dc-ab3b-e52f5a13e2d2` |
+
+## 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 | 3.210 | 14.33 | 24.82 | 1937.82 | 0.5916 |
+| 1 | descend | 317 | 28 | 1.350 | 8.74 | 15.14 | 3625.36 | 0.7055 |
+| 2 | settle | 378 | 33 | 0.025 | 0.77 | 1.34 | 3625.25 | 0.7429 |
+| 3 | close | 158 | 14 | 0.899 | 5.78 | 10.01 | 3123.20 | 1.0195 |
+| 4 | lift | 301 | 26 | 3.211 | 15.11 | 26.17 | 2391.82 | 1.1346 |
+| 5 | move_xy | 442 | 38 | 6.942 | 35.74 | 61.91 | 2759.58 | 0.9205 |
+| 6 | lower | 407 | 35 | 0.082 | 1.33 | 2.31 | 3625.76 | 1.0422 |
+| 7 | open | 161 | 15 | 1.115 | 6.94 | 12.02 | 3625.49 | 0.6634 |
+| 8 | retract | 297 | 26 | 3.116 | 14.68 | 25.42 | 2407.76 | 0.7495 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.026 |
+| TCP position RMSE (mm, per-axis) | 15.23 |
+| EE position RMS L2 (mm) | 29.53 |
+| TCP rotvec (mrad) | 3077.14 |
+| W1 effort mean (A) | 0.8268 |
+| W1 effort per joint (A) | j0=0.2244, j1=1.4052, j2=1.6353, j3=0.7445, j4=0.3508, j5=0.6006 |
+
+## 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 | 0.00063 | -0.00026 | -0.00068 | 0.00096 | 0.037 |
+| 1 | 0.00061 | -0.00062 | -0.00100 | 0.00133 | 0.047 |
+| 2 | 0.00066 | -0.00063 | -0.00098 | 0.00134 | 0.044 |
+| 3 | 0.00110 | -0.00040 | -0.00055 | 0.00129 | 0.110 |
+| 4 | 0.00026 | -0.00012 | -0.00005 | 0.00030 | 0.110 |
+| 5 | 0.00202 | -0.00103 | -0.00203 | 0.00305 | 0.201 |
+| 6 | 0.00198 | -0.00096 | -0.00134 | 0.00258 | 0.183 |
+| 7 | 0.00046 | -0.00035 | -0.00075 | 0.00094 | 0.045 |
+| 8 | -0.00011 | -0.00017 | -0.00021 | 0.00029 | 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.
diff --git a/gap_reports/gap_4c96703e-bc37-4d32-847d-17d37fc0dddf.md b/gap_reports/gap_4c96703e-bc37-4d32-847d-17d37fc0dddf.md
new file mode 100644
index 0000000000000000000000000000000000000000..0892b1933880407576bc26892ca2366270695584
--- /dev/null
+++ b/gap_reports/gap_4c96703e-bc37-4d32-847d-17d37fc0dddf.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4c96703e-bc37-4d32-847d-17d37fc0dddf.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4c96703e-bc37-4d32-847d-17d37fc0dddf.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2679 |
+| Sim rows | 240 |
+| Real episode_id | `4c96703e-bc37-4d32-847d-17d37fc0dddf` |
+| Sim episode_id | `4c96703e-bc37-4d32-847d-17d37fc0dddf` |
+
+## 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 | 191 | 17 | 2.350 | 9.31 | 16.13 | 1980.82 | 0.5590 |
+| 1 | descend | 440 | 39 | 0.965 | 5.78 | 10.00 | 3626.03 | 0.7334 |
+| 2 | settle | 382 | 33 | 0.022 | 0.57 | 0.98 | 3625.93 | 0.6659 |
+| 3 | close | 139 | 13 | 0.891 | 5.29 | 9.16 | 1204.68 | 0.9132 |
+| 4 | lift | 325 | 29 | 2.641 | 10.83 | 18.76 | 1838.59 | 1.1010 |
+| 5 | move_xy | 362 | 32 | 5.079 | 23.92 | 41.43 | 2255.50 | 0.8818 |
+| 6 | lower | 378 | 33 | 0.081 | 1.05 | 1.83 | 1573.36 | 0.9830 |
+| 7 | open | 138 | 13 | 0.937 | 5.39 | 9.34 | 3626.17 | 0.6024 |
+| 8 | retract | 324 | 29 | 2.613 | 10.74 | 18.61 | 2243.11 | 0.6905 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.303 |
+| TCP position RMSE (mm, per-axis) | 10.45 |
+| EE position RMS L2 (mm) | 19.00 |
+| TCP rotvec (mrad) | 2599.02 |
+| W1 effort mean (A) | 0.7772 |
+| W1 effort per joint (A) | j0=0.2418, j1=1.1419, j2=1.6110, j3=0.7046, j4=0.3744, j5=0.5896 |
+
+## 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 | 0.00014 | -0.00038 | -0.00046 | 0.00061 | 0.030 |
+| 1 | 0.00016 | -0.00059 | -0.00079 | 0.00100 | 0.038 |
+| 2 | 0.00016 | -0.00056 | -0.00078 | 0.00098 | 0.035 |
+| 3 | 0.00039 | -0.00048 | -0.00026 | 0.00067 | 0.105 |
+| 4 | 0.00025 | -0.00008 | -0.00039 | 0.00048 | 0.084 |
+| 5 | 0.00087 | -0.00081 | -0.00097 | 0.00153 | 0.104 |
+| 6 | 0.00135 | -0.00089 | -0.00241 | 0.00291 | 0.214 |
+| 7 | -0.00002 | -0.00036 | -0.00056 | 0.00067 | 0.041 |
+| 8 | -0.00008 | -0.00010 | -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.
diff --git a/gap_reports/gap_4cbbb803-3d24-4ece-bf0f-a8cd1092dba7.md b/gap_reports/gap_4cbbb803-3d24-4ece-bf0f-a8cd1092dba7.md
new file mode 100644
index 0000000000000000000000000000000000000000..b14f3a65241a12587e3a71392dbbebf749d2e0bb
--- /dev/null
+++ b/gap_reports/gap_4cbbb803-3d24-4ece-bf0f-a8cd1092dba7.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4cbbb803-3d24-4ece-bf0f-a8cd1092dba7.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4cbbb803-3d24-4ece-bf0f-a8cd1092dba7.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1645 |
+| Sim rows | 170 |
+| Real episode_id | `4cbbb803-3d24-4ece-bf0f-a8cd1092dba7` |
+| Sim episode_id | `4cbbb803-3d24-4ece-bf0f-a8cd1092dba7` |
+
+## 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 | 160 | 17 | 10.193 | 18.38 | 31.84 | 930.91 | 0.6765 |
+| 1 | descend | 82 | 9 | 17.539 | 4.06 | 7.02 | 676.85 | 0.8414 |
+| 2 | settle | 31 | 4 | 17.502 | 2.27 | 3.93 | 676.97 | 0.8317 |
+| 3 | close | 392 | 39 | 17.500 | 2.03 | 3.52 | 678.19 | 1.1873 |
+| 4 | lift | 80 | 9 | 17.539 | 4.37 | 7.58 | 678.09 | 1.3396 |
+| 5 | move_xy | 197 | 20 | 12.941 | 35.42 | 61.34 | 378.53 | 1.2531 |
+| 6 | lower | 81 | 9 | 1.023 | 4.92 | 8.53 | 6.77 | 1.1591 |
+| 7 | open | 366 | 36 | 0.047 | 2.90 | 5.02 | 4.86 | 0.5793 |
+| 8 | retract | 80 | 9 | 0.965 | 4.57 | 7.91 | 4.21 | 0.6550 |
+| 9 | return | 176 | 18 | 2.185 | 12.79 | 22.15 | 488.77 | 0.6783 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 12.272 |
+| TCP position RMSE (mm, per-axis) | 13.62 |
+| EE position RMS L2 (mm) | 24.95 |
+| TCP rotvec (mrad) | 555.43 |
+| W1 effort mean (A) | 0.8969 |
+| W1 effort per joint (A) | j0=0.1482, j1=1.6742, j2=1.5581, j3=0.8480, j4=0.1367, j5=1.0164 |
+
+## 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 | 0.00212 | -0.00333 | -0.00049 | 0.00398 | 42.960 |
+| 1 | 0.00244 | -0.00309 | -0.00012 | 0.00394 | 42.870 |
+| 2 | 0.00241 | -0.00308 | -0.00035 | 0.00393 | 42.872 |
+| 3 | 0.00272 | -0.00210 | -0.00076 | 0.00352 | 42.863 |
+| 4 | 0.00270 | -0.00247 | -0.00032 | 0.00368 | 42.964 |
+| 5 | 0.00213 | -0.00373 | -0.00093 | 0.00439 | 0.238 |
+| 6 | 0.00269 | -0.00421 | -0.00129 | 0.00516 | 0.173 |
+| 7 | 0.00194 | -0.00458 | -0.00066 | 0.00502 | 0.033 |
+| 8 | 0.00142 | -0.00409 | -0.00084 | 0.00441 | 0.063 |
+| 9 | -0.00017 | -0.00008 | -0.00023 | 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.
diff --git a/gap_reports/gap_4cbc748a-aadd-4f3f-a05f-de4ec73a0282.md b/gap_reports/gap_4cbc748a-aadd-4f3f-a05f-de4ec73a0282.md
new file mode 100644
index 0000000000000000000000000000000000000000..0ad8039e7f0178988c4d1cdf312cd73426baf9dd
--- /dev/null
+++ b/gap_reports/gap_4cbc748a-aadd-4f3f-a05f-de4ec73a0282.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4cbc748a-aadd-4f3f-a05f-de4ec73a0282.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4cbc748a-aadd-4f3f-a05f-de4ec73a0282.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2273 |
+| Sim rows | 228 |
+| Real episode_id | `4cbc748a-aadd-4f3f-a05f-de4ec73a0282` |
+| Sim episode_id | `4cbc748a-aadd-4f3f-a05f-de4ec73a0282` |
+
+## 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 | 168 | 17 | 2.857 | 10.85 | 18.78 | 1938.20 | 0.5661 |
+| 1 | descend | 374 | 37 | 0.831 | 5.10 | 8.83 | 3625.99 | 0.7355 |
+| 2 | settle | 335 | 33 | 0.023 | 0.60 | 1.04 | 3625.97 | 0.7495 |
+| 3 | close | 113 | 12 | 0.675 | 4.06 | 7.03 | 2204.00 | 0.9557 |
+| 4 | lift | 276 | 27 | 3.324 | 13.84 | 23.98 | 1620.88 | 1.0691 |
+| 5 | move_xy | 283 | 28 | 6.196 | 27.88 | 48.30 | 2237.83 | 0.8610 |
+| 6 | lower | 347 | 34 | 0.081 | 1.11 | 1.93 | 1368.95 | 1.0095 |
+| 7 | open | 107 | 11 | 0.632 | 3.71 | 6.43 | 3626.22 | 0.5918 |
+| 8 | retract | 270 | 27 | 3.255 | 13.69 | 23.71 | 2271.82 | 0.6909 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.784 |
+| TCP position RMSE (mm, per-axis) | 12.17 |
+| EE position RMS L2 (mm) | 21.70 |
+| TCP rotvec (mrad) | 2640.07 |
+| W1 effort mean (A) | 0.7798 |
+| W1 effort per joint (A) | j0=0.2456, j1=1.2034, j2=1.5739, j3=0.6552, j4=0.4284, j5=0.5720 |
+
+## 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 | 0.00044 | -0.00034 | -0.00048 | 0.00074 | 0.032 |
+| 1 | 0.00039 | -0.00056 | -0.00074 | 0.00100 | 0.037 |
+| 2 | 0.00043 | -0.00055 | -0.00076 | 0.00103 | 0.036 |
+| 3 | 0.00097 | -0.00031 | -0.00070 | 0.00123 | 0.116 |
+| 4 | 0.00016 | -0.00044 | -0.00069 | 0.00084 | 0.105 |
+| 5 | 0.00100 | -0.00085 | -0.00045 | 0.00138 | 0.106 |
+| 6 | 0.00103 | -0.00086 | -0.00163 | 0.00211 | 0.136 |
+| 7 | 0.00024 | -0.00034 | -0.00059 | 0.00072 | 0.038 |
+| 8 | -0.00008 | -0.00011 | -0.00015 | 0.00021 | 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.
diff --git a/gap_reports/gap_4cbdd34d-9e79-4ae4-bc21-7b7bba3e3364.md b/gap_reports/gap_4cbdd34d-9e79-4ae4-bc21-7b7bba3e3364.md
new file mode 100644
index 0000000000000000000000000000000000000000..3986dbbe52eca4c409e3f77899aec918f74cf49d
--- /dev/null
+++ b/gap_reports/gap_4cbdd34d-9e79-4ae4-bc21-7b7bba3e3364.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4cbdd34d-9e79-4ae4-bc21-7b7bba3e3364.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4cbdd34d-9e79-4ae4-bc21-7b7bba3e3364.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2771 |
+| Sim rows | 248 |
+| Real episode_id | `4cbdd34d-9e79-4ae4-bc21-7b7bba3e3364` |
+| Sim episode_id | `4cbdd34d-9e79-4ae4-bc21-7b7bba3e3364` |
+
+## 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 | 207 | 19 | 3.100 | 13.43 | 23.25 | 2000.00 | 0.5943 |
+| 1 | descend | 492 | 43 | 0.382 | 2.64 | 4.57 | 3625.37 | 0.9137 |
+| 2 | settle | 382 | 33 | 0.023 | 0.76 | 1.32 | 3625.27 | 1.0337 |
+| 3 | close | 113 | 11 | 0.668 | 4.38 | 7.59 | 3109.73 | 1.1622 |
+| 4 | lift | 362 | 32 | 2.472 | 11.31 | 19.59 | 1997.04 | 1.2561 |
+| 5 | move_xy | 357 | 32 | 6.306 | 32.67 | 56.59 | 2562.42 | 1.0367 |
+| 6 | lower | 382 | 33 | 0.090 | 1.42 | 2.47 | 3549.55 | 1.3714 |
+| 7 | open | 113 | 11 | 0.699 | 4.51 | 7.82 | 3625.49 | 0.8266 |
+| 8 | retract | 363 | 32 | 2.705 | 12.48 | 21.61 | 2235.26 | 0.8687 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.665 |
+| TCP position RMSE (mm, per-axis) | 13.25 |
+| EE position RMS L2 (mm) | 23.96 |
+| TCP rotvec (mrad) | 3004.63 |
+| W1 effort mean (A) | 1.0205 |
+| W1 effort per joint (A) | j0=0.6737, j1=1.2959, j2=1.8928, j3=1.0341, j4=0.6619, j5=0.5647 |
+
+## 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 | 0.00063 | -0.00030 | -0.00069 | 0.00098 | 0.040 |
+| 1 | 0.00064 | -0.00064 | -0.00103 | 0.00137 | 0.051 |
+| 2 | 0.00064 | -0.00063 | -0.00098 | 0.00133 | 0.044 |
+| 3 | 0.00102 | -0.00050 | -0.00078 | 0.00138 | 0.087 |
+| 4 | 0.00031 | 0.00023 | -0.00004 | 0.00039 | 0.082 |
+| 5 | 0.00152 | -0.00087 | -0.00186 | 0.00256 | 0.116 |
+| 6 | 0.00199 | -0.00096 | -0.00101 | 0.00243 | 0.182 |
+| 7 | 0.00042 | -0.00035 | -0.00079 | 0.00096 | 0.043 |
+| 8 | -0.00010 | -0.00014 | -0.00016 | 0.00023 | 0.025 |
+
+## 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.
diff --git a/gap_reports/gap_4ce53130-eb3b-4f94-96d6-80d3d2b61cc5.md b/gap_reports/gap_4ce53130-eb3b-4f94-96d6-80d3d2b61cc5.md
new file mode 100644
index 0000000000000000000000000000000000000000..b81d5d30842b1b9d1c0efff99561997752d6cc7d
--- /dev/null
+++ b/gap_reports/gap_4ce53130-eb3b-4f94-96d6-80d3d2b61cc5.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4ce53130-eb3b-4f94-96d6-80d3d2b61cc5.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4ce53130-eb3b-4f94-96d6-80d3d2b61cc5.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2523 |
+| Sim rows | 224 |
+| Real episode_id | `4ce53130-eb3b-4f94-96d6-80d3d2b61cc5` |
+| Sim episode_id | `4ce53130-eb3b-4f94-96d6-80d3d2b61cc5` |
+
+## 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 | 182 | 16 | 3.328 | 12.00 | 20.79 | 1956.75 | 0.5946 |
+| 1 | descend | 329 | 29 | 0.756 | 4.52 | 7.82 | 3626.08 | 0.6802 |
+| 2 | settle | 364 | 32 | 0.020 | 0.63 | 1.08 | 3626.06 | 0.7016 |
+| 3 | close | 119 | 11 | 0.814 | 4.70 | 8.14 | 1165.85 | 0.9170 |
+| 4 | lift | 356 | 31 | 3.285 | 13.35 | 23.12 | 1855.71 | 1.0588 |
+| 5 | move_xy | 312 | 27 | 8.260 | 35.32 | 61.17 | 1987.75 | 0.8391 |
+| 6 | lower | 389 | 34 | 0.084 | 1.20 | 2.08 | 1667.65 | 1.0043 |
+| 7 | open | 119 | 11 | 0.774 | 4.37 | 7.57 | 3626.15 | 0.6301 |
+| 8 | retract | 353 | 31 | 3.323 | 13.63 | 23.60 | 2299.67 | 0.7098 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.382 |
+| TCP position RMSE (mm, per-axis) | 14.22 |
+| EE position RMS L2 (mm) | 25.73 |
+| TCP rotvec (mrad) | 2584.10 |
+| W1 effort mean (A) | 0.7926 |
+| W1 effort per joint (A) | j0=0.2461, j1=1.1949, j2=1.5647, j3=0.8120, j4=0.3011, j5=0.6369 |
+
+## 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 | -0.00019 | -0.00042 | 0.00079 | 0.045 |
+| 1 | 0.00065 | -0.00046 | -0.00072 | 0.00107 | 0.036 |
+| 2 | 0.00068 | -0.00049 | -0.00070 | 0.00109 | 0.038 |
+| 3 | 0.00093 | -0.00031 | -0.00065 | 0.00117 | 0.100 |
+| 4 | 0.00017 | -0.00018 | -0.00016 | 0.00030 | 0.093 |
+| 5 | 0.00177 | -0.00062 | -0.00116 | 0.00220 | 0.161 |
+| 6 | 0.00175 | -0.00056 | -0.00145 | 0.00235 | 0.139 |
+| 7 | 0.00043 | -0.00022 | -0.00050 | 0.00070 | 0.040 |
+| 8 | -0.00009 | -0.00013 | -0.00015 | 0.00022 | 0.026 |
+
+## 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.
diff --git a/gap_reports/gap_4d11acd4-db80-4267-ad6f-c91ee9adb489.md b/gap_reports/gap_4d11acd4-db80-4267-ad6f-c91ee9adb489.md
new file mode 100644
index 0000000000000000000000000000000000000000..9c1f64ab9ba3d70adc75eaedd51ddb3d859b6c5d
--- /dev/null
+++ b/gap_reports/gap_4d11acd4-db80-4267-ad6f-c91ee9adb489.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4d11acd4-db80-4267-ad6f-c91ee9adb489.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4d11acd4-db80-4267-ad6f-c91ee9adb489.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 443 |
+| Sim rows | 60 |
+| Real episode_id | `4d11acd4-db80-4267-ad6f-c91ee9adb489` |
+| Sim episode_id | `4d11acd4-db80-4267-ad6f-c91ee9adb489` |
+
+## 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 | 233 | 23 | 3.891 | 17.47 | 30.25 | 1121.42 | 0.7895 |
+| 1 | descend | 210 | 21 | 0.025 | 0.48 | 0.83 | 2.08 | 0.8063 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.752 |
+| TCP position RMSE (mm, per-axis) | 12.35 |
+| EE position RMS L2 (mm) | 21.95 |
+| TCP rotvec (mrad) | 792.97 |
+| W1 effort mean (A) | 0.7974 |
+| W1 effort per joint (A) | j0=0.1767, j1=1.6921, j2=1.8084, j3=0.9025, j4=0.0839, j5=0.1208 |
+
+## 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 | -0.00046 | -0.00042 | 0.00079 | 0.00100 | 0.044 |
+| 1 | -0.00023 | -0.00041 | 0.00064 | 0.00079 | 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.
diff --git a/gap_reports/gap_4d1246a5-7d24-43c8-b4ce-f59a561bde2e.md b/gap_reports/gap_4d1246a5-7d24-43c8-b4ce-f59a561bde2e.md
new file mode 100644
index 0000000000000000000000000000000000000000..2bb5f039a0787ac7f23313436029ce67c98cadb9
--- /dev/null
+++ b/gap_reports/gap_4d1246a5-7d24-43c8-b4ce-f59a561bde2e.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4d1246a5-7d24-43c8-b4ce-f59a561bde2e.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4d1246a5-7d24-43c8-b4ce-f59a561bde2e.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2693 |
+| Sim rows | 237 |
+| Real episode_id | `4d1246a5-7d24-43c8-b4ce-f59a561bde2e` |
+| Sim episode_id | `4d1246a5-7d24-43c8-b4ce-f59a561bde2e` |
+
+## 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 | 230 | 20 | 2.367 | 9.63 | 16.68 | 2014.55 | 0.5561 |
+| 1 | descend | 372 | 32 | 1.072 | 6.24 | 10.81 | 3626.01 | 0.7429 |
+| 2 | settle | 386 | 33 | 0.023 | 0.58 | 1.01 | 3625.94 | 0.6563 |
+| 3 | close | 148 | 13 | 1.000 | 5.88 | 10.19 | 1806.29 | 0.9446 |
+| 4 | lift | 302 | 27 | 2.536 | 10.59 | 18.34 | 2071.67 | 1.1173 |
+| 5 | move_xy | 414 | 36 | 4.728 | 22.26 | 38.56 | 1863.75 | 0.8945 |
+| 6 | lower | 391 | 34 | 0.077 | 1.01 | 1.75 | 1586.01 | 0.9844 |
+| 7 | open | 148 | 13 | 0.873 | 5.12 | 8.86 | 3626.14 | 0.6217 |
+| 8 | retract | 302 | 27 | 2.675 | 11.23 | 19.44 | 2208.11 | 0.6855 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.223 |
+| TCP position RMSE (mm, per-axis) | 10.15 |
+| EE position RMS L2 (mm) | 18.95 |
+| TCP rotvec (mrad) | 2623.02 |
+| W1 effort mean (A) | 0.7860 |
+| W1 effort per joint (A) | j0=0.2305, j1=1.1317, j2=1.6045, j3=0.7579, j4=0.4015, j5=0.5899 |
+
+## 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 | 0.00017 | -0.00038 | -0.00056 | 0.00070 | 0.038 |
+| 1 | 0.00014 | -0.00059 | -0.00078 | 0.00098 | 0.036 |
+| 2 | 0.00018 | -0.00060 | -0.00079 | 0.00101 | 0.037 |
+| 3 | 0.00091 | -0.00042 | -0.00061 | 0.00117 | 0.117 |
+| 4 | 0.00030 | -0.00021 | -0.00045 | 0.00058 | 0.084 |
+| 5 | 0.00108 | -0.00096 | -0.00168 | 0.00221 | 0.171 |
+| 6 | 0.00089 | -0.00074 | -0.00108 | 0.00158 | 0.106 |
+| 7 | 0.00000 | -0.00037 | -0.00057 | 0.00068 | 0.043 |
+| 8 | -0.00007 | -0.00009 | -0.00014 | 0.00018 | 0.029 |
+
+## 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.
diff --git a/gap_reports/gap_4d2520e7-6aba-49a5-935b-b4012ed04080.md b/gap_reports/gap_4d2520e7-6aba-49a5-935b-b4012ed04080.md
new file mode 100644
index 0000000000000000000000000000000000000000..676cf330cf3ebdd8928e8eca63cf48725fdf5fe1
--- /dev/null
+++ b/gap_reports/gap_4d2520e7-6aba-49a5-935b-b4012ed04080.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4d2520e7-6aba-49a5-935b-b4012ed04080.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4d2520e7-6aba-49a5-935b-b4012ed04080.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 633 |
+| Sim rows | 79 |
+| Real episode_id | `4d2520e7-6aba-49a5-935b-b4012ed04080` |
+| Sim episode_id | `4d2520e7-6aba-49a5-935b-b4012ed04080` |
+
+## 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 | 426 | 42 | 2.037 | 9.85 | 17.07 | 614.21 | 0.7609 |
+| 1 | descend | 207 | 21 | 0.035 | 1.89 | 3.27 | 1.79 | 0.7190 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.441 |
+| TCP position RMSE (mm, per-axis) | 7.09 |
+| EE position RMS L2 (mm) | 14.13 |
+| TCP rotvec (mrad) | 434.31 |
+| W1 effort mean (A) | 0.7472 |
+| W1 effort per joint (A) | j0=0.1205, j1=1.6124, j2=1.5706, j3=0.8950, j4=0.1412, j5=0.1433 |
+
+## 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 | -0.00023 | 0.00319 | 0.00061 | 0.00325 | 0.035 |
+| 1 | -0.00029 | 0.00320 | 0.00055 | 0.00326 | 0.049 |
+
+## 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.
diff --git a/gap_reports/gap_4d2837f5-5d69-4589-b02f-a74517049b66.md b/gap_reports/gap_4d2837f5-5d69-4589-b02f-a74517049b66.md
new file mode 100644
index 0000000000000000000000000000000000000000..24351ff8d298fb5ad78331dbd4c85268138b0c5f
--- /dev/null
+++ b/gap_reports/gap_4d2837f5-5d69-4589-b02f-a74517049b66.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4d2837f5-5d69-4589-b02f-a74517049b66.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4d2837f5-5d69-4589-b02f-a74517049b66.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2762 |
+| Sim rows | 246 |
+| Real episode_id | `4d2837f5-5d69-4589-b02f-a74517049b66` |
+| Sim episode_id | `4d2837f5-5d69-4589-b02f-a74517049b66` |
+
+## 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 | 2.948 | 10.70 | 18.53 | 1926.97 | 0.5942 |
+| 1 | descend | 331 | 29 | 1.479 | 8.88 | 15.38 | 3626.07 | 0.6696 |
+| 2 | settle | 374 | 33 | 0.023 | 0.69 | 1.19 | 3625.98 | 0.6476 |
+| 3 | close | 186 | 17 | 0.975 | 5.62 | 9.74 | 1279.77 | 0.9351 |
+| 4 | lift | 353 | 31 | 3.833 | 15.85 | 27.44 | 1850.27 | 1.0752 |
+| 5 | move_xy | 379 | 33 | 7.607 | 32.80 | 56.82 | 2270.37 | 0.8953 |
+| 6 | lower | 386 | 34 | 0.080 | 1.21 | 2.09 | 1674.17 | 0.9053 |
+| 7 | open | 184 | 17 | 1.121 | 6.39 | 11.07 | 3626.20 | 0.6070 |
+| 8 | retract | 353 | 31 | 4.050 | 16.60 | 28.75 | 2418.06 | 0.7150 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.367 |
+| TCP position RMSE (mm, per-axis) | 14.42 |
+| EE position RMS L2 (mm) | 26.75 |
+| TCP rotvec (mrad) | 2625.18 |
+| W1 effort mean (A) | 0.7660 |
+| W1 effort per joint (A) | j0=0.2516, j1=1.2210, j2=1.4705, j3=0.6689, j4=0.4023, j5=0.5819 |
+
+## 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 | 0.00065 | -0.00016 | -0.00043 | 0.00080 | 0.037 |
+| 1 | 0.00073 | -0.00056 | -0.00076 | 0.00119 | 0.034 |
+| 2 | 0.00072 | -0.00056 | -0.00079 | 0.00121 | 0.040 |
+| 3 | 0.00099 | -0.00029 | -0.00063 | 0.00121 | 0.080 |
+| 4 | 0.00036 | 0.00017 | 0.00011 | 0.00041 | 0.061 |
+| 5 | 0.00142 | -0.00072 | -0.00091 | 0.00183 | 0.108 |
+| 6 | 0.00188 | -0.00065 | -0.00160 | 0.00255 | 0.150 |
+| 7 | 0.00048 | -0.00029 | -0.00049 | 0.00074 | 0.038 |
+| 8 | -0.00007 | -0.00012 | -0.00014 | 0.00019 | 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.
diff --git a/gap_reports/gap_4d624136-4ee5-4ad2-9174-ee4c08d4b608.md b/gap_reports/gap_4d624136-4ee5-4ad2-9174-ee4c08d4b608.md
new file mode 100644
index 0000000000000000000000000000000000000000..1a8a8f841ce80c475506f45a34f701b2720e5eb6
--- /dev/null
+++ b/gap_reports/gap_4d624136-4ee5-4ad2-9174-ee4c08d4b608.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4d624136-4ee5-4ad2-9174-ee4c08d4b608.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4d624136-4ee5-4ad2-9174-ee4c08d4b608.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 964 |
+| Sim rows | 102 |
+| Real episode_id | `4d624136-4ee5-4ad2-9174-ee4c08d4b608` |
+| Sim episode_id | `4d624136-4ee5-4ad2-9174-ee4c08d4b608` |
+
+## 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 | 116 | 13 | 2.512 | 9.55 | 16.54 | 514.43 | 0.6823 |
+| 1 | descend | 70 | 8 | 3.461 | 4.21 | 7.28 | 135.44 | 0.7323 |
+| 2 | settle | 16 | 2 | 3.389 | 3.00 | 5.20 | 135.50 | 0.7792 |
+| 3 | close | 36 | 4 | 3.390 | 3.64 | 6.30 | 137.11 | 1.2261 |
+| 4 | lift | 87 | 9 | 3.515 | 5.64 | 9.77 | 136.74 | 1.1953 |
+| 5 | move_xy | 155 | 16 | 5.028 | 17.50 | 30.31 | 219.71 | 1.1155 |
+| 6 | lower | 83 | 9 | 6.161 | 4.78 | 8.28 | 241.58 | 1.1710 |
+| 7 | open | 73 | 8 | 6.103 | 2.60 | 4.50 | 240.23 | 0.8319 |
+| 8 | retract | 83 | 9 | 6.142 | 3.81 | 6.60 | 239.95 | 0.8557 |
+| 9 | return | 245 | 24 | 4.222 | 16.26 | 28.16 | 635.37 | 0.7564 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 4.579 |
+| TCP position RMSE (mm, per-axis) | 8.82 |
+| EE position RMS L2 (mm) | 20.19 |
+| TCP rotvec (mrad) | 310.56 |
+| W1 effort mean (A) | 0.8831 |
+| W1 effort per joint (A) | j0=0.1866, j1=1.7892, j2=1.4956, j3=0.7604, j4=0.3793, j5=0.6872 |
+
+## 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 | 0.00217 | -0.00441 | -0.00053 | 0.00495 | 8.351 |
+| 1 | 0.00241 | -0.00456 | -0.00072 | 0.00521 | 8.302 |
+| 2 | 0.00238 | -0.00455 | -0.00082 | 0.00520 | 8.297 |
+| 3 | 0.00355 | -0.00432 | -0.00303 | 0.00636 | 8.295 |
+| 4 | 0.00290 | -0.00454 | -0.00270 | 0.00603 | 8.370 |
+| 5 | 0.00289 | -0.00318 | -0.00207 | 0.00477 | 15.011 |
+| 6 | 0.00345 | -0.00286 | -0.00225 | 0.00501 | 14.950 |
+| 7 | 0.00269 | -0.00358 | -0.00049 | 0.00451 | 14.945 |
+| 8 | 0.00240 | -0.00382 | -0.00063 | 0.00455 | 15.022 |
+| 9 | -0.00010 | -0.00016 | -0.00036 | 0.00041 | 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.
diff --git a/gap_reports/gap_4d869476-170d-4ba1-be23-aa735bef47ce.md b/gap_reports/gap_4d869476-170d-4ba1-be23-aa735bef47ce.md
new file mode 100644
index 0000000000000000000000000000000000000000..024145fe27b290462b126c6e10b31d76e37c6bda
--- /dev/null
+++ b/gap_reports/gap_4d869476-170d-4ba1-be23-aa735bef47ce.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4d869476-170d-4ba1-be23-aa735bef47ce.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4d869476-170d-4ba1-be23-aa735bef47ce.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2788 |
+| Sim rows | 248 |
+| Real episode_id | `4d869476-170d-4ba1-be23-aa735bef47ce` |
+| Sim episode_id | `4d869476-170d-4ba1-be23-aa735bef47ce` |
+
+## 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 | 2.579 | 10.03 | 17.37 | 1813.04 | 0.5801 |
+| 1 | descend | 445 | 39 | 0.514 | 3.28 | 5.68 | 3625.94 | 0.7686 |
+| 2 | settle | 374 | 33 | 0.029 | 0.70 | 1.21 | 3562.40 | 0.6097 |
+| 3 | close | 121 | 11 | 0.561 | 3.41 | 5.90 | 1980.16 | 0.9330 |
+| 4 | lift | 384 | 34 | 4.026 | 17.07 | 29.56 | 1998.88 | 1.0682 |
+| 5 | move_xy | 349 | 31 | 7.125 | 31.39 | 54.37 | 2049.78 | 0.8671 |
+| 6 | lower | 405 | 35 | 0.087 | 1.29 | 2.24 | 2000.70 | 0.9191 |
+| 7 | open | 122 | 11 | 0.604 | 3.70 | 6.41 | 3626.19 | 0.5729 |
+| 8 | retract | 384 | 34 | 3.992 | 17.05 | 29.53 | 2250.91 | 0.6873 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.171 |
+| TCP position RMSE (mm, per-axis) | 13.77 |
+| EE position RMS L2 (mm) | 25.34 |
+| TCP rotvec (mrad) | 2655.44 |
+| W1 effort mean (A) | 0.7705 |
+| W1 effort per joint (A) | j0=0.2453, j1=1.1689, j2=1.4611, j3=0.7073, j4=0.4246, j5=0.6158 |
+
+## 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 | 0.00072 | -0.00030 | -0.00052 | 0.00094 | 0.043 |
+| 1 | 0.00065 | -0.00056 | -0.00065 | 0.00108 | 0.025 |
+| 2 | 0.00066 | -0.00057 | -0.00076 | 0.00116 | 0.040 |
+| 3 | 0.00132 | -0.00037 | -0.00091 | 0.00165 | 0.102 |
+| 4 | 0.00022 | 0.00003 | -0.00015 | 0.00026 | 0.072 |
+| 5 | 0.00162 | -0.00085 | -0.00041 | 0.00187 | 0.148 |
+| 6 | 0.00184 | -0.00085 | -0.00107 | 0.00229 | 0.219 |
+| 7 | 0.00054 | -0.00032 | -0.00059 | 0.00086 | 0.038 |
+| 8 | -0.00009 | -0.00015 | -0.00017 | 0.00024 | 0.031 |
+
+## 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.
diff --git a/gap_reports/gap_4d95adb5-67ba-4505-9873-f7925a3553d1.md b/gap_reports/gap_4d95adb5-67ba-4505-9873-f7925a3553d1.md
new file mode 100644
index 0000000000000000000000000000000000000000..6dbe8f2ea1b50ce1367e9fe82f27f6f1e08de755
--- /dev/null
+++ b/gap_reports/gap_4d95adb5-67ba-4505-9873-f7925a3553d1.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4d95adb5-67ba-4505-9873-f7925a3553d1.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4d95adb5-67ba-4505-9873-f7925a3553d1.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2986 |
+| Sim rows | 266 |
+| Real episode_id | `4d95adb5-67ba-4505-9873-f7925a3553d1` |
+| Sim episode_id | `4d95adb5-67ba-4505-9873-f7925a3553d1` |
+
+## 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 | 219 | 20 | 3.230 | 15.91 | 27.56 | 1944.21 | 0.6324 |
+| 1 | descend | 459 | 40 | 0.502 | 3.71 | 6.42 | 3624.72 | 0.8130 |
+| 2 | settle | 378 | 33 | 0.026 | 1.00 | 1.73 | 3624.61 | 0.6409 |
+| 3 | close | 162 | 15 | 0.671 | 4.90 | 8.49 | 3625.17 | 1.0178 |
+| 4 | lift | 415 | 36 | 3.604 | 19.38 | 33.57 | 2407.45 | 1.1260 |
+| 5 | move_xy | 386 | 34 | 8.240 | 45.02 | 77.98 | 2779.83 | 0.9795 |
+| 6 | lower | 387 | 34 | 0.093 | 1.75 | 3.02 | 3551.35 | 1.0160 |
+| 7 | open | 163 | 15 | 0.651 | 4.53 | 7.85 | 3624.70 | 0.7520 |
+| 8 | retract | 417 | 37 | 3.421 | 18.02 | 31.21 | 2427.37 | 0.7532 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.402 |
+| TCP position RMSE (mm, per-axis) | 18.39 |
+| EE position RMS L2 (mm) | 33.91 |
+| TCP rotvec (mrad) | 3133.41 |
+| W1 effort mean (A) | 0.8479 |
+| W1 effort per joint (A) | j0=0.2236, j1=1.6022, j2=1.5938, j3=0.7515, j4=0.2979, j5=0.6183 |
+
+## 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 | -0.00029 | -0.00074 | 0.00137 | 0.034 |
+| 1 | 0.00111 | -0.00065 | -0.00117 | 0.00174 | 0.054 |
+| 2 | 0.00111 | -0.00067 | -0.00113 | 0.00172 | 0.051 |
+| 3 | 0.00198 | -0.00027 | -0.00086 | 0.00218 | 0.113 |
+| 4 | 0.00034 | 0.00002 | -0.00005 | 0.00035 | 0.075 |
+| 5 | 0.00205 | -0.00087 | -0.00147 | 0.00267 | 0.112 |
+| 6 | 0.00210 | -0.00084 | -0.00101 | 0.00248 | 0.117 |
+| 7 | 0.00099 | -0.00030 | -0.00095 | 0.00140 | 0.041 |
+| 8 | -0.00009 | -0.00014 | -0.00014 | 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.
diff --git a/gap_reports/gap_4ddfd1d9-2a02-49d4-ab17-9ee07f5a90f9.md b/gap_reports/gap_4ddfd1d9-2a02-49d4-ab17-9ee07f5a90f9.md
new file mode 100644
index 0000000000000000000000000000000000000000..4f618cea97255470d6dde70859d98d9124f4e368
--- /dev/null
+++ b/gap_reports/gap_4ddfd1d9-2a02-49d4-ab17-9ee07f5a90f9.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4ddfd1d9-2a02-49d4-ab17-9ee07f5a90f9.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4ddfd1d9-2a02-49d4-ab17-9ee07f5a90f9.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1708 |
+| Sim rows | 173 |
+| Real episode_id | `4ddfd1d9-2a02-49d4-ab17-9ee07f5a90f9` |
+| Sim episode_id | `4ddfd1d9-2a02-49d4-ab17-9ee07f5a90f9` |
+
+## 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 | 197 | 20 | 13.289 | 19.65 | 34.03 | 529.14 | 0.6778 |
+| 1 | descend | 84 | 9 | 23.073 | 3.59 | 6.22 | 886.66 | 0.8324 |
+| 2 | settle | 37 | 4 | 23.055 | 2.29 | 3.96 | 886.83 | 0.8403 |
+| 3 | close | 365 | 36 | 23.054 | 1.91 | 3.31 | 887.95 | 1.2162 |
+| 4 | lift | 82 | 9 | 23.066 | 2.67 | 4.62 | 887.76 | 1.2914 |
+| 5 | move_xy | 242 | 24 | 13.765 | 27.68 | 47.94 | 406.11 | 1.2959 |
+| 6 | lower | 83 | 9 | 0.585 | 4.54 | 7.86 | 9.25 | 1.3050 |
+| 7 | open | 353 | 35 | 0.033 | 3.48 | 6.03 | 6.93 | 0.8154 |
+| 8 | retract | 82 | 9 | 0.544 | 4.17 | 7.22 | 6.64 | 0.8848 |
+| 9 | return | 183 | 18 | 2.782 | 17.18 | 29.75 | 269.80 | 0.7139 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 15.817 |
+| TCP position RMSE (mm, per-axis) | 12.35 |
+| EE position RMS L2 (mm) | 23.93 |
+| TCP rotvec (mrad) | 605.57 |
+| W1 effort mean (A) | 0.9786 |
+| W1 effort per joint (A) | j0=0.2284, j1=1.9165, j2=1.5792, j3=0.8683, j4=0.1846, j5=1.0945 |
+
+## 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 | 0.00177 | -0.00361 | 0.00003 | 0.00402 | 56.511 |
+| 1 | 0.00204 | -0.00338 | 0.00004 | 0.00395 | 56.476 |
+| 2 | 0.00203 | -0.00341 | -0.00009 | 0.00397 | 56.472 |
+| 3 | 0.00221 | -0.00239 | -0.00058 | 0.00331 | 56.469 |
+| 4 | 0.00207 | -0.00269 | -0.00031 | 0.00341 | 56.518 |
+| 5 | 0.00327 | -0.00521 | -0.00167 | 0.00637 | 0.232 |
+| 6 | 0.00358 | -0.00510 | -0.00181 | 0.00649 | 0.180 |
+| 7 | 0.00277 | -0.00516 | -0.00148 | 0.00604 | 0.068 |
+| 8 | 0.00245 | -0.00528 | -0.00174 | 0.00607 | 0.084 |
+| 9 | -0.00022 | -0.00021 | -0.00034 | 0.00045 | 0.063 |
+
+## 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.
diff --git a/gap_reports/gap_4de532e7-1b4d-41a1-bedf-8475651f6484.md b/gap_reports/gap_4de532e7-1b4d-41a1-bedf-8475651f6484.md
new file mode 100644
index 0000000000000000000000000000000000000000..dd341a1ee7209d88d1fb7b8c08eeb7b87fb52427
--- /dev/null
+++ b/gap_reports/gap_4de532e7-1b4d-41a1-bedf-8475651f6484.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4de532e7-1b4d-41a1-bedf-8475651f6484.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4de532e7-1b4d-41a1-bedf-8475651f6484.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1443 |
+| Sim rows | 147 |
+| Real episode_id | `4de532e7-1b4d-41a1-bedf-8475651f6484` |
+| Sim episode_id | `4de532e7-1b4d-41a1-bedf-8475651f6484` |
+
+## 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 | 154 | 16 | 3.080 | 15.49 | 26.83 | 395.24 | 0.7262 |
+| 1 | descend | 72 | 8 | 0.667 | 3.80 | 6.59 | 5.49 | 0.7310 |
+| 2 | settle | 24 | 3 | 0.027 | 2.13 | 3.69 | 5.95 | 0.7330 |
+| 3 | close | 389 | 38 | 0.177 | 1.93 | 3.35 | 9.77 | 1.2271 |
+| 4 | lift | 76 | 8 | 0.663 | 3.55 | 6.14 | 10.05 | 1.2838 |
+| 5 | move_xy | 198 | 20 | 7.655 | 35.19 | 60.95 | 49.68 | 1.1331 |
+| 6 | lower | 74 | 8 | 0.763 | 3.33 | 5.77 | 4.25 | 0.9106 |
+| 7 | open | 97 | 10 | 0.019 | 2.64 | 4.57 | 4.76 | 0.5827 |
+| 8 | retract | 73 | 8 | 0.793 | 3.81 | 6.59 | 4.08 | 0.6329 |
+| 9 | return | 286 | 28 | 4.857 | 18.48 | 32.01 | 1101.61 | 0.6701 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.063 |
+| TCP position RMSE (mm, per-axis) | 13.74 |
+| EE position RMS L2 (mm) | 28.32 |
+| TCP rotvec (mrad) | 370.48 |
+| W1 effort mean (A) | 0.8954 |
+| W1 effort per joint (A) | j0=0.1534, j1=1.6416, j2=1.6166, j3=0.8102, j4=0.6339, j5=0.5166 |
+
+## 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 | 0.00192 | -0.00292 | -0.00024 | 0.00351 | 0.078 |
+| 1 | 0.00242 | -0.00279 | -0.00020 | 0.00369 | 0.042 |
+| 2 | 0.00240 | -0.00276 | -0.00041 | 0.00368 | 0.060 |
+| 3 | 0.00056 | -0.00285 | -0.00181 | 0.00342 | 0.330 |
+| 4 | 0.00003 | -0.00332 | -0.00151 | 0.00364 | 0.461 |
+| 5 | 0.00108 | -0.00251 | -0.00065 | 0.00281 | 0.236 |
+| 6 | 0.00143 | -0.00313 | -0.00086 | 0.00355 | 0.262 |
+| 7 | 0.00178 | -0.00412 | -0.00082 | 0.00456 | 0.028 |
+| 8 | 0.00145 | -0.00361 | -0.00100 | 0.00402 | 0.055 |
+| 9 | -0.00014 | -0.00006 | -0.00022 | 0.00027 | 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.
diff --git a/gap_reports/gap_4e05f9ea-0f82-4ea3-8388-3ac228e27ab6.md b/gap_reports/gap_4e05f9ea-0f82-4ea3-8388-3ac228e27ab6.md
new file mode 100644
index 0000000000000000000000000000000000000000..08268c57a5519ab01337009818598a104cbf6008
--- /dev/null
+++ b/gap_reports/gap_4e05f9ea-0f82-4ea3-8388-3ac228e27ab6.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4e05f9ea-0f82-4ea3-8388-3ac228e27ab6.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4e05f9ea-0f82-4ea3-8388-3ac228e27ab6.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 718 |
+| Sim rows | 86 |
+| Real episode_id | `4e05f9ea-0f82-4ea3-8388-3ac228e27ab6` |
+| Sim episode_id | `4e05f9ea-0f82-4ea3-8388-3ac228e27ab6` |
+
+## 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 | 508 | 49 | 8.483 | 42.97 | 74.42 | 1377.77 | 0.7094 |
+| 1 | descend | 210 | 21 | 0.026 | 6.34 | 10.98 | 3.41 | 0.6408 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 5.998 |
+| TCP position RMSE (mm, per-axis) | 30.71 |
+| EE position RMS L2 (mm) | 62.88 |
+| TCP rotvec (mrad) | 974.23 |
+| W1 effort mean (A) | 0.6893 |
+| W1 effort per joint (A) | j0=0.1836, j1=1.3521, j2=1.5819, j3=0.7160, j4=0.1343, j5=0.1675 |
+
+## 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 | -0.00390 | -0.01024 | -0.00004 | 0.01096 | 0.058 |
+| 1 | -0.00380 | -0.01031 | -0.00012 | 0.01099 | 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.
diff --git a/gap_reports/gap_4e0767bc-18c7-46c0-bcbc-bc5d266c62b4.md b/gap_reports/gap_4e0767bc-18c7-46c0-bcbc-bc5d266c62b4.md
new file mode 100644
index 0000000000000000000000000000000000000000..fdbc5874ff3dc5bead4b857476ec3c64708b2dbc
--- /dev/null
+++ b/gap_reports/gap_4e0767bc-18c7-46c0-bcbc-bc5d266c62b4.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4e0767bc-18c7-46c0-bcbc-bc5d266c62b4.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4e0767bc-18c7-46c0-bcbc-bc5d266c62b4.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 3384 |
+| Sim rows | 298 |
+| Real episode_id | `4e0767bc-18c7-46c0-bcbc-bc5d266c62b4` |
+| Sim episode_id | `4e0767bc-18c7-46c0-bcbc-bc5d266c62b4` |
+
+## 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 | 247 | 22 | 3.810 | 16.11 | 27.90 | 3.42 | 0.5968 |
+| 1 | descend | 592 | 51 | 0.867 | 5.85 | 10.13 | 5.18 | 0.7008 |
+| 2 | settle | 367 | 32 | 0.025 | 1.01 | 1.74 | 5.36 | 0.6395 |
+| 3 | close | 161 | 15 | 0.735 | 4.89 | 8.47 | 7.41 | 0.9450 |
+| 4 | lift | 499 | 43 | 3.678 | 16.93 | 29.32 | 4.85 | 1.0953 |
+| 5 | move_xy | 438 | 38 | 8.062 | 39.33 | 68.13 | 5.35 | 0.9103 |
+| 6 | lower | 410 | 36 | 0.092 | 1.70 | 2.94 | 7.56 | 0.8822 |
+| 7 | open | 165 | 15 | 0.848 | 5.45 | 9.44 | 5.39 | 0.6133 |
+| 8 | retract | 505 | 44 | 3.690 | 17.08 | 29.58 | 3.57 | 0.7207 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.475 |
+| TCP position RMSE (mm, per-axis) | 16.59 |
+| EE position RMS L2 (mm) | 30.69 |
+| TCP rotvec (mrad) | 5.51 |
+| W1 effort mean (A) | 0.7746 |
+| W1 effort per joint (A) | j0=0.2886, j1=1.2865, j2=1.4409, j3=0.5955, j4=0.4531, j5=0.5828 |
+
+## 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 | 0.00113 | -0.00048 | -0.00063 | 0.00138 | 0.032 |
+| 1 | 0.00114 | -0.00086 | -0.00097 | 0.00173 | 0.047 |
+| 2 | 0.00114 | -0.00089 | -0.00094 | 0.00173 | 0.046 |
+| 3 | 0.00153 | -0.00067 | -0.00076 | 0.00184 | 0.075 |
+| 4 | 0.00056 | -0.00001 | -0.00032 | 0.00064 | 0.118 |
+| 5 | 0.00202 | -0.00100 | -0.00178 | 0.00287 | 0.116 |
+| 6 | 0.00189 | -0.00109 | -0.00125 | 0.00252 | 0.113 |
+| 7 | 0.00095 | -0.00052 | -0.00073 | 0.00130 | 0.036 |
+| 8 | -0.00005 | -0.00006 | -0.00010 | 0.00012 | 0.016 |
+
+## 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.
diff --git a/gap_reports/gap_4e13ec8d-4193-46d2-a6eb-04d87ffbcc6e.md b/gap_reports/gap_4e13ec8d-4193-46d2-a6eb-04d87ffbcc6e.md
new file mode 100644
index 0000000000000000000000000000000000000000..e4b088280d2c4a5918a9a3103046119a0d3a0712
--- /dev/null
+++ b/gap_reports/gap_4e13ec8d-4193-46d2-a6eb-04d87ffbcc6e.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4e13ec8d-4193-46d2-a6eb-04d87ffbcc6e.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4e13ec8d-4193-46d2-a6eb-04d87ffbcc6e.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2875 |
+| Sim rows | 254 |
+| Real episode_id | `4e13ec8d-4193-46d2-a6eb-04d87ffbcc6e` |
+| Sim episode_id | `4e13ec8d-4193-46d2-a6eb-04d87ffbcc6e` |
+
+## 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 | 237 | 21 | 3.558 | 17.67 | 30.61 | 1868.90 | 0.6475 |
+| 1 | descend | 382 | 33 | 0.510 | 3.86 | 6.68 | 3624.68 | 0.7872 |
+| 2 | settle | 365 | 32 | 0.026 | 1.01 | 1.75 | 3624.59 | 0.7790 |
+| 3 | close | 103 | 10 | 0.413 | 3.26 | 5.64 | 3625.14 | 1.0486 |
+| 4 | lift | 439 | 38 | 3.471 | 18.33 | 31.74 | 2422.29 | 1.1547 |
+| 5 | move_xy | 402 | 35 | 7.793 | 43.19 | 74.81 | 2735.96 | 0.9302 |
+| 6 | lower | 400 | 35 | 0.087 | 1.69 | 2.93 | 3625.24 | 1.0334 |
+| 7 | open | 105 | 10 | 0.470 | 3.35 | 5.81 | 3624.72 | 0.7801 |
+| 8 | retract | 442 | 38 | 3.447 | 18.41 | 31.89 | 2351.35 | 0.7616 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.299 |
+| TCP position RMSE (mm, per-axis) | 17.93 |
+| EE position RMS L2 (mm) | 34.35 |
+| TCP rotvec (mrad) | 3128.24 |
+| W1 effort mean (A) | 0.8689 |
+| W1 effort per joint (A) | j0=0.2383, j1=1.6557, j2=1.6639, j3=0.7516, j4=0.2828, j5=0.6210 |
+
+## 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 | 0.00113 | -0.00037 | -0.00075 | 0.00140 | 0.030 |
+| 1 | 0.00114 | -0.00063 | -0.00122 | 0.00178 | 0.057 |
+| 2 | 0.00114 | -0.00065 | -0.00119 | 0.00177 | 0.057 |
+| 3 | 0.00209 | -0.00035 | -0.00139 | 0.00253 | 0.156 |
+| 4 | 0.00034 | 0.00005 | -0.00008 | 0.00036 | 0.076 |
+| 5 | 0.00243 | -0.00088 | -0.00104 | 0.00279 | 0.173 |
+| 6 | 0.00195 | -0.00080 | -0.00203 | 0.00293 | 0.130 |
+| 7 | 0.00085 | -0.00036 | -0.00103 | 0.00138 | 0.051 |
+| 8 | -0.00008 | -0.00011 | -0.00016 | 0.00022 | 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.
diff --git a/gap_reports/gap_4e2b0122-3097-4b22-b3b5-36aeebec800a.md b/gap_reports/gap_4e2b0122-3097-4b22-b3b5-36aeebec800a.md
new file mode 100644
index 0000000000000000000000000000000000000000..af5d07a768de7bc49219d1be6b72de704fa4a84d
--- /dev/null
+++ b/gap_reports/gap_4e2b0122-3097-4b22-b3b5-36aeebec800a.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4e2b0122-3097-4b22-b3b5-36aeebec800a.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4e2b0122-3097-4b22-b3b5-36aeebec800a.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 459 |
+| Sim rows | 62 |
+| Real episode_id | `4e2b0122-3097-4b22-b3b5-36aeebec800a` |
+| Sim episode_id | `4e2b0122-3097-4b22-b3b5-36aeebec800a` |
+
+## 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 | 253 | 25 | 6.879 | 27.73 | 48.03 | 45.06 | 0.7896 |
+| 1 | descend | 206 | 21 | 1.637 | 11.18 | 19.37 | 58.85 | 0.6970 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 5.000 |
+| TCP position RMSE (mm, per-axis) | 21.14 |
+| EE position RMS L2 (mm) | 37.95 |
+| TCP rotvec (mrad) | 52.41 |
+| W1 effort mean (A) | 0.7469 |
+| W1 effort per joint (A) | j0=0.1457, j1=1.6227, j2=1.6100, j3=0.7344, j4=0.2223, j5=0.1463 |
+
+## 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 | 0.01377 | -0.01321 | -0.00263 | 0.01926 | 4.002 |
+| 1 | 0.01388 | -0.01332 | -0.00269 | 0.01943 | 4.006 |
+
+## 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.
diff --git a/gap_reports/gap_4e3f971d-3f99-43d9-abca-47261a6057ed.md b/gap_reports/gap_4e3f971d-3f99-43d9-abca-47261a6057ed.md
new file mode 100644
index 0000000000000000000000000000000000000000..63dd82faac0a5461b3af0de8ab8fec430e294b67
--- /dev/null
+++ b/gap_reports/gap_4e3f971d-3f99-43d9-abca-47261a6057ed.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4e3f971d-3f99-43d9-abca-47261a6057ed.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4e3f971d-3f99-43d9-abca-47261a6057ed.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2767 |
+| Sim rows | 245 |
+| Real episode_id | `4e3f971d-3f99-43d9-abca-47261a6057ed` |
+| Sim episode_id | `4e3f971d-3f99-43d9-abca-47261a6057ed` |
+
+## 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 | 201 | 18 | 2.830 | 11.21 | 19.42 | 1964.49 | 0.5777 |
+| 1 | descend | 297 | 26 | 1.575 | 9.42 | 16.32 | 3626.00 | 0.7449 |
+| 2 | settle | 361 | 32 | 0.023 | 0.60 | 1.04 | 3625.97 | 0.7205 |
+| 3 | close | 119 | 11 | 0.943 | 5.49 | 9.51 | 1991.46 | 0.9238 |
+| 4 | lift | 452 | 39 | 3.036 | 12.30 | 21.31 | 1999.87 | 1.0965 |
+| 5 | move_xy | 364 | 32 | 6.447 | 28.60 | 49.53 | 2168.53 | 0.9013 |
+| 6 | lower | 400 | 35 | 0.077 | 1.08 | 1.87 | 1347.65 | 0.9869 |
+| 7 | open | 122 | 11 | 0.969 | 5.61 | 9.72 | 3626.22 | 0.6151 |
+| 8 | retract | 451 | 39 | 3.321 | 13.46 | 23.31 | 2303.32 | 0.6941 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.870 |
+| TCP position RMSE (mm, per-axis) | 12.60 |
+| EE position RMS L2 (mm) | 23.45 |
+| TCP rotvec (mrad) | 2647.72 |
+| W1 effort mean (A) | 0.8145 |
+| W1 effort per joint (A) | j0=0.2749, j1=1.1989, j2=1.6114, j3=0.7125, j4=0.4695, j5=0.6198 |
+
+## 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 | 0.00040 | -0.00030 | -0.00045 | 0.00067 | 0.030 |
+| 1 | 0.00041 | -0.00054 | -0.00078 | 0.00104 | 0.037 |
+| 2 | 0.00040 | -0.00054 | -0.00078 | 0.00103 | 0.035 |
+| 3 | 0.00119 | -0.00023 | -0.00144 | 0.00188 | 0.129 |
+| 4 | 0.00020 | -0.00018 | -0.00022 | 0.00035 | 0.104 |
+| 5 | 0.00148 | -0.00065 | -0.00035 | 0.00166 | 0.149 |
+| 6 | 0.00138 | -0.00057 | -0.00125 | 0.00195 | 0.153 |
+| 7 | 0.00015 | -0.00028 | -0.00054 | 0.00063 | 0.038 |
+| 8 | -0.00005 | -0.00004 | -0.00010 | 0.00012 | 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.
diff --git a/gap_reports/gap_4e4b036e-7053-460b-8989-6e213aa6513b.md b/gap_reports/gap_4e4b036e-7053-460b-8989-6e213aa6513b.md
new file mode 100644
index 0000000000000000000000000000000000000000..b77c437c5fbc76a56ee76cb3cc202c95838612a9
--- /dev/null
+++ b/gap_reports/gap_4e4b036e-7053-460b-8989-6e213aa6513b.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4e4b036e-7053-460b-8989-6e213aa6513b.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4e4b036e-7053-460b-8989-6e213aa6513b.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2753 |
+| Sim rows | 276 |
+| Real episode_id | `4e4b036e-7053-460b-8989-6e213aa6513b` |
+| Sim episode_id | `4e4b036e-7053-460b-8989-6e213aa6513b` |
+
+## 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 | 23 | 3.570 | 12.89 | 22.33 | 2019.03 | 0.5782 |
+| 1 | descend | 341 | 34 | 0.882 | 5.38 | 9.31 | 3626.02 | 0.6378 |
+| 2 | settle | 341 | 34 | 0.022 | 0.68 | 1.18 | 3625.96 | 0.6481 |
+| 3 | close | 113 | 12 | 0.933 | 5.47 | 9.48 | 1425.71 | 0.9024 |
+| 4 | lift | 429 | 43 | 3.890 | 15.94 | 27.60 | 1729.31 | 1.0679 |
+| 5 | move_xy | 418 | 41 | 8.500 | 37.18 | 64.40 | 2089.86 | 0.8421 |
+| 6 | lower | 339 | 33 | 0.084 | 1.26 | 2.18 | 1815.28 | 0.9190 |
+| 7 | open | 112 | 12 | 1.040 | 5.95 | 10.31 | 3626.20 | 0.5877 |
+| 8 | retract | 431 | 42 | 3.926 | 16.11 | 27.90 | 2343.15 | 0.7046 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.625 |
+| TCP position RMSE (mm, per-axis) | 15.49 |
+| EE position RMS L2 (mm) | 30.52 |
+| TCP rotvec (mrad) | 2618.26 |
+| W1 effort mean (A) | 0.7573 |
+| W1 effort per joint (A) | j0=0.2471, j1=1.1716, j2=1.4764, j3=0.6696, j4=0.3628, j5=0.6165 |
+
+## 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 | -0.00020 | -0.00050 | 0.00087 | 0.033 |
+| 1 | 0.00071 | -0.00054 | -0.00079 | 0.00119 | 0.040 |
+| 2 | 0.00071 | -0.00054 | -0.00077 | 0.00118 | 0.037 |
+| 3 | 0.00119 | -0.00015 | -0.00107 | 0.00161 | 0.110 |
+| 4 | 0.00020 | -0.00016 | -0.00029 | 0.00039 | 0.088 |
+| 5 | 0.00152 | -0.00075 | -0.00114 | 0.00204 | 0.117 |
+| 6 | 0.00132 | -0.00079 | -0.00101 | 0.00184 | 0.105 |
+| 7 | 0.00045 | -0.00022 | -0.00051 | 0.00072 | 0.037 |
+| 8 | -0.00005 | -0.00005 | -0.00011 | 0.00013 | 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.
diff --git a/gap_reports/gap_4e5896f0-44b4-4917-8ec1-6f32ec7bfa20.md b/gap_reports/gap_4e5896f0-44b4-4917-8ec1-6f32ec7bfa20.md
new file mode 100644
index 0000000000000000000000000000000000000000..25be48aa0743803d2b2187e2aa6bf059b839d7b9
--- /dev/null
+++ b/gap_reports/gap_4e5896f0-44b4-4917-8ec1-6f32ec7bfa20.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4e5896f0-44b4-4917-8ec1-6f32ec7bfa20.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4e5896f0-44b4-4917-8ec1-6f32ec7bfa20.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1657 |
+| Sim rows | 166 |
+| Real episode_id | `4e5896f0-44b4-4917-8ec1-6f32ec7bfa20` |
+| Sim episode_id | `4e5896f0-44b4-4917-8ec1-6f32ec7bfa20` |
+
+## 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 | 128 | 13 | 2.195 | 10.25 | 17.75 | 683.68 | 0.6864 |
+| 1 | descend | 77 | 8 | 0.627 | 3.70 | 6.41 | 4.70 | 0.6622 |
+| 2 | settle | 31 | 4 | 0.022 | 2.51 | 4.34 | 5.19 | 0.7210 |
+| 3 | close | 375 | 37 | 0.088 | 2.93 | 5.08 | 9.20 | 1.2443 |
+| 4 | lift | 76 | 8 | 0.752 | 4.37 | 7.56 | 8.68 | 1.3075 |
+| 5 | move_xy | 162 | 16 | 3.009 | 16.20 | 28.05 | 9.41 | 1.2682 |
+| 6 | lower | 77 | 8 | 0.694 | 4.50 | 7.79 | 9.08 | 1.2274 |
+| 7 | open | 359 | 35 | 0.023 | 2.76 | 4.78 | 5.11 | 0.6035 |
+| 8 | retract | 77 | 8 | 0.728 | 3.98 | 6.90 | 4.47 | 0.7027 |
+| 9 | return | 295 | 29 | 4.512 | 19.63 | 33.99 | 1276.02 | 0.6964 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.903 |
+| TCP position RMSE (mm, per-axis) | 9.19 |
+| EE position RMS L2 (mm) | 18.10 |
+| TCP rotvec (mrad) | 457.83 |
+| W1 effort mean (A) | 0.8749 |
+| W1 effort per joint (A) | j0=0.1336, j1=1.6617, j2=1.5497, j3=0.7886, j4=0.5277, j5=0.5878 |
+
+## 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 | 0.00195 | -0.00350 | -0.00035 | 0.00402 | 0.029 |
+| 1 | 0.00247 | -0.00357 | -0.00029 | 0.00434 | 0.044 |
+| 2 | 0.00244 | -0.00356 | -0.00047 | 0.00434 | 0.051 |
+| 3 | 0.00314 | -0.00379 | -0.00054 | 0.00495 | 0.134 |
+| 4 | 0.00275 | -0.00382 | -0.00076 | 0.00477 | 0.118 |
+| 5 | 0.00200 | -0.00501 | -0.00151 | 0.00561 | 0.214 |
+| 6 | 0.00247 | -0.00527 | -0.00144 | 0.00599 | 0.199 |
+| 7 | 0.00203 | -0.00420 | -0.00107 | 0.00478 | 0.042 |
+| 8 | 0.00157 | -0.00383 | -0.00129 | 0.00434 | 0.056 |
+| 9 | -0.00012 | -0.00010 | -0.00026 | 0.00030 | 0.031 |
+
+## 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.
diff --git a/gap_reports/gap_4e879273-f2ae-4264-a38a-62989daf641f.md b/gap_reports/gap_4e879273-f2ae-4264-a38a-62989daf641f.md
new file mode 100644
index 0000000000000000000000000000000000000000..d65549ea463658d2b74d60091345c36e5102ef15
--- /dev/null
+++ b/gap_reports/gap_4e879273-f2ae-4264-a38a-62989daf641f.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4e879273-f2ae-4264-a38a-62989daf641f.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4e879273-f2ae-4264-a38a-62989daf641f.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2746 |
+| Sim rows | 242 |
+| Real episode_id | `4e879273-f2ae-4264-a38a-62989daf641f` |
+| Sim episode_id | `4e879273-f2ae-4264-a38a-62989daf641f` |
+
+## 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 | 253 | 22 | 3.555 | 18.10 | 31.36 | 1893.01 | 0.6182 |
+| 1 | descend | 272 | 24 | 0.894 | 6.24 | 10.80 | 3624.82 | 0.7949 |
+| 2 | settle | 394 | 34 | 0.026 | 0.90 | 1.57 | 3624.65 | 0.6252 |
+| 3 | close | 150 | 14 | 0.814 | 5.98 | 10.36 | 3625.16 | 0.9963 |
+| 4 | lift | 348 | 30 | 3.043 | 16.46 | 28.50 | 2442.76 | 1.1513 |
+| 5 | move_xy | 442 | 38 | 6.849 | 39.63 | 68.65 | 2779.97 | 0.9407 |
+| 6 | lower | 388 | 34 | 0.088 | 1.59 | 2.75 | 3625.14 | 1.0534 |
+| 7 | open | 150 | 14 | 0.812 | 5.62 | 9.73 | 3624.78 | 0.7286 |
+| 8 | retract | 349 | 30 | 3.081 | 16.70 | 28.93 | 2407.96 | 0.7573 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.989 |
+| TCP position RMSE (mm, per-axis) | 16.86 |
+| EE position RMS L2 (mm) | 32.90 |
+| TCP rotvec (mrad) | 3140.72 |
+| W1 effort mean (A) | 0.8387 |
+| W1 effort per joint (A) | j0=0.2009, j1=1.4690, j2=1.6139, j3=0.8137, j4=0.3227, j5=0.6121 |
+
+## 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 | 0.00089 | -0.00029 | -0.00084 | 0.00126 | 0.037 |
+| 1 | 0.00092 | -0.00068 | -0.00116 | 0.00163 | 0.060 |
+| 2 | 0.00088 | -0.00066 | -0.00112 | 0.00157 | 0.053 |
+| 3 | 0.00227 | -0.00037 | -0.00213 | 0.00313 | 0.200 |
+| 4 | 0.00015 | -0.00039 | -0.00046 | 0.00062 | 0.094 |
+| 5 | 0.00233 | -0.00079 | -0.00106 | 0.00268 | 0.188 |
+| 6 | 0.00208 | -0.00081 | -0.00173 | 0.00282 | 0.157 |
+| 7 | 0.00072 | -0.00036 | -0.00101 | 0.00130 | 0.062 |
+| 8 | -0.00013 | -0.00019 | -0.00019 | 0.00030 | 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.
diff --git a/gap_reports/gap_4ec36e71-ea41-44d9-9944-fe95ce2e82a9.md b/gap_reports/gap_4ec36e71-ea41-44d9-9944-fe95ce2e82a9.md
new file mode 100644
index 0000000000000000000000000000000000000000..58e720fbba71397fa7c4eeba62be246e14a017ae
--- /dev/null
+++ b/gap_reports/gap_4ec36e71-ea41-44d9-9944-fe95ce2e82a9.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4ec36e71-ea41-44d9-9944-fe95ce2e82a9.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4ec36e71-ea41-44d9-9944-fe95ce2e82a9.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2687 |
+| Sim rows | 236 |
+| Real episode_id | `4ec36e71-ea41-44d9-9944-fe95ce2e82a9` |
+| Sim episode_id | `4ec36e71-ea41-44d9-9944-fe95ce2e82a9` |
+
+## 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 | 193 | 17 | 3.209 | 12.17 | 21.08 | 2021.74 | 0.5924 |
+| 1 | descend | 358 | 31 | 1.468 | 8.70 | 15.07 | 3626.06 | 0.6371 |
+| 2 | settle | 388 | 34 | 0.022 | 0.67 | 1.17 | 3625.96 | 0.5734 |
+| 3 | close | 142 | 13 | 0.991 | 5.82 | 10.08 | 1703.39 | 0.9041 |
+| 4 | lift | 373 | 32 | 3.820 | 15.80 | 27.36 | 1873.70 | 1.0953 |
+| 5 | move_xy | 339 | 29 | 8.067 | 34.77 | 60.22 | 2197.44 | 0.8628 |
+| 6 | lower | 378 | 33 | 0.089 | 1.29 | 2.24 | 1698.77 | 0.8928 |
+| 7 | open | 142 | 13 | 0.803 | 4.77 | 8.26 | 3626.19 | 0.5868 |
+| 8 | retract | 374 | 32 | 3.974 | 16.57 | 28.70 | 2341.75 | 0.7041 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.489 |
+| TCP position RMSE (mm, per-axis) | 14.97 |
+| EE position RMS L2 (mm) | 27.35 |
+| TCP rotvec (mrad) | 2648.76 |
+| W1 effort mean (A) | 0.7445 |
+| W1 effort per joint (A) | j0=0.2374, j1=1.1704, j2=1.3912, j3=0.6686, j4=0.3870, j5=0.6124 |
+
+## 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 | 0.00066 | -0.00017 | -0.00044 | 0.00081 | 0.047 |
+| 1 | 0.00103 | -0.00059 | -0.00082 | 0.00144 | 0.051 |
+| 2 | 0.00069 | -0.00057 | -0.00073 | 0.00115 | 0.035 |
+| 3 | 0.00084 | -0.00038 | -0.00034 | 0.00098 | 0.096 |
+| 4 | 0.00017 | -0.00016 | -0.00018 | 0.00029 | 0.073 |
+| 5 | 0.00200 | -0.00065 | -0.00095 | 0.00230 | 0.186 |
+| 6 | 0.00138 | -0.00072 | -0.00094 | 0.00182 | 0.098 |
+| 7 | 0.00047 | -0.00023 | -0.00051 | 0.00073 | 0.036 |
+| 8 | -0.00009 | -0.00013 | -0.00016 | 0.00022 | 0.031 |
+
+## 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.
diff --git a/gap_reports/gap_4ed506f2-cce9-4161-8258-ab371ac5cbcb.md b/gap_reports/gap_4ed506f2-cce9-4161-8258-ab371ac5cbcb.md
new file mode 100644
index 0000000000000000000000000000000000000000..cb28cf0373e3c2aeefe745bfdb581071e6525fb7
--- /dev/null
+++ b/gap_reports/gap_4ed506f2-cce9-4161-8258-ab371ac5cbcb.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4ed506f2-cce9-4161-8258-ab371ac5cbcb.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4ed506f2-cce9-4161-8258-ab371ac5cbcb.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1240 |
+| Sim rows | 128 |
+| Real episode_id | `4ed506f2-cce9-4161-8258-ab371ac5cbcb` |
+| Sim episode_id | `4ed506f2-cce9-4161-8258-ab371ac5cbcb` |
+
+## 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 | 129 | 13 | 2.538 | 9.59 | 16.61 | 962.24 | 0.6529 |
+| 1 | descend | 82 | 9 | 0.685 | 3.55 | 6.16 | 3.95 | 0.5720 |
+| 2 | settle | 22 | 3 | 0.017 | 2.47 | 4.29 | 4.53 | 0.6218 |
+| 3 | close | 292 | 29 | 0.116 | 2.07 | 3.58 | 6.11 | 1.0638 |
+| 4 | lift | 84 | 9 | 0.738 | 3.44 | 5.96 | 5.65 | 1.1341 |
+| 5 | move_xy | 162 | 16 | 4.463 | 20.60 | 35.69 | 133.98 | 1.1759 |
+| 6 | lower | 83 | 9 | 0.554 | 4.15 | 7.18 | 9.13 | 1.2141 |
+| 7 | open | 95 | 10 | 0.032 | 3.43 | 5.95 | 6.87 | 0.8331 |
+| 8 | retract | 81 | 9 | 0.622 | 4.26 | 7.38 | 6.68 | 0.9028 |
+| 9 | return | 210 | 21 | 2.943 | 18.31 | 31.71 | 340.82 | 0.6935 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.917 |
+| TCP position RMSE (mm, per-axis) | 9.66 |
+| EE position RMS L2 (mm) | 19.58 |
+| TCP rotvec (mrad) | 325.62 |
+| W1 effort mean (A) | 0.8980 |
+| W1 effort per joint (A) | j0=0.1777, j1=1.5820, j2=1.5239, j3=0.7916, j4=0.6249, j5=0.6876 |
+
+## 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 | 0.00175 | -0.00343 | -0.00014 | 0.00386 | 0.039 |
+| 1 | 0.00227 | -0.00362 | -0.00003 | 0.00427 | 0.040 |
+| 2 | 0.00229 | -0.00360 | -0.00016 | 0.00427 | 0.033 |
+| 3 | 0.00177 | -0.00284 | -0.00057 | 0.00340 | 0.290 |
+| 4 | 0.00144 | -0.00300 | -0.00049 | 0.00337 | 0.184 |
+| 5 | 0.00330 | -0.00507 | -0.00183 | 0.00632 | 0.254 |
+| 6 | 0.00345 | -0.00501 | -0.00153 | 0.00627 | 0.144 |
+| 7 | 0.00277 | -0.00507 | -0.00146 | 0.00596 | 0.072 |
+| 8 | 0.00244 | -0.00516 | -0.00173 | 0.00596 | 0.086 |
+| 9 | -0.00016 | -0.00018 | -0.00036 | 0.00043 | 0.056 |
+
+## 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.
diff --git a/gap_reports/gap_4eff8fe3-9af1-4a7c-aa7f-cef0316adfbc.md b/gap_reports/gap_4eff8fe3-9af1-4a7c-aa7f-cef0316adfbc.md
new file mode 100644
index 0000000000000000000000000000000000000000..7c1b774b66d09d1ef02090417f748a522a08f36c
--- /dev/null
+++ b/gap_reports/gap_4eff8fe3-9af1-4a7c-aa7f-cef0316adfbc.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4eff8fe3-9af1-4a7c-aa7f-cef0316adfbc.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4eff8fe3-9af1-4a7c-aa7f-cef0316adfbc.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 968 |
+| Sim rows | 103 |
+| Real episode_id | `4eff8fe3-9af1-4a7c-aa7f-cef0316adfbc` |
+| Sim episode_id | `4eff8fe3-9af1-4a7c-aa7f-cef0316adfbc` |
+
+## 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 | 141 | 14 | 3.024 | 15.47 | 26.80 | 835.91 | 0.6758 |
+| 1 | descend | 68 | 8 | 0.698 | 3.78 | 6.55 | 4.25 | 0.6580 |
+| 2 | settle | 22 | 3 | 0.023 | 2.26 | 3.91 | 4.82 | 0.6749 |
+| 3 | close | 45 | 5 | 0.111 | 1.88 | 3.26 | 6.57 | 1.1910 |
+| 4 | lift | 73 | 8 | 0.661 | 3.40 | 5.88 | 5.74 | 1.1687 |
+| 5 | move_xy | 164 | 17 | 3.531 | 25.25 | 43.73 | 130.31 | 1.1533 |
+| 6 | lower | 70 | 8 | 0.497 | 4.05 | 7.02 | 8.54 | 1.0720 |
+| 7 | open | 73 | 8 | 0.031 | 3.27 | 5.66 | 6.41 | 0.7149 |
+| 8 | retract | 72 | 8 | 0.603 | 4.17 | 7.21 | 5.99 | 0.8018 |
+| 9 | return | 240 | 24 | 2.426 | 15.55 | 26.93 | 441.96 | 0.6780 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.704 |
+| TCP position RMSE (mm, per-axis) | 10.94 |
+| EE position RMS L2 (mm) | 24.99 |
+| TCP rotvec (mrad) | 301.88 |
+| W1 effort mean (A) | 0.8258 |
+| W1 effort per joint (A) | j0=0.1690, j1=1.7075, j2=1.5072, j3=0.7630, j4=0.3242, j5=0.4843 |
+
+## 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 | 0.00170 | -0.00332 | 0.00011 | 0.00373 | 0.032 |
+| 1 | 0.00229 | -0.00319 | 0.00004 | 0.00392 | 0.046 |
+| 2 | 0.00227 | -0.00319 | -0.00010 | 0.00392 | 0.043 |
+| 3 | 0.00210 | -0.00254 | -0.00071 | 0.00337 | 0.159 |
+| 4 | 0.00163 | -0.00278 | -0.00044 | 0.00326 | 0.189 |
+| 5 | 0.00308 | -0.00497 | -0.00143 | 0.00602 | 0.223 |
+| 6 | 0.00334 | -0.00501 | -0.00160 | 0.00623 | 0.166 |
+| 7 | 0.00243 | -0.00495 | -0.00133 | 0.00567 | 0.063 |
+| 8 | 0.00197 | -0.00490 | -0.00149 | 0.00549 | 0.074 |
+| 9 | -0.00015 | -0.00014 | -0.00037 | 0.00042 | 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.
diff --git a/gap_reports/gap_4f14a595-d6c3-42f6-bc5f-678269f73e26.md b/gap_reports/gap_4f14a595-d6c3-42f6-bc5f-678269f73e26.md
new file mode 100644
index 0000000000000000000000000000000000000000..d3327052eee3f3a7de8aa67b648678a1444fd546
--- /dev/null
+++ b/gap_reports/gap_4f14a595-d6c3-42f6-bc5f-678269f73e26.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4f14a595-d6c3-42f6-bc5f-678269f73e26.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4f14a595-d6c3-42f6-bc5f-678269f73e26.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2586 |
+| Sim rows | 229 |
+| Real episode_id | `4f14a595-d6c3-42f6-bc5f-678269f73e26` |
+| Sim episode_id | `4f14a595-d6c3-42f6-bc5f-678269f73e26` |
+
+## 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 | 230 | 20 | 2.532 | 12.36 | 21.41 | 1956.66 | 0.5695 |
+| 1 | descend | 372 | 32 | 0.477 | 3.11 | 5.39 | 3625.34 | 0.7342 |
+| 2 | settle | 382 | 33 | 0.023 | 0.73 | 1.27 | 3625.23 | 0.6922 |
+| 3 | close | 127 | 12 | 0.722 | 4.72 | 8.18 | 3507.49 | 1.0252 |
+| 4 | lift | 278 | 24 | 2.234 | 11.19 | 19.39 | 2270.23 | 1.1316 |
+| 5 | move_xy | 403 | 35 | 5.010 | 27.62 | 47.85 | 2704.21 | 0.8918 |
+| 6 | lower | 390 | 34 | 0.085 | 1.31 | 2.27 | 3625.73 | 1.0135 |
+| 7 | open | 126 | 12 | 0.749 | 4.79 | 8.29 | 3625.45 | 0.6963 |
+| 8 | retract | 278 | 25 | 2.324 | 11.78 | 20.40 | 2259.67 | 0.7272 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.191 |
+| TCP position RMSE (mm, per-axis) | 11.72 |
+| EE position RMS L2 (mm) | 22.24 |
+| TCP rotvec (mrad) | 3096.22 |
+| W1 effort mean (A) | 0.8069 |
+| W1 effort per joint (A) | j0=0.2054, j1=1.3867, j2=1.6325, j3=0.7485, j4=0.2785, j5=0.5897 |
+
+## 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 | 0.00043 | -0.00044 | -0.00072 | 0.00095 | 0.036 |
+| 1 | 0.00040 | -0.00071 | -0.00098 | 0.00127 | 0.045 |
+| 2 | 0.00041 | -0.00070 | -0.00096 | 0.00126 | 0.041 |
+| 3 | 0.00120 | -0.00049 | -0.00146 | 0.00195 | 0.120 |
+| 4 | 0.00024 | -0.00034 | -0.00052 | 0.00066 | 0.093 |
+| 5 | 0.00149 | -0.00095 | -0.00100 | 0.00203 | 0.142 |
+| 6 | 0.00127 | -0.00085 | -0.00126 | 0.00198 | 0.109 |
+| 7 | 0.00021 | -0.00045 | -0.00080 | 0.00094 | 0.047 |
+| 8 | -0.00012 | -0.00017 | -0.00021 | 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.
diff --git a/gap_reports/gap_4f15f577-51ac-4007-ac86-6fd5958ec1bd.md b/gap_reports/gap_4f15f577-51ac-4007-ac86-6fd5958ec1bd.md
new file mode 100644
index 0000000000000000000000000000000000000000..ccfcfc42ddb94721ff123f9ce5cec95f47ced134
--- /dev/null
+++ b/gap_reports/gap_4f15f577-51ac-4007-ac86-6fd5958ec1bd.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4f15f577-51ac-4007-ac86-6fd5958ec1bd.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4f15f577-51ac-4007-ac86-6fd5958ec1bd.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1363 |
+| Sim rows | 141 |
+| Real episode_id | `4f15f577-51ac-4007-ac86-6fd5958ec1bd` |
+| Sim episode_id | `4f15f577-51ac-4007-ac86-6fd5958ec1bd` |
+
+## 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 | 144 | 15 | 2.606 | 15.51 | 26.86 | 1065.94 | 0.7411 |
+| 1 | descend | 72 | 8 | 0.585 | 4.24 | 7.34 | 5.87 | 0.7013 |
+| 2 | settle | 32 | 4 | 0.025 | 3.20 | 5.54 | 6.28 | 0.7114 |
+| 3 | close | 292 | 29 | 0.137 | 3.96 | 6.86 | 10.91 | 1.1997 |
+| 4 | lift | 89 | 9 | 0.727 | 5.18 | 8.97 | 10.13 | 1.1613 |
+| 5 | move_xy | 209 | 21 | 3.136 | 18.71 | 32.40 | 74.14 | 1.0171 |
+| 6 | lower | 91 | 10 | 0.866 | 4.55 | 7.87 | 8.75 | 0.9680 |
+| 7 | open | 73 | 8 | 0.019 | 2.26 | 3.92 | 4.67 | 0.6673 |
+| 8 | retract | 91 | 10 | 0.784 | 4.10 | 7.10 | 3.99 | 0.7306 |
+| 9 | return | 270 | 27 | 2.985 | 16.28 | 28.20 | 716.08 | 0.7825 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.667 |
+| TCP position RMSE (mm, per-axis) | 9.84 |
+| EE position RMS L2 (mm) | 20.54 |
+| TCP rotvec (mrad) | 406.80 |
+| W1 effort mean (A) | 0.9006 |
+| W1 effort per joint (A) | j0=0.2636, j1=1.6521, j2=1.6139, j3=0.7711, j4=0.4752, j5=0.6275 |
+
+## 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 | 0.00196 | -0.00476 | -0.00095 | 0.00524 | 0.052 |
+| 1 | 0.00223 | -0.00495 | -0.00116 | 0.00555 | 0.042 |
+| 2 | 0.00220 | -0.00492 | -0.00129 | 0.00554 | 0.058 |
+| 3 | 0.00312 | -0.00497 | -0.00371 | 0.00694 | 0.234 |
+| 4 | 0.00243 | -0.00511 | -0.00295 | 0.00638 | 0.199 |
+| 5 | 0.00192 | -0.00290 | -0.00150 | 0.00379 | 0.225 |
+| 6 | 0.00252 | -0.00199 | -0.00232 | 0.00396 | 0.267 |
+| 7 | 0.00222 | -0.00322 | -0.00008 | 0.00391 | 0.041 |
+| 8 | 0.00181 | -0.00346 | -0.00024 | 0.00391 | 0.053 |
+| 9 | -0.00003 | -0.00010 | -0.00025 | 0.00027 | 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.
diff --git a/gap_reports/gap_4f2ef9e7-1863-4c53-9817-728f371ce79d.md b/gap_reports/gap_4f2ef9e7-1863-4c53-9817-728f371ce79d.md
new file mode 100644
index 0000000000000000000000000000000000000000..7f53d350fcb842f6f13d0021fff574690650b7c8
--- /dev/null
+++ b/gap_reports/gap_4f2ef9e7-1863-4c53-9817-728f371ce79d.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4f2ef9e7-1863-4c53-9817-728f371ce79d.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4f2ef9e7-1863-4c53-9817-728f371ce79d.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 3034 |
+| Sim rows | 268 |
+| Real episode_id | `4f2ef9e7-1863-4c53-9817-728f371ce79d` |
+| Sim episode_id | `4f2ef9e7-1863-4c53-9817-728f371ce79d` |
+
+## 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 | 246 | 22 | 3.271 | 14.40 | 24.94 | 1974.87 | 0.5827 |
+| 1 | descend | 626 | 54 | 0.389 | 2.57 | 4.44 | 3625.42 | 0.7217 |
+| 2 | settle | 366 | 32 | 0.024 | 0.76 | 1.32 | 3625.26 | 0.7336 |
+| 3 | close | 141 | 13 | 1.153 | 7.29 | 12.63 | 3420.14 | 0.9540 |
+| 4 | lift | 332 | 29 | 3.396 | 15.84 | 27.44 | 2096.84 | 1.1387 |
+| 5 | move_xy | 443 | 39 | 6.525 | 33.30 | 57.68 | 2569.29 | 0.8799 |
+| 6 | lower | 406 | 35 | 0.084 | 1.35 | 2.35 | 3481.01 | 0.9908 |
+| 7 | open | 143 | 13 | 1.105 | 6.87 | 11.90 | 3625.50 | 0.6331 |
+| 8 | retract | 331 | 29 | 3.268 | 15.28 | 26.47 | 2432.39 | 0.7354 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.948 |
+| TCP position RMSE (mm, per-axis) | 14.57 |
+| EE position RMS L2 (mm) | 26.72 |
+| TCP rotvec (mrad) | 3056.14 |
+| W1 effort mean (A) | 0.8015 |
+| W1 effort per joint (A) | j0=0.2339, j1=1.3228, j2=1.6219, j3=0.7459, j4=0.2961, j5=0.5883 |
+
+## 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 | -0.00024 | -0.00071 | 0.00097 | 0.040 |
+| 1 | 0.00062 | -0.00063 | -0.00104 | 0.00136 | 0.052 |
+| 2 | 0.00063 | -0.00064 | -0.00099 | 0.00134 | 0.048 |
+| 3 | 0.00099 | -0.00040 | -0.00107 | 0.00152 | 0.101 |
+| 4 | -0.00008 | -0.00066 | -0.00060 | 0.00089 | 0.119 |
+| 5 | 0.00120 | -0.00087 | -0.00220 | 0.00265 | 0.172 |
+| 6 | 0.00149 | -0.00091 | -0.00154 | 0.00233 | 0.119 |
+| 7 | 0.00040 | -0.00036 | -0.00078 | 0.00095 | 0.054 |
+| 8 | -0.00011 | -0.00016 | -0.00019 | 0.00027 | 0.029 |
+
+## 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.
diff --git a/gap_reports/gap_4f3b8815-b9be-4937-bae5-77fa71b0decd.md b/gap_reports/gap_4f3b8815-b9be-4937-bae5-77fa71b0decd.md
new file mode 100644
index 0000000000000000000000000000000000000000..369bc48b157a9dbd69e12f8776dcb13956fc0561
--- /dev/null
+++ b/gap_reports/gap_4f3b8815-b9be-4937-bae5-77fa71b0decd.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4f3b8815-b9be-4937-bae5-77fa71b0decd.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4f3b8815-b9be-4937-bae5-77fa71b0decd.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2683 |
+| Sim rows | 237 |
+| Real episode_id | `4f3b8815-b9be-4937-bae5-77fa71b0decd` |
+| Sim episode_id | `4f3b8815-b9be-4937-bae5-77fa71b0decd` |
+
+## 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 | 3.502 | 16.86 | 29.20 | 1891.80 | 0.6337 |
+| 1 | descend | 333 | 29 | 0.970 | 6.73 | 11.66 | 3624.75 | 0.7997 |
+| 2 | settle | 375 | 33 | 0.026 | 1.02 | 1.76 | 3624.59 | 0.6809 |
+| 3 | close | 145 | 13 | 0.795 | 5.43 | 9.40 | 3625.15 | 1.0331 |
+| 4 | lift | 299 | 26 | 3.527 | 18.76 | 32.49 | 2515.90 | 1.1310 |
+| 5 | move_xy | 440 | 38 | 7.885 | 43.34 | 75.07 | 2786.59 | 0.9032 |
+| 6 | lower | 388 | 34 | 0.092 | 1.74 | 3.01 | 3625.17 | 1.0219 |
+| 7 | open | 146 | 13 | 0.859 | 6.04 | 10.46 | 3624.80 | 0.7593 |
+| 8 | retract | 300 | 26 | 3.352 | 17.78 | 30.79 | 2476.25 | 0.7686 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.341 |
+| TCP position RMSE (mm, per-axis) | 18.09 |
+| EE position RMS L2 (mm) | 35.48 |
+| TCP rotvec (mrad) | 3153.56 |
+| W1 effort mean (A) | 0.8382 |
+| W1 effort per joint (A) | j0=0.2403, j1=1.5909, j2=1.5884, j3=0.7704, j4=0.2605, j5=0.5788 |
+
+## 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 | 0.00108 | -0.00023 | -0.00074 | 0.00133 | 0.030 |
+| 1 | 0.00107 | -0.00063 | -0.00117 | 0.00171 | 0.056 |
+| 2 | 0.00115 | -0.00067 | -0.00118 | 0.00177 | 0.058 |
+| 3 | 0.00167 | -0.00030 | -0.00090 | 0.00192 | 0.092 |
+| 4 | 0.00021 | -0.00015 | -0.00032 | 0.00041 | 0.062 |
+| 5 | 0.00218 | -0.00097 | -0.00097 | 0.00257 | 0.132 |
+| 6 | 0.00211 | -0.00093 | -0.00148 | 0.00274 | 0.118 |
+| 7 | 0.00095 | -0.00024 | -0.00095 | 0.00137 | 0.046 |
+| 8 | -0.00015 | -0.00026 | -0.00024 | 0.00038 | 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.
diff --git a/gap_reports/gap_4f504651-0ca3-41b8-855c-c95997e7309a.md b/gap_reports/gap_4f504651-0ca3-41b8-855c-c95997e7309a.md
new file mode 100644
index 0000000000000000000000000000000000000000..64fa160b18d95d3632bd8cd9aaa391db0f8acb84
--- /dev/null
+++ b/gap_reports/gap_4f504651-0ca3-41b8-855c-c95997e7309a.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4f504651-0ca3-41b8-855c-c95997e7309a.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4f504651-0ca3-41b8-855c-c95997e7309a.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 646 |
+| Sim rows | 80 |
+| Real episode_id | `4f504651-0ca3-41b8-855c-c95997e7309a` |
+| Sim episode_id | `4f504651-0ca3-41b8-855c-c95997e7309a` |
+
+## 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 | 437 | 43 | 3.622 | 18.17 | 31.47 | 166.25 | 0.7881 |
+| 1 | descend | 209 | 21 | 0.031 | 4.61 | 7.99 | 2.02 | 0.7407 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.561 |
+| TCP position RMSE (mm, per-axis) | 13.26 |
+| EE position RMS L2 (mm) | 26.28 |
+| TCP rotvec (mrad) | 117.56 |
+| W1 effort mean (A) | 0.7726 |
+| W1 effort per joint (A) | j0=0.1670, j1=1.7364, j2=1.6652, j3=0.8028, j4=0.1120, j5=0.1525 |
+
+## 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 | -0.00455 | -0.00667 | -0.00007 | 0.00807 | 0.055 |
+| 1 | -0.00443 | -0.00659 | 0.00001 | 0.00794 | 0.046 |
+
+## 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.
diff --git a/gap_reports/gap_4f8ece2b-f410-49a2-a484-a0f3e9ba59cc.md b/gap_reports/gap_4f8ece2b-f410-49a2-a484-a0f3e9ba59cc.md
new file mode 100644
index 0000000000000000000000000000000000000000..e702ba0f938aab01af990f9768b55172843e08ff
--- /dev/null
+++ b/gap_reports/gap_4f8ece2b-f410-49a2-a484-a0f3e9ba59cc.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4f8ece2b-f410-49a2-a484-a0f3e9ba59cc.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4f8ece2b-f410-49a2-a484-a0f3e9ba59cc.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1620 |
+| Sim rows | 164 |
+| Real episode_id | `4f8ece2b-f410-49a2-a484-a0f3e9ba59cc` |
+| Sim episode_id | `4f8ece2b-f410-49a2-a484-a0f3e9ba59cc` |
+
+## 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 | 138 | 14 | 7.781 | 7.15 | 12.39 | 428.57 | 0.6230 |
+| 1 | descend | 76 | 8 | 15.222 | 4.33 | 7.50 | 589.08 | 0.7022 |
+| 2 | settle | 24 | 3 | 15.188 | 2.65 | 4.59 | 589.59 | 0.6748 |
+| 3 | close | 395 | 39 | 15.189 | 2.72 | 4.70 | 590.77 | 1.0622 |
+| 4 | lift | 76 | 8 | 15.214 | 3.94 | 6.82 | 590.18 | 1.2403 |
+| 5 | move_xy | 144 | 15 | 8.659 | 12.03 | 20.85 | 2040.88 | 1.2370 |
+| 6 | lower | 76 | 8 | 0.819 | 4.95 | 8.58 | 3623.23 | 1.0704 |
+| 7 | open | 355 | 35 | 0.028 | 2.99 | 5.17 | 5.33 | 0.5841 |
+| 8 | retract | 76 | 8 | 0.859 | 4.37 | 7.57 | 4.68 | 0.6832 |
+| 9 | return | 260 | 26 | 2.796 | 17.67 | 30.61 | 679.41 | 0.6913 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 10.341 |
+| TCP position RMSE (mm, per-axis) | 7.81 |
+| EE position RMS L2 (mm) | 14.99 |
+| TCP rotvec (mrad) | 1390.33 |
+| W1 effort mean (A) | 0.8280 |
+| W1 effort per joint (A) | j0=0.1333, j1=1.2739, j2=1.5040, j3=0.7227, j4=0.3988, j5=0.9351 |
+
+## 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 | 0.00131 | -0.00400 | -0.00000 | 0.00421 | 37.211 |
+| 1 | 0.00197 | -0.00415 | 0.00004 | 0.00459 | 37.206 |
+| 2 | 0.00195 | -0.00417 | -0.00010 | 0.00460 | 37.204 |
+| 3 | 0.00258 | -0.00360 | -0.00151 | 0.00468 | 37.207 |
+| 4 | 0.00188 | -0.00384 | -0.00188 | 0.00467 | 37.218 |
+| 5 | 0.00208 | -0.00482 | -0.00257 | 0.00585 | 0.256 |
+| 6 | 0.00252 | -0.00513 | -0.00215 | 0.00611 | 0.183 |
+| 7 | 0.00169 | -0.00482 | -0.00090 | 0.00518 | 0.036 |
+| 8 | 0.00131 | -0.00438 | -0.00115 | 0.00471 | 0.062 |
+| 9 | -0.00013 | -0.00008 | -0.00024 | 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.
diff --git a/gap_reports/gap_4fbfc5bf-214a-46aa-b326-7a34923703c5.md b/gap_reports/gap_4fbfc5bf-214a-46aa-b326-7a34923703c5.md
new file mode 100644
index 0000000000000000000000000000000000000000..5a420fffb18f54bb0ec86682ec5843815361fd65
--- /dev/null
+++ b/gap_reports/gap_4fbfc5bf-214a-46aa-b326-7a34923703c5.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4fbfc5bf-214a-46aa-b326-7a34923703c5.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4fbfc5bf-214a-46aa-b326-7a34923703c5.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 3043 |
+| Sim rows | 270 |
+| Real episode_id | `4fbfc5bf-214a-46aa-b326-7a34923703c5` |
+| Sim episode_id | `4fbfc5bf-214a-46aa-b326-7a34923703c5` |
+
+## 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 | 230 | 21 | 3.600 | 13.39 | 23.20 | 1986.01 | 0.5812 |
+| 1 | descend | 561 | 49 | 0.721 | 4.39 | 7.60 | 3626.08 | 0.6757 |
+| 2 | settle | 361 | 32 | 0.025 | 0.67 | 1.15 | 3625.95 | 0.6124 |
+| 3 | close | 147 | 13 | 1.104 | 6.58 | 11.39 | 1717.39 | 0.9076 |
+| 4 | lift | 388 | 34 | 2.415 | 9.83 | 17.02 | 1665.23 | 1.0848 |
+| 5 | move_xy | 424 | 37 | 8.414 | 36.60 | 63.39 | 2141.52 | 0.8492 |
+| 6 | lower | 397 | 35 | 0.078 | 1.16 | 2.01 | 1248.74 | 0.8452 |
+| 7 | open | 146 | 13 | 1.166 | 6.60 | 11.44 | 3626.22 | 0.5844 |
+| 8 | retract | 389 | 34 | 2.253 | 9.32 | 16.15 | 2274.05 | 0.7178 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.296 |
+| TCP position RMSE (mm, per-axis) | 14.18 |
+| EE position RMS L2 (mm) | 26.36 |
+| TCP rotvec (mrad) | 2591.20 |
+| W1 effort mean (A) | 0.7402 |
+| W1 effort per joint (A) | j0=0.2756, j1=1.1410, j2=1.4151, j3=0.6672, j4=0.3398, j5=0.6023 |
+
+## 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 | 0.00065 | -0.00018 | -0.00045 | 0.00081 | 0.033 |
+| 1 | 0.00104 | -0.00059 | -0.00087 | 0.00148 | 0.053 |
+| 2 | 0.00067 | -0.00058 | -0.00073 | 0.00114 | 0.037 |
+| 3 | 0.00106 | -0.00026 | -0.00071 | 0.00130 | 0.100 |
+| 4 | 0.00016 | -0.00042 | -0.00050 | 0.00067 | 0.112 |
+| 5 | 0.00156 | -0.00080 | -0.00165 | 0.00241 | 0.137 |
+| 6 | 0.00154 | -0.00061 | -0.00105 | 0.00196 | 0.135 |
+| 7 | 0.00043 | -0.00027 | -0.00051 | 0.00072 | 0.038 |
+| 8 | -0.00010 | -0.00014 | -0.00017 | 0.00024 | 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.
diff --git a/gap_reports/gap_4fc965c9-b6ef-42c4-b4a5-574f92a3abff.md b/gap_reports/gap_4fc965c9-b6ef-42c4-b4a5-574f92a3abff.md
new file mode 100644
index 0000000000000000000000000000000000000000..c12e8f9649a1208d2a9ec69fb503ef7dd955c49c
--- /dev/null
+++ b/gap_reports/gap_4fc965c9-b6ef-42c4-b4a5-574f92a3abff.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4fc965c9-b6ef-42c4-b4a5-574f92a3abff.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4fc965c9-b6ef-42c4-b4a5-574f92a3abff.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 636 |
+| Sim rows | 79 |
+| Real episode_id | `4fc965c9-b6ef-42c4-b4a5-574f92a3abff` |
+| Sim episode_id | `4fc965c9-b6ef-42c4-b4a5-574f92a3abff` |
+
+## 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 | 428 | 42 | 3.680 | 18.84 | 32.63 | 1046.88 | 0.7991 |
+| 1 | descend | 208 | 21 | 0.024 | 1.33 | 2.30 | 2.00 | 0.7501 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.602 |
+| TCP position RMSE (mm, per-axis) | 13.36 |
+| EE position RMS L2 (mm) | 26.80 |
+| TCP rotvec (mrad) | 740.26 |
+| W1 effort mean (A) | 0.7830 |
+| W1 effort per joint (A) | j0=0.1896, j1=1.7330, j2=1.7055, j3=0.8129, j4=0.0865, j5=0.1705 |
+
+## 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 | -0.00067 | -0.00211 | 0.00068 | 0.00232 | 0.041 |
+| 1 | -0.00056 | -0.00216 | 0.00055 | 0.00230 | 0.050 |
+
+## 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.
diff --git a/gap_reports/gap_4fdb46d1-2e5b-476d-a9f7-b9d36e0fef06.md b/gap_reports/gap_4fdb46d1-2e5b-476d-a9f7-b9d36e0fef06.md
new file mode 100644
index 0000000000000000000000000000000000000000..5ff3ce88d5a5407267a21108239dd07e0d0d01cc
--- /dev/null
+++ b/gap_reports/gap_4fdb46d1-2e5b-476d-a9f7-b9d36e0fef06.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4fdb46d1-2e5b-476d-a9f7-b9d36e0fef06.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4fdb46d1-2e5b-476d-a9f7-b9d36e0fef06.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 560 |
+| Sim rows | 72 |
+| Real episode_id | `4fdb46d1-2e5b-476d-a9f7-b9d36e0fef06` |
+| Sim episode_id | `4fdb46d1-2e5b-476d-a9f7-b9d36e0fef06` |
+
+## 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 | 350 | 35 | 2.955 | 14.52 | 25.15 | 12.29 | 0.8449 |
+| 1 | descend | 210 | 21 | 0.024 | 3.93 | 6.81 | 2.34 | 0.7676 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.090 |
+| TCP position RMSE (mm, per-axis) | 10.64 |
+| EE position RMS L2 (mm) | 20.32 |
+| TCP rotvec (mrad) | 8.84 |
+| W1 effort mean (A) | 0.8158 |
+| W1 effort per joint (A) | j0=0.1907, j1=1.7202, j2=1.6630, j3=0.9749, j4=0.1912, j5=0.1548 |
+
+## 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 | 0.00214 | 0.00642 | 0.00028 | 0.00677 | 0.052 |
+| 1 | 0.00245 | 0.00636 | 0.00026 | 0.00682 | 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.
diff --git a/gap_reports/gap_4ff65fdc-ddee-4dfb-bd3e-2db2f656972f.md b/gap_reports/gap_4ff65fdc-ddee-4dfb-bd3e-2db2f656972f.md
new file mode 100644
index 0000000000000000000000000000000000000000..517ad765d9d4c05ad25da1df193ff3a857c5284b
--- /dev/null
+++ b/gap_reports/gap_4ff65fdc-ddee-4dfb-bd3e-2db2f656972f.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/4ff65fdc-ddee-4dfb-bd3e-2db2f656972f.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/4ff65fdc-ddee-4dfb-bd3e-2db2f656972f.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2894 |
+| Sim rows | 257 |
+| Real episode_id | `4ff65fdc-ddee-4dfb-bd3e-2db2f656972f` |
+| Sim episode_id | `4ff65fdc-ddee-4dfb-bd3e-2db2f656972f` |
+
+## 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 | 3.068 | 11.61 | 20.11 | 1946.57 | 0.5774 |
+| 1 | descend | 399 | 35 | 1.468 | 8.77 | 15.19 | 3626.05 | 0.6769 |
+| 2 | settle | 377 | 33 | 0.022 | 0.60 | 1.04 | 3626.00 | 0.6424 |
+| 3 | close | 165 | 15 | 0.984 | 5.59 | 9.68 | 1697.40 | 0.9259 |
+| 4 | lift | 377 | 33 | 2.813 | 11.20 | 19.40 | 1921.95 | 1.0746 |
+| 5 | move_xy | 425 | 37 | 6.768 | 30.13 | 52.18 | 2108.55 | 0.8691 |
+| 6 | lower | 384 | 34 | 0.084 | 1.14 | 1.98 | 1782.84 | 0.9656 |
+| 7 | open | 164 | 15 | 1.142 | 6.66 | 11.53 | 3626.23 | 0.6126 |
+| 8 | retract | 374 | 33 | 2.789 | 11.19 | 19.37 | 2319.13 | 0.7100 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.893 |
+| TCP position RMSE (mm, per-axis) | 12.68 |
+| EE position RMS L2 (mm) | 23.97 |
+| TCP rotvec (mrad) | 2641.82 |
+| W1 effort mean (A) | 0.7650 |
+| W1 effort per joint (A) | j0=0.2619, j1=1.1398, j2=1.5317, j3=0.6652, j4=0.4067, j5=0.5848 |
+
+## 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 | -0.00028 | -0.00043 | 0.00062 | 0.025 |
+| 1 | 0.00043 | -0.00055 | -0.00075 | 0.00102 | 0.037 |
+| 2 | 0.00043 | -0.00057 | -0.00074 | 0.00102 | 0.033 |
+| 3 | 0.00081 | -0.00037 | -0.00104 | 0.00137 | 0.102 |
+| 4 | 0.00043 | 0.00011 | -0.00025 | 0.00051 | 0.094 |
+| 5 | 0.00115 | -0.00084 | -0.00178 | 0.00229 | 0.139 |
+| 6 | 0.00121 | -0.00074 | -0.00126 | 0.00190 | 0.116 |
+| 7 | 0.00020 | -0.00035 | -0.00053 | 0.00067 | 0.041 |
+| 8 | -0.00007 | -0.00009 | -0.00014 | 0.00018 | 0.026 |
+
+## 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.
diff --git a/gap_reports/gap_5017eb36-233a-4eb3-bca2-d37dab50bd9c.md b/gap_reports/gap_5017eb36-233a-4eb3-bca2-d37dab50bd9c.md
new file mode 100644
index 0000000000000000000000000000000000000000..a3eb8d4432b27b4336801ccdbd900d95fb0c34fe
--- /dev/null
+++ b/gap_reports/gap_5017eb36-233a-4eb3-bca2-d37dab50bd9c.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/5017eb36-233a-4eb3-bca2-d37dab50bd9c.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/5017eb36-233a-4eb3-bca2-d37dab50bd9c.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1412 |
+| Sim rows | 143 |
+| Real episode_id | `5017eb36-233a-4eb3-bca2-d37dab50bd9c` |
+| Sim episode_id | `5017eb36-233a-4eb3-bca2-d37dab50bd9c` |
+
+## 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 | 20 | 4.635 | 10.30 | 17.83 | 1104.99 | 0.7217 |
+| 1 | descend | 87 | 9 | 0.788 | 3.84 | 6.65 | 4.01 | 0.5657 |
+| 2 | settle | 36 | 4 | 0.022 | 2.37 | 4.10 | 4.56 | 0.6065 |
+| 3 | close | 400 | 39 | 0.135 | 1.94 | 3.36 | 5.82 | 1.1507 |
+| 4 | lift | 108 | 11 | 1.091 | 4.58 | 7.93 | 5.21 | 1.2382 |
+| 5 | move_xy | 160 | 16 | 5.223 | 12.50 | 21.65 | 125.03 | 1.0657 |
+| 6 | lower | 69 | 8 | 0.597 | 3.51 | 6.08 | 8.67 | 1.0720 |
+| 7 | open | 78 | 8 | 0.021 | 2.51 | 4.35 | 4.89 | 0.6456 |
+| 8 | retract | 68 | 7 | 0.470 | 3.23 | 5.59 | 4.22 | 0.6959 |
+| 9 | return | 203 | 21 | 2.743 | 13.73 | 23.79 | 961.07 | 0.7757 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.423 |
+| TCP position RMSE (mm, per-axis) | 7.25 |
+| EE position RMS L2 (mm) | 13.99 |
+| TCP rotvec (mrad) | 464.81 |
+| W1 effort mean (A) | 0.9141 |
+| W1 effort per joint (A) | j0=0.1869, j1=1.3540, j2=1.5871, j3=0.9642, j4=0.6591, j5=0.7336 |
+
+## 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 | 0.00136 | -0.00335 | -0.00042 | 0.00364 | 0.026 |
+| 1 | 0.00185 | -0.00365 | -0.00037 | 0.00411 | 0.048 |
+| 2 | 0.00186 | -0.00364 | -0.00049 | 0.00411 | 0.034 |
+| 3 | 0.00034 | -0.00332 | 0.00020 | 0.00334 | 0.193 |
+| 4 | 0.00007 | -0.00299 | -0.00036 | 0.00301 | 0.171 |
+| 5 | 0.00205 | -0.00283 | -0.00115 | 0.00368 | 0.227 |
+| 6 | 0.00263 | -0.00262 | -0.00131 | 0.00393 | 0.223 |
+| 7 | 0.00243 | -0.00359 | -0.00031 | 0.00435 | 0.046 |
+| 8 | 0.00205 | -0.00365 | -0.00050 | 0.00422 | 0.060 |
+| 9 | -0.00007 | -0.00014 | -0.00025 | 0.00030 | 0.026 |
+
+## 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.
diff --git a/gap_reports/gap_5077e803-efaf-4dcc-a5a1-50bae0ba6b16.md b/gap_reports/gap_5077e803-efaf-4dcc-a5a1-50bae0ba6b16.md
new file mode 100644
index 0000000000000000000000000000000000000000..64136aac0e0ae19134375d7143c51ee89753b12a
--- /dev/null
+++ b/gap_reports/gap_5077e803-efaf-4dcc-a5a1-50bae0ba6b16.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/5077e803-efaf-4dcc-a5a1-50bae0ba6b16.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/5077e803-efaf-4dcc-a5a1-50bae0ba6b16.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 3385 |
+| Sim rows | 297 |
+| Real episode_id | `5077e803-efaf-4dcc-a5a1-50bae0ba6b16` |
+| Sim episode_id | `5077e803-efaf-4dcc-a5a1-50bae0ba6b16` |
+
+## 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 | 261 | 23 | 4.053 | 17.83 | 30.88 | 3.61 | 0.5981 |
+| 1 | descend | 593 | 51 | 0.872 | 5.91 | 10.24 | 5.18 | 0.6924 |
+| 2 | settle | 371 | 32 | 0.026 | 1.02 | 1.76 | 5.38 | 0.6320 |
+| 3 | close | 163 | 15 | 0.989 | 6.16 | 10.66 | 7.07 | 0.9144 |
+| 4 | lift | 498 | 43 | 3.450 | 16.09 | 27.87 | 4.82 | 1.1007 |
+| 5 | move_xy | 434 | 38 | 8.123 | 39.73 | 68.81 | 5.64 | 0.9129 |
+| 6 | lower | 407 | 35 | 0.102 | 1.81 | 3.13 | 8.14 | 0.8953 |
+| 7 | open | 161 | 15 | 0.729 | 4.70 | 8.14 | 5.37 | 0.6123 |
+| 8 | retract | 497 | 43 | 3.734 | 17.20 | 29.80 | 3.56 | 0.7213 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.505 |
+| TCP position RMSE (mm, per-axis) | 16.83 |
+| EE position RMS L2 (mm) | 30.88 |
+| TCP rotvec (mrad) | 5.59 |
+| W1 effort mean (A) | 0.7721 |
+| W1 effort per joint (A) | j0=0.2940, j1=1.2887, j2=1.4233, j3=0.6143, j4=0.4241, j5=0.5882 |
+
+## 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 | -0.00050 | -0.00073 | 0.00143 | 0.037 |
+| 1 | 0.00114 | -0.00087 | -0.00098 | 0.00174 | 0.050 |
+| 2 | 0.00114 | -0.00087 | -0.00097 | 0.00173 | 0.048 |
+| 3 | 0.00189 | -0.00056 | -0.00137 | 0.00240 | 0.127 |
+| 4 | 0.00007 | -0.00026 | -0.00018 | 0.00032 | 0.108 |
+| 5 | 0.00201 | -0.00108 | -0.00179 | 0.00290 | 0.136 |
+| 6 | 0.00214 | -0.00103 | -0.00211 | 0.00318 | 0.161 |
+| 7 | 0.00099 | -0.00051 | -0.00072 | 0.00133 | 0.035 |
+| 8 | -0.00007 | -0.00008 | -0.00013 | 0.00016 | 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.
diff --git a/gap_reports/gap_5084f98a-a389-4505-b147-c6105fcab438.md b/gap_reports/gap_5084f98a-a389-4505-b147-c6105fcab438.md
new file mode 100644
index 0000000000000000000000000000000000000000..5ba2cbbf4f118b4e0849e4deb0afba9f13e7f8c1
--- /dev/null
+++ b/gap_reports/gap_5084f98a-a389-4505-b147-c6105fcab438.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/5084f98a-a389-4505-b147-c6105fcab438.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/5084f98a-a389-4505-b147-c6105fcab438.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2853 |
+| Sim rows | 255 |
+| Real episode_id | `5084f98a-a389-4505-b147-c6105fcab438` |
+| Sim episode_id | `5084f98a-a389-4505-b147-c6105fcab438` |
+
+## 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 | 212 | 19 | 2.770 | 12.39 | 21.46 | 1991.92 | 0.5859 |
+| 1 | descend | 318 | 28 | 1.313 | 8.58 | 14.86 | 3625.38 | 0.6794 |
+| 2 | settle | 362 | 32 | 0.024 | 0.76 | 1.32 | 3625.28 | 0.7290 |
+| 3 | close | 154 | 14 | 0.921 | 6.15 | 10.66 | 2730.39 | 0.9751 |
+| 4 | lift | 432 | 38 | 3.309 | 15.29 | 26.48 | 2227.76 | 1.1056 |
+| 5 | move_xy | 384 | 34 | 6.134 | 31.33 | 54.26 | 2848.19 | 0.8825 |
+| 6 | lower | 405 | 36 | 0.085 | 1.36 | 2.36 | 3556.33 | 1.0068 |
+| 7 | open | 154 | 14 | 1.064 | 6.65 | 11.52 | 3625.54 | 0.6462 |
+| 8 | retract | 432 | 38 | 3.319 | 15.32 | 26.54 | 2372.45 | 0.7235 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.808 |
+| TCP position RMSE (mm, per-axis) | 13.99 |
+| EE position RMS L2 (mm) | 26.12 |
+| TCP rotvec (mrad) | 3022.22 |
+| W1 effort mean (A) | 0.8128 |
+| W1 effort per joint (A) | j0=0.2536, j1=1.3576, j2=1.6087, j3=0.7160, j4=0.3329, j5=0.6078 |
+
+## 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 | 0.00063 | -0.00024 | -0.00067 | 0.00095 | 0.042 |
+| 1 | 0.00061 | -0.00064 | -0.00099 | 0.00132 | 0.048 |
+| 2 | 0.00064 | -0.00065 | -0.00096 | 0.00132 | 0.046 |
+| 3 | 0.00117 | -0.00032 | -0.00059 | 0.00135 | 0.110 |
+| 4 | 0.00017 | -0.00025 | -0.00024 | 0.00038 | 0.106 |
+| 5 | 0.00156 | -0.00085 | -0.00082 | 0.00196 | 0.115 |
+| 6 | 0.00139 | -0.00093 | -0.00151 | 0.00226 | 0.116 |
+| 7 | 0.00046 | -0.00037 | -0.00071 | 0.00093 | 0.040 |
+| 8 | -0.00006 | -0.00008 | -0.00012 | 0.00016 | 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.
diff --git a/gap_reports/gap_50946fdf-c000-4218-88f8-7aec9574bc0a.md b/gap_reports/gap_50946fdf-c000-4218-88f8-7aec9574bc0a.md
new file mode 100644
index 0000000000000000000000000000000000000000..10d8efa3fb26f4a2bd9968235ae19e0cf1cc05c9
--- /dev/null
+++ b/gap_reports/gap_50946fdf-c000-4218-88f8-7aec9574bc0a.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/50946fdf-c000-4218-88f8-7aec9574bc0a.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/50946fdf-c000-4218-88f8-7aec9574bc0a.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2471 |
+| Sim rows | 248 |
+| Real episode_id | `50946fdf-c000-4218-88f8-7aec9574bc0a` |
+| Sim episode_id | `50946fdf-c000-4218-88f8-7aec9574bc0a` |
+
+## 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 | 218 | 22 | 3.023 | 11.73 | 20.31 | 1949.22 | 0.5698 |
+| 1 | descend | 370 | 36 | 1.389 | 8.28 | 14.34 | 3626.03 | 0.7328 |
+| 2 | settle | 332 | 33 | 0.021 | 0.59 | 1.03 | 3625.96 | 0.7471 |
+| 3 | close | 139 | 14 | 0.881 | 5.34 | 9.24 | 1530.98 | 0.9373 |
+| 4 | lift | 264 | 26 | 3.332 | 13.68 | 23.70 | 1661.13 | 1.1022 |
+| 5 | move_xy | 402 | 40 | 6.884 | 31.19 | 54.02 | 2293.79 | 0.8943 |
+| 6 | lower | 348 | 35 | 0.083 | 1.15 | 2.00 | 1798.42 | 0.9428 |
+| 7 | open | 138 | 14 | 0.756 | 4.39 | 7.60 | 3626.22 | 0.5957 |
+| 8 | retract | 260 | 26 | 3.350 | 13.74 | 23.80 | 2304.19 | 0.7062 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.021 |
+| TCP position RMSE (mm, per-axis) | 13.35 |
+| EE position RMS L2 (mm) | 25.89 |
+| TCP rotvec (mrad) | 2627.90 |
+| W1 effort mean (A) | 0.7905 |
+| W1 effort per joint (A) | j0=0.2454, j1=1.1824, j2=1.5920, j3=0.7143, j4=0.3999, j5=0.6090 |
+
+## 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 | 0.00040 | -0.00032 | -0.00046 | 0.00069 | 0.025 |
+| 1 | 0.00040 | -0.00056 | -0.00072 | 0.00100 | 0.033 |
+| 2 | 0.00041 | -0.00056 | -0.00075 | 0.00102 | 0.035 |
+| 3 | 0.00065 | -0.00044 | -0.00027 | 0.00083 | 0.098 |
+| 4 | 0.00004 | -0.00045 | -0.00044 | 0.00063 | 0.096 |
+| 5 | 0.00136 | -0.00071 | -0.00077 | 0.00172 | 0.147 |
+| 6 | 0.00128 | -0.00071 | -0.00065 | 0.00160 | 0.129 |
+| 7 | 0.00019 | -0.00030 | -0.00053 | 0.00064 | 0.038 |
+| 8 | -0.00010 | -0.00012 | -0.00015 | 0.00022 | 0.031 |
+
+## 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.
diff --git a/gap_reports/gap_509531b7-a097-4be0-ad41-fd4b9903c974.md b/gap_reports/gap_509531b7-a097-4be0-ad41-fd4b9903c974.md
new file mode 100644
index 0000000000000000000000000000000000000000..29ebf7541d5b962be10a04d5c5574df898ed936a
--- /dev/null
+++ b/gap_reports/gap_509531b7-a097-4be0-ad41-fd4b9903c974.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/509531b7-a097-4be0-ad41-fd4b9903c974.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/509531b7-a097-4be0-ad41-fd4b9903c974.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2408 |
+| Sim rows | 216 |
+| Real episode_id | `509531b7-a097-4be0-ad41-fd4b9903c974` |
+| Sim episode_id | `509531b7-a097-4be0-ad41-fd4b9903c974` |
+
+## 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 | 233 | 21 | 2.248 | 11.13 | 19.27 | 1987.08 | 0.6266 |
+| 1 | descend | 289 | 26 | 0.828 | 5.40 | 9.35 | 3625.26 | 1.0160 |
+| 2 | settle | 383 | 34 | 0.025 | 0.74 | 1.28 | 3625.25 | 0.9877 |
+| 3 | close | 109 | 10 | 0.411 | 2.82 | 4.89 | 3626.03 | 1.1717 |
+| 4 | lift | 261 | 23 | 2.257 | 11.59 | 20.07 | 2221.68 | 1.2797 |
+| 5 | move_xy | 389 | 34 | 4.499 | 25.21 | 43.66 | 2763.52 | 1.0705 |
+| 6 | lower | 376 | 33 | 0.080 | 1.24 | 2.14 | 3549.75 | 1.3498 |
+| 7 | open | 107 | 10 | 0.500 | 3.26 | 5.64 | 3625.46 | 0.8933 |
+| 8 | retract | 261 | 23 | 2.581 | 13.21 | 22.88 | 2255.12 | 0.8712 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.059 |
+| TCP position RMSE (mm, per-axis) | 11.14 |
+| EE position RMS L2 (mm) | 21.41 |
+| TCP rotvec (mrad) | 3105.28 |
+| W1 effort mean (A) | 1.0385 |
+| W1 effort per joint (A) | j0=0.7214, j1=1.2569, j2=1.8420, j3=1.1057, j4=0.7441, j5=0.5609 |
+
+## 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 | 0.00045 | -0.00050 | -0.00078 | 0.00103 | 0.032 |
+| 1 | 0.00038 | -0.00072 | -0.00096 | 0.00126 | 0.045 |
+| 2 | 0.00041 | -0.00071 | -0.00097 | 0.00127 | 0.044 |
+| 3 | 0.00152 | -0.00069 | -0.00101 | 0.00195 | 0.160 |
+| 4 | 0.00028 | -0.00011 | -0.00030 | 0.00042 | 0.084 |
+| 5 | 0.00142 | -0.00121 | -0.00230 | 0.00296 | 0.172 |
+| 6 | 0.00121 | -0.00096 | -0.00094 | 0.00181 | 0.109 |
+| 7 | 0.00024 | -0.00052 | -0.00084 | 0.00102 | 0.041 |
+| 8 | -0.00014 | -0.00020 | -0.00021 | 0.00033 | 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.
diff --git a/gap_reports/gap_50db735c-46d7-4a50-9878-86c78316eeb2.md b/gap_reports/gap_50db735c-46d7-4a50-9878-86c78316eeb2.md
new file mode 100644
index 0000000000000000000000000000000000000000..a0318a8a41dfcefe9318df3be3103323cee324d9
--- /dev/null
+++ b/gap_reports/gap_50db735c-46d7-4a50-9878-86c78316eeb2.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/50db735c-46d7-4a50-9878-86c78316eeb2.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/50db735c-46d7-4a50-9878-86c78316eeb2.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2659 |
+| Sim rows | 235 |
+| Real episode_id | `50db735c-46d7-4a50-9878-86c78316eeb2` |
+| Sim episode_id | `50db735c-46d7-4a50-9878-86c78316eeb2` |
+
+## 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 | 211 | 19 | 2.794 | 12.35 | 21.39 | 2.96 | 0.5901 |
+| 1 | descend | 354 | 31 | 1.178 | 7.75 | 13.42 | 4.52 | 0.7478 |
+| 2 | settle | 386 | 34 | 0.026 | 0.95 | 1.65 | 4.63 | 0.6844 |
+| 3 | close | 141 | 13 | 0.792 | 5.09 | 8.82 | 6.88 | 0.9357 |
+| 4 | lift | 336 | 29 | 2.469 | 11.15 | 19.31 | 4.13 | 1.0967 |
+| 5 | move_xy | 370 | 32 | 4.945 | 24.81 | 42.97 | 4.83 | 0.9288 |
+| 6 | lower | 385 | 33 | 0.097 | 1.68 | 2.91 | 7.30 | 1.0403 |
+| 7 | open | 142 | 13 | 1.218 | 7.48 | 12.95 | 4.77 | 0.6357 |
+| 8 | retract | 334 | 29 | 2.556 | 11.70 | 20.26 | 3.01 | 0.7339 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.319 |
+| TCP position RMSE (mm, per-axis) | 11.43 |
+| EE position RMS L2 (mm) | 20.75 |
+| TCP rotvec (mrad) | 4.98 |
+| W1 effort mean (A) | 0.8065 |
+| W1 effort per joint (A) | j0=0.3040, j1=1.3594, j2=1.4595, j3=0.6679, j4=0.4820, j5=0.5665 |
+
+## 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 | -0.00047 | -0.00065 | 0.00118 | 0.044 |
+| 1 | 0.00092 | -0.00093 | -0.00102 | 0.00166 | 0.049 |
+| 2 | 0.00090 | -0.00094 | -0.00095 | 0.00162 | 0.047 |
+| 3 | 0.00150 | -0.00068 | -0.00126 | 0.00207 | 0.121 |
+| 4 | 0.00037 | 0.00032 | -0.00008 | 0.00050 | 0.092 |
+| 5 | 0.00206 | -0.00114 | -0.00115 | 0.00262 | 0.161 |
+| 6 | 0.00207 | -0.00121 | -0.00192 | 0.00307 | 0.147 |
+| 7 | 0.00065 | -0.00062 | -0.00079 | 0.00120 | 0.051 |
+| 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.
diff --git a/gap_reports/gap_50e02bdf-7322-4bb0-a56d-f5e779ac2d3a.md b/gap_reports/gap_50e02bdf-7322-4bb0-a56d-f5e779ac2d3a.md
new file mode 100644
index 0000000000000000000000000000000000000000..86779f57864402ec53d2dae9cc9fad6576e1f69b
--- /dev/null
+++ b/gap_reports/gap_50e02bdf-7322-4bb0-a56d-f5e779ac2d3a.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/50e02bdf-7322-4bb0-a56d-f5e779ac2d3a.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/50e02bdf-7322-4bb0-a56d-f5e779ac2d3a.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 549 |
+| Sim rows | 71 |
+| Real episode_id | `50e02bdf-7322-4bb0-a56d-f5e779ac2d3a` |
+| Sim episode_id | `50e02bdf-7322-4bb0-a56d-f5e779ac2d3a` |
+
+## 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 | 343 | 34 | 2.662 | 14.33 | 24.82 | 6.11 | 0.7894 |
+| 1 | descend | 206 | 21 | 0.024 | 1.87 | 3.24 | 1.96 | 0.8456 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.882 |
+| TCP position RMSE (mm, per-axis) | 10.22 |
+| EE position RMS L2 (mm) | 19.72 |
+| TCP rotvec (mrad) | 4.54 |
+| W1 effort mean (A) | 0.8103 |
+| W1 effort per joint (A) | j0=0.1611, j1=1.7485, j2=1.8194, j3=0.8226, j4=0.1756, j5=0.1347 |
+
+## 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 | 0.00251 | -0.00190 | 0.00082 | 0.00325 | 0.036 |
+| 1 | 0.00254 | -0.00195 | 0.00055 | 0.00325 | 0.047 |
+
+## 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.
diff --git a/gap_reports/gap_50e35643-894c-4f3a-a6e6-a2b4b148432c.md b/gap_reports/gap_50e35643-894c-4f3a-a6e6-a2b4b148432c.md
new file mode 100644
index 0000000000000000000000000000000000000000..89f77ebef21d5c429b36192f6d679ee78a50cbf0
--- /dev/null
+++ b/gap_reports/gap_50e35643-894c-4f3a-a6e6-a2b4b148432c.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/50e35643-894c-4f3a-a6e6-a2b4b148432c.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/50e35643-894c-4f3a-a6e6-a2b4b148432c.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2514 |
+| Sim rows | 224 |
+| Real episode_id | `50e35643-894c-4f3a-a6e6-a2b4b148432c` |
+| Sim episode_id | `50e35643-894c-4f3a-a6e6-a2b4b148432c` |
+
+## 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 | 3.196 | 12.74 | 22.07 | 2013.74 | 0.6072 |
+| 1 | descend | 326 | 29 | 1.078 | 6.85 | 11.86 | 3625.34 | 0.6738 |
+| 2 | settle | 357 | 31 | 0.024 | 0.83 | 1.43 | 3625.27 | 0.6254 |
+| 3 | close | 151 | 14 | 1.106 | 7.19 | 12.46 | 3234.93 | 0.9359 |
+| 4 | lift | 310 | 27 | 3.586 | 16.33 | 28.28 | 2479.74 | 1.1111 |
+| 5 | move_xy | 340 | 30 | 7.706 | 37.84 | 65.53 | 2720.09 | 0.8808 |
+| 6 | lower | 379 | 33 | 0.089 | 1.48 | 2.57 | 3162.93 | 0.9008 |
+| 7 | open | 151 | 14 | 1.016 | 6.34 | 10.98 | 3625.49 | 0.6589 |
+| 8 | retract | 312 | 27 | 3.519 | 16.12 | 27.92 | 2471.47 | 0.7427 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.304 |
+| TCP position RMSE (mm, per-axis) | 15.85 |
+| EE position RMS L2 (mm) | 29.13 |
+| TCP rotvec (mrad) | 3047.95 |
+| W1 effort mean (A) | 0.7748 |
+| W1 effort per joint (A) | j0=0.2531, j1=1.3605, j2=1.4535, j3=0.6821, j4=0.3274, j5=0.5723 |
+
+## 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 | -0.00019 | -0.00054 | 0.00100 | 0.029 |
+| 1 | 0.00087 | -0.00055 | -0.00101 | 0.00144 | 0.049 |
+| 2 | 0.00087 | -0.00060 | -0.00095 | 0.00142 | 0.049 |
+| 3 | 0.00145 | -0.00015 | -0.00123 | 0.00190 | 0.118 |
+| 4 | 0.00014 | -0.00045 | -0.00071 | 0.00085 | 0.110 |
+| 5 | 0.00185 | -0.00072 | -0.00156 | 0.00252 | 0.119 |
+| 6 | 0.00157 | -0.00083 | -0.00169 | 0.00245 | 0.135 |
+| 7 | 0.00069 | -0.00024 | -0.00071 | 0.00102 | 0.038 |
+| 8 | -0.00012 | -0.00019 | -0.00021 | 0.00031 | 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.
diff --git a/gap_reports/gap_50e3b34c-16a6-4527-949e-73d1a2186385.md b/gap_reports/gap_50e3b34c-16a6-4527-949e-73d1a2186385.md
new file mode 100644
index 0000000000000000000000000000000000000000..66adaf13e81a37e1a2673d21d47e33c0a3639192
--- /dev/null
+++ b/gap_reports/gap_50e3b34c-16a6-4527-949e-73d1a2186385.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/50e3b34c-16a6-4527-949e-73d1a2186385.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/50e3b34c-16a6-4527-949e-73d1a2186385.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2694 |
+| Sim rows | 242 |
+| Real episode_id | `50e3b34c-16a6-4527-949e-73d1a2186385` |
+| Sim episode_id | `50e3b34c-16a6-4527-949e-73d1a2186385` |
+
+## 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 | 232 | 21 | 2.862 | 14.40 | 24.94 | 1873.92 | 0.6141 |
+| 1 | descend | 344 | 30 | 0.666 | 4.71 | 8.15 | 3624.73 | 0.7927 |
+| 2 | settle | 362 | 32 | 0.027 | 0.96 | 1.67 | 3624.57 | 0.7212 |
+| 3 | close | 138 | 13 | 0.795 | 5.48 | 9.49 | 3625.21 | 0.9917 |
+| 4 | lift | 340 | 30 | 2.993 | 16.31 | 28.24 | 2399.80 | 1.1196 |
+| 5 | move_xy | 394 | 35 | 5.905 | 33.85 | 58.63 | 2769.57 | 0.9054 |
+| 6 | lower | 406 | 36 | 0.091 | 1.67 | 2.90 | 3625.15 | 1.0447 |
+| 7 | open | 139 | 13 | 0.843 | 5.82 | 10.08 | 3624.69 | 0.7585 |
+| 8 | retract | 339 | 30 | 3.078 | 16.89 | 29.25 | 2386.97 | 0.7523 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.652 |
+| TCP position RMSE (mm, per-axis) | 14.88 |
+| EE position RMS L2 (mm) | 28.01 |
+| TCP rotvec (mrad) | 3132.93 |
+| W1 effort mean (A) | 0.8444 |
+| W1 effort per joint (A) | j0=0.2461, j1=1.5195, j2=1.6895, j3=0.7473, j4=0.2468, j5=0.6173 |
+
+## 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 | 0.00092 | -0.00038 | -0.00078 | 0.00126 | 0.027 |
+| 1 | 0.00089 | -0.00073 | -0.00120 | 0.00166 | 0.054 |
+| 2 | 0.00092 | -0.00075 | -0.00119 | 0.00168 | 0.055 |
+| 3 | 0.00182 | -0.00044 | -0.00072 | 0.00200 | 0.135 |
+| 4 | 0.00024 | -0.00008 | -0.00051 | 0.00057 | 0.106 |
+| 5 | 0.00204 | -0.00105 | -0.00147 | 0.00272 | 0.137 |
+| 6 | 0.00228 | -0.00091 | -0.00063 | 0.00253 | 0.181 |
+| 7 | 0.00074 | -0.00041 | -0.00093 | 0.00126 | 0.039 |
+| 8 | -0.00013 | -0.00021 | -0.00020 | 0.00032 | 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.
diff --git a/gap_reports/gap_50f03cab-4a46-4069-9152-33c7958a597c.md b/gap_reports/gap_50f03cab-4a46-4069-9152-33c7958a597c.md
new file mode 100644
index 0000000000000000000000000000000000000000..74c567e9ee6d9b51bdee5642ab74dff1daadb978
--- /dev/null
+++ b/gap_reports/gap_50f03cab-4a46-4069-9152-33c7958a597c.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/50f03cab-4a46-4069-9152-33c7958a597c.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/50f03cab-4a46-4069-9152-33c7958a597c.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2489 |
+| Sim rows | 222 |
+| Real episode_id | `50f03cab-4a46-4069-9152-33c7958a597c` |
+| Sim episode_id | `50f03cab-4a46-4069-9152-33c7958a597c` |
+
+## 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 | 173 | 16 | 2.196 | 9.51 | 16.47 | 1929.48 | 0.5732 |
+| 1 | descend | 331 | 29 | 1.474 | 9.50 | 16.46 | 3625.44 | 0.6994 |
+| 2 | settle | 383 | 33 | 0.021 | 0.70 | 1.21 | 3625.23 | 0.6779 |
+| 3 | close | 152 | 14 | 1.060 | 6.71 | 11.62 | 3625.73 | 0.9792 |
+| 4 | lift | 282 | 25 | 2.300 | 11.07 | 19.18 | 2258.41 | 1.1108 |
+| 5 | move_xy | 343 | 30 | 5.462 | 29.49 | 51.08 | 2543.99 | 0.8989 |
+| 6 | lower | 389 | 34 | 0.085 | 1.29 | 2.24 | 3476.51 | 1.0534 |
+| 7 | open | 153 | 14 | 1.065 | 6.74 | 11.67 | 3625.38 | 0.7077 |
+| 8 | retract | 283 | 25 | 2.470 | 12.00 | 20.78 | 2341.09 | 0.7266 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.369 |
+| TCP position RMSE (mm, per-axis) | 12.52 |
+| EE position RMS L2 (mm) | 22.87 |
+| TCP rotvec (mrad) | 3081.08 |
+| W1 effort mean (A) | 0.8141 |
+| W1 effort per joint (A) | j0=0.2036, j1=1.3997, j2=1.5758, j3=0.8050, j4=0.3274, j5=0.5729 |
+
+## 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 | 0.00040 | -0.00034 | -0.00065 | 0.00084 | 0.038 |
+| 1 | 0.00040 | -0.00073 | -0.00091 | 0.00123 | 0.043 |
+| 2 | 0.00040 | -0.00072 | -0.00091 | 0.00123 | 0.044 |
+| 3 | 0.00097 | -0.00052 | -0.00085 | 0.00139 | 0.091 |
+| 4 | 0.00006 | -0.00035 | -0.00028 | 0.00045 | 0.091 |
+| 5 | 0.00127 | -0.00104 | -0.00182 | 0.00245 | 0.124 |
+| 6 | 0.00129 | -0.00089 | -0.00132 | 0.00205 | 0.123 |
+| 7 | 0.00026 | -0.00047 | -0.00076 | 0.00093 | 0.053 |
+| 8 | -0.00010 | -0.00015 | -0.00018 | 0.00026 | 0.031 |
+
+## 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.
diff --git a/gap_reports/gap_50f2eaee-8337-4080-b5b9-f90d3067ff8c.md b/gap_reports/gap_50f2eaee-8337-4080-b5b9-f90d3067ff8c.md
new file mode 100644
index 0000000000000000000000000000000000000000..8d6da950428f2f4acc2a774021fe9cc61d917492
--- /dev/null
+++ b/gap_reports/gap_50f2eaee-8337-4080-b5b9-f90d3067ff8c.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/50f2eaee-8337-4080-b5b9-f90d3067ff8c.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/50f2eaee-8337-4080-b5b9-f90d3067ff8c.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 743 |
+| Sim rows | 89 |
+| Real episode_id | `50f2eaee-8337-4080-b5b9-f90d3067ff8c` |
+| Sim episode_id | `50f2eaee-8337-4080-b5b9-f90d3067ff8c` |
+
+## 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 | 533 | 52 | 4.604 | 23.42 | 40.57 | 161.40 | 0.7987 |
+| 1 | descend | 210 | 21 | 0.023 | 2.48 | 4.30 | 1.93 | 0.8465 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.255 |
+| TCP position RMSE (mm, per-axis) | 16.65 |
+| EE position RMS L2 (mm) | 34.44 |
+| TCP rotvec (mrad) | 114.13 |
+| W1 effort mean (A) | 0.8122 |
+| W1 effort per joint (A) | j0=0.1787, j1=1.6958, j2=1.8552, j3=0.8590, j4=0.1235, j5=0.1610 |
+
+## 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 | -0.00190 | -0.00383 | 0.00052 | 0.00431 | 0.035 |
+| 1 | -0.00188 | -0.00384 | 0.00043 | 0.00430 | 0.048 |
+
+## 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.
diff --git a/gap_reports/gap_50f7854d-0582-416a-ae45-70c9817ab651.md b/gap_reports/gap_50f7854d-0582-416a-ae45-70c9817ab651.md
new file mode 100644
index 0000000000000000000000000000000000000000..5614038d31e361ebb0c433be6014f6b0ad399ea3
--- /dev/null
+++ b/gap_reports/gap_50f7854d-0582-416a-ae45-70c9817ab651.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/50f7854d-0582-416a-ae45-70c9817ab651.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/50f7854d-0582-416a-ae45-70c9817ab651.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 457 |
+| Sim rows | 61 |
+| Real episode_id | `50f7854d-0582-416a-ae45-70c9817ab651` |
+| Sim episode_id | `50f7854d-0582-416a-ae45-70c9817ab651` |
+
+## 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 | 245 | 24 | 2.778 | 12.57 | 21.76 | 371.58 | 0.8095 |
+| 1 | descend | 212 | 21 | 0.027 | 2.59 | 4.48 | 1.91 | 0.7394 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.964 |
+| TCP position RMSE (mm, per-axis) | 9.07 |
+| EE position RMS L2 (mm) | 16.23 |
+| TCP rotvec (mrad) | 262.75 |
+| W1 effort mean (A) | 0.7769 |
+| W1 effort per joint (A) | j0=0.1176, j1=1.7846, j2=1.7669, j3=0.7756, j4=0.0907, j5=0.1257 |
+
+## 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 | -0.00138 | -0.00435 | 0.00032 | 0.00458 | 0.061 |
+| 1 | -0.00127 | -0.00427 | 0.00041 | 0.00447 | 0.048 |
+
+## 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.
diff --git a/gap_reports/gap_51085cae-7063-4a9b-a248-f0c17f246d5d.md b/gap_reports/gap_51085cae-7063-4a9b-a248-f0c17f246d5d.md
new file mode 100644
index 0000000000000000000000000000000000000000..5e859e2858dff02e5c3af09868e2f0b082d302fb
--- /dev/null
+++ b/gap_reports/gap_51085cae-7063-4a9b-a248-f0c17f246d5d.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/51085cae-7063-4a9b-a248-f0c17f246d5d.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/51085cae-7063-4a9b-a248-f0c17f246d5d.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1282 |
+| Sim rows | 130 |
+| Real episode_id | `51085cae-7063-4a9b-a248-f0c17f246d5d` |
+| Sim episode_id | `51085cae-7063-4a9b-a248-f0c17f246d5d` |
+
+## 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 | 3.034 | 10.15 | 17.57 | 946.19 | 0.7393 |
+| 1 | descend | 77 | 8 | 0.712 | 3.52 | 6.10 | 4.11 | 0.5157 |
+| 2 | settle | 37 | 5 | 0.014 | 2.60 | 4.51 | 4.59 | 0.5309 |
+| 3 | close | 308 | 30 | 0.095 | 3.18 | 5.51 | 7.29 | 0.9161 |
+| 4 | lift | 95 | 10 | 1.250 | 5.69 | 9.86 | 6.65 | 1.1788 |
+| 5 | move_xy | 183 | 18 | 6.687 | 31.52 | 54.60 | 65.94 | 1.0147 |
+| 6 | lower | 76 | 8 | 0.683 | 3.90 | 6.76 | 5.94 | 1.1022 |
+| 7 | open | 89 | 9 | 0.024 | 1.97 | 3.42 | 5.06 | 0.6985 |
+| 8 | retract | 79 | 8 | 0.701 | 3.83 | 6.63 | 4.48 | 0.7615 |
+| 9 | return | 188 | 19 | 3.057 | 19.93 | 34.53 | 381.92 | 0.8045 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.575 |
+| TCP position RMSE (mm, per-axis) | 12.61 |
+| EE position RMS L2 (mm) | 25.69 |
+| TCP rotvec (mrad) | 323.37 |
+| W1 effort mean (A) | 0.8388 |
+| W1 effort per joint (A) | j0=0.2642, j1=1.3009, j2=1.5061, j3=0.7391, j4=0.5983, j5=0.6243 |
+
+## 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 | 0.00180 | -0.00372 | -0.00037 | 0.00415 | 0.048 |
+| 1 | 0.00203 | -0.00403 | -0.00033 | 0.00452 | 0.057 |
+| 2 | 0.00198 | -0.00403 | -0.00042 | 0.00450 | 0.023 |
+| 3 | 0.00291 | -0.00470 | -0.00126 | 0.00567 | 0.152 |
+| 4 | 0.00243 | -0.00438 | -0.00116 | 0.00515 | 0.164 |
+| 5 | 0.00222 | -0.00261 | -0.00084 | 0.00353 | 0.115 |
+| 6 | 0.00269 | -0.00238 | -0.00046 | 0.00362 | 0.097 |
+| 7 | 0.00200 | -0.00275 | -0.00020 | 0.00341 | 0.055 |
+| 8 | 0.00176 | -0.00301 | -0.00035 | 0.00350 | 0.061 |
+| 9 | 0.00003 | -0.00030 | -0.00033 | 0.00044 | 0.037 |
+
+## 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.
diff --git a/gap_reports/gap_5116665d-27e6-432c-a4b6-c7b41c1dbb74.md b/gap_reports/gap_5116665d-27e6-432c-a4b6-c7b41c1dbb74.md
new file mode 100644
index 0000000000000000000000000000000000000000..21461acd142d7f959012b351ba6a819eaeb949e8
--- /dev/null
+++ b/gap_reports/gap_5116665d-27e6-432c-a4b6-c7b41c1dbb74.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/5116665d-27e6-432c-a4b6-c7b41c1dbb74.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/5116665d-27e6-432c-a4b6-c7b41c1dbb74.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1393 |
+| Sim rows | 143 |
+| Real episode_id | `5116665d-27e6-432c-a4b6-c7b41c1dbb74` |
+| Sim episode_id | `5116665d-27e6-432c-a4b6-c7b41c1dbb74` |
+
+## 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 | 146 | 15 | 2.687 | 10.98 | 19.03 | 1381.00 | 0.7391 |
+| 1 | descend | 74 | 8 | 0.692 | 3.93 | 6.81 | 4.43 | 0.6233 |
+| 2 | settle | 21 | 3 | 0.031 | 2.71 | 4.69 | 4.96 | 0.6505 |
+| 3 | close | 299 | 30 | 0.114 | 1.98 | 3.43 | 5.74 | 1.1172 |
+| 4 | lift | 78 | 8 | 0.622 | 3.19 | 5.53 | 5.53 | 1.2969 |
+| 5 | move_xy | 162 | 17 | 2.618 | 15.37 | 26.62 | 58.54 | 1.1608 |
+| 6 | lower | 75 | 8 | 0.544 | 2.65 | 4.59 | 4.05 | 1.1098 |
+| 7 | open | 267 | 26 | 0.023 | 2.10 | 3.64 | 4.41 | 0.4844 |
+| 8 | retract | 74 | 8 | 0.823 | 3.59 | 6.22 | 3.79 | 0.6192 |
+| 9 | return | 197 | 20 | 3.387 | 13.48 | 23.34 | 269.08 | 0.7249 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.655 |
+| TCP position RMSE (mm, per-axis) | 7.74 |
+| EE position RMS L2 (mm) | 14.50 |
+| TCP rotvec (mrad) | 445.32 |
+| W1 effort mean (A) | 0.8315 |
+| W1 effort per joint (A) | j0=0.2218, j1=1.3173, j2=1.5050, j3=0.7556, j4=0.5860, j5=0.6035 |
+
+## 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 | 0.00195 | -0.00381 | -0.00067 | 0.00433 | 0.038 |
+| 1 | 0.00221 | -0.00409 | -0.00059 | 0.00469 | 0.037 |
+| 2 | 0.00223 | -0.00408 | -0.00073 | 0.00471 | 0.036 |
+| 3 | 0.00145 | -0.00313 | -0.00049 | 0.00348 | 0.177 |
+| 4 | 0.00118 | -0.00286 | -0.00057 | 0.00314 | 0.281 |
+| 5 | 0.00014 | -0.00321 | 0.00029 | 0.00322 | 0.330 |
+| 6 | 0.00104 | -0.00254 | -0.00045 | 0.00279 | 0.279 |
+| 7 | 0.00186 | -0.00313 | 0.00012 | 0.00364 | 0.031 |
+| 8 | 0.00145 | -0.00320 | -0.00007 | 0.00351 | 0.051 |
+| 9 | -0.00001 | -0.00006 | -0.00017 | 0.00018 | 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.
diff --git a/gap_reports/gap_51272644-eabb-4ea6-aa80-d0496381cefa.md b/gap_reports/gap_51272644-eabb-4ea6-aa80-d0496381cefa.md
new file mode 100644
index 0000000000000000000000000000000000000000..9fec41ee55f9b73e6a4c24675f15b744e55a790b
--- /dev/null
+++ b/gap_reports/gap_51272644-eabb-4ea6-aa80-d0496381cefa.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/51272644-eabb-4ea6-aa80-d0496381cefa.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/51272644-eabb-4ea6-aa80-d0496381cefa.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1574 |
+| Sim rows | 162 |
+| Real episode_id | `51272644-eabb-4ea6-aa80-d0496381cefa` |
+| Sim episode_id | `51272644-eabb-4ea6-aa80-d0496381cefa` |
+
+## 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 | 209 | 21 | 6.582 | 22.36 | 38.72 | 2000.00 | 0.8042 |
+| 1 | descend | 79 | 9 | 0.474 | 3.44 | 5.96 | 4.85 | 0.6073 |
+| 2 | settle | 32 | 4 | 0.019 | 2.65 | 4.59 | 5.18 | 0.6317 |
+| 3 | close | 299 | 30 | 0.124 | 2.48 | 4.29 | 6.89 | 1.1259 |
+| 4 | lift | 80 | 9 | 0.511 | 3.25 | 5.63 | 6.42 | 1.3023 |
+| 5 | move_xy | 225 | 23 | 7.583 | 24.14 | 41.82 | 142.00 | 1.1739 |
+| 6 | lower | 81 | 9 | 0.524 | 3.32 | 5.74 | 9.77 | 0.9873 |
+| 7 | open | 286 | 28 | 0.029 | 2.55 | 4.42 | 4.68 | 0.5583 |
+| 8 | retract | 79 | 9 | 0.548 | 3.31 | 5.73 | 3.99 | 0.6773 |
+| 9 | return | 204 | 20 | 2.820 | 11.53 | 19.97 | 937.23 | 0.7604 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.314 |
+| TCP position RMSE (mm, per-axis) | 11.31 |
+| EE position RMS L2 (mm) | 22.69 |
+| TCP rotvec (mrad) | 699.92 |
+| W1 effort mean (A) | 0.8597 |
+| W1 effort per joint (A) | j0=0.2249, j1=1.4980, j2=1.5529, j3=1.0376, j4=0.2903, j5=0.5548 |
+
+## 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 | 0.00136 | -0.00391 | -0.00116 | 0.00431 | 0.036 |
+| 1 | 0.00150 | -0.00415 | -0.00117 | 0.00457 | 0.029 |
+| 2 | 0.00151 | -0.00416 | -0.00125 | 0.00460 | 0.041 |
+| 3 | 0.00044 | -0.00419 | -0.00049 | 0.00424 | 0.206 |
+| 4 | 0.00046 | -0.00392 | -0.00103 | 0.00408 | 0.169 |
+| 5 | 0.00245 | -0.00287 | -0.00104 | 0.00391 | 0.239 |
+| 6 | 0.00341 | -0.00200 | -0.00194 | 0.00440 | 0.347 |
+| 7 | 0.00226 | -0.00375 | -0.00012 | 0.00438 | 0.031 |
+| 8 | 0.00195 | -0.00376 | -0.00026 | 0.00425 | 0.046 |
+| 9 | -0.00005 | -0.00012 | -0.00023 | 0.00027 | 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.
diff --git a/gap_reports/gap_51444515-7984-40c1-a98f-8d25279ebbfc.md b/gap_reports/gap_51444515-7984-40c1-a98f-8d25279ebbfc.md
new file mode 100644
index 0000000000000000000000000000000000000000..c77acd83e887d0085ec417b417e72d4415544749
--- /dev/null
+++ b/gap_reports/gap_51444515-7984-40c1-a98f-8d25279ebbfc.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/51444515-7984-40c1-a98f-8d25279ebbfc.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/51444515-7984-40c1-a98f-8d25279ebbfc.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1700 |
+| Sim rows | 172 |
+| Real episode_id | `51444515-7984-40c1-a98f-8d25279ebbfc` |
+| Sim episode_id | `51444515-7984-40c1-a98f-8d25279ebbfc` |
+
+## 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 | 2.811 | 13.87 | 24.02 | 282.31 | 0.6642 |
+| 1 | descend | 82 | 9 | 0.831 | 4.19 | 7.26 | 3.98 | 0.6114 |
+| 2 | settle | 36 | 4 | 0.019 | 2.18 | 3.78 | 4.73 | 0.6364 |
+| 3 | close | 398 | 39 | 0.105 | 1.83 | 3.17 | 6.41 | 1.1030 |
+| 4 | lift | 82 | 9 | 0.811 | 3.87 | 6.70 | 5.49 | 1.1935 |
+| 5 | move_xy | 205 | 20 | 6.251 | 28.15 | 48.76 | 146.93 | 1.2085 |
+| 6 | lower | 81 | 9 | 0.841 | 4.76 | 8.24 | 7.83 | 1.1263 |
+| 7 | open | 373 | 37 | 0.021 | 3.01 | 5.22 | 5.56 | 0.5052 |
+| 8 | retract | 82 | 9 | 0.899 | 4.57 | 7.92 | 4.93 | 0.6679 |
+| 9 | return | 211 | 21 | 3.036 | 21.03 | 36.42 | 416.57 | 0.6999 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.431 |
+| TCP position RMSE (mm, per-axis) | 12.33 |
+| EE position RMS L2 (mm) | 22.84 |
+| TCP rotvec (mrad) | 165.84 |
+| W1 effort mean (A) | 0.8268 |
+| W1 effort per joint (A) | j0=0.1733, j1=1.4377, j2=1.5568, j3=0.8174, j4=0.4035, j5=0.5724 |
+
+## 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 | 0.00152 | -0.00334 | 0.00003 | 0.00367 | 0.041 |
+| 1 | 0.00218 | -0.00310 | 0.00010 | 0.00379 | 0.047 |
+| 2 | 0.00216 | -0.00311 | -0.00004 | 0.00378 | 0.041 |
+| 3 | 0.00207 | -0.00222 | -0.00079 | 0.00314 | 0.194 |
+| 4 | 0.00171 | -0.00276 | -0.00052 | 0.00329 | 0.162 |
+| 5 | 0.00201 | -0.00451 | -0.00130 | 0.00511 | 0.182 |
+| 6 | 0.00233 | -0.00498 | -0.00143 | 0.00568 | 0.174 |
+| 7 | 0.00150 | -0.00487 | -0.00107 | 0.00521 | 0.042 |
+| 8 | 0.00117 | -0.00440 | -0.00124 | 0.00472 | 0.063 |
+| 9 | -0.00021 | -0.00007 | -0.00026 | 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.
diff --git a/gap_reports/gap_516856f9-9261-44c0-9bc4-4737cee27d25.md b/gap_reports/gap_516856f9-9261-44c0-9bc4-4737cee27d25.md
new file mode 100644
index 0000000000000000000000000000000000000000..f81f58015036e4f7a9c6b81d03daabf32ef16d41
--- /dev/null
+++ b/gap_reports/gap_516856f9-9261-44c0-9bc4-4737cee27d25.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/516856f9-9261-44c0-9bc4-4737cee27d25.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/516856f9-9261-44c0-9bc4-4737cee27d25.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 3311 |
+| Sim rows | 289 |
+| Real episode_id | `516856f9-9261-44c0-9bc4-4737cee27d25` |
+| Sim episode_id | `516856f9-9261-44c0-9bc4-4737cee27d25` |
+
+## 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 | 262 | 23 | 4.000 | 17.60 | 30.48 | 1990.71 | 0.5968 |
+| 1 | descend | 652 | 56 | 0.429 | 2.92 | 5.06 | 3625.39 | 0.7322 |
+| 2 | settle | 381 | 33 | 0.022 | 0.81 | 1.40 | 3625.24 | 0.6995 |
+| 3 | close | 125 | 11 | 0.814 | 5.36 | 9.29 | 3496.21 | 0.9780 |
+| 4 | lift | 447 | 39 | 3.686 | 16.74 | 29.00 | 2437.28 | 1.1160 |
+| 5 | move_xy | 467 | 40 | 8.181 | 40.20 | 69.63 | 2658.66 | 0.8972 |
+| 6 | lower | 405 | 35 | 0.090 | 1.49 | 2.59 | 3406.42 | 0.9529 |
+| 7 | open | 122 | 11 | 0.850 | 5.45 | 9.44 | 3625.51 | 0.6604 |
+| 8 | retract | 450 | 39 | 3.698 | 16.85 | 29.19 | 2452.82 | 0.7388 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.524 |
+| TCP position RMSE (mm, per-axis) | 16.86 |
+| EE position RMS L2 (mm) | 31.61 |
+| TCP rotvec (mrad) | 3095.61 |
+| W1 effort mean (A) | 0.8054 |
+| W1 effort per joint (A) | j0=0.2453, j1=1.3890, j2=1.6059, j3=0.7057, j4=0.2676, j5=0.6189 |
+
+## 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 | -0.00025 | -0.00064 | 0.00108 | 0.029 |
+| 1 | 0.00085 | -0.00056 | -0.00097 | 0.00141 | 0.047 |
+| 2 | 0.00086 | -0.00060 | -0.00092 | 0.00140 | 0.043 |
+| 3 | 0.00147 | -0.00034 | -0.00095 | 0.00178 | 0.155 |
+| 4 | 0.00043 | -0.00002 | -0.00018 | 0.00047 | 0.093 |
+| 5 | 0.00200 | -0.00079 | -0.00288 | 0.00360 | 0.249 |
+| 6 | 0.00191 | -0.00063 | -0.00198 | 0.00282 | 0.138 |
+| 7 | 0.00060 | -0.00024 | -0.00071 | 0.00096 | 0.039 |
+| 8 | -0.00006 | -0.00008 | -0.00011 | 0.00015 | 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.
diff --git a/gap_reports/gap_517c56d6-1720-4b28-a3ec-0edc98bdd2a2.md b/gap_reports/gap_517c56d6-1720-4b28-a3ec-0edc98bdd2a2.md
new file mode 100644
index 0000000000000000000000000000000000000000..ed9181f6158537e6c30ce2cc0acab8c4c97c10ad
--- /dev/null
+++ b/gap_reports/gap_517c56d6-1720-4b28-a3ec-0edc98bdd2a2.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/517c56d6-1720-4b28-a3ec-0edc98bdd2a2.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/517c56d6-1720-4b28-a3ec-0edc98bdd2a2.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 3275 |
+| Sim rows | 289 |
+| Real episode_id | `517c56d6-1720-4b28-a3ec-0edc98bdd2a2` |
+| Sim episode_id | `517c56d6-1720-4b28-a3ec-0edc98bdd2a2` |
+
+## 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 | 235 | 21 | 3.712 | 13.92 | 24.11 | 1978.96 | 0.5880 |
+| 1 | descend | 556 | 48 | 1.045 | 6.31 | 10.93 | 3626.08 | 0.6859 |
+| 2 | settle | 371 | 32 | 0.021 | 0.67 | 1.17 | 3625.96 | 0.6502 |
+| 3 | close | 152 | 14 | 0.963 | 5.55 | 9.62 | 1918.49 | 0.9450 |
+| 4 | lift | 478 | 42 | 3.986 | 16.22 | 28.09 | 2123.03 | 1.0742 |
+| 5 | move_xy | 444 | 39 | 8.764 | 38.48 | 66.65 | 2222.36 | 0.8746 |
+| 6 | lower | 406 | 35 | 0.083 | 1.23 | 2.14 | 1686.46 | 0.8800 |
+| 7 | open | 153 | 14 | 1.133 | 6.39 | 11.07 | 3626.23 | 0.6005 |
+| 8 | retract | 480 | 42 | 4.054 | 16.58 | 28.72 | 2426.66 | 0.7037 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.745 |
+| TCP position RMSE (mm, per-axis) | 16.08 |
+| EE position RMS L2 (mm) | 30.18 |
+| TCP rotvec (mrad) | 2691.99 |
+| W1 effort mean (A) | 0.7640 |
+| W1 effort per joint (A) | j0=0.2611, j1=1.1690, j2=1.4995, j3=0.6814, j4=0.3526, j5=0.6206 |
+
+## 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 | -0.00012 | -0.00047 | 0.00078 | 0.035 |
+| 1 | 0.00066 | -0.00055 | -0.00074 | 0.00113 | 0.034 |
+| 2 | 0.00069 | -0.00056 | -0.00076 | 0.00117 | 0.036 |
+| 3 | 0.00116 | -0.00016 | -0.00030 | 0.00121 | 0.100 |
+| 4 | 0.00014 | -0.00019 | -0.00019 | 0.00030 | 0.100 |
+| 5 | 0.00148 | -0.00079 | -0.00154 | 0.00228 | 0.129 |
+| 6 | 0.00172 | -0.00067 | -0.00116 | 0.00218 | 0.166 |
+| 7 | 0.00045 | -0.00022 | -0.00053 | 0.00073 | 0.040 |
+| 8 | -0.00006 | -0.00007 | -0.00010 | 0.00014 | 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.
diff --git a/gap_reports/gap_51910505-79a2-4517-8a07-a6feca5f3eb4.md b/gap_reports/gap_51910505-79a2-4517-8a07-a6feca5f3eb4.md
new file mode 100644
index 0000000000000000000000000000000000000000..58b625fa123a01fe2a8cdc19371a93b0959acbe9
--- /dev/null
+++ b/gap_reports/gap_51910505-79a2-4517-8a07-a6feca5f3eb4.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/51910505-79a2-4517-8a07-a6feca5f3eb4.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/51910505-79a2-4517-8a07-a6feca5f3eb4.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 527 |
+| Sim rows | 68 |
+| Real episode_id | `51910505-79a2-4517-8a07-a6feca5f3eb4` |
+| Sim episode_id | `51910505-79a2-4517-8a07-a6feca5f3eb4` |
+
+## 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 | 318 | 31 | 2.115 | 11.06 | 19.16 | 6.94 | 0.7926 |
+| 1 | descend | 209 | 21 | 0.034 | 0.82 | 1.41 | 2.23 | 0.7736 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.496 |
+| TCP position RMSE (mm, per-axis) | 7.84 |
+| EE position RMS L2 (mm) | 14.91 |
+| TCP rotvec (mrad) | 5.16 |
+| W1 effort mean (A) | 0.7850 |
+| W1 effort per joint (A) | j0=0.1683, j1=1.6934, j2=1.6804, j3=0.8851, j4=0.1170, j5=0.1658 |
+
+## 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 | 0.00005 | 0.00118 | 0.00083 | 0.00144 | 0.049 |
+| 1 | 0.00037 | 0.00115 | 0.00066 | 0.00137 | 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.
diff --git a/gap_reports/gap_519c44a2-e199-46eb-a808-e08057052f9b.md b/gap_reports/gap_519c44a2-e199-46eb-a808-e08057052f9b.md
new file mode 100644
index 0000000000000000000000000000000000000000..16f653e6d8f21d951da923a8946f4e76953ee5d4
--- /dev/null
+++ b/gap_reports/gap_519c44a2-e199-46eb-a808-e08057052f9b.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/519c44a2-e199-46eb-a808-e08057052f9b.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/519c44a2-e199-46eb-a808-e08057052f9b.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 3242 |
+| Sim rows | 288 |
+| Real episode_id | `519c44a2-e199-46eb-a808-e08057052f9b` |
+| Sim episode_id | `519c44a2-e199-46eb-a808-e08057052f9b` |
+
+## 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 | 267 | 24 | 3.358 | 17.46 | 30.25 | 1908.29 | 0.6231 |
+| 1 | descend | 683 | 59 | 0.667 | 4.78 | 8.28 | 3624.77 | 0.9383 |
+| 2 | settle | 387 | 34 | 0.029 | 0.99 | 1.71 | 3624.51 | 0.8005 |
+| 3 | close | 138 | 13 | 1.137 | 7.63 | 13.21 | 3625.23 | 1.0191 |
+| 4 | lift | 375 | 33 | 2.761 | 14.85 | 25.71 | 2433.66 | 1.1559 |
+| 5 | move_xy | 490 | 43 | 7.397 | 42.75 | 74.05 | 2826.81 | 0.9560 |
+| 6 | lower | 392 | 34 | 0.096 | 1.76 | 3.05 | 3625.01 | 1.2273 |
+| 7 | open | 137 | 13 | 0.890 | 6.20 | 10.75 | 3624.62 | 0.8570 |
+| 8 | retract | 373 | 33 | 2.604 | 14.13 | 24.47 | 2454.44 | 0.7518 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.036 |
+| TCP position RMSE (mm, per-axis) | 17.24 |
+| EE position RMS L2 (mm) | 32.83 |
+| TCP rotvec (mrad) | 3149.54 |
+| W1 effort mean (A) | 0.8966 |
+| W1 effort per joint (A) | j0=0.2459, j1=1.5772, j2=1.7803, j3=0.9140, j4=0.2372, j5=0.6253 |
+
+## 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 | -0.00025 | -0.00086 | 0.00129 | 0.034 |
+| 1 | 0.00090 | -0.00075 | -0.00122 | 0.00169 | 0.057 |
+| 2 | 0.00097 | -0.00077 | -0.00120 | 0.00172 | 0.056 |
+| 3 | 0.00130 | -0.00041 | -0.00117 | 0.00180 | 0.105 |
+| 4 | 0.00015 | -0.00027 | -0.00033 | 0.00045 | 0.094 |
+| 5 | 0.00192 | -0.00095 | -0.00117 | 0.00243 | 0.113 |
+| 6 | 0.00238 | -0.00098 | -0.00070 | 0.00267 | 0.197 |
+| 7 | 0.00068 | -0.00033 | -0.00106 | 0.00131 | 0.064 |
+| 8 | -0.00007 | -0.00013 | -0.00018 | 0.00023 | 0.026 |
+
+## 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.
diff --git a/gap_reports/gap_519c4a82-92b3-400e-9962-32f600ec1b55.md b/gap_reports/gap_519c4a82-92b3-400e-9962-32f600ec1b55.md
new file mode 100644
index 0000000000000000000000000000000000000000..283fa867eb45b8c898c3ec49698355d6ff3ed57a
--- /dev/null
+++ b/gap_reports/gap_519c4a82-92b3-400e-9962-32f600ec1b55.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/519c4a82-92b3-400e-9962-32f600ec1b55.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/519c4a82-92b3-400e-9962-32f600ec1b55.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1868 |
+| Sim rows | 189 |
+| Real episode_id | `519c4a82-92b3-400e-9962-32f600ec1b55` |
+| Sim episode_id | `519c4a82-92b3-400e-9962-32f600ec1b55` |
+
+## 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 | 21 | 4.659 | 17.54 | 30.38 | 1684.13 | 0.7723 |
+| 1 | descend | 90 | 10 | 0.481 | 3.45 | 5.97 | 4.67 | 0.6318 |
+| 2 | settle | 35 | 4 | 0.020 | 2.69 | 4.66 | 5.09 | 0.6515 |
+| 3 | close | 388 | 38 | 0.105 | 2.10 | 3.64 | 5.11 | 1.1213 |
+| 4 | lift | 90 | 10 | 0.441 | 2.91 | 5.03 | 4.82 | 1.1942 |
+| 5 | move_xy | 254 | 25 | 9.805 | 24.36 | 42.19 | 270.66 | 1.0517 |
+| 6 | lower | 91 | 10 | 16.564 | 3.13 | 5.43 | 641.50 | 1.1292 |
+| 7 | open | 354 | 35 | 16.547 | 2.52 | 4.36 | 640.95 | 0.7530 |
+| 8 | retract | 88 | 10 | 16.560 | 3.28 | 5.68 | 640.77 | 0.7967 |
+| 9 | return | 264 | 26 | 9.646 | 17.04 | 29.51 | 1037.36 | 0.8384 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 10.167 |
+| TCP position RMSE (mm, per-axis) | 11.18 |
+| EE position RMS L2 (mm) | 21.99 |
+| TCP rotvec (mrad) | 722.40 |
+| W1 effort mean (A) | 0.9050 |
+| W1 effort per joint (A) | j0=0.2235, j1=1.5609, j2=1.5690, j3=0.7726, j4=0.3398, j5=0.9642 |
+
+## 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 | 0.00166 | -0.00387 | -0.00099 | 0.00432 | 0.030 |
+| 1 | 0.00189 | -0.00415 | -0.00098 | 0.00467 | 0.030 |
+| 2 | 0.00191 | -0.00412 | -0.00107 | 0.00466 | 0.041 |
+| 3 | 0.00157 | -0.00335 | -0.00111 | 0.00387 | 0.152 |
+| 4 | 0.00109 | -0.00276 | -0.00132 | 0.00325 | 0.189 |
+| 5 | 0.00197 | -0.00347 | -0.00057 | 0.00403 | 40.566 |
+| 6 | 0.00250 | -0.00306 | -0.00097 | 0.00406 | 40.536 |
+| 7 | 0.00215 | -0.00378 | -0.00021 | 0.00435 | 40.532 |
+| 8 | 0.00187 | -0.00389 | -0.00027 | 0.00433 | 40.565 |
+| 9 | -0.00006 | -0.00021 | -0.00031 | 0.00038 | 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.
diff --git a/gap_reports/gap_51bef9dd-85d4-44c7-8aaa-6347306a97d8.md b/gap_reports/gap_51bef9dd-85d4-44c7-8aaa-6347306a97d8.md
new file mode 100644
index 0000000000000000000000000000000000000000..9b54ff2da6a8717bde0a2c77c0f5ab08baa287da
--- /dev/null
+++ b/gap_reports/gap_51bef9dd-85d4-44c7-8aaa-6347306a97d8.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/51bef9dd-85d4-44c7-8aaa-6347306a97d8.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/51bef9dd-85d4-44c7-8aaa-6347306a97d8.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2865 |
+| Sim rows | 254 |
+| Real episode_id | `51bef9dd-85d4-44c7-8aaa-6347306a97d8` |
+| Sim episode_id | `51bef9dd-85d4-44c7-8aaa-6347306a97d8` |
+
+## 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 | 17 | 2.303 | 12.61 | 21.84 | 3.03 | 0.6237 |
+| 1 | descend | 580 | 50 | 0.525 | 3.84 | 6.65 | 4.24 | 0.7468 |
+| 2 | settle | 358 | 31 | 0.029 | 1.17 | 2.02 | 4.44 | 0.7136 |
+| 3 | close | 155 | 14 | 0.674 | 4.74 | 8.21 | 6.39 | 1.0144 |
+| 4 | lift | 340 | 30 | 2.469 | 14.30 | 24.76 | 4.10 | 1.1267 |
+| 5 | move_xy | 359 | 32 | 5.753 | 35.26 | 61.08 | 5.19 | 0.9758 |
+| 6 | lower | 392 | 34 | 0.095 | 1.88 | 3.26 | 6.44 | 1.0307 |
+| 7 | open | 154 | 14 | 0.841 | 5.80 | 10.04 | 4.31 | 0.6944 |
+| 8 | retract | 341 | 30 | 2.521 | 14.61 | 25.31 | 3.11 | 0.7379 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.411 |
+| TCP position RMSE (mm, per-axis) | 14.51 |
+| EE position RMS L2 (mm) | 25.83 |
+| TCP rotvec (mrad) | 4.73 |
+| W1 effort mean (A) | 0.8302 |
+| W1 effort per joint (A) | j0=0.2888, j1=1.5711, j2=1.5498, j3=0.6076, j4=0.3860, j5=0.5778 |
+
+## 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 | 0.00105 | -0.00064 | -0.00061 | 0.00137 | 0.028 |
+| 1 | 0.00104 | -0.00116 | -0.00123 | 0.00199 | 0.057 |
+| 2 | 0.00107 | -0.00119 | -0.00124 | 0.00203 | 0.061 |
+| 3 | 0.00155 | -0.00090 | -0.00053 | 0.00186 | 0.084 |
+| 4 | 0.00037 | -0.00008 | -0.00007 | 0.00039 | 0.125 |
+| 5 | 0.00207 | -0.00154 | -0.00185 | 0.00317 | 0.131 |
+| 6 | 0.00262 | -0.00165 | -0.00257 | 0.00403 | 0.202 |
+| 7 | 0.00093 | -0.00083 | -0.00100 | 0.00160 | 0.054 |
+| 8 | -0.00012 | -0.00021 | -0.00019 | 0.00031 | 0.037 |
+
+## 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.
diff --git a/gap_reports/gap_51c5b7d2-1979-4d27-8cca-ef67b1a151c5.md b/gap_reports/gap_51c5b7d2-1979-4d27-8cca-ef67b1a151c5.md
new file mode 100644
index 0000000000000000000000000000000000000000..6451dd65654c034f6f20a00f2ece5772102cff27
--- /dev/null
+++ b/gap_reports/gap_51c5b7d2-1979-4d27-8cca-ef67b1a151c5.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/51c5b7d2-1979-4d27-8cca-ef67b1a151c5.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/51c5b7d2-1979-4d27-8cca-ef67b1a151c5.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2407 |
+| Sim rows | 242 |
+| Real episode_id | `51c5b7d2-1979-4d27-8cca-ef67b1a151c5` |
+| Sim episode_id | `51c5b7d2-1979-4d27-8cca-ef67b1a151c5` |
+
+## 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 | 18 | 3.515 | 14.13 | 24.47 | 2040.15 | 0.6102 |
+| 1 | descend | 223 | 22 | 1.137 | 7.39 | 12.79 | 3625.36 | 0.7307 |
+| 2 | settle | 329 | 33 | 0.025 | 0.83 | 1.44 | 3625.25 | 0.5566 |
+| 3 | close | 107 | 11 | 0.772 | 4.99 | 8.65 | 3029.67 | 0.9339 |
+| 4 | lift | 394 | 39 | 3.481 | 15.87 | 27.49 | 2260.98 | 1.1217 |
+| 5 | move_xy | 328 | 33 | 8.032 | 39.36 | 68.17 | 2676.10 | 0.8916 |
+| 6 | lower | 342 | 34 | 0.094 | 1.56 | 2.70 | 3551.85 | 0.9015 |
+| 7 | open | 106 | 11 | 0.811 | 5.28 | 9.14 | 3625.51 | 0.6438 |
+| 8 | retract | 398 | 39 | 3.696 | 16.89 | 29.25 | 2438.04 | 0.7285 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.419 |
+| TCP position RMSE (mm, per-axis) | 16.32 |
+| EE position RMS L2 (mm) | 31.09 |
+| TCP rotvec (mrad) | 3047.85 |
+| W1 effort mean (A) | 0.7871 |
+| W1 effort per joint (A) | j0=0.2477, j1=1.3328, j2=1.4973, j3=0.6931, j4=0.3257, j5=0.6261 |
+
+## 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 | 0.00084 | -0.00025 | -0.00054 | 0.00103 | 0.027 |
+| 1 | 0.00099 | -0.00056 | -0.00107 | 0.00156 | 0.052 |
+| 2 | 0.00087 | -0.00059 | -0.00096 | 0.00143 | 0.046 |
+| 3 | 0.00121 | -0.00027 | -0.00066 | 0.00141 | 0.109 |
+| 4 | 0.00052 | 0.00020 | -0.00020 | 0.00059 | 0.109 |
+| 5 | 0.00229 | -0.00074 | -0.00251 | 0.00348 | 0.209 |
+| 6 | 0.00231 | -0.00087 | -0.00204 | 0.00320 | 0.194 |
+| 7 | 0.00062 | -0.00024 | -0.00073 | 0.00099 | 0.039 |
+| 8 | -0.00007 | -0.00010 | -0.00013 | 0.00018 | 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.
diff --git a/gap_reports/gap_51dcf7ec-96b5-462a-800b-c08f94c7978f.md b/gap_reports/gap_51dcf7ec-96b5-462a-800b-c08f94c7978f.md
new file mode 100644
index 0000000000000000000000000000000000000000..baddc162d975fd16644febbf6f6efd84f3a6d079
--- /dev/null
+++ b/gap_reports/gap_51dcf7ec-96b5-462a-800b-c08f94c7978f.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/51dcf7ec-96b5-462a-800b-c08f94c7978f.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/51dcf7ec-96b5-462a-800b-c08f94c7978f.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2602 |
+| Sim rows | 260 |
+| Real episode_id | `51dcf7ec-96b5-462a-800b-c08f94c7978f` |
+| Sim episode_id | `51dcf7ec-96b5-462a-800b-c08f94c7978f` |
+
+## 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 | 18 | 3.147 | 13.26 | 22.98 | 1943.23 | 0.5847 |
+| 1 | descend | 492 | 49 | 0.688 | 4.52 | 7.82 | 3625.41 | 0.7335 |
+| 2 | settle | 325 | 32 | 0.024 | 0.77 | 1.33 | 3625.25 | 0.7024 |
+| 3 | close | 173 | 17 | 1.102 | 6.93 | 12.01 | 2674.81 | 0.9930 |
+| 4 | lift | 287 | 29 | 3.163 | 14.50 | 25.11 | 2098.67 | 1.0924 |
+| 5 | move_xy | 337 | 33 | 6.506 | 33.37 | 57.80 | 2627.33 | 0.9049 |
+| 6 | lower | 349 | 34 | 0.088 | 1.39 | 2.41 | 3551.98 | 0.9904 |
+| 7 | open | 172 | 17 | 1.013 | 6.39 | 11.06 | 3625.50 | 0.6627 |
+| 8 | retract | 286 | 29 | 3.030 | 14.04 | 24.32 | 2367.88 | 0.7294 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.870 |
+| TCP position RMSE (mm, per-axis) | 14.18 |
+| EE position RMS L2 (mm) | 25.18 |
+| TCP rotvec (mrad) | 2979.41 |
+| W1 effort mean (A) | 0.8029 |
+| W1 effort per joint (A) | j0=0.2359, j1=1.3502, j2=1.6289, j3=0.7528, j4=0.2756, j5=0.5741 |
+
+## 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 | 0.00059 | -0.00024 | -0.00065 | 0.00091 | 0.036 |
+| 1 | 0.00061 | -0.00064 | -0.00097 | 0.00131 | 0.045 |
+| 2 | 0.00063 | -0.00066 | -0.00096 | 0.00132 | 0.046 |
+| 3 | 0.00151 | -0.00025 | -0.00118 | 0.00193 | 0.146 |
+| 4 | 0.00019 | -0.00018 | -0.00016 | 0.00031 | 0.093 |
+| 5 | 0.00170 | -0.00096 | -0.00122 | 0.00230 | 0.145 |
+| 6 | 0.00155 | -0.00095 | -0.00236 | 0.00298 | 0.182 |
+| 7 | 0.00042 | -0.00033 | -0.00079 | 0.00096 | 0.048 |
+| 8 | -0.00011 | -0.00018 | -0.00020 | 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.
diff --git a/gap_reports/gap_51ebb156-5f5b-42e8-97e3-da55b9718192.md b/gap_reports/gap_51ebb156-5f5b-42e8-97e3-da55b9718192.md
new file mode 100644
index 0000000000000000000000000000000000000000..fb4210c3c6e38e57a0fc2764c80bb233f323de2d
--- /dev/null
+++ b/gap_reports/gap_51ebb156-5f5b-42e8-97e3-da55b9718192.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/51ebb156-5f5b-42e8-97e3-da55b9718192.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/51ebb156-5f5b-42e8-97e3-da55b9718192.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 528 |
+| Sim rows | 69 |
+| Real episode_id | `51ebb156-5f5b-42e8-97e3-da55b9718192` |
+| Sim episode_id | `51ebb156-5f5b-42e8-97e3-da55b9718192` |
+
+## 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 | 320 | 32 | 2.927 | 13.84 | 23.97 | 8.04 | 0.8031 |
+| 1 | descend | 208 | 21 | 0.022 | 0.47 | 0.81 | 2777.89 | 0.8025 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.070 |
+| TCP position RMSE (mm, per-axis) | 9.79 |
+| EE position RMS L2 (mm) | 18.67 |
+| TCP rotvec (mrad) | 1964.27 |
+| W1 effort mean (A) | 0.8028 |
+| W1 effort per joint (A) | j0=0.1782, j1=1.7095, j2=1.7168, j3=0.9430, j4=0.1141, j5=0.1549 |
+
+## 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 | -0.00039 | 0.00077 | 0.00089 | 0.034 |
+| 1 | -0.00001 | -0.00041 | 0.00067 | 0.00079 | 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.
diff --git a/gap_reports/gap_51ee3937-50f0-45ee-a4cf-e10ac3d0b7ef.md b/gap_reports/gap_51ee3937-50f0-45ee-a4cf-e10ac3d0b7ef.md
new file mode 100644
index 0000000000000000000000000000000000000000..00b2e4b546c8498d1bc21ada7b30013915ae3261
--- /dev/null
+++ b/gap_reports/gap_51ee3937-50f0-45ee-a4cf-e10ac3d0b7ef.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/51ee3937-50f0-45ee-a4cf-e10ac3d0b7ef.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/51ee3937-50f0-45ee-a4cf-e10ac3d0b7ef.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2910 |
+| Sim rows | 257 |
+| Real episode_id | `51ee3937-50f0-45ee-a4cf-e10ac3d0b7ef` |
+| Sim episode_id | `51ee3937-50f0-45ee-a4cf-e10ac3d0b7ef` |
+
+## 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 | 198 | 18 | 3.168 | 13.53 | 23.44 | 1995.74 | 0.6063 |
+| 1 | descend | 484 | 42 | 1.078 | 6.98 | 12.09 | 3625.40 | 0.7007 |
+| 2 | settle | 384 | 34 | 0.024 | 0.82 | 1.42 | 3625.25 | 0.6595 |
+| 3 | close | 156 | 14 | 1.021 | 6.32 | 10.95 | 2604.38 | 0.9275 |
+| 4 | lift | 392 | 34 | 3.879 | 17.94 | 31.08 | 2171.13 | 1.1162 |
+| 5 | move_xy | 367 | 32 | 8.457 | 41.59 | 72.03 | 2876.20 | 0.8912 |
+| 6 | lower | 381 | 33 | 0.084 | 1.43 | 2.48 | 3549.79 | 0.9005 |
+| 7 | open | 156 | 14 | 0.992 | 6.23 | 10.79 | 3625.52 | 0.6319 |
+| 8 | retract | 392 | 34 | 3.917 | 18.16 | 31.46 | 2463.54 | 0.7341 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.577 |
+| TCP position RMSE (mm, per-axis) | 17.30 |
+| EE position RMS L2 (mm) | 31.52 |
+| TCP rotvec (mrad) | 3015.75 |
+| W1 effort mean (A) | 0.7821 |
+| W1 effort per joint (A) | j0=0.2673, j1=1.3455, j2=1.4994, j3=0.6822, j4=0.3411, j5=0.5571 |
+
+## 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 | -0.00014 | -0.00055 | 0.00096 | 0.033 |
+| 1 | 0.00088 | -0.00056 | -0.00100 | 0.00144 | 0.046 |
+| 2 | 0.00088 | -0.00059 | -0.00095 | 0.00143 | 0.046 |
+| 3 | 0.00171 | -0.00000 | -0.00142 | 0.00222 | 0.141 |
+| 4 | 0.00007 | -0.00030 | -0.00019 | 0.00036 | 0.094 |
+| 5 | 0.00162 | -0.00080 | -0.00113 | 0.00213 | 0.120 |
+| 6 | 0.00201 | -0.00071 | -0.00239 | 0.00321 | 0.175 |
+| 7 | 0.00063 | -0.00020 | -0.00074 | 0.00099 | 0.049 |
+| 8 | -0.00010 | -0.00015 | -0.00018 | 0.00026 | 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.
diff --git a/gap_reports/gap_51f4579e-6239-46d9-a500-6bf654c82660.md b/gap_reports/gap_51f4579e-6239-46d9-a500-6bf654c82660.md
new file mode 100644
index 0000000000000000000000000000000000000000..b1d45e1450858bdfdce42deebdff45f21fe8eaf2
--- /dev/null
+++ b/gap_reports/gap_51f4579e-6239-46d9-a500-6bf654c82660.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/51f4579e-6239-46d9-a500-6bf654c82660.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/51f4579e-6239-46d9-a500-6bf654c82660.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2601 |
+| Sim rows | 231 |
+| Real episode_id | `51f4579e-6239-46d9-a500-6bf654c82660` |
+| Sim episode_id | `51f4579e-6239-46d9-a500-6bf654c82660` |
+
+## 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 | 2.353 | 9.73 | 16.85 | 2011.29 | 0.5625 |
+| 1 | descend | 405 | 35 | 0.821 | 4.96 | 8.58 | 3625.99 | 0.7661 |
+| 2 | settle | 381 | 33 | 0.021 | 0.56 | 0.98 | 3625.93 | 0.6658 |
+| 3 | close | 129 | 12 | 0.541 | 3.33 | 5.76 | 1662.94 | 0.9888 |
+| 4 | lift | 298 | 26 | 2.620 | 11.45 | 19.83 | 1508.32 | 1.0479 |
+| 5 | move_xy | 370 | 33 | 4.523 | 21.89 | 37.92 | 2008.54 | 0.8903 |
+| 6 | lower | 380 | 33 | 0.080 | 1.02 | 1.76 | 1815.44 | 0.9968 |
+| 7 | open | 131 | 12 | 0.612 | 3.67 | 6.35 | 3626.18 | 0.6104 |
+| 8 | retract | 299 | 26 | 2.644 | 11.56 | 20.02 | 2168.98 | 0.6438 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.140 |
+| TCP position RMSE (mm, per-axis) | 9.94 |
+| EE position RMS L2 (mm) | 18.28 |
+| TCP rotvec (mrad) | 2594.11 |
+| W1 effort mean (A) | 0.7856 |
+| W1 effort per joint (A) | j0=0.2233, j1=1.1179, j2=1.6500, j3=0.7727, j4=0.3730, j5=0.5765 |
+
+## 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 | 0.00014 | -0.00044 | -0.00056 | 0.00072 | 0.033 |
+| 1 | 0.00015 | -0.00058 | -0.00079 | 0.00099 | 0.037 |
+| 2 | 0.00018 | -0.00057 | -0.00077 | 0.00098 | 0.037 |
+| 3 | 0.00093 | -0.00049 | -0.00120 | 0.00160 | 0.122 |
+| 4 | 0.00036 | -0.00014 | -0.00031 | 0.00049 | 0.087 |
+| 5 | 0.00098 | -0.00071 | -0.00111 | 0.00164 | 0.134 |
+| 6 | 0.00078 | -0.00095 | -0.00184 | 0.00222 | 0.142 |
+| 7 | 0.00001 | -0.00037 | -0.00064 | 0.00074 | 0.043 |
+| 8 | -0.00007 | -0.00012 | -0.00016 | 0.00021 | 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.
diff --git a/gap_reports/gap_51f6a663-060c-4575-bb84-cc8e4097289e.md b/gap_reports/gap_51f6a663-060c-4575-bb84-cc8e4097289e.md
new file mode 100644
index 0000000000000000000000000000000000000000..34c5d1adbbb01c42409071221478176638ff02f5
--- /dev/null
+++ b/gap_reports/gap_51f6a663-060c-4575-bb84-cc8e4097289e.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/51f6a663-060c-4575-bb84-cc8e4097289e.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/51f6a663-060c-4575-bb84-cc8e4097289e.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2475 |
+| Sim rows | 248 |
+| Real episode_id | `51f6a663-060c-4575-bb84-cc8e4097289e` |
+| Sim episode_id | `51f6a663-060c-4575-bb84-cc8e4097289e` |
+
+## 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 | 19 | 3.022 | 11.94 | 20.68 | 1973.70 | 0.5807 |
+| 1 | descend | 318 | 31 | 1.358 | 8.09 | 14.00 | 3626.06 | 0.7048 |
+| 2 | settle | 317 | 31 | 0.021 | 0.60 | 1.03 | 3625.96 | 0.7443 |
+| 3 | close | 142 | 15 | 1.320 | 7.72 | 13.37 | 2086.30 | 0.9758 |
+| 4 | lift | 323 | 32 | 3.178 | 12.82 | 22.21 | 1708.34 | 1.0752 |
+| 5 | move_xy | 377 | 37 | 7.754 | 35.39 | 61.30 | 2205.61 | 0.9055 |
+| 6 | lower | 349 | 34 | 0.081 | 1.10 | 1.90 | 1206.96 | 0.9836 |
+| 7 | open | 143 | 15 | 0.998 | 5.63 | 9.75 | 3626.23 | 0.6091 |
+| 8 | retract | 317 | 32 | 3.000 | 12.16 | 21.07 | 2357.47 | 0.7106 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.213 |
+| TCP position RMSE (mm, per-axis) | 14.40 |
+| EE position RMS L2 (mm) | 27.71 |
+| TCP rotvec (mrad) | 2635.04 |
+| W1 effort mean (A) | 0.7988 |
+| W1 effort per joint (A) | j0=0.2516, j1=1.2208, j2=1.5983, j3=0.7198, j4=0.3908, j5=0.6117 |
+
+## 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 | -0.00019 | -0.00050 | 0.00066 | 0.041 |
+| 1 | 0.00041 | -0.00053 | -0.00080 | 0.00104 | 0.038 |
+| 2 | 0.00042 | -0.00056 | -0.00075 | 0.00102 | 0.035 |
+| 3 | 0.00059 | -0.00035 | -0.00053 | 0.00087 | 0.051 |
+| 4 | 0.00024 | -0.00017 | -0.00012 | 0.00032 | 0.126 |
+| 5 | 0.00118 | -0.00075 | -0.00183 | 0.00230 | 0.141 |
+| 6 | 0.00091 | -0.00081 | -0.00164 | 0.00204 | 0.140 |
+| 7 | 0.00019 | -0.00031 | -0.00051 | 0.00062 | 0.034 |
+| 8 | -0.00007 | -0.00011 | -0.00014 | 0.00019 | 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.
diff --git a/gap_reports/gap_5206cb90-90c4-4999-9a45-5480f404e364.md b/gap_reports/gap_5206cb90-90c4-4999-9a45-5480f404e364.md
new file mode 100644
index 0000000000000000000000000000000000000000..3742f7fd0cabc42ba9c2263576d30e99eabb9ecc
--- /dev/null
+++ b/gap_reports/gap_5206cb90-90c4-4999-9a45-5480f404e364.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/5206cb90-90c4-4999-9a45-5480f404e364.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/5206cb90-90c4-4999-9a45-5480f404e364.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1599 |
+| Sim rows | 161 |
+| Real episode_id | `5206cb90-90c4-4999-9a45-5480f404e364` |
+| Sim episode_id | `5206cb90-90c4-4999-9a45-5480f404e364` |
+
+## 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 | 168 | 17 | 10.191 | 9.99 | 17.30 | 609.26 | 0.6225 |
+| 1 | descend | 79 | 8 | 18.942 | 3.42 | 5.93 | 731.72 | 0.7172 |
+| 2 | settle | 30 | 4 | 18.930 | 2.64 | 4.58 | 732.13 | 0.7236 |
+| 3 | close | 375 | 37 | 18.929 | 2.68 | 4.64 | 733.32 | 1.1426 |
+| 4 | lift | 79 | 8 | 18.943 | 3.45 | 5.97 | 732.79 | 1.2387 |
+| 5 | move_xy | 161 | 16 | 10.325 | 16.30 | 28.23 | 335.30 | 1.2886 |
+| 6 | lower | 77 | 8 | 0.531 | 4.43 | 7.67 | 3622.95 | 1.1713 |
+| 7 | open | 360 | 36 | 0.025 | 3.07 | 5.32 | 6.03 | 0.6712 |
+| 8 | retract | 79 | 8 | 0.515 | 3.73 | 6.46 | 5.63 | 0.7657 |
+| 9 | return | 191 | 19 | 2.068 | 15.09 | 26.14 | 857.76 | 0.7297 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 12.843 |
+| TCP position RMSE (mm, per-axis) | 8.21 |
+| EE position RMS L2 (mm) | 14.61 |
+| TCP rotvec (mrad) | 1284.19 |
+| W1 effort mean (A) | 0.8851 |
+| W1 effort per joint (A) | j0=0.1241, j1=1.4454, j2=1.5877, j3=0.8071, j4=0.4389, j5=0.9074 |
+
+## 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 | -0.00405 | -0.00001 | 0.00430 | 46.371 |
+| 1 | 0.00190 | -0.00416 | 0.00004 | 0.00457 | 46.368 |
+| 2 | 0.00190 | -0.00417 | -0.00006 | 0.00458 | 46.369 |
+| 3 | 0.00255 | -0.00360 | -0.00135 | 0.00461 | 46.366 |
+| 4 | 0.00215 | -0.00369 | -0.00142 | 0.00450 | 46.373 |
+| 5 | 0.00248 | -0.00420 | -0.00330 | 0.00588 | 0.266 |
+| 6 | 0.00323 | -0.00422 | -0.00387 | 0.00658 | 0.258 |
+| 7 | 0.00238 | -0.00462 | -0.00115 | 0.00532 | 0.054 |
+| 8 | 0.00199 | -0.00448 | -0.00134 | 0.00508 | 0.069 |
+| 9 | -0.00018 | -0.00015 | -0.00031 | 0.00039 | 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.
diff --git a/gap_reports/gap_520e04f2-a0a9-4fa9-9f54-91152ca39f9d.md b/gap_reports/gap_520e04f2-a0a9-4fa9-9f54-91152ca39f9d.md
new file mode 100644
index 0000000000000000000000000000000000000000..a15ab334aabf14701f08b5799f45af969697c004
--- /dev/null
+++ b/gap_reports/gap_520e04f2-a0a9-4fa9-9f54-91152ca39f9d.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/520e04f2-a0a9-4fa9-9f54-91152ca39f9d.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/520e04f2-a0a9-4fa9-9f54-91152ca39f9d.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 462 |
+| Sim rows | 62 |
+| Real episode_id | `520e04f2-a0a9-4fa9-9f54-91152ca39f9d` |
+| Sim episode_id | `520e04f2-a0a9-4fa9-9f54-91152ca39f9d` |
+
+## 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 | 254 | 25 | 4.068 | 16.45 | 28.50 | 7.51 | 0.8156 |
+| 1 | descend | 208 | 21 | 0.025 | 0.45 | 0.79 | 2.12 | 0.7645 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.877 |
+| TCP position RMSE (mm, per-axis) | 11.64 |
+| EE position RMS L2 (mm) | 21.14 |
+| TCP rotvec (mrad) | 5.51 |
+| W1 effort mean (A) | 0.7925 |
+| W1 effort per joint (A) | j0=0.1589, j1=1.7575, j2=1.7391, j3=0.8787, j4=0.1044, j5=0.1163 |
+
+## 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 | 0.00007 | -0.00030 | 0.00079 | 0.00085 | 0.042 |
+| 1 | 0.00024 | -0.00040 | 0.00062 | 0.00077 | 0.048 |
+
+## 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.
diff --git a/gap_reports/gap_52191d1c-227b-49ca-90dc-f7828debd8c9.md b/gap_reports/gap_52191d1c-227b-49ca-90dc-f7828debd8c9.md
new file mode 100644
index 0000000000000000000000000000000000000000..bdbcaf22e5fa31045f61995cc4e6b4af3364b38e
--- /dev/null
+++ b/gap_reports/gap_52191d1c-227b-49ca-90dc-f7828debd8c9.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/52191d1c-227b-49ca-90dc-f7828debd8c9.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/52191d1c-227b-49ca-90dc-f7828debd8c9.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 490 |
+| Sim rows | 65 |
+| Real episode_id | `52191d1c-227b-49ca-90dc-f7828debd8c9` |
+| Sim episode_id | `52191d1c-227b-49ca-90dc-f7828debd8c9` |
+
+## 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 | 279 | 28 | 2.861 | 10.31 | 17.86 | 652.41 | 0.8400 |
+| 1 | descend | 211 | 21 | 0.023 | 14.55 | 25.21 | 2.72 | 0.8129 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.023 |
+| TCP position RMSE (mm, per-axis) | 12.61 |
+| EE position RMS L2 (mm) | 21.33 |
+| TCP rotvec (mrad) | 461.33 |
+| W1 effort mean (A) | 0.8281 |
+| W1 effort per joint (A) | j0=0.0940, j1=1.7631, j2=1.6793, j3=1.0852, j4=0.2188, j5=0.1281 |
+
+## 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 | -0.00058 | 0.02470 | -0.00507 | 0.02522 | 0.067 |
+| 1 | -0.00064 | 0.02470 | -0.00501 | 0.02521 | 0.026 |
+
+## 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.
diff --git a/gap_reports/gap_521f2df8-6d84-461d-a73e-9bf88bee08bd.md b/gap_reports/gap_521f2df8-6d84-461d-a73e-9bf88bee08bd.md
new file mode 100644
index 0000000000000000000000000000000000000000..2b07480ca73b9af12a6fce05ef4f4003af3875da
--- /dev/null
+++ b/gap_reports/gap_521f2df8-6d84-461d-a73e-9bf88bee08bd.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/521f2df8-6d84-461d-a73e-9bf88bee08bd.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/521f2df8-6d84-461d-a73e-9bf88bee08bd.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2708 |
+| Sim rows | 239 |
+| Real episode_id | `521f2df8-6d84-461d-a73e-9bf88bee08bd` |
+| Sim episode_id | `521f2df8-6d84-461d-a73e-9bf88bee08bd` |
+
+## 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 | 17 | 2.476 | 9.65 | 16.71 | 2.77 | 0.5775 |
+| 1 | descend | 376 | 33 | 1.617 | 9.71 | 16.82 | 4.27 | 0.7566 |
+| 2 | settle | 374 | 33 | 0.023 | 0.79 | 1.37 | 4.41 | 0.6658 |
+| 3 | close | 143 | 13 | 1.114 | 6.51 | 11.28 | 6.38 | 0.9014 |
+| 4 | lift | 359 | 31 | 3.306 | 13.46 | 23.31 | 4.15 | 1.0700 |
+| 5 | move_xy | 376 | 33 | 7.720 | 34.62 | 59.97 | 5.07 | 0.8892 |
+| 6 | lower | 379 | 33 | 0.091 | 1.39 | 2.42 | 6.94 | 0.9973 |
+| 7 | open | 146 | 13 | 0.961 | 5.77 | 9.99 | 4.46 | 0.6001 |
+| 8 | retract | 360 | 31 | 3.214 | 13.15 | 22.78 | 3.12 | 0.7027 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.193 |
+| TCP position RMSE (mm, per-axis) | 14.21 |
+| EE position RMS L2 (mm) | 26.70 |
+| TCP rotvec (mrad) | 4.79 |
+| W1 effort mean (A) | 0.7842 |
+| W1 effort per joint (A) | j0=0.2930, j1=1.1806, j2=1.4645, j3=0.6809, j4=0.4962, j5=0.5901 |
+
+## 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 | 0.00066 | -0.00053 | -0.00038 | 0.00093 | 0.035 |
+| 1 | 0.00072 | -0.00087 | -0.00078 | 0.00137 | 0.036 |
+| 2 | 0.00071 | -0.00088 | -0.00073 | 0.00135 | 0.035 |
+| 3 | 0.00112 | -0.00062 | -0.00083 | 0.00153 | 0.089 |
+| 4 | 0.00041 | -0.00018 | -0.00045 | 0.00063 | 0.106 |
+| 5 | 0.00174 | -0.00099 | -0.00187 | 0.00274 | 0.177 |
+| 6 | 0.00145 | -0.00105 | -0.00143 | 0.00229 | 0.102 |
+| 7 | 0.00055 | -0.00062 | -0.00052 | 0.00098 | 0.031 |
+| 8 | -0.00009 | -0.00011 | -0.00015 | 0.00021 | 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.
diff --git a/gap_reports/gap_5221b860-9ad0-4915-8ca4-137aa082bb89.md b/gap_reports/gap_5221b860-9ad0-4915-8ca4-137aa082bb89.md
new file mode 100644
index 0000000000000000000000000000000000000000..94cfe8f35d1819576bdbf113ed4d626a54abb077
--- /dev/null
+++ b/gap_reports/gap_5221b860-9ad0-4915-8ca4-137aa082bb89.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/5221b860-9ad0-4915-8ca4-137aa082bb89.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/5221b860-9ad0-4915-8ca4-137aa082bb89.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1698 |
+| Sim rows | 171 |
+| Real episode_id | `5221b860-9ad0-4915-8ca4-137aa082bb89` |
+| Sim episode_id | `5221b860-9ad0-4915-8ca4-137aa082bb89` |
+
+## 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 | 147 | 15 | 3.355 | 20.80 | 36.02 | 1697.97 | 0.7466 |
+| 1 | descend | 76 | 8 | 0.718 | 3.99 | 6.90 | 4.74 | 0.6059 |
+| 2 | settle | 15 | 2 | 0.017 | 2.98 | 5.16 | 5.29 | 0.5745 |
+| 3 | close | 395 | 39 | 0.134 | 3.57 | 6.18 | 3621.42 | 1.0801 |
+| 4 | lift | 77 | 8 | 0.758 | 4.47 | 7.75 | 3621.37 | 1.1559 |
+| 5 | move_xy | 196 | 20 | 12.894 | 35.15 | 60.88 | 2278.14 | 1.0937 |
+| 6 | lower | 77 | 8 | 19.789 | 4.67 | 8.09 | 763.63 | 1.1719 |
+| 7 | open | 371 | 36 | 19.758 | 2.34 | 4.06 | 762.66 | 0.7504 |
+| 8 | retract | 75 | 8 | 19.782 | 4.09 | 7.08 | 762.35 | 0.8664 |
+| 9 | return | 269 | 27 | 10.623 | 15.89 | 27.52 | 1040.58 | 0.8703 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 12.103 |
+| TCP position RMSE (mm, per-axis) | 14.22 |
+| EE position RMS L2 (mm) | 26.13 |
+| TCP rotvec (mrad) | 1926.94 |
+| W1 effort mean (A) | 0.9031 |
+| W1 effort per joint (A) | j0=0.2326, j1=1.4847, j2=1.5130, j3=0.7881, j4=0.4297, j5=0.9706 |
+
+## 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 | -0.00437 | -0.00097 | 0.00475 | 0.038 |
+| 1 | 0.00189 | -0.00475 | -0.00085 | 0.00518 | 0.055 |
+| 2 | 0.00180 | -0.00471 | -0.00098 | 0.00514 | 0.037 |
+| 3 | 0.00279 | -0.00461 | -0.00295 | 0.00615 | 0.251 |
+| 4 | 0.00190 | -0.00422 | -0.00300 | 0.00551 | 0.256 |
+| 5 | 0.00199 | -0.00288 | -0.00217 | 0.00411 | 48.477 |
+| 6 | 0.00236 | -0.00175 | -0.00313 | 0.00429 | 48.398 |
+| 7 | 0.00220 | -0.00339 | -0.00018 | 0.00405 | 48.398 |
+| 8 | 0.00194 | -0.00369 | -0.00040 | 0.00419 | 48.457 |
+| 9 | -0.00003 | -0.00014 | -0.00024 | 0.00028 | 0.029 |
+
+## 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.
diff --git a/gap_reports/gap_5222d192-b40e-48d1-9860-dd20bed814c7.md b/gap_reports/gap_5222d192-b40e-48d1-9860-dd20bed814c7.md
new file mode 100644
index 0000000000000000000000000000000000000000..fd6d445ca86dadba6d78fe66dbd800a9f3e6b0ef
--- /dev/null
+++ b/gap_reports/gap_5222d192-b40e-48d1-9860-dd20bed814c7.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/5222d192-b40e-48d1-9860-dd20bed814c7.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/5222d192-b40e-48d1-9860-dd20bed814c7.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2599 |
+| Sim rows | 232 |
+| Real episode_id | `5222d192-b40e-48d1-9860-dd20bed814c7` |
+| Sim episode_id | `5222d192-b40e-48d1-9860-dd20bed814c7` |
+
+## 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 | 2.027 | 9.15 | 15.85 | 2034.51 | 0.5683 |
+| 1 | descend | 254 | 23 | 0.807 | 5.18 | 8.96 | 3625.33 | 0.7464 |
+| 2 | settle | 368 | 32 | 0.025 | 0.75 | 1.31 | 3625.21 | 0.6675 |
+| 3 | close | 152 | 14 | 0.769 | 5.13 | 8.88 | 3076.39 | 1.0023 |
+| 4 | lift | 378 | 33 | 2.594 | 12.77 | 22.12 | 2237.83 | 1.1121 |
+| 5 | move_xy | 344 | 31 | 5.354 | 29.22 | 50.60 | 2796.98 | 0.8851 |
+| 6 | lower | 390 | 34 | 0.083 | 1.28 | 2.22 | 3551.95 | 1.0203 |
+| 7 | open | 153 | 14 | 0.847 | 5.40 | 9.36 | 3625.43 | 0.6854 |
+| 8 | retract | 379 | 33 | 2.487 | 12.35 | 21.39 | 2273.15 | 0.7125 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.301 |
+| TCP position RMSE (mm, per-axis) | 12.19 |
+| EE position RMS L2 (mm) | 22.65 |
+| TCP rotvec (mrad) | 3048.62 |
+| W1 effort mean (A) | 0.8221 |
+| W1 effort per joint (A) | j0=0.2207, j1=1.4103, j2=1.5931, j3=0.7749, j4=0.3179, j5=0.6155 |
+
+## 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 | 0.00045 | -0.00041 | -0.00072 | 0.00094 | 0.041 |
+| 1 | 0.00038 | -0.00070 | -0.00095 | 0.00124 | 0.039 |
+| 2 | 0.00043 | -0.00072 | -0.00101 | 0.00132 | 0.047 |
+| 3 | 0.00110 | -0.00059 | -0.00159 | 0.00202 | 0.108 |
+| 4 | 0.00025 | -0.00028 | -0.00029 | 0.00048 | 0.121 |
+| 5 | 0.00112 | -0.00115 | -0.00207 | 0.00262 | 0.158 |
+| 6 | 0.00136 | -0.00098 | -0.00149 | 0.00224 | 0.150 |
+| 7 | 0.00029 | -0.00047 | -0.00075 | 0.00093 | 0.040 |
+| 8 | -0.00009 | -0.00013 | -0.00014 | 0.00021 | 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.
diff --git a/gap_reports/gap_522c673e-bace-479f-b3f3-0e6451a5882a.md b/gap_reports/gap_522c673e-bace-479f-b3f3-0e6451a5882a.md
new file mode 100644
index 0000000000000000000000000000000000000000..f9e998d2b5d29326dc95314c390b63746fd86d0d
--- /dev/null
+++ b/gap_reports/gap_522c673e-bace-479f-b3f3-0e6451a5882a.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/522c673e-bace-479f-b3f3-0e6451a5882a.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/522c673e-bace-479f-b3f3-0e6451a5882a.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2407 |
+| Sim rows | 243 |
+| Real episode_id | `522c673e-bace-479f-b3f3-0e6451a5882a` |
+| Sim episode_id | `522c673e-bace-479f-b3f3-0e6451a5882a` |
+
+## 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 | 22 | 3.040 | 11.86 | 20.54 | 1973.71 | 0.5731 |
+| 1 | descend | 252 | 25 | 1.418 | 8.49 | 14.71 | 3625.96 | 0.6688 |
+| 2 | settle | 322 | 32 | 0.023 | 0.60 | 1.04 | 3625.99 | 0.6447 |
+| 3 | close | 135 | 14 | 0.783 | 4.74 | 8.21 | 1026.50 | 0.8979 |
+| 4 | lift | 311 | 31 | 2.412 | 9.72 | 16.83 | 1691.49 | 1.0977 |
+| 5 | move_xy | 382 | 38 | 6.560 | 29.56 | 51.20 | 2212.65 | 0.8826 |
+| 6 | lower | 341 | 34 | 0.080 | 1.11 | 1.92 | 1091.60 | 0.9233 |
+| 7 | open | 135 | 14 | 0.625 | 3.65 | 6.33 | 3626.22 | 0.5891 |
+| 8 | retract | 313 | 31 | 2.436 | 9.89 | 17.13 | 2178.62 | 0.6935 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.730 |
+| TCP position RMSE (mm, per-axis) | 12.09 |
+| EE position RMS L2 (mm) | 23.62 |
+| TCP rotvec (mrad) | 2540.54 |
+| W1 effort mean (A) | 0.7584 |
+| W1 effort per joint (A) | j0=0.2501, j1=1.1363, j2=1.4647, j3=0.6683, j4=0.4134, j5=0.6179 |
+
+## 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 | 0.00042 | -0.00033 | -0.00053 | 0.00075 | 0.034 |
+| 1 | 0.00039 | -0.00055 | -0.00078 | 0.00103 | 0.038 |
+| 2 | 0.00039 | -0.00059 | -0.00073 | 0.00101 | 0.036 |
+| 3 | 0.00078 | -0.00044 | -0.00050 | 0.00103 | 0.112 |
+| 4 | 0.00000 | -0.00055 | -0.00047 | 0.00073 | 0.123 |
+| 5 | 0.00096 | -0.00082 | -0.00135 | 0.00185 | 0.101 |
+| 6 | 0.00132 | -0.00072 | -0.00134 | 0.00202 | 0.136 |
+| 7 | 0.00030 | -0.00029 | -0.00058 | 0.00071 | 0.043 |
+| 8 | -0.00007 | -0.00006 | -0.00011 | 0.00015 | 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.
diff --git a/gap_reports/gap_526c8115-90d6-49a9-890b-0836d9786029.md b/gap_reports/gap_526c8115-90d6-49a9-890b-0836d9786029.md
new file mode 100644
index 0000000000000000000000000000000000000000..33c8320fa40df4b97a7b62073d077f9a108a82a3
--- /dev/null
+++ b/gap_reports/gap_526c8115-90d6-49a9-890b-0836d9786029.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/526c8115-90d6-49a9-890b-0836d9786029.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/526c8115-90d6-49a9-890b-0836d9786029.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2586 |
+| Sim rows | 231 |
+| Real episode_id | `526c8115-90d6-49a9-890b-0836d9786029` |
+| Sim episode_id | `526c8115-90d6-49a9-890b-0836d9786029` |
+
+## 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 | 210 | 19 | 3.365 | 12.82 | 22.21 | 1954.27 | 0.5863 |
+| 1 | descend | 227 | 20 | 0.926 | 5.54 | 9.59 | 3626.11 | 0.7016 |
+| 2 | settle | 357 | 31 | 0.018 | 0.61 | 1.06 | 3626.06 | 0.6510 |
+| 3 | close | 105 | 10 | 0.529 | 3.14 | 5.44 | 2317.08 | 0.9602 |
+| 4 | lift | 423 | 37 | 3.165 | 12.73 | 22.05 | 1974.43 | 1.0946 |
+| 5 | move_xy | 333 | 29 | 7.463 | 31.73 | 54.95 | 2214.32 | 0.8481 |
+| 6 | lower | 407 | 36 | 0.079 | 1.13 | 1.96 | 1580.46 | 0.9990 |
+| 7 | open | 103 | 10 | 0.582 | 3.30 | 5.72 | 3626.12 | 0.6476 |
+| 8 | retract | 421 | 37 | 3.155 | 12.93 | 22.40 | 2290.41 | 0.7057 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.135 |
+| TCP position RMSE (mm, per-axis) | 13.14 |
+| EE position RMS L2 (mm) | 24.52 |
+| TCP rotvec (mrad) | 2691.12 |
+| W1 effort mean (A) | 0.8058 |
+| W1 effort per joint (A) | j0=0.2299, j1=1.1869, j2=1.6256, j3=0.8191, j4=0.3177, j5=0.6553 |
+
+## 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 | 0.00068 | -0.00025 | -0.00042 | 0.00084 | 0.035 |
+| 1 | 0.00065 | -0.00051 | -0.00067 | 0.00106 | 0.038 |
+| 2 | 0.00066 | -0.00050 | -0.00067 | 0.00106 | 0.033 |
+| 3 | 0.00159 | -0.00005 | -0.00147 | 0.00217 | 0.140 |
+| 4 | 0.00050 | -0.00006 | -0.00026 | 0.00057 | 0.124 |
+| 5 | 0.00145 | -0.00058 | -0.00165 | 0.00228 | 0.137 |
+| 6 | 0.00141 | -0.00060 | -0.00106 | 0.00186 | 0.108 |
+| 7 | 0.00045 | -0.00023 | -0.00054 | 0.00074 | 0.039 |
+| 8 | -0.00007 | -0.00009 | -0.00014 | 0.00018 | 0.026 |
+
+## 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.
diff --git a/gap_reports/gap_52803687-5d46-44e9-bc9e-e2a58885c090.md b/gap_reports/gap_52803687-5d46-44e9-bc9e-e2a58885c090.md
new file mode 100644
index 0000000000000000000000000000000000000000..143703a44232251cf7b5d74789e67072021dc1a1
--- /dev/null
+++ b/gap_reports/gap_52803687-5d46-44e9-bc9e-e2a58885c090.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/52803687-5d46-44e9-bc9e-e2a58885c090.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/52803687-5d46-44e9-bc9e-e2a58885c090.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1656 |
+| Sim rows | 166 |
+| Real episode_id | `52803687-5d46-44e9-bc9e-e2a58885c090` |
+| Sim episode_id | `52803687-5d46-44e9-bc9e-e2a58885c090` |
+
+## 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 | 125 | 13 | 2.231 | 10.36 | 17.94 | 724.42 | 0.6864 |
+| 1 | descend | 74 | 8 | 0.714 | 4.02 | 6.96 | 4.72 | 0.6705 |
+| 2 | settle | 31 | 4 | 0.024 | 2.49 | 4.32 | 5.19 | 0.7169 |
+| 3 | close | 378 | 37 | 0.090 | 2.95 | 5.11 | 9.33 | 1.2705 |
+| 4 | lift | 76 | 8 | 0.648 | 4.04 | 7.00 | 8.76 | 1.3312 |
+| 5 | move_xy | 161 | 16 | 3.011 | 16.33 | 28.29 | 9.16 | 1.2635 |
+| 6 | lower | 78 | 8 | 0.734 | 4.60 | 7.97 | 8.90 | 1.2103 |
+| 7 | open | 362 | 35 | 0.021 | 2.72 | 4.72 | 5.06 | 0.5836 |
+| 8 | retract | 76 | 8 | 0.690 | 3.75 | 6.50 | 4.41 | 0.7045 |
+| 9 | return | 295 | 29 | 4.246 | 18.54 | 32.12 | 1035.81 | 0.6973 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.845 |
+| TCP position RMSE (mm, per-axis) | 8.99 |
+| EE position RMS L2 (mm) | 17.50 |
+| TCP rotvec (mrad) | 399.76 |
+| W1 effort mean (A) | 0.8790 |
+| W1 effort per joint (A) | j0=0.1203, j1=1.6502, j2=1.5394, j3=0.7832, j4=0.5525, j5=0.6282 |
+
+## 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 | 0.00193 | -0.00346 | -0.00037 | 0.00398 | 0.035 |
+| 1 | 0.00244 | -0.00357 | -0.00028 | 0.00433 | 0.042 |
+| 2 | 0.00245 | -0.00355 | -0.00046 | 0.00434 | 0.048 |
+| 3 | 0.00335 | -0.00384 | -0.00057 | 0.00513 | 0.171 |
+| 4 | 0.00265 | -0.00380 | -0.00083 | 0.00471 | 0.119 |
+| 5 | 0.00217 | -0.00517 | -0.00153 | 0.00581 | 0.218 |
+| 6 | 0.00247 | -0.00515 | -0.00134 | 0.00587 | 0.167 |
+| 7 | 0.00197 | -0.00415 | -0.00105 | 0.00471 | 0.043 |
+| 8 | 0.00156 | -0.00380 | -0.00123 | 0.00429 | 0.057 |
+| 9 | -0.00013 | -0.00007 | -0.00027 | 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.
diff --git a/gap_reports/gap_528c5c9a-08e6-4f11-8bb8-bb87dccb8da0.md b/gap_reports/gap_528c5c9a-08e6-4f11-8bb8-bb87dccb8da0.md
new file mode 100644
index 0000000000000000000000000000000000000000..657859c0bfb62cc1375fb4f4decc2adda389a927
--- /dev/null
+++ b/gap_reports/gap_528c5c9a-08e6-4f11-8bb8-bb87dccb8da0.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/528c5c9a-08e6-4f11-8bb8-bb87dccb8da0.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/528c5c9a-08e6-4f11-8bb8-bb87dccb8da0.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2656 |
+| Sim rows | 236 |
+| Real episode_id | `528c5c9a-08e6-4f11-8bb8-bb87dccb8da0` |
+| Sim episode_id | `528c5c9a-08e6-4f11-8bb8-bb87dccb8da0` |
+
+## 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 | 234 | 21 | 2.829 | 13.14 | 22.76 | 1968.63 | 0.5806 |
+| 1 | descend | 232 | 21 | 0.879 | 5.88 | 10.18 | 3625.41 | 0.7424 |
+| 2 | settle | 373 | 33 | 0.022 | 0.70 | 1.21 | 3625.32 | 0.6906 |
+| 3 | close | 107 | 10 | 0.371 | 2.55 | 4.42 | 3047.52 | 0.9693 |
+| 4 | lift | 417 | 36 | 2.939 | 14.08 | 24.39 | 2266.86 | 1.0634 |
+| 5 | move_xy | 380 | 33 | 6.683 | 34.15 | 59.15 | 2598.32 | 0.8957 |
+| 6 | lower | 385 | 34 | 0.079 | 1.23 | 2.14 | 3399.58 | 0.9729 |
+| 7 | open | 110 | 10 | 0.308 | 2.02 | 3.50 | 3625.41 | 0.6660 |
+| 8 | retract | 418 | 36 | 2.940 | 13.94 | 24.15 | 2256.86 | 0.7177 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.808 |
+| TCP position RMSE (mm, per-axis) | 14.06 |
+| EE position RMS L2 (mm) | 27.25 |
+| TCP rotvec (mrad) | 3002.47 |
+| W1 effort mean (A) | 0.8080 |
+| W1 effort per joint (A) | j0=0.2086, j1=1.3403, j2=1.5865, j3=0.8069, j4=0.2964, j5=0.6090 |
+
+## 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 | 0.00068 | -0.00038 | -0.00075 | 0.00108 | 0.041 |
+| 1 | 0.00060 | -0.00059 | -0.00084 | 0.00119 | 0.037 |
+| 2 | 0.00062 | -0.00057 | -0.00090 | 0.00123 | 0.042 |
+| 3 | 0.00096 | -0.00051 | -0.00199 | 0.00227 | 0.159 |
+| 4 | 0.00047 | 0.00008 | -0.00002 | 0.00048 | 0.110 |
+| 5 | 0.00175 | -0.00084 | -0.00249 | 0.00315 | 0.195 |
+| 6 | 0.00123 | -0.00068 | -0.00116 | 0.00182 | 0.119 |
+| 7 | 0.00048 | -0.00039 | -0.00080 | 0.00101 | 0.043 |
+| 8 | -0.00008 | -0.00009 | -0.00012 | 0.00017 | 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.
diff --git a/gap_reports/gap_529145f7-5d4e-4ce0-b6de-ff46615cc789.md b/gap_reports/gap_529145f7-5d4e-4ce0-b6de-ff46615cc789.md
new file mode 100644
index 0000000000000000000000000000000000000000..a66f6cc8214e6454c402616df3c9e86cd8c27e12
--- /dev/null
+++ b/gap_reports/gap_529145f7-5d4e-4ce0-b6de-ff46615cc789.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/529145f7-5d4e-4ce0-b6de-ff46615cc789.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/529145f7-5d4e-4ce0-b6de-ff46615cc789.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2718 |
+| Sim rows | 243 |
+| Real episode_id | `529145f7-5d4e-4ce0-b6de-ff46615cc789` |
+| Sim episode_id | `529145f7-5d4e-4ce0-b6de-ff46615cc789` |
+
+## 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 | 205 | 18 | 2.785 | 14.35 | 24.85 | 1894.63 | 0.6227 |
+| 1 | descend | 314 | 28 | 1.297 | 9.13 | 15.81 | 3624.78 | 0.7336 |
+| 2 | settle | 419 | 37 | 0.026 | 0.96 | 1.67 | 3624.55 | 0.7753 |
+| 3 | close | 159 | 15 | 1.071 | 7.39 | 12.81 | 3625.24 | 1.0249 |
+| 4 | lift | 330 | 29 | 2.942 | 15.88 | 27.50 | 2444.26 | 1.1204 |
+| 5 | move_xy | 367 | 32 | 6.373 | 36.93 | 63.96 | 2800.34 | 0.9485 |
+| 6 | lower | 434 | 38 | 0.085 | 1.63 | 2.82 | 3625.08 | 1.0456 |
+| 7 | open | 160 | 15 | 1.083 | 7.45 | 12.91 | 3624.73 | 0.7364 |
+| 8 | retract | 330 | 29 | 3.043 | 16.50 | 28.58 | 2435.76 | 0.7386 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.795 |
+| TCP position RMSE (mm, per-axis) | 15.96 |
+| EE position RMS L2 (mm) | 28.98 |
+| TCP rotvec (mrad) | 3145.32 |
+| W1 effort mean (A) | 0.8525 |
+| W1 effort per joint (A) | j0=0.2426, j1=1.5310, j2=1.6920, j3=0.7547, j4=0.3097, j5=0.5850 |
+
+## 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 | -0.00027 | -0.00078 | 0.00120 | 0.038 |
+| 1 | 0.00092 | -0.00078 | -0.00110 | 0.00163 | 0.048 |
+| 2 | 0.00093 | -0.00076 | -0.00119 | 0.00169 | 0.056 |
+| 3 | 0.00133 | -0.00047 | -0.00066 | 0.00156 | 0.088 |
+| 4 | 0.00017 | -0.00042 | -0.00055 | 0.00071 | 0.113 |
+| 5 | 0.00249 | -0.00111 | -0.00195 | 0.00335 | 0.201 |
+| 6 | 0.00226 | -0.00093 | -0.00061 | 0.00252 | 0.162 |
+| 7 | 0.00070 | -0.00038 | -0.00103 | 0.00130 | 0.065 |
+| 8 | -0.00014 | -0.00020 | -0.00020 | 0.00031 | 0.035 |
+
+## 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.
diff --git a/gap_reports/gap_52cdce62-e618-4496-98e8-807bdac1531e.md b/gap_reports/gap_52cdce62-e618-4496-98e8-807bdac1531e.md
new file mode 100644
index 0000000000000000000000000000000000000000..065ca9aa763d5daa0a3a6fa92d4c2367a54950a5
--- /dev/null
+++ b/gap_reports/gap_52cdce62-e618-4496-98e8-807bdac1531e.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/52cdce62-e618-4496-98e8-807bdac1531e.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/52cdce62-e618-4496-98e8-807bdac1531e.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 406 |
+| Sim rows | 57 |
+| Real episode_id | `52cdce62-e618-4496-98e8-807bdac1531e` |
+| Sim episode_id | `52cdce62-e618-4496-98e8-807bdac1531e` |
+
+## 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 | 196 | 20 | 1.601 | 7.64 | 13.24 | 297.89 | 0.7935 |
+| 1 | descend | 210 | 21 | 0.024 | 4.79 | 8.30 | 1.80 | 0.8181 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.133 |
+| TCP position RMSE (mm, per-axis) | 6.38 |
+| EE position RMS L2 (mm) | 10.96 |
+| TCP rotvec (mrad) | 210.65 |
+| W1 effort mean (A) | 0.8060 |
+| W1 effort per joint (A) | j0=0.1310, j1=1.8244, j2=1.7569, j3=0.9030, j4=0.1196, j5=0.1009 |
+
+## 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 | -0.00804 | -0.00240 | 0.00017 | 0.00839 | 0.023 |
+| 1 | -0.00783 | -0.00237 | -0.00008 | 0.00818 | 0.047 |
+
+## 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.
diff --git a/gap_reports/gap_52d3e070-457b-4a22-9ec1-f275a6ba0a66.md b/gap_reports/gap_52d3e070-457b-4a22-9ec1-f275a6ba0a66.md
new file mode 100644
index 0000000000000000000000000000000000000000..c8881ec5c7ff0b177e7dc879e4e10f783c351e46
--- /dev/null
+++ b/gap_reports/gap_52d3e070-457b-4a22-9ec1-f275a6ba0a66.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/52d3e070-457b-4a22-9ec1-f275a6ba0a66.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/52d3e070-457b-4a22-9ec1-f275a6ba0a66.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2776 |
+| Sim rows | 247 |
+| Real episode_id | `52d3e070-457b-4a22-9ec1-f275a6ba0a66` |
+| Sim episode_id | `52d3e070-457b-4a22-9ec1-f275a6ba0a66` |
+
+## 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 | 227 | 20 | 2.675 | 15.58 | 26.99 | 1939.63 | 0.6140 |
+| 1 | descend | 519 | 45 | 0.376 | 2.80 | 4.84 | 3624.63 | 0.7631 |
+| 2 | settle | 363 | 32 | 0.028 | 0.98 | 1.69 | 3624.51 | 0.7128 |
+| 3 | close | 123 | 12 | 0.513 | 3.68 | 6.37 | 3625.30 | 0.9876 |
+| 4 | lift | 318 | 28 | 2.310 | 14.04 | 24.33 | 2245.34 | 1.1134 |
+| 5 | move_xy | 380 | 33 | 4.766 | 29.88 | 51.75 | 2764.22 | 0.9577 |
+| 6 | lower | 403 | 35 | 0.090 | 1.65 | 2.85 | 3625.05 | 1.0720 |
+| 7 | open | 125 | 12 | 0.489 | 3.41 | 5.90 | 3624.68 | 0.7343 |
+| 8 | retract | 318 | 28 | 2.177 | 13.33 | 23.08 | 2263.44 | 0.7342 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.124 |
+| TCP position RMSE (mm, per-axis) | 13.11 |
+| EE position RMS L2 (mm) | 23.75 |
+| TCP rotvec (mrad) | 3113.86 |
+| W1 effort mean (A) | 0.8380 |
+| W1 effort per joint (A) | j0=0.2215, j1=1.5200, j2=1.7040, j3=0.7409, j4=0.2625, j5=0.5791 |
+
+## 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 | -0.00054 | -0.00080 | 0.00127 | 0.039 |
+| 1 | 0.00075 | -0.00086 | -0.00122 | 0.00166 | 0.055 |
+| 2 | 0.00076 | -0.00086 | -0.00121 | 0.00167 | 0.055 |
+| 3 | 0.00149 | -0.00085 | -0.00120 | 0.00210 | 0.102 |
+| 4 | 0.00068 | 0.00001 | -0.00022 | 0.00071 | 0.207 |
+| 5 | 0.00177 | -0.00115 | -0.00122 | 0.00244 | 0.126 |
+| 6 | 0.00217 | -0.00119 | -0.00185 | 0.00309 | 0.208 |
+| 7 | 0.00060 | -0.00064 | -0.00105 | 0.00137 | 0.048 |
+| 8 | -0.00015 | -0.00022 | -0.00021 | 0.00034 | 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.
diff --git a/gap_reports/gap_52e627cb-8e3f-4ba0-b66d-e4a3d8cd7ea8.md b/gap_reports/gap_52e627cb-8e3f-4ba0-b66d-e4a3d8cd7ea8.md
new file mode 100644
index 0000000000000000000000000000000000000000..04b67b41de606978a9cc456bd8862d3f4e07f574
--- /dev/null
+++ b/gap_reports/gap_52e627cb-8e3f-4ba0-b66d-e4a3d8cd7ea8.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/52e627cb-8e3f-4ba0-b66d-e4a3d8cd7ea8.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/52e627cb-8e3f-4ba0-b66d-e4a3d8cd7ea8.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2796 |
+| Sim rows | 248 |
+| Real episode_id | `52e627cb-8e3f-4ba0-b66d-e4a3d8cd7ea8` |
+| Sim episode_id | `52e627cb-8e3f-4ba0-b66d-e4a3d8cd7ea8` |
+
+## 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 | 271 | 24 | 3.519 | 13.19 | 22.85 | 1970.11 | 0.5709 |
+| 1 | descend | 278 | 25 | 1.032 | 5.98 | 10.36 | 3626.14 | 0.6508 |
+| 2 | settle | 370 | 32 | 0.019 | 0.64 | 1.11 | 3626.09 | 0.7033 |
+| 3 | close | 118 | 11 | 0.804 | 4.53 | 7.84 | 1318.23 | 0.9569 |
+| 4 | lift | 388 | 34 | 2.864 | 11.49 | 19.90 | 1909.48 | 1.1198 |
+| 5 | move_xy | 464 | 40 | 8.682 | 37.01 | 64.10 | 1962.78 | 0.8750 |
+| 6 | lower | 402 | 35 | 0.086 | 1.25 | 2.16 | 1681.91 | 0.9994 |
+| 7 | open | 117 | 11 | 0.876 | 4.91 | 8.51 | 3626.17 | 0.6412 |
+| 8 | retract | 388 | 34 | 3.118 | 12.57 | 21.77 | 2291.73 | 0.7115 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.467 |
+| TCP position RMSE (mm, per-axis) | 14.59 |
+| EE position RMS L2 (mm) | 29.50 |
+| TCP rotvec (mrad) | 2595.83 |
+| W1 effort mean (A) | 0.7992 |
+| W1 effort per joint (A) | j0=0.2389, j1=1.1869, j2=1.5628, j3=0.8026, j4=0.3633, j5=0.6408 |
+
+## 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 | 0.00073 | -0.00015 | -0.00050 | 0.00090 | 0.035 |
+| 1 | 0.00068 | -0.00049 | -0.00070 | 0.00109 | 0.040 |
+| 2 | 0.00072 | -0.00047 | -0.00071 | 0.00112 | 0.034 |
+| 3 | 0.00102 | -0.00024 | -0.00081 | 0.00133 | 0.105 |
+| 4 | 0.00021 | -0.00035 | -0.00052 | 0.00066 | 0.101 |
+| 5 | 0.00137 | -0.00060 | -0.00128 | 0.00197 | 0.093 |
+| 6 | 0.00153 | -0.00061 | -0.00139 | 0.00216 | 0.111 |
+| 7 | 0.00051 | -0.00024 | -0.00051 | 0.00076 | 0.034 |
+| 8 | -0.00006 | -0.00011 | -0.00015 | 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.
diff --git a/gap_reports/gap_52e8f53b-2629-4b0a-8851-59b3a5bdc487.md b/gap_reports/gap_52e8f53b-2629-4b0a-8851-59b3a5bdc487.md
new file mode 100644
index 0000000000000000000000000000000000000000..84b730c912b8febd64bb29ffad783102f905c0ae
--- /dev/null
+++ b/gap_reports/gap_52e8f53b-2629-4b0a-8851-59b3a5bdc487.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/52e8f53b-2629-4b0a-8851-59b3a5bdc487.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/52e8f53b-2629-4b0a-8851-59b3a5bdc487.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1125 |
+| Sim rows | 118 |
+| Real episode_id | `52e8f53b-2629-4b0a-8851-59b3a5bdc487` |
+| Sim episode_id | `52e8f53b-2629-4b0a-8851-59b3a5bdc487` |
+
+## 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 | 129 | 13 | 1.915 | 8.65 | 14.99 | 719.14 | 0.7035 |
+| 1 | descend | 80 | 9 | 0.939 | 4.97 | 8.60 | 4.93 | 0.7700 |
+| 2 | settle | 21 | 3 | 0.027 | 2.75 | 4.77 | 5.64 | 0.7914 |
+| 3 | close | 36 | 5 | 0.135 | 3.21 | 5.57 | 10.13 | 1.2664 |
+| 4 | lift | 80 | 9 | 0.716 | 4.39 | 7.60 | 9.88 | 1.2657 |
+| 5 | move_xy | 169 | 17 | 10.351 | 27.14 | 47.00 | 128.76 | 1.2460 |
+| 6 | lower | 79 | 9 | 1.112 | 4.38 | 7.59 | 4.25 | 0.8591 |
+| 7 | open | 92 | 10 | 0.015 | 2.42 | 4.19 | 4.98 | 0.4925 |
+| 8 | retract | 78 | 8 | 0.745 | 3.22 | 5.58 | 4.38 | 0.5924 |
+| 9 | return | 361 | 35 | 6.304 | 15.71 | 27.21 | 913.32 | 0.5318 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.921 |
+| TCP position RMSE (mm, per-axis) | 10.75 |
+| EE position RMS L2 (mm) | 24.77 |
+| TCP rotvec (mrad) | 369.89 |
+| W1 effort mean (A) | 0.7215 |
+| W1 effort per joint (A) | j0=0.1760, j1=1.0679, j2=1.6850, j3=0.7278, j4=0.2739, j5=0.3987 |
+
+## 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 | 0.00247 | -0.00374 | -0.00044 | 0.00450 | 0.078 |
+| 1 | 0.00288 | -0.00378 | -0.00048 | 0.00477 | 0.046 |
+| 2 | 0.00288 | -0.00373 | -0.00067 | 0.00476 | 0.061 |
+| 3 | 0.00365 | -0.00306 | -0.00302 | 0.00564 | 0.249 |
+| 4 | 0.00305 | -0.00389 | -0.00328 | 0.00594 | 0.259 |
+| 5 | 0.00143 | -0.00314 | -0.00071 | 0.00352 | 0.086 |
+| 6 | 0.00147 | -0.00364 | -0.00012 | 0.00392 | 0.061 |
+| 7 | 0.00151 | -0.00390 | -0.00032 | 0.00420 | 0.029 |
+| 8 | 0.00137 | -0.00311 | -0.00048 | 0.00343 | 0.070 |
+| 9 | -0.00013 | -0.00007 | -0.00025 | 0.00029 | 0.029 |
+
+## 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.
diff --git a/gap_reports/gap_530c2528-ea20-4ef7-9903-f25d615ef4f5.md b/gap_reports/gap_530c2528-ea20-4ef7-9903-f25d615ef4f5.md
new file mode 100644
index 0000000000000000000000000000000000000000..46de163096cdb6b2ebf61cdfe8115d0355332f5a
--- /dev/null
+++ b/gap_reports/gap_530c2528-ea20-4ef7-9903-f25d615ef4f5.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/530c2528-ea20-4ef7-9903-f25d615ef4f5.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/530c2528-ea20-4ef7-9903-f25d615ef4f5.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1538 |
+| Sim rows | 156 |
+| Real episode_id | `530c2528-ea20-4ef7-9903-f25d615ef4f5` |
+| Sim episode_id | `530c2528-ea20-4ef7-9903-f25d615ef4f5` |
+
+## 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 | 144 | 15 | 14.648 | 8.26 | 14.30 | 813.76 | 0.6477 |
+| 1 | descend | 67 | 7 | 27.767 | 3.27 | 5.66 | 1062.93 | 0.7499 |
+| 2 | settle | 27 | 3 | 27.760 | 2.53 | 4.38 | 1063.52 | 0.7582 |
+| 3 | close | 382 | 38 | 27.760 | 2.39 | 4.14 | 1064.70 | 1.1653 |
+| 4 | lift | 69 | 8 | 27.769 | 3.37 | 5.84 | 1064.12 | 1.3437 |
+| 5 | move_xy | 161 | 16 | 14.857 | 19.22 | 33.28 | 1850.96 | 1.2743 |
+| 6 | lower | 67 | 7 | 0.422 | 3.71 | 6.43 | 2563.11 | 1.2869 |
+| 7 | open | 380 | 37 | 0.029 | 3.11 | 5.39 | 6.47 | 0.6438 |
+| 8 | retract | 67 | 7 | 0.507 | 3.82 | 6.62 | 6.04 | 0.7916 |
+| 9 | return | 174 | 18 | 2.583 | 17.70 | 30.65 | 877.21 | 0.7483 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 18.777 |
+| TCP position RMSE (mm, per-axis) | 9.07 |
+| EE position RMS L2 (mm) | 16.12 |
+| TCP rotvec (mrad) | 1263.10 |
+| W1 effort mean (A) | 0.9020 |
+| W1 effort per joint (A) | j0=0.1635, j1=1.4671, j2=1.5329, j3=0.7185, j4=0.4067, j5=1.1235 |
+
+## 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 | 0.00127 | -0.00396 | 0.00009 | 0.00416 | 67.979 |
+| 1 | 0.00176 | -0.00405 | 0.00029 | 0.00442 | 67.998 |
+| 2 | 0.00179 | -0.00396 | 0.00005 | 0.00435 | 67.996 |
+| 3 | 0.00224 | -0.00324 | -0.00117 | 0.00411 | 67.999 |
+| 4 | 0.00177 | -0.00352 | -0.00158 | 0.00424 | 67.997 |
+| 5 | 0.00216 | -0.00373 | -0.00234 | 0.00491 | 0.229 |
+| 6 | 0.00253 | -0.00358 | -0.00281 | 0.00520 | 0.171 |
+| 7 | 0.00237 | -0.00464 | -0.00143 | 0.00541 | 0.066 |
+| 8 | 0.00194 | -0.00447 | -0.00168 | 0.00516 | 0.081 |
+| 9 | -0.00022 | -0.00017 | -0.00033 | 0.00043 | 0.050 |
+
+## 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.
diff --git a/gap_reports/gap_53161d2e-c7ca-4aa7-8c5c-3d2f369b2530.md b/gap_reports/gap_53161d2e-c7ca-4aa7-8c5c-3d2f369b2530.md
new file mode 100644
index 0000000000000000000000000000000000000000..f7701712ac1ae561b9efec661bd250b1c6d2ce3c
--- /dev/null
+++ b/gap_reports/gap_53161d2e-c7ca-4aa7-8c5c-3d2f369b2530.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/53161d2e-c7ca-4aa7-8c5c-3d2f369b2530.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/53161d2e-c7ca-4aa7-8c5c-3d2f369b2530.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2730 |
+| Sim rows | 242 |
+| Real episode_id | `53161d2e-c7ca-4aa7-8c5c-3d2f369b2530` |
+| Sim episode_id | `53161d2e-c7ca-4aa7-8c5c-3d2f369b2530` |
+
+## 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 | 222 | 20 | 3.269 | 13.78 | 23.87 | 1976.77 | 0.6079 |
+| 1 | descend | 343 | 30 | 1.402 | 9.19 | 15.92 | 3625.38 | 1.0156 |
+| 2 | settle | 357 | 31 | 0.022 | 0.82 | 1.41 | 3625.25 | 1.0992 |
+| 3 | close | 144 | 13 | 0.851 | 5.35 | 9.26 | 3359.68 | 1.2082 |
+| 4 | lift | 369 | 32 | 3.675 | 16.97 | 29.39 | 2270.94 | 1.2470 |
+| 5 | move_xy | 397 | 35 | 8.266 | 39.95 | 69.20 | 2732.11 | 1.0279 |
+| 6 | lower | 381 | 33 | 0.087 | 1.46 | 2.53 | 3392.19 | 1.3879 |
+| 7 | open | 143 | 13 | 0.880 | 5.55 | 9.60 | 3625.48 | 0.8648 |
+| 8 | retract | 374 | 33 | 3.706 | 17.23 | 29.85 | 2437.06 | 0.9008 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.492 |
+| TCP position RMSE (mm, per-axis) | 16.73 |
+| EE position RMS L2 (mm) | 32.00 |
+| TCP rotvec (mrad) | 3067.62 |
+| W1 effort mean (A) | 1.0511 |
+| W1 effort per joint (A) | j0=0.6334, j1=1.4206, j2=1.8940, j3=1.0902, j4=0.6754, j5=0.5931 |
+
+## 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 | -0.00014 | -0.00063 | 0.00105 | 0.036 |
+| 1 | 0.00084 | -0.00057 | -0.00097 | 0.00141 | 0.046 |
+| 2 | 0.00088 | -0.00059 | -0.00094 | 0.00142 | 0.043 |
+| 3 | 0.00121 | -0.00025 | -0.00061 | 0.00138 | 0.086 |
+| 4 | 0.00031 | -0.00012 | -0.00026 | 0.00042 | 0.101 |
+| 5 | 0.00171 | -0.00078 | -0.00107 | 0.00216 | 0.115 |
+| 6 | 0.00182 | -0.00075 | -0.00225 | 0.00299 | 0.177 |
+| 7 | 0.00068 | -0.00022 | -0.00079 | 0.00107 | 0.058 |
+| 8 | -0.00009 | -0.00014 | -0.00014 | 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.
diff --git a/gap_reports/gap_531d0487-46e2-4fbc-830e-02fea4c3b376.md b/gap_reports/gap_531d0487-46e2-4fbc-830e-02fea4c3b376.md
new file mode 100644
index 0000000000000000000000000000000000000000..66fcc47c80371eb305dd078eedcdb353eebcf684
--- /dev/null
+++ b/gap_reports/gap_531d0487-46e2-4fbc-830e-02fea4c3b376.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/531d0487-46e2-4fbc-830e-02fea4c3b376.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/531d0487-46e2-4fbc-830e-02fea4c3b376.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2441 |
+| Sim rows | 243 |
+| Real episode_id | `531d0487-46e2-4fbc-830e-02fea4c3b376` |
+| Sim episode_id | `531d0487-46e2-4fbc-830e-02fea4c3b376` |
+
+## 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 | 22 | 3.275 | 14.77 | 25.57 | 1996.08 | 0.5811 |
+| 1 | descend | 369 | 36 | 1.073 | 7.05 | 12.21 | 3625.33 | 0.6947 |
+| 2 | settle | 333 | 33 | 0.023 | 0.76 | 1.32 | 3625.27 | 0.7441 |
+| 3 | close | 96 | 10 | 0.568 | 3.74 | 6.48 | 3125.67 | 1.0231 |
+| 4 | lift | 304 | 30 | 3.101 | 14.62 | 25.33 | 2306.19 | 1.0977 |
+| 5 | move_xy | 368 | 36 | 5.740 | 29.09 | 50.39 | 2659.51 | 0.8721 |
+| 6 | lower | 347 | 34 | 0.091 | 1.43 | 2.48 | 3435.45 | 0.9796 |
+| 7 | open | 96 | 10 | 0.483 | 3.16 | 5.47 | 3625.51 | 0.6278 |
+| 8 | retract | 307 | 30 | 3.122 | 14.81 | 25.65 | 2294.69 | 0.7193 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.682 |
+| TCP position RMSE (mm, per-axis) | 13.22 |
+| EE position RMS L2 (mm) | 25.12 |
+| TCP rotvec (mrad) | 3030.28 |
+| W1 effort mean (A) | 0.7985 |
+| W1 effort per joint (A) | j0=0.2291, j1=1.3059, j2=1.6383, j3=0.7307, j4=0.2981, j5=0.5887 |
+
+## 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 | 0.00066 | -0.00036 | -0.00076 | 0.00107 | 0.037 |
+| 1 | 0.00062 | -0.00065 | -0.00099 | 0.00134 | 0.048 |
+| 2 | 0.00062 | -0.00065 | -0.00095 | 0.00131 | 0.045 |
+| 3 | 0.00097 | -0.00055 | -0.00140 | 0.00179 | 0.126 |
+| 4 | 0.00034 | 0.00003 | -0.00014 | 0.00037 | 0.078 |
+| 5 | 0.00163 | -0.00086 | -0.00165 | 0.00247 | 0.158 |
+| 6 | 0.00191 | -0.00086 | -0.00092 | 0.00229 | 0.160 |
+| 7 | 0.00038 | -0.00037 | -0.00080 | 0.00096 | 0.042 |
+| 8 | -0.00011 | -0.00015 | -0.00016 | 0.00025 | 0.025 |
+
+## 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.
diff --git a/gap_reports/gap_531d84b4-712e-4989-b469-6f0105592884.md b/gap_reports/gap_531d84b4-712e-4989-b469-6f0105592884.md
new file mode 100644
index 0000000000000000000000000000000000000000..a78200fc1482241c4f623bda64f0a7777865925e
--- /dev/null
+++ b/gap_reports/gap_531d84b4-712e-4989-b469-6f0105592884.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/531d84b4-712e-4989-b469-6f0105592884.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/531d84b4-712e-4989-b469-6f0105592884.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 569 |
+| Sim rows | 73 |
+| Real episode_id | `531d84b4-712e-4989-b469-6f0105592884` |
+| Sim episode_id | `531d84b4-712e-4989-b469-6f0105592884` |
+
+## 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 | 362 | 36 | 4.901 | 17.82 | 30.87 | 11.14 | 0.7789 |
+| 1 | descend | 207 | 21 | 0.030 | 2.29 | 3.97 | 2.18 | 0.7607 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.466 |
+| TCP position RMSE (mm, per-axis) | 12.71 |
+| EE position RMS L2 (mm) | 24.74 |
+| TCP rotvec (mrad) | 8.03 |
+| W1 effort mean (A) | 0.7722 |
+| W1 effort per joint (A) | j0=0.2001, j1=1.4382, j2=1.8075, j3=0.7754, j4=0.2422, j5=0.1699 |
+
+## 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 | 0.00306 | -0.00201 | 0.00069 | 0.00373 | 0.056 |
+| 1 | 0.00345 | -0.00209 | 0.00053 | 0.00407 | 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.
diff --git a/gap_reports/gap_532b72a3-954e-4414-8490-6b36d5a88c4e.md b/gap_reports/gap_532b72a3-954e-4414-8490-6b36d5a88c4e.md
new file mode 100644
index 0000000000000000000000000000000000000000..34ee5137a57204ea402abddb9f6d6aac62c80f46
--- /dev/null
+++ b/gap_reports/gap_532b72a3-954e-4414-8490-6b36d5a88c4e.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/532b72a3-954e-4414-8490-6b36d5a88c4e.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/532b72a3-954e-4414-8490-6b36d5a88c4e.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1440 |
+| Sim rows | 148 |
+| Real episode_id | `532b72a3-954e-4414-8490-6b36d5a88c4e` |
+| Sim episode_id | `532b72a3-954e-4414-8490-6b36d5a88c4e` |
+
+## 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 | 164 | 17 | 2.776 | 10.08 | 17.46 | 288.52 | 0.6610 |
+| 1 | descend | 75 | 8 | 0.869 | 3.79 | 6.56 | 3.84 | 0.5621 |
+| 2 | settle | 43 | 5 | 0.018 | 2.09 | 3.62 | 4.45 | 0.5212 |
+| 3 | close | 300 | 30 | 0.159 | 1.72 | 2.97 | 5.63 | 0.9858 |
+| 4 | lift | 75 | 8 | 0.896 | 3.62 | 6.27 | 5.68 | 1.1627 |
+| 5 | move_xy | 153 | 16 | 3.684 | 23.41 | 40.55 | 140.89 | 1.3023 |
+| 6 | lower | 74 | 8 | 0.605 | 3.40 | 5.89 | 10.92 | 1.2729 |
+| 7 | open | 278 | 28 | 0.046 | 2.91 | 5.04 | 6.11 | 0.7158 |
+| 8 | retract | 76 | 8 | 0.536 | 3.80 | 6.59 | 5.64 | 0.8035 |
+| 9 | return | 202 | 20 | 1.961 | 12.86 | 22.27 | 883.44 | 0.7408 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.654 |
+| TCP position RMSE (mm, per-axis) | 9.40 |
+| EE position RMS L2 (mm) | 17.16 |
+| TCP rotvec (mrad) | 297.30 |
+| W1 effort mean (A) | 0.8456 |
+| W1 effort per joint (A) | j0=0.1263, j1=1.5007, j2=1.6254, j3=0.8750, j4=0.5551, j5=0.3913 |
+
+## 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 | 0.00123 | -0.00311 | 0.00016 | 0.00335 | 0.030 |
+| 1 | 0.00187 | -0.00307 | 0.00024 | 0.00360 | 0.062 |
+| 2 | 0.00187 | -0.00311 | 0.00012 | 0.00363 | 0.025 |
+| 3 | 0.00058 | -0.00277 | -0.00037 | 0.00285 | 0.385 |
+| 4 | 0.00010 | -0.00312 | -0.00056 | 0.00317 | 0.230 |
+| 5 | 0.00139 | -0.00254 | -0.00191 | 0.00347 | 0.414 |
+| 6 | 0.00207 | -0.00267 | -0.00256 | 0.00424 | 0.392 |
+| 7 | 0.00261 | -0.00423 | -0.00104 | 0.00508 | 0.059 |
+| 8 | 0.00221 | -0.00422 | -0.00128 | 0.00493 | 0.072 |
+| 9 | -0.00010 | -0.00017 | -0.00027 | 0.00033 | 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.
diff --git a/gap_reports/gap_53571beb-76a8-413d-813f-25bfdb77dc84.md b/gap_reports/gap_53571beb-76a8-413d-813f-25bfdb77dc84.md
new file mode 100644
index 0000000000000000000000000000000000000000..a7c879d947d1f41fa523e32eea1ab19218ec0ff8
--- /dev/null
+++ b/gap_reports/gap_53571beb-76a8-413d-813f-25bfdb77dc84.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/53571beb-76a8-413d-813f-25bfdb77dc84.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/53571beb-76a8-413d-813f-25bfdb77dc84.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 550 |
+| Sim rows | 71 |
+| Real episode_id | `53571beb-76a8-413d-813f-25bfdb77dc84` |
+| Sim episode_id | `53571beb-76a8-413d-813f-25bfdb77dc84` |
+
+## 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 | 342 | 34 | 2.444 | 13.35 | 23.13 | 796.86 | 0.8255 |
+| 1 | descend | 208 | 21 | 0.025 | 5.33 | 9.24 | 1.79 | 0.7806 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.729 |
+| TCP position RMSE (mm, per-axis) | 10.17 |
+| EE position RMS L2 (mm) | 19.10 |
+| TCP rotvec (mrad) | 563.47 |
+| W1 effort mean (A) | 0.8085 |
+| W1 effort per joint (A) | j0=0.1496, j1=1.8903, j2=1.7550, j3=0.7941, j4=0.1113, j5=0.1503 |
+
+## 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 | -0.00551 | -0.00757 | -0.00006 | 0.00936 | 0.039 |
+| 1 | -0.00527 | -0.00759 | -0.00024 | 0.00924 | 0.049 |
+
+## 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.
diff --git a/gap_reports/gap_535c65b6-6b6a-43a9-8dac-073ac8537c17.md b/gap_reports/gap_535c65b6-6b6a-43a9-8dac-073ac8537c17.md
new file mode 100644
index 0000000000000000000000000000000000000000..4806d886ef2afaf4a256bf5bfe5fc76e2d1f22eb
--- /dev/null
+++ b/gap_reports/gap_535c65b6-6b6a-43a9-8dac-073ac8537c17.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/535c65b6-6b6a-43a9-8dac-073ac8537c17.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/535c65b6-6b6a-43a9-8dac-073ac8537c17.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2616 |
+| Sim rows | 261 |
+| Real episode_id | `535c65b6-6b6a-43a9-8dac-073ac8537c17` |
+| Sim episode_id | `535c65b6-6b6a-43a9-8dac-073ac8537c17` |
+
+## 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 | 190 | 19 | 3.041 | 15.41 | 26.70 | 1967.95 | 0.6335 |
+| 1 | descend | 323 | 32 | 0.653 | 4.59 | 7.96 | 3624.78 | 0.8326 |
+| 2 | settle | 342 | 34 | 0.027 | 0.97 | 1.68 | 3624.57 | 0.7080 |
+| 3 | close | 169 | 17 | 0.952 | 6.64 | 11.49 | 3625.11 | 1.0195 |
+| 4 | lift | 366 | 36 | 3.142 | 16.88 | 29.23 | 2419.33 | 1.1469 |
+| 5 | move_xy | 342 | 34 | 6.460 | 37.27 | 64.56 | 2799.60 | 0.9755 |
+| 6 | lower | 346 | 34 | 0.092 | 1.70 | 2.94 | 3625.01 | 1.0691 |
+| 7 | open | 170 | 17 | 0.981 | 6.78 | 11.74 | 3624.77 | 0.7377 |
+| 8 | retract | 368 | 36 | 2.847 | 15.33 | 26.55 | 2419.93 | 0.7524 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.814 |
+| TCP position RMSE (mm, per-axis) | 15.85 |
+| EE position RMS L2 (mm) | 29.02 |
+| TCP rotvec (mrad) | 3146.73 |
+| W1 effort mean (A) | 0.8679 |
+| W1 effort per joint (A) | j0=0.2558, j1=1.5388, j2=1.7092, j3=0.7624, j4=0.3268, j5=0.6144 |
+
+## 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 | -0.00028 | -0.00076 | 0.00120 | 0.031 |
+| 1 | 0.00092 | -0.00075 | -0.00122 | 0.00170 | 0.060 |
+| 2 | 0.00094 | -0.00075 | -0.00124 | 0.00173 | 0.059 |
+| 3 | 0.00137 | -0.00047 | -0.00173 | 0.00226 | 0.156 |
+| 4 | 0.00040 | 0.00004 | -0.00017 | 0.00043 | 0.082 |
+| 5 | 0.00219 | -0.00094 | -0.00100 | 0.00258 | 0.180 |
+| 6 | 0.00209 | -0.00111 | -0.00134 | 0.00272 | 0.153 |
+| 7 | 0.00073 | -0.00035 | -0.00103 | 0.00131 | 0.063 |
+| 8 | -0.00008 | -0.00013 | -0.00015 | 0.00021 | 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.
diff --git a/gap_reports/gap_538f9341-7cde-428d-9e64-7268c7da4133.md b/gap_reports/gap_538f9341-7cde-428d-9e64-7268c7da4133.md
new file mode 100644
index 0000000000000000000000000000000000000000..556ac391b9e533e3907dc5cf32166bec41ee8df3
--- /dev/null
+++ b/gap_reports/gap_538f9341-7cde-428d-9e64-7268c7da4133.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/538f9341-7cde-428d-9e64-7268c7da4133.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/538f9341-7cde-428d-9e64-7268c7da4133.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 501 |
+| Sim rows | 66 |
+| Real episode_id | `538f9341-7cde-428d-9e64-7268c7da4133` |
+| Sim episode_id | `538f9341-7cde-428d-9e64-7268c7da4133` |
+
+## 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 | 290 | 29 | 3.126 | 12.08 | 20.92 | 632.86 | 0.7754 |
+| 1 | descend | 211 | 21 | 0.027 | 5.37 | 9.29 | 1.92 | 0.7814 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.210 |
+| TCP position RMSE (mm, per-axis) | 9.35 |
+| EE position RMS L2 (mm) | 17.02 |
+| TCP rotvec (mrad) | 447.50 |
+| W1 effort mean (A) | 0.7779 |
+| W1 effort per joint (A) | j0=0.1380, j1=1.6369, j2=1.9210, j3=0.6763, j4=0.1666, j5=0.1287 |
+
+## 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 | -0.00620 | -0.00693 | -0.00020 | 0.00930 | 0.040 |
+| 1 | -0.00606 | -0.00698 | -0.00019 | 0.00925 | 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.
diff --git a/gap_reports/gap_53af0874-2ee6-45f9-9f68-4d9a20f8222e.md b/gap_reports/gap_53af0874-2ee6-45f9-9f68-4d9a20f8222e.md
new file mode 100644
index 0000000000000000000000000000000000000000..e4f3c234d05bdcaffcc34e234b6f4839a7abaf71
--- /dev/null
+++ b/gap_reports/gap_53af0874-2ee6-45f9-9f68-4d9a20f8222e.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/53af0874-2ee6-45f9-9f68-4d9a20f8222e.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/53af0874-2ee6-45f9-9f68-4d9a20f8222e.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2652 |
+| Sim rows | 234 |
+| Real episode_id | `53af0874-2ee6-45f9-9f68-4d9a20f8222e` |
+| Sim episode_id | `53af0874-2ee6-45f9-9f68-4d9a20f8222e` |
+
+## 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 | 210 | 19 | 2.562 | 11.35 | 19.66 | 2.93 | 0.5879 |
+| 1 | descend | 353 | 31 | 1.179 | 7.76 | 13.45 | 4.53 | 0.7449 |
+| 2 | settle | 385 | 33 | 0.025 | 0.95 | 1.64 | 4.61 | 0.6747 |
+| 3 | close | 141 | 13 | 0.980 | 6.41 | 11.10 | 6.93 | 0.9484 |
+| 4 | lift | 336 | 29 | 2.420 | 11.00 | 19.05 | 4.02 | 1.1188 |
+| 5 | move_xy | 368 | 32 | 5.954 | 30.48 | 52.79 | 5.15 | 0.9121 |
+| 6 | lower | 382 | 33 | 0.093 | 1.63 | 2.82 | 6.93 | 1.0005 |
+| 7 | open | 142 | 13 | 1.080 | 6.97 | 12.08 | 4.59 | 0.6346 |
+| 8 | retract | 335 | 29 | 2.641 | 12.06 | 20.89 | 3.03 | 0.7347 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.547 |
+| TCP position RMSE (mm, per-axis) | 12.81 |
+| EE position RMS L2 (mm) | 23.63 |
+| TCP rotvec (mrad) | 4.94 |
+| W1 effort mean (A) | 0.8016 |
+| W1 effort per joint (A) | j0=0.2820, j1=1.3621, j2=1.4797, j3=0.6531, j4=0.4580, j5=0.5748 |
+
+## 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 | -0.00048 | -0.00069 | 0.00121 | 0.044 |
+| 1 | 0.00092 | -0.00092 | -0.00101 | 0.00165 | 0.047 |
+| 2 | 0.00090 | -0.00094 | -0.00097 | 0.00162 | 0.045 |
+| 3 | 0.00199 | -0.00042 | -0.00124 | 0.00238 | 0.180 |
+| 4 | 0.00013 | -0.00024 | -0.00023 | 0.00036 | 0.094 |
+| 5 | 0.00195 | -0.00124 | -0.00234 | 0.00329 | 0.170 |
+| 6 | 0.00205 | -0.00118 | -0.00222 | 0.00325 | 0.148 |
+| 7 | 0.00068 | -0.00062 | -0.00078 | 0.00121 | 0.051 |
+| 8 | -0.00009 | -0.00016 | -0.00017 | 0.00025 | 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.
diff --git a/gap_reports/gap_53c10b5e-0f34-4d85-92d4-3fc882f5adf2.md b/gap_reports/gap_53c10b5e-0f34-4d85-92d4-3fc882f5adf2.md
new file mode 100644
index 0000000000000000000000000000000000000000..9d0af166c21642d31b70276836a3931e137eb3ee
--- /dev/null
+++ b/gap_reports/gap_53c10b5e-0f34-4d85-92d4-3fc882f5adf2.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/53c10b5e-0f34-4d85-92d4-3fc882f5adf2.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/53c10b5e-0f34-4d85-92d4-3fc882f5adf2.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2818 |
+| Sim rows | 250 |
+| Real episode_id | `53c10b5e-0f34-4d85-92d4-3fc882f5adf2` |
+| Sim episode_id | `53c10b5e-0f34-4d85-92d4-3fc882f5adf2` |
+
+## 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 | 249 | 22 | 2.726 | 12.99 | 22.50 | 1976.31 | 0.5609 |
+| 1 | descend | 412 | 36 | 1.318 | 8.50 | 14.73 | 3625.35 | 0.6886 |
+| 2 | settle | 357 | 31 | 0.023 | 0.73 | 1.27 | 3625.28 | 0.7163 |
+| 3 | close | 151 | 14 | 0.826 | 5.31 | 9.20 | 3435.96 | 1.0117 |
+| 4 | lift | 327 | 29 | 2.548 | 12.58 | 21.79 | 2085.87 | 1.1012 |
+| 5 | move_xy | 454 | 39 | 5.427 | 29.31 | 50.76 | 2664.43 | 0.8614 |
+| 6 | lower | 391 | 34 | 0.085 | 1.30 | 2.25 | 3476.65 | 0.9596 |
+| 7 | open | 151 | 14 | 0.820 | 5.33 | 9.23 | 3625.48 | 0.6655 |
+| 8 | retract | 326 | 29 | 2.504 | 12.19 | 21.12 | 2315.62 | 0.7163 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.421 |
+| TCP position RMSE (mm, per-axis) | 12.76 |
+| EE position RMS L2 (mm) | 24.66 |
+| TCP rotvec (mrad) | 3055.79 |
+| W1 effort mean (A) | 0.7867 |
+| W1 effort per joint (A) | j0=0.2289, j1=1.3317, j2=1.5572, j3=0.7299, j4=0.3033, j5=0.5691 |
+
+## 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 | -0.00042 | -0.00076 | 0.00096 | 0.038 |
+| 1 | 0.00042 | -0.00072 | -0.00097 | 0.00128 | 0.045 |
+| 2 | 0.00041 | -0.00071 | -0.00097 | 0.00127 | 0.043 |
+| 3 | 0.00093 | -0.00045 | -0.00065 | 0.00122 | 0.080 |
+| 4 | 0.00016 | -0.00025 | -0.00032 | 0.00044 | 0.103 |
+| 5 | 0.00127 | -0.00092 | -0.00087 | 0.00180 | 0.111 |
+| 6 | 0.00113 | -0.00112 | -0.00209 | 0.00262 | 0.158 |
+| 7 | 0.00025 | -0.00044 | -0.00075 | 0.00091 | 0.038 |
+| 8 | -0.00011 | -0.00015 | -0.00017 | 0.00026 | 0.026 |
+
+## 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.
diff --git a/gap_reports/gap_53db65be-9542-4a29-b459-75b245bed7ff.md b/gap_reports/gap_53db65be-9542-4a29-b459-75b245bed7ff.md
new file mode 100644
index 0000000000000000000000000000000000000000..3615fe6f25295449a1447598452d769b068c35c8
--- /dev/null
+++ b/gap_reports/gap_53db65be-9542-4a29-b459-75b245bed7ff.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/53db65be-9542-4a29-b459-75b245bed7ff.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/53db65be-9542-4a29-b459-75b245bed7ff.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2487 |
+| Sim rows | 251 |
+| Real episode_id | `53db65be-9542-4a29-b459-75b245bed7ff` |
+| Sim episode_id | `53db65be-9542-4a29-b459-75b245bed7ff` |
+
+## 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 | 215 | 22 | 3.158 | 15.86 | 27.46 | 1914.94 | 0.6237 |
+| 1 | descend | 259 | 26 | 1.023 | 7.16 | 12.40 | 3624.76 | 0.8377 |
+| 2 | settle | 327 | 32 | 0.027 | 0.97 | 1.68 | 3624.56 | 0.7144 |
+| 3 | close | 122 | 13 | 0.882 | 5.93 | 10.28 | 3419.23 | 1.0217 |
+| 4 | lift | 362 | 36 | 3.073 | 16.63 | 28.81 | 2425.27 | 1.1107 |
+| 5 | move_xy | 389 | 38 | 6.839 | 39.17 | 67.84 | 2841.47 | 0.9420 |
+| 6 | lower | 330 | 33 | 0.091 | 1.68 | 2.92 | 3625.06 | 1.0712 |
+| 7 | open | 121 | 13 | 1.081 | 7.31 | 12.66 | 3624.72 | 0.7470 |
+| 8 | retract | 362 | 36 | 2.946 | 15.93 | 27.58 | 2417.47 | 0.7486 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.941 |
+| TCP position RMSE (mm, per-axis) | 16.53 |
+| EE position RMS L2 (mm) | 32.36 |
+| TCP rotvec (mrad) | 3121.86 |
+| W1 effort mean (A) | 0.8584 |
+| W1 effort per joint (A) | j0=0.2317, j1=1.5179, j2=1.7056, j3=0.7811, j4=0.2971, j5=0.6168 |
+
+## 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 | 0.00092 | -0.00032 | -0.00074 | 0.00122 | 0.024 |
+| 1 | 0.00092 | -0.00073 | -0.00123 | 0.00170 | 0.057 |
+| 2 | 0.00089 | -0.00076 | -0.00121 | 0.00168 | 0.059 |
+| 3 | 0.00145 | -0.00039 | -0.00070 | 0.00166 | 0.097 |
+| 4 | 0.00012 | -0.00029 | -0.00042 | 0.00052 | 0.065 |
+| 5 | 0.00249 | -0.00111 | -0.00213 | 0.00346 | 0.208 |
+| 6 | 0.00193 | -0.00104 | -0.00137 | 0.00258 | 0.123 |
+| 7 | 0.00069 | -0.00038 | -0.00097 | 0.00125 | 0.062 |
+| 8 | -0.00010 | -0.00014 | -0.00015 | 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.
diff --git a/gap_reports/gap_53e7cd82-d6b5-4d67-bf11-9e72b16cc24e.md b/gap_reports/gap_53e7cd82-d6b5-4d67-bf11-9e72b16cc24e.md
new file mode 100644
index 0000000000000000000000000000000000000000..0706b9528a1dcfa5bb093a95125d9eb1d16e5a02
--- /dev/null
+++ b/gap_reports/gap_53e7cd82-d6b5-4d67-bf11-9e72b16cc24e.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/53e7cd82-d6b5-4d67-bf11-9e72b16cc24e.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/53e7cd82-d6b5-4d67-bf11-9e72b16cc24e.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1138 |
+| Sim rows | 118 |
+| Real episode_id | `53e7cd82-d6b5-4d67-bf11-9e72b16cc24e` |
+| Sim episode_id | `53e7cd82-d6b5-4d67-bf11-9e72b16cc24e` |
+
+## 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 | 177 | 18 | 2.936 | 15.34 | 26.57 | 1106.35 | 0.7165 |
+| 1 | descend | 87 | 9 | 0.673 | 4.06 | 7.03 | 4.72 | 0.5961 |
+| 2 | settle | 23 | 3 | 0.019 | 2.88 | 5.00 | 5.15 | 0.5791 |
+| 3 | close | 29 | 4 | 0.134 | 3.22 | 5.57 | 3622.10 | 1.0606 |
+| 4 | lift | 108 | 11 | 1.013 | 5.68 | 9.84 | 3622.23 | 1.0680 |
+| 5 | move_xy | 163 | 17 | 18.010 | 30.94 | 53.60 | 1418.28 | 1.0184 |
+| 6 | lower | 77 | 8 | 33.254 | 4.24 | 7.35 | 1264.12 | 1.1657 |
+| 7 | open | 90 | 10 | 33.236 | 2.37 | 4.11 | 1263.99 | 0.8315 |
+| 8 | retract | 77 | 8 | 33.257 | 4.98 | 8.63 | 1263.21 | 0.9036 |
+| 9 | return | 307 | 30 | 19.253 | 17.87 | 30.94 | 1443.23 | 0.8645 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 20.054 |
+| TCP position RMSE (mm, per-axis) | 12.76 |
+| EE position RMS L2 (mm) | 28.35 |
+| TCP rotvec (mrad) | 1906.57 |
+| W1 effort mean (A) | 0.8624 |
+| W1 effort per joint (A) | j0=0.3040, j1=1.2046, j2=1.5415, j3=0.7443, j4=0.2943, j5=1.0860 |
+
+## 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 | -0.00412 | -0.00077 | 0.00457 | 0.028 |
+| 1 | 0.00215 | -0.00443 | -0.00072 | 0.00497 | 0.033 |
+| 2 | 0.00217 | -0.00442 | -0.00084 | 0.00499 | 0.035 |
+| 3 | 0.00292 | -0.00406 | -0.00259 | 0.00563 | 0.232 |
+| 4 | 0.00223 | -0.00388 | -0.00279 | 0.00527 | 0.241 |
+| 5 | 0.00116 | -0.00356 | -0.00116 | 0.00392 | 81.369 |
+| 6 | 0.00191 | -0.00254 | -0.00126 | 0.00342 | 81.414 |
+| 7 | 0.00174 | -0.00371 | 0.00016 | 0.00410 | 81.411 |
+| 8 | 0.00122 | -0.00403 | -0.00007 | 0.00421 | 81.424 |
+| 9 | 0.00002 | -0.00007 | -0.00020 | 0.00022 | 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.
diff --git a/gap_reports/gap_53ed6ba6-3ebb-4ec3-9e0b-f99f08def977.md b/gap_reports/gap_53ed6ba6-3ebb-4ec3-9e0b-f99f08def977.md
new file mode 100644
index 0000000000000000000000000000000000000000..e161a78a1a18dac8c5fbf12211a2e99b06bafad8
--- /dev/null
+++ b/gap_reports/gap_53ed6ba6-3ebb-4ec3-9e0b-f99f08def977.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/53ed6ba6-3ebb-4ec3-9e0b-f99f08def977.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/53ed6ba6-3ebb-4ec3-9e0b-f99f08def977.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2480 |
+| Sim rows | 219 |
+| Real episode_id | `53ed6ba6-3ebb-4ec3-9e0b-f99f08def977` |
+| Sim episode_id | `53ed6ba6-3ebb-4ec3-9e0b-f99f08def977` |
+
+## 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 | 241 | 21 | 3.630 | 17.86 | 30.94 | 3.54 | 0.6321 |
+| 1 | descend | 247 | 22 | 0.750 | 5.50 | 9.53 | 5.57 | 0.6978 |
+| 2 | settle | 371 | 32 | 0.028 | 1.20 | 2.08 | 5.68 | 0.6726 |
+| 3 | close | 106 | 10 | 0.442 | 3.45 | 5.97 | 7.90 | 1.0082 |
+| 4 | lift | 322 | 28 | 3.404 | 18.59 | 32.20 | 4.99 | 1.1179 |
+| 5 | move_xy | 375 | 32 | 7.152 | 39.53 | 68.47 | 5.44 | 0.9333 |
+| 6 | lower | 389 | 34 | 0.101 | 2.03 | 3.52 | 8.00 | 0.9231 |
+| 7 | open | 106 | 10 | 0.382 | 2.78 | 4.82 | 5.64 | 0.6256 |
+| 8 | retract | 323 | 28 | 3.313 | 18.01 | 31.19 | 3.76 | 0.7460 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.123 |
+| TCP position RMSE (mm, per-axis) | 17.02 |
+| EE position RMS L2 (mm) | 32.83 |
+| TCP rotvec (mrad) | 5.80 |
+| W1 effort mean (A) | 0.8047 |
+| W1 effort per joint (A) | j0=0.2424, j1=1.5054, j2=1.5014, j3=0.6387, j4=0.3736, j5=0.5664 |
+
+## 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 | 0.00141 | -0.00068 | -0.00075 | 0.00173 | 0.033 |
+| 1 | 0.00138 | -0.00092 | -0.00120 | 0.00205 | 0.058 |
+| 2 | 0.00141 | -0.00094 | -0.00117 | 0.00206 | 0.055 |
+| 3 | 0.00248 | -0.00072 | -0.00140 | 0.00294 | 0.150 |
+| 4 | 0.00015 | -0.00040 | -0.00067 | 0.00079 | 0.103 |
+| 5 | 0.00250 | -0.00110 | -0.00226 | 0.00354 | 0.146 |
+| 6 | 0.00255 | -0.00110 | -0.00226 | 0.00358 | 0.142 |
+| 7 | 0.00119 | -0.00071 | -0.00100 | 0.00171 | 0.050 |
+| 8 | -0.00016 | -0.00024 | -0.00020 | 0.00035 | 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.
diff --git a/gap_reports/gap_5428642c-5eda-4079-a632-6d9868929f70.md b/gap_reports/gap_5428642c-5eda-4079-a632-6d9868929f70.md
new file mode 100644
index 0000000000000000000000000000000000000000..49ab2cf89ce6836d777ef3f5bb428671a420052b
--- /dev/null
+++ b/gap_reports/gap_5428642c-5eda-4079-a632-6d9868929f70.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/5428642c-5eda-4079-a632-6d9868929f70.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/5428642c-5eda-4079-a632-6d9868929f70.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1579 |
+| Sim rows | 162 |
+| Real episode_id | `5428642c-5eda-4079-a632-6d9868929f70` |
+| Sim episode_id | `5428642c-5eda-4079-a632-6d9868929f70` |
+
+## 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 | 146 | 15 | 2.060 | 12.99 | 22.51 | 634.39 | 0.7344 |
+| 1 | descend | 82 | 9 | 0.765 | 4.63 | 8.02 | 5.84 | 0.7184 |
+| 2 | settle | 19 | 3 | 0.024 | 3.16 | 5.47 | 6.24 | 0.6906 |
+| 3 | close | 388 | 38 | 0.143 | 3.87 | 6.71 | 11.15 | 1.1765 |
+| 4 | lift | 85 | 9 | 0.729 | 4.60 | 7.97 | 10.53 | 1.3156 |
+| 5 | move_xy | 153 | 16 | 3.000 | 21.68 | 37.55 | 91.07 | 1.1967 |
+| 6 | lower | 85 | 9 | 0.780 | 3.93 | 6.81 | 8.72 | 1.0942 |
+| 7 | open | 353 | 35 | 0.018 | 2.47 | 4.28 | 4.51 | 0.5641 |
+| 8 | retract | 82 | 9 | 0.806 | 4.05 | 7.01 | 3.79 | 0.6864 |
+| 9 | return | 186 | 19 | 2.199 | 9.95 | 17.24 | 851.55 | 0.7503 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.431 |
+| TCP position RMSE (mm, per-axis) | 9.18 |
+| EE position RMS L2 (mm) | 15.68 |
+| TCP rotvec (mrad) | 337.09 |
+| W1 effort mean (A) | 0.8821 |
+| W1 effort per joint (A) | j0=0.1818, j1=1.6604, j2=1.5024, j3=0.7982, j4=0.5518, j5=0.5978 |
+
+## 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 | 0.00202 | -0.00467 | -0.00092 | 0.00517 | 0.053 |
+| 1 | 0.00235 | -0.00482 | -0.00110 | 0.00547 | 0.051 |
+| 2 | 0.00233 | -0.00483 | -0.00115 | 0.00549 | 0.047 |
+| 3 | 0.00321 | -0.00479 | -0.00355 | 0.00677 | 0.224 |
+| 4 | 0.00228 | -0.00475 | -0.00375 | 0.00646 | 0.283 |
+| 5 | 0.00189 | -0.00303 | -0.00188 | 0.00403 | 0.263 |
+| 6 | 0.00288 | -0.00260 | -0.00194 | 0.00434 | 0.252 |
+| 7 | 0.00228 | -0.00362 | -0.00016 | 0.00428 | 0.035 |
+| 8 | 0.00175 | -0.00365 | -0.00032 | 0.00406 | 0.059 |
+| 9 | -0.00006 | -0.00014 | -0.00023 | 0.00028 | 0.031 |
+
+## 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.
diff --git a/gap_reports/gap_5435e96e-625b-469d-901c-dcad9384b4d0.md b/gap_reports/gap_5435e96e-625b-469d-901c-dcad9384b4d0.md
new file mode 100644
index 0000000000000000000000000000000000000000..256f4a0c591ae13729f50d96fbc992e16784e271
--- /dev/null
+++ b/gap_reports/gap_5435e96e-625b-469d-901c-dcad9384b4d0.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/5435e96e-625b-469d-901c-dcad9384b4d0.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/5435e96e-625b-469d-901c-dcad9384b4d0.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 3137 |
+| Sim rows | 276 |
+| Real episode_id | `5435e96e-625b-469d-901c-dcad9384b4d0` |
+| Sim episode_id | `5435e96e-625b-469d-901c-dcad9384b4d0` |
+
+## 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 | 3.441 | 13.17 | 22.81 | 1947.47 | 0.5853 |
+| 1 | descend | 553 | 48 | 0.865 | 5.36 | 9.28 | 3626.06 | 0.6140 |
+| 2 | settle | 364 | 32 | 0.022 | 0.68 | 1.18 | 3625.95 | 0.6322 |
+| 3 | close | 192 | 17 | 1.067 | 6.23 | 10.80 | 1565.94 | 0.9032 |
+| 4 | lift | 428 | 37 | 4.044 | 16.36 | 28.34 | 1832.65 | 1.0941 |
+| 5 | move_xy | 369 | 32 | 7.947 | 34.79 | 60.27 | 2208.88 | 0.8493 |
+| 6 | lower | 404 | 35 | 0.088 | 1.29 | 2.24 | 1483.93 | 0.9141 |
+| 7 | open | 192 | 17 | 1.052 | 5.96 | 10.33 | 3626.09 | 0.6658 |
+| 8 | retract | 427 | 37 | 3.959 | 16.05 | 27.79 | 2380.10 | 0.7026 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.496 |
+| TCP position RMSE (mm, per-axis) | 14.96 |
+| EE position RMS L2 (mm) | 26.57 |
+| TCP rotvec (mrad) | 2620.30 |
+| W1 effort mean (A) | 0.7578 |
+| W1 effort per joint (A) | j0=0.2465, j1=1.1902, j2=1.4901, j3=0.7078, j4=0.3488, j5=0.5636 |
+
+## 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 | -0.00017 | -0.00045 | 0.00080 | 0.038 |
+| 1 | 0.00071 | -0.00055 | -0.00078 | 0.00119 | 0.038 |
+| 2 | 0.00069 | -0.00055 | -0.00075 | 0.00116 | 0.035 |
+| 3 | 0.00096 | -0.00037 | -0.00029 | 0.00107 | 0.097 |
+| 4 | 0.00018 | -0.00024 | -0.00044 | 0.00053 | 0.071 |
+| 5 | 0.00142 | -0.00073 | -0.00082 | 0.00180 | 0.110 |
+| 6 | 0.00152 | -0.00071 | -0.00092 | 0.00191 | 0.111 |
+| 7 | 0.00051 | -0.00027 | -0.00050 | 0.00076 | 0.035 |
+| 8 | -0.00007 | -0.00009 | -0.00013 | 0.00017 | 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.
diff --git a/gap_reports/gap_5447c29b-1a54-4060-96b0-1e3dde09c715.md b/gap_reports/gap_5447c29b-1a54-4060-96b0-1e3dde09c715.md
new file mode 100644
index 0000000000000000000000000000000000000000..8123e0df73c2d73c7c740e2d3ffa194a2d3f0122
--- /dev/null
+++ b/gap_reports/gap_5447c29b-1a54-4060-96b0-1e3dde09c715.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/5447c29b-1a54-4060-96b0-1e3dde09c715.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/5447c29b-1a54-4060-96b0-1e3dde09c715.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1573 |
+| Sim rows | 160 |
+| Real episode_id | `5447c29b-1a54-4060-96b0-1e3dde09c715` |
+| Sim episode_id | `5447c29b-1a54-4060-96b0-1e3dde09c715` |
+
+## 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 | 134 | 14 | 2.074 | 9.76 | 16.91 | 349.09 | 0.6968 |
+| 1 | descend | 91 | 10 | 0.803 | 4.31 | 7.46 | 4.55 | 0.6346 |
+| 2 | settle | 28 | 4 | 0.018 | 2.75 | 4.76 | 5.18 | 0.6966 |
+| 3 | close | 385 | 38 | 0.096 | 3.47 | 6.02 | 7.54 | 1.1402 |
+| 4 | lift | 91 | 10 | 0.800 | 4.80 | 8.32 | 6.59 | 1.1647 |
+| 5 | move_xy | 131 | 13 | 1.657 | 10.20 | 17.66 | 17.56 | 1.0623 |
+| 6 | lower | 90 | 9 | 0.986 | 4.32 | 7.48 | 5.07 | 1.0351 |
+| 7 | open | 363 | 35 | 0.023 | 2.42 | 4.19 | 4.43 | 0.5296 |
+| 8 | retract | 91 | 10 | 0.914 | 3.96 | 6.86 | 3.74 | 0.6096 |
+| 9 | return | 169 | 17 | 2.136 | 7.94 | 13.75 | 838.41 | 0.6130 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.213 |
+| TCP position RMSE (mm, per-axis) | 6.03 |
+| EE position RMS L2 (mm) | 9.85 |
+| TCP rotvec (mrad) | 287.28 |
+| W1 effort mean (A) | 0.8004 |
+| W1 effort per joint (A) | j0=0.1575, j1=1.3221, j2=1.4576, j3=0.8385, j4=0.5003, j5=0.5266 |
+
+## 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 | 0.00193 | -0.00380 | -0.00051 | 0.00429 | 0.029 |
+| 1 | 0.00236 | -0.00408 | -0.00059 | 0.00475 | 0.039 |
+| 2 | 0.00238 | -0.00408 | -0.00072 | 0.00477 | 0.041 |
+| 3 | 0.00340 | -0.00493 | -0.00126 | 0.00612 | 0.200 |
+| 4 | 0.00250 | -0.00459 | -0.00156 | 0.00546 | 0.137 |
+| 5 | 0.00181 | -0.00364 | -0.00035 | 0.00408 | 0.111 |
+| 6 | 0.00271 | -0.00344 | -0.00046 | 0.00440 | 0.095 |
+| 7 | 0.00219 | -0.00356 | 0.00004 | 0.00419 | 0.027 |
+| 8 | 0.00146 | -0.00347 | -0.00006 | 0.00376 | 0.050 |
+| 9 | -0.00004 | -0.00013 | -0.00024 | 0.00028 | 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.
diff --git a/gap_reports/gap_544e4829-874b-4f6f-94f1-f46db8e42375.md b/gap_reports/gap_544e4829-874b-4f6f-94f1-f46db8e42375.md
new file mode 100644
index 0000000000000000000000000000000000000000..c386fc697d13aa74c9fe5c8f6d196678f8eef4b6
--- /dev/null
+++ b/gap_reports/gap_544e4829-874b-4f6f-94f1-f46db8e42375.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/544e4829-874b-4f6f-94f1-f46db8e42375.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/544e4829-874b-4f6f-94f1-f46db8e42375.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1393 |
+| Sim rows | 143 |
+| Real episode_id | `544e4829-874b-4f6f-94f1-f46db8e42375` |
+| Sim episode_id | `544e4829-874b-4f6f-94f1-f46db8e42375` |
+
+## 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 | 170 | 17 | 4.745 | 26.07 | 45.15 | 1151.07 | 0.7246 |
+| 1 | descend | 77 | 8 | 0.971 | 4.22 | 7.32 | 5.71 | 0.8412 |
+| 2 | settle | 35 | 4 | 0.034 | 2.16 | 3.74 | 6.25 | 0.7225 |
+| 3 | close | 381 | 38 | 0.124 | 1.96 | 3.40 | 8.15 | 1.2000 |
+| 4 | lift | 78 | 9 | 0.812 | 3.66 | 6.34 | 7.93 | 1.3068 |
+| 5 | move_xy | 191 | 19 | 5.084 | 38.18 | 66.14 | 199.58 | 1.1540 |
+| 6 | lower | 77 | 8 | 0.707 | 4.49 | 7.77 | 6.80 | 1.0514 |
+| 7 | open | 123 | 13 | 0.026 | 3.08 | 5.33 | 5.79 | 0.7753 |
+| 8 | retract | 77 | 8 | 0.632 | 4.02 | 6.96 | 5.32 | 0.8067 |
+| 9 | return | 184 | 19 | 2.186 | 12.89 | 22.33 | 923.79 | 0.7547 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.359 |
+| TCP position RMSE (mm, per-axis) | 15.46 |
+| EE position RMS L2 (mm) | 30.52 |
+| TCP rotvec (mrad) | 471.01 |
+| W1 effort mean (A) | 0.9634 |
+| W1 effort per joint (A) | j0=0.1827, j1=2.0641, j2=1.6885, j3=0.8443, j4=0.3451, j5=0.6556 |
+
+## 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 | 0.00271 | -0.00266 | -0.00062 | 0.00384 | 0.125 |
+| 1 | 0.00279 | -0.00243 | -0.00027 | 0.00371 | 0.052 |
+| 2 | 0.00281 | -0.00243 | -0.00056 | 0.00375 | 0.071 |
+| 3 | 0.00195 | -0.00241 | -0.00113 | 0.00330 | 0.195 |
+| 4 | 0.00204 | -0.00268 | -0.00071 | 0.00344 | 0.222 |
+| 5 | 0.00255 | -0.00453 | -0.00130 | 0.00536 | 0.169 |
+| 6 | 0.00282 | -0.00450 | -0.00144 | 0.00550 | 0.114 |
+| 7 | 0.00238 | -0.00466 | -0.00110 | 0.00535 | 0.061 |
+| 8 | 0.00188 | -0.00461 | -0.00130 | 0.00515 | 0.069 |
+| 9 | -0.00016 | -0.00017 | -0.00031 | 0.00039 | 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.
diff --git a/gap_reports/gap_54570e98-6ec7-4b38-8623-acdb31cab277.md b/gap_reports/gap_54570e98-6ec7-4b38-8623-acdb31cab277.md
new file mode 100644
index 0000000000000000000000000000000000000000..01b3bbc2bb876b6cef2b9a269f51f7622e468acb
--- /dev/null
+++ b/gap_reports/gap_54570e98-6ec7-4b38-8623-acdb31cab277.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/54570e98-6ec7-4b38-8623-acdb31cab277.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/54570e98-6ec7-4b38-8623-acdb31cab277.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 3053 |
+| Sim rows | 269 |
+| Real episode_id | `54570e98-6ec7-4b38-8623-acdb31cab277` |
+| Sim episode_id | `54570e98-6ec7-4b38-8623-acdb31cab277` |
+
+## 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 | 193 | 17 | 2.030 | 8.26 | 14.30 | 2021.72 | 0.5649 |
+| 1 | descend | 678 | 58 | 0.721 | 4.25 | 7.37 | 3626.10 | 0.7249 |
+| 2 | settle | 388 | 34 | 0.021 | 0.57 | 0.98 | 3625.92 | 0.6866 |
+| 3 | close | 164 | 15 | 1.138 | 6.54 | 11.33 | 1115.58 | 0.9172 |
+| 4 | lift | 341 | 30 | 2.681 | 10.80 | 18.71 | 2097.13 | 1.0999 |
+| 5 | move_xy | 383 | 33 | 5.582 | 25.93 | 44.91 | 2104.95 | 0.9213 |
+| 6 | lower | 401 | 35 | 0.078 | 0.99 | 1.71 | 1521.13 | 0.9852 |
+| 7 | open | 164 | 15 | 0.952 | 5.38 | 9.32 | 3626.04 | 0.6566 |
+| 8 | retract | 341 | 30 | 2.812 | 11.40 | 19.74 | 2315.02 | 0.6938 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.429 |
+| TCP position RMSE (mm, per-axis) | 10.95 |
+| EE position RMS L2 (mm) | 19.31 |
+| TCP rotvec (mrad) | 2609.34 |
+| W1 effort mean (A) | 0.7954 |
+| W1 effort per joint (A) | j0=0.2465, j1=1.1295, j2=1.6611, j3=0.8423, j4=0.2883, j5=0.6049 |
+
+## 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 | 0.00012 | -0.00033 | -0.00043 | 0.00056 | 0.029 |
+| 1 | 0.00015 | -0.00058 | -0.00078 | 0.00099 | 0.036 |
+| 2 | 0.00018 | -0.00057 | -0.00079 | 0.00099 | 0.037 |
+| 3 | 0.00036 | -0.00048 | -0.00027 | 0.00066 | 0.090 |
+| 4 | 0.00039 | 0.00009 | -0.00008 | 0.00041 | 0.096 |
+| 5 | 0.00082 | -0.00083 | -0.00082 | 0.00143 | 0.115 |
+| 6 | 0.00086 | -0.00078 | -0.00093 | 0.00149 | 0.097 |
+| 7 | -0.00002 | -0.00044 | -0.00048 | 0.00065 | 0.035 |
+| 8 | -0.00004 | -0.00006 | -0.00010 | 0.00013 | 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.
diff --git a/gap_reports/gap_5462df33-6138-416b-b85e-f07d40b8a97d.md b/gap_reports/gap_5462df33-6138-416b-b85e-f07d40b8a97d.md
new file mode 100644
index 0000000000000000000000000000000000000000..3a1244f3868b9d8eaf68e429f43c4dc590f0998e
--- /dev/null
+++ b/gap_reports/gap_5462df33-6138-416b-b85e-f07d40b8a97d.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/5462df33-6138-416b-b85e-f07d40b8a97d.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/5462df33-6138-416b-b85e-f07d40b8a97d.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2676 |
+| Sim rows | 237 |
+| Real episode_id | `5462df33-6138-416b-b85e-f07d40b8a97d` |
+| Sim episode_id | `5462df33-6138-416b-b85e-f07d40b8a97d` |
+
+## 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 | 230 | 20 | 2.932 | 15.03 | 26.03 | 1788.63 | 0.6371 |
+| 1 | descend | 432 | 38 | 0.563 | 3.98 | 6.90 | 3624.72 | 0.8456 |
+| 2 | settle | 386 | 34 | 0.028 | 0.99 | 1.72 | 3624.55 | 0.7112 |
+| 3 | close | 132 | 12 | 0.793 | 5.64 | 9.76 | 3625.01 | 1.0632 |
+| 4 | lift | 297 | 26 | 2.985 | 16.38 | 28.37 | 2370.71 | 1.1228 |
+| 5 | move_xy | 393 | 34 | 5.989 | 34.46 | 59.69 | 2736.69 | 0.9438 |
+| 6 | lower | 378 | 33 | 0.098 | 1.76 | 3.05 | 3625.11 | 1.0604 |
+| 7 | open | 134 | 12 | 0.909 | 6.24 | 10.80 | 3624.72 | 0.7697 |
+| 8 | retract | 294 | 26 | 2.767 | 15.21 | 26.34 | 2438.06 | 0.7519 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.642 |
+| TCP position RMSE (mm, per-axis) | 14.92 |
+| EE position RMS L2 (mm) | 27.69 |
+| TCP rotvec (mrad) | 3126.05 |
+| W1 effort mean (A) | 0.8515 |
+| W1 effort per joint (A) | j0=0.2460, j1=1.5087, j2=1.7341, j3=0.7705, j4=0.2618, j5=0.5877 |
+
+## 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 | 0.00089 | -0.00031 | -0.00083 | 0.00125 | 0.033 |
+| 1 | 0.00090 | -0.00069 | -0.00130 | 0.00172 | 0.058 |
+| 2 | 0.00093 | -0.00074 | -0.00126 | 0.00173 | 0.058 |
+| 3 | 0.00151 | -0.00048 | -0.00223 | 0.00274 | 0.177 |
+| 4 | 0.00021 | -0.00020 | -0.00033 | 0.00044 | 0.108 |
+| 5 | 0.00173 | -0.00091 | -0.00153 | 0.00248 | 0.100 |
+| 6 | 0.00203 | -0.00106 | -0.00233 | 0.00327 | 0.149 |
+| 7 | 0.00068 | -0.00036 | -0.00103 | 0.00129 | 0.046 |
+| 8 | -0.00018 | -0.00024 | -0.00023 | 0.00037 | 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.
diff --git a/gap_reports/gap_546cf030-9477-4bb1-bc83-d46099da5a4f.md b/gap_reports/gap_546cf030-9477-4bb1-bc83-d46099da5a4f.md
new file mode 100644
index 0000000000000000000000000000000000000000..83244d1429deeaafb8b8c1cbb62769d4be45a09a
--- /dev/null
+++ b/gap_reports/gap_546cf030-9477-4bb1-bc83-d46099da5a4f.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/546cf030-9477-4bb1-bc83-d46099da5a4f.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/546cf030-9477-4bb1-bc83-d46099da5a4f.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1778 |
+| Sim rows | 179 |
+| Real episode_id | `546cf030-9477-4bb1-bc83-d46099da5a4f` |
+| Sim episode_id | `546cf030-9477-4bb1-bc83-d46099da5a4f` |
+
+## 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 | 191 | 19 | 4.606 | 11.16 | 19.32 | 1479.21 | 0.7168 |
+| 1 | descend | 96 | 10 | 0.907 | 3.85 | 6.66 | 3.98 | 0.5196 |
+| 2 | settle | 21 | 3 | 0.025 | 2.42 | 4.20 | 4.53 | 0.4889 |
+| 3 | close | 315 | 31 | 0.125 | 1.78 | 3.09 | 3.80 | 0.9061 |
+| 4 | lift | 95 | 10 | 0.908 | 3.54 | 6.13 | 3.42 | 1.1273 |
+| 5 | move_xy | 262 | 26 | 9.295 | 10.97 | 18.99 | 292.73 | 1.0599 |
+| 6 | lower | 96 | 10 | 15.223 | 4.33 | 7.50 | 591.09 | 1.1608 |
+| 7 | open | 260 | 26 | 15.188 | 2.65 | 4.59 | 589.56 | 0.6068 |
+| 8 | retract | 100 | 10 | 15.220 | 4.37 | 7.58 | 588.99 | 0.7354 |
+| 9 | return | 342 | 34 | 8.521 | 10.07 | 17.44 | 1331.84 | 0.7648 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 9.359 |
+| TCP position RMSE (mm, per-axis) | 6.54 |
+| EE position RMS L2 (mm) | 12.94 |
+| TCP rotvec (mrad) | 713.55 |
+| W1 effort mean (A) | 0.8027 |
+| W1 effort per joint (A) | j0=0.2182, j1=1.1165, j2=1.5871, j3=0.8196, j4=0.3730, j5=0.7020 |
+
+## 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 | 0.00145 | -0.00332 | -0.00034 | 0.00363 | 0.040 |
+| 1 | 0.00186 | -0.00379 | -0.00027 | 0.00423 | 0.041 |
+| 2 | 0.00182 | -0.00376 | -0.00032 | 0.00419 | 0.021 |
+| 3 | 0.00064 | -0.00308 | 0.00014 | 0.00315 | 0.176 |
+| 4 | 0.00053 | -0.00254 | -0.00047 | 0.00264 | 0.243 |
+| 5 | 0.00248 | -0.00330 | -0.00115 | 0.00429 | 37.223 |
+| 6 | 0.00350 | -0.00287 | -0.00199 | 0.00494 | 37.200 |
+| 7 | 0.00195 | -0.00414 | -0.00013 | 0.00458 | 37.201 |
+| 8 | 0.00138 | -0.00410 | -0.00011 | 0.00433 | 37.215 |
+| 9 | -0.00009 | -0.00006 | -0.00021 | 0.00024 | 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.
diff --git a/gap_reports/gap_547c896c-2074-4a97-9cba-b88f1e72f222.md b/gap_reports/gap_547c896c-2074-4a97-9cba-b88f1e72f222.md
new file mode 100644
index 0000000000000000000000000000000000000000..59f54a134ca3fe3357a510854c977a4478682ee1
--- /dev/null
+++ b/gap_reports/gap_547c896c-2074-4a97-9cba-b88f1e72f222.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/547c896c-2074-4a97-9cba-b88f1e72f222.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/547c896c-2074-4a97-9cba-b88f1e72f222.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1499 |
+| Sim rows | 155 |
+| Real episode_id | `547c896c-2074-4a97-9cba-b88f1e72f222` |
+| Sim episode_id | `547c896c-2074-4a97-9cba-b88f1e72f222` |
+
+## 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 | 165 | 17 | 10.325 | 17.83 | 30.89 | 421.61 | 0.6836 |
+| 1 | descend | 81 | 9 | 17.546 | 4.69 | 8.13 | 676.87 | 0.8458 |
+| 2 | settle | 30 | 4 | 17.502 | 2.26 | 3.91 | 676.96 | 0.8120 |
+| 3 | close | 324 | 32 | 17.501 | 2.02 | 3.50 | 678.22 | 1.1819 |
+| 4 | lift | 82 | 9 | 17.539 | 4.41 | 7.64 | 678.02 | 1.4245 |
+| 5 | move_xy | 199 | 20 | 12.761 | 34.06 | 58.99 | 375.08 | 1.3514 |
+| 6 | lower | 80 | 9 | 1.007 | 4.76 | 8.24 | 6.97 | 1.2316 |
+| 7 | open | 282 | 28 | 0.048 | 2.91 | 5.03 | 4.90 | 0.5198 |
+| 8 | retract | 80 | 9 | 0.884 | 4.23 | 7.33 | 4.13 | 0.6401 |
+| 9 | return | 176 | 18 | 2.095 | 12.25 | 21.22 | 622.97 | 0.6769 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 12.262 |
+| TCP position RMSE (mm, per-axis) | 13.14 |
+| EE position RMS L2 (mm) | 25.31 |
+| TCP rotvec (mrad) | 504.26 |
+| W1 effort mean (A) | 0.9113 |
+| W1 effort per joint (A) | j0=0.1494, j1=1.6956, j2=1.6367, j3=0.8585, j4=0.1384, j5=0.9894 |
+
+## 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 | 0.00211 | -0.00338 | -0.00056 | 0.00402 | 42.984 |
+| 1 | 0.00243 | -0.00307 | -0.00009 | 0.00392 | 42.874 |
+| 2 | 0.00240 | -0.00307 | -0.00037 | 0.00392 | 42.868 |
+| 3 | 0.00263 | -0.00214 | -0.00073 | 0.00347 | 42.868 |
+| 4 | 0.00266 | -0.00233 | -0.00021 | 0.00355 | 42.966 |
+| 5 | 0.00209 | -0.00379 | -0.00093 | 0.00442 | 0.252 |
+| 6 | 0.00271 | -0.00431 | -0.00129 | 0.00525 | 0.174 |
+| 7 | 0.00194 | -0.00461 | -0.00069 | 0.00505 | 0.034 |
+| 8 | 0.00141 | -0.00410 | -0.00084 | 0.00442 | 0.064 |
+| 9 | -0.00017 | -0.00008 | -0.00022 | 0.00029 | 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.
diff --git a/gap_reports/gap_5481a3d2-85d8-4395-88ee-d7393dd2c293.md b/gap_reports/gap_5481a3d2-85d8-4395-88ee-d7393dd2c293.md
new file mode 100644
index 0000000000000000000000000000000000000000..5fcea9f1bef9c819abfcba111133793b870875c6
--- /dev/null
+++ b/gap_reports/gap_5481a3d2-85d8-4395-88ee-d7393dd2c293.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/5481a3d2-85d8-4395-88ee-d7393dd2c293.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/5481a3d2-85d8-4395-88ee-d7393dd2c293.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2579 |
+| Sim rows | 229 |
+| Real episode_id | `5481a3d2-85d8-4395-88ee-d7393dd2c293` |
+| Sim episode_id | `5481a3d2-85d8-4395-88ee-d7393dd2c293` |
+
+## 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 | 222 | 20 | 3.034 | 12.03 | 20.84 | 1961.99 | 0.5689 |
+| 1 | descend | 237 | 21 | 1.026 | 6.17 | 10.68 | 3626.06 | 0.6413 |
+| 2 | settle | 380 | 33 | 0.020 | 0.55 | 0.95 | 3626.03 | 0.6951 |
+| 3 | close | 121 | 11 | 0.472 | 2.88 | 4.98 | 1650.85 | 0.9265 |
+| 4 | lift | 370 | 32 | 3.268 | 13.64 | 23.62 | 2032.30 | 1.0962 |
+| 5 | move_xy | 364 | 32 | 6.698 | 30.00 | 51.96 | 2327.06 | 0.8797 |
+| 6 | lower | 389 | 34 | 0.076 | 1.01 | 1.75 | 1627.90 | 0.9626 |
+| 7 | open | 122 | 11 | 0.457 | 2.69 | 4.66 | 3626.12 | 0.6192 |
+| 8 | retract | 374 | 33 | 3.195 | 13.42 | 23.24 | 2288.56 | 0.6902 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.914 |
+| TCP position RMSE (mm, per-axis) | 12.76 |
+| EE position RMS L2 (mm) | 24.29 |
+| TCP rotvec (mrad) | 2655.24 |
+| W1 effort mean (A) | 0.7882 |
+| W1 effort per joint (A) | j0=0.2051, j1=1.1596, j2=1.6001, j3=0.8090, j4=0.3127, j5=0.6427 |
+
+## 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 | 0.00045 | -0.00036 | -0.00050 | 0.00076 | 0.029 |
+| 1 | 0.00040 | -0.00049 | -0.00073 | 0.00097 | 0.036 |
+| 2 | 0.00042 | -0.00048 | -0.00072 | 0.00096 | 0.037 |
+| 3 | 0.00124 | -0.00034 | -0.00123 | 0.00178 | 0.138 |
+| 4 | 0.00030 | -0.00015 | -0.00038 | 0.00051 | 0.103 |
+| 5 | 0.00095 | -0.00065 | -0.00044 | 0.00123 | 0.080 |
+| 6 | 0.00141 | -0.00071 | -0.00164 | 0.00227 | 0.158 |
+| 7 | 0.00029 | -0.00033 | -0.00061 | 0.00075 | 0.041 |
+| 8 | -0.00007 | -0.00008 | -0.00013 | 0.00017 | 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.
diff --git a/gap_reports/gap_549473c3-3efa-4027-8d0a-315c91cbd5ac.md b/gap_reports/gap_549473c3-3efa-4027-8d0a-315c91cbd5ac.md
new file mode 100644
index 0000000000000000000000000000000000000000..d125cffef13494d8f8b94e668c9e40838095e859
--- /dev/null
+++ b/gap_reports/gap_549473c3-3efa-4027-8d0a-315c91cbd5ac.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/549473c3-3efa-4027-8d0a-315c91cbd5ac.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/549473c3-3efa-4027-8d0a-315c91cbd5ac.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2707 |
+| Sim rows | 239 |
+| Real episode_id | `549473c3-3efa-4027-8d0a-315c91cbd5ac` |
+| Sim episode_id | `549473c3-3efa-4027-8d0a-315c91cbd5ac` |
+
+## 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 | 209 | 19 | 3.895 | 16.10 | 27.88 | 2052.66 | 0.6002 |
+| 1 | descend | 310 | 27 | 1.610 | 10.60 | 18.35 | 3625.31 | 0.6533 |
+| 2 | settle | 388 | 34 | 0.025 | 0.83 | 1.43 | 3625.27 | 0.6323 |
+| 3 | close | 159 | 14 | 0.780 | 5.04 | 8.73 | 2667.71 | 0.9490 |
+| 4 | lift | 357 | 31 | 2.979 | 13.33 | 23.09 | 2358.07 | 1.1413 |
+| 5 | move_xy | 376 | 33 | 8.601 | 41.77 | 72.34 | 2681.17 | 0.8764 |
+| 6 | lower | 392 | 34 | 0.086 | 1.45 | 2.52 | 3399.55 | 0.8828 |
+| 7 | open | 159 | 14 | 0.817 | 5.21 | 9.02 | 3625.51 | 0.6304 |
+| 8 | retract | 357 | 31 | 3.093 | 13.91 | 24.10 | 2388.78 | 0.7440 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.519 |
+| TCP position RMSE (mm, per-axis) | 16.81 |
+| EE position RMS L2 (mm) | 31.35 |
+| TCP rotvec (mrad) | 2995.78 |
+| W1 effort mean (A) | 0.7710 |
+| W1 effort per joint (A) | j0=0.2622, j1=1.3457, j2=1.4251, j3=0.6472, j4=0.3433, j5=0.6023 |
+
+## 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 | 0.00084 | -0.00022 | -0.00058 | 0.00105 | 0.030 |
+| 1 | 0.00088 | -0.00058 | -0.00097 | 0.00143 | 0.048 |
+| 2 | 0.00086 | -0.00060 | -0.00095 | 0.00142 | 0.048 |
+| 3 | 0.00161 | -0.00016 | -0.00182 | 0.00244 | 0.155 |
+| 4 | 0.00032 | 0.00003 | -0.00011 | 0.00034 | 0.072 |
+| 5 | 0.00199 | -0.00077 | -0.00242 | 0.00322 | 0.189 |
+| 6 | 0.00209 | -0.00076 | -0.00122 | 0.00254 | 0.170 |
+| 7 | 0.00072 | -0.00025 | -0.00071 | 0.00104 | 0.034 |
+| 8 | -0.00010 | -0.00015 | -0.00017 | 0.00025 | 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.
diff --git a/gap_reports/gap_54a1baa4-1376-4e09-8649-c072f1cc6049.md b/gap_reports/gap_54a1baa4-1376-4e09-8649-c072f1cc6049.md
new file mode 100644
index 0000000000000000000000000000000000000000..7cd07ff29127f772c9da2cc7e0e0855bebddc36c
--- /dev/null
+++ b/gap_reports/gap_54a1baa4-1376-4e09-8649-c072f1cc6049.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/54a1baa4-1376-4e09-8649-c072f1cc6049.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/54a1baa4-1376-4e09-8649-c072f1cc6049.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 662 |
+| Sim rows | 81 |
+| Real episode_id | `54a1baa4-1376-4e09-8649-c072f1cc6049` |
+| Sim episode_id | `54a1baa4-1376-4e09-8649-c072f1cc6049` |
+
+## 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 | 452 | 44 | 3.965 | 19.05 | 33.00 | 1160.32 | 0.8101 |
+| 1 | descend | 210 | 21 | 0.025 | 0.71 | 1.23 | 2.10 | 0.7441 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.803 |
+| TCP position RMSE (mm, per-axis) | 13.48 |
+| EE position RMS L2 (mm) | 27.28 |
+| TCP rotvec (mrad) | 820.47 |
+| W1 effort mean (A) | 0.7891 |
+| W1 effort per joint (A) | j0=0.2153, j1=1.6796, j2=1.6642, j3=0.8746, j4=0.1263, j5=0.1746 |
+
+## 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 | -0.00131 | 0.00015 | 0.00074 | 0.00152 | 0.051 |
+| 1 | -0.00101 | 0.00007 | 0.00062 | 0.00119 | 0.046 |
+
+## 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.
diff --git a/gap_reports/gap_54ce344d-e41e-472d-a2f4-8f1acbf1d843.md b/gap_reports/gap_54ce344d-e41e-472d-a2f4-8f1acbf1d843.md
new file mode 100644
index 0000000000000000000000000000000000000000..46808be74ceb1b86fadf93bc1c6e266e6af56836
--- /dev/null
+++ b/gap_reports/gap_54ce344d-e41e-472d-a2f4-8f1acbf1d843.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/54ce344d-e41e-472d-a2f4-8f1acbf1d843.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/54ce344d-e41e-472d-a2f4-8f1acbf1d843.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2728 |
+| Sim rows | 243 |
+| Real episode_id | `54ce344d-e41e-472d-a2f4-8f1acbf1d843` |
+| Sim episode_id | `54ce344d-e41e-472d-a2f4-8f1acbf1d843` |
+
+## 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 | 2.402 | 9.36 | 16.20 | 2011.30 | 0.5693 |
+| 1 | descend | 405 | 35 | 0.947 | 5.56 | 9.64 | 3626.05 | 0.7418 |
+| 2 | settle | 378 | 33 | 0.023 | 0.58 | 1.00 | 3625.97 | 0.6780 |
+| 3 | close | 164 | 15 | 0.979 | 5.63 | 9.75 | 1941.89 | 0.9469 |
+| 4 | lift | 312 | 27 | 2.599 | 10.55 | 18.27 | 1688.86 | 1.0723 |
+| 5 | move_xy | 396 | 35 | 5.624 | 26.54 | 45.97 | 1963.90 | 0.9010 |
+| 6 | lower | 408 | 36 | 0.075 | 0.99 | 1.71 | 1840.85 | 1.0143 |
+| 7 | open | 162 | 15 | 1.033 | 5.89 | 10.21 | 3626.15 | 0.6123 |
+| 8 | retract | 308 | 27 | 2.468 | 10.04 | 17.38 | 2337.50 | 0.6978 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.431 |
+| TCP position RMSE (mm, per-axis) | 11.07 |
+| EE position RMS L2 (mm) | 20.59 |
+| TCP rotvec (mrad) | 2642.03 |
+| W1 effort mean (A) | 0.7948 |
+| W1 effort per joint (A) | j0=0.2407, j1=1.1676, j2=1.6114, j3=0.7662, j4=0.3834, 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 | 0.00011 | -0.00035 | -0.00039 | 0.00053 | 0.024 |
+| 1 | 0.00014 | -0.00059 | -0.00074 | 0.00095 | 0.035 |
+| 2 | 0.00018 | -0.00059 | -0.00078 | 0.00100 | 0.037 |
+| 3 | 0.00048 | -0.00041 | -0.00059 | 0.00087 | 0.091 |
+| 4 | 0.00047 | -0.00019 | -0.00047 | 0.00069 | 0.117 |
+| 5 | 0.00093 | -0.00098 | -0.00129 | 0.00187 | 0.126 |
+| 6 | 0.00083 | -0.00079 | -0.00092 | 0.00148 | 0.100 |
+| 7 | -0.00002 | -0.00043 | -0.00053 | 0.00068 | 0.039 |
+| 8 | -0.00006 | -0.00008 | -0.00012 | 0.00015 | 0.025 |
+
+## 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.
diff --git a/gap_reports/gap_54dc25fa-d063-438b-b19d-4e0e24cbee9c.md b/gap_reports/gap_54dc25fa-d063-438b-b19d-4e0e24cbee9c.md
new file mode 100644
index 0000000000000000000000000000000000000000..212d668a6795de5fe1c83de74ee5b78780749194
--- /dev/null
+++ b/gap_reports/gap_54dc25fa-d063-438b-b19d-4e0e24cbee9c.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/54dc25fa-d063-438b-b19d-4e0e24cbee9c.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/54dc25fa-d063-438b-b19d-4e0e24cbee9c.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2837 |
+| Sim rows | 252 |
+| Real episode_id | `54dc25fa-d063-438b-b19d-4e0e24cbee9c` |
+| Sim episode_id | `54dc25fa-d063-438b-b19d-4e0e24cbee9c` |
+
+## 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 | 227 | 20 | 3.792 | 14.63 | 25.34 | 1999.05 | 0.5786 |
+| 1 | descend | 407 | 36 | 0.529 | 3.16 | 5.47 | 3626.00 | 0.6535 |
+| 2 | settle | 373 | 33 | 0.022 | 0.68 | 1.18 | 3625.96 | 0.6143 |
+| 3 | close | 137 | 13 | 0.681 | 4.21 | 7.29 | 1491.22 | 0.9324 |
+| 4 | lift | 402 | 35 | 3.321 | 13.70 | 23.72 | 1711.23 | 1.0652 |
+| 5 | move_xy | 368 | 32 | 7.228 | 31.03 | 53.75 | 1944.98 | 0.8805 |
+| 6 | lower | 387 | 34 | 0.086 | 1.26 | 2.19 | 1046.08 | 0.8980 |
+| 7 | open | 136 | 12 | 0.563 | 3.49 | 6.04 | 3626.06 | 0.6629 |
+| 8 | retract | 400 | 35 | 3.098 | 12.85 | 22.25 | 2190.50 | 0.6929 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.133 |
+| TCP position RMSE (mm, per-axis) | 13.21 |
+| EE position RMS L2 (mm) | 24.19 |
+| TCP rotvec (mrad) | 2544.44 |
+| W1 effort mean (A) | 0.7646 |
+| W1 effort per joint (A) | j0=0.2280, j1=1.1566, j2=1.4973, j3=0.7851, j4=0.3086, j5=0.6118 |
+
+## 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 | 0.00068 | -0.00033 | -0.00051 | 0.00091 | 0.033 |
+| 1 | 0.00065 | -0.00055 | -0.00072 | 0.00112 | 0.036 |
+| 2 | 0.00069 | -0.00055 | -0.00076 | 0.00116 | 0.037 |
+| 3 | 0.00100 | -0.00048 | -0.00030 | 0.00115 | 0.104 |
+| 4 | 0.00030 | -0.00007 | -0.00032 | 0.00045 | 0.084 |
+| 5 | 0.00149 | -0.00075 | -0.00073 | 0.00182 | 0.115 |
+| 6 | 0.00159 | -0.00070 | -0.00079 | 0.00191 | 0.133 |
+| 7 | 0.00052 | -0.00031 | -0.00056 | 0.00083 | 0.035 |
+| 8 | -0.00005 | -0.00009 | -0.00013 | 0.00017 | 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.
diff --git a/gap_reports/gap_5530aec4-a03e-4ccf-a538-915eb30bcf49.md b/gap_reports/gap_5530aec4-a03e-4ccf-a538-915eb30bcf49.md
new file mode 100644
index 0000000000000000000000000000000000000000..58ba52b0dab39b98c80b1d2cff2bfe1064f208fe
--- /dev/null
+++ b/gap_reports/gap_5530aec4-a03e-4ccf-a538-915eb30bcf49.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/5530aec4-a03e-4ccf-a538-915eb30bcf49.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/5530aec4-a03e-4ccf-a538-915eb30bcf49.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2492 |
+| Sim rows | 251 |
+| Real episode_id | `5530aec4-a03e-4ccf-a538-915eb30bcf49` |
+| Sim episode_id | `5530aec4-a03e-4ccf-a538-915eb30bcf49` |
+
+## 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 | 211 | 22 | 3.418 | 14.47 | 25.05 | 1980.98 | 0.5965 |
+| 1 | descend | 377 | 38 | 0.778 | 5.36 | 9.28 | 3625.34 | 0.7351 |
+| 2 | settle | 325 | 32 | 0.023 | 0.82 | 1.42 | 3625.26 | 0.6779 |
+| 3 | close | 125 | 13 | 0.829 | 5.21 | 9.02 | 2777.64 | 0.9617 |
+| 4 | lift | 305 | 30 | 3.761 | 17.39 | 30.11 | 2172.68 | 1.1070 |
+| 5 | move_xy | 389 | 38 | 7.279 | 35.75 | 61.93 | 2720.41 | 0.8885 |
+| 6 | lower | 333 | 33 | 0.087 | 1.47 | 2.55 | 3471.89 | 0.9138 |
+| 7 | open | 126 | 13 | 0.836 | 5.44 | 9.42 | 3625.49 | 0.6275 |
+| 8 | retract | 301 | 30 | 3.349 | 15.69 | 27.18 | 2364.13 | 0.7344 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.198 |
+| TCP position RMSE (mm, per-axis) | 15.36 |
+| EE position RMS L2 (mm) | 29.58 |
+| TCP rotvec (mrad) | 2996.92 |
+| W1 effort mean (A) | 0.7927 |
+| W1 effort per joint (A) | j0=0.2499, j1=1.3220, j2=1.5254, j3=0.7418, j4=0.3281, 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 | 0.00087 | -0.00026 | -0.00062 | 0.00110 | 0.027 |
+| 1 | 0.00089 | -0.00059 | -0.00098 | 0.00145 | 0.049 |
+| 2 | 0.00088 | -0.00059 | -0.00094 | 0.00142 | 0.043 |
+| 3 | 0.00173 | -0.00014 | -0.00065 | 0.00185 | 0.135 |
+| 4 | 0.00036 | 0.00007 | -0.00022 | 0.00043 | 0.091 |
+| 5 | 0.00167 | -0.00085 | -0.00212 | 0.00283 | 0.187 |
+| 6 | 0.00195 | -0.00089 | -0.00077 | 0.00228 | 0.161 |
+| 7 | 0.00068 | -0.00026 | -0.00071 | 0.00102 | 0.037 |
+| 8 | -0.00012 | -0.00019 | -0.00021 | 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.
diff --git a/gap_reports/gap_553c38ec-2c2e-4ac5-8cac-0f3238dc65b8.md b/gap_reports/gap_553c38ec-2c2e-4ac5-8cac-0f3238dc65b8.md
new file mode 100644
index 0000000000000000000000000000000000000000..9740004898f4216d6917f5242ab76348bd8b5aeb
--- /dev/null
+++ b/gap_reports/gap_553c38ec-2c2e-4ac5-8cac-0f3238dc65b8.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/553c38ec-2c2e-4ac5-8cac-0f3238dc65b8.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/553c38ec-2c2e-4ac5-8cac-0f3238dc65b8.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2623 |
+| Sim rows | 234 |
+| Real episode_id | `553c38ec-2c2e-4ac5-8cac-0f3238dc65b8` |
+| Sim episode_id | `553c38ec-2c2e-4ac5-8cac-0f3238dc65b8` |
+
+## 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 | 3.019 | 10.98 | 19.01 | 1986.03 | 0.5887 |
+| 1 | descend | 373 | 33 | 1.660 | 9.85 | 17.07 | 3626.06 | 0.6904 |
+| 2 | settle | 372 | 33 | 0.022 | 0.60 | 1.03 | 3625.95 | 0.6942 |
+| 3 | close | 154 | 14 | 1.184 | 6.63 | 11.48 | 2004.69 | 0.9603 |
+| 4 | lift | 328 | 29 | 3.363 | 13.55 | 23.46 | 1999.88 | 1.0813 |
+| 5 | move_xy | 353 | 31 | 6.874 | 30.79 | 53.33 | 2069.07 | 0.8827 |
+| 6 | lower | 381 | 33 | 0.078 | 1.07 | 1.85 | 1484.08 | 0.9897 |
+| 7 | open | 154 | 14 | 1.019 | 5.78 | 10.01 | 3626.24 | 0.6183 |
+| 8 | retract | 328 | 29 | 3.231 | 13.05 | 22.59 | 2468.34 | 0.7120 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.042 |
+| TCP position RMSE (mm, per-axis) | 13.33 |
+| EE position RMS L2 (mm) | 24.41 |
+| TCP rotvec (mrad) | 2666.34 |
+| W1 effort mean (A) | 0.7820 |
+| W1 effort per joint (A) | j0=0.2619, j1=1.2213, j2=1.5546, j3=0.6725, j4=0.3832, j5=0.5987 |
+
+## 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 | -0.00020 | -0.00043 | 0.00059 | 0.035 |
+| 1 | 0.00040 | -0.00054 | -0.00079 | 0.00104 | 0.036 |
+| 2 | 0.00041 | -0.00057 | -0.00074 | 0.00102 | 0.034 |
+| 3 | 0.00081 | -0.00036 | -0.00104 | 0.00137 | 0.112 |
+| 4 | 0.00057 | -0.00005 | -0.00030 | 0.00064 | 0.153 |
+| 5 | 0.00107 | -0.00075 | -0.00072 | 0.00149 | 0.120 |
+| 6 | 0.00157 | -0.00069 | -0.00210 | 0.00271 | 0.185 |
+| 7 | 0.00019 | -0.00031 | -0.00051 | 0.00063 | 0.035 |
+| 8 | -0.00007 | -0.00011 | -0.00015 | 0.00020 | 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.
diff --git a/gap_reports/gap_554976e2-a17e-46cf-9efd-267d48784235.md b/gap_reports/gap_554976e2-a17e-46cf-9efd-267d48784235.md
new file mode 100644
index 0000000000000000000000000000000000000000..3a9ca843a998d242bd3ba10b8fed2df9246b26c4
--- /dev/null
+++ b/gap_reports/gap_554976e2-a17e-46cf-9efd-267d48784235.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/554976e2-a17e-46cf-9efd-267d48784235.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/554976e2-a17e-46cf-9efd-267d48784235.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 582 |
+| Sim rows | 74 |
+| Real episode_id | `554976e2-a17e-46cf-9efd-267d48784235` |
+| Sim episode_id | `554976e2-a17e-46cf-9efd-267d48784235` |
+
+## 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 | 373 | 37 | 3.704 | 15.49 | 26.84 | 11.71 | 0.7955 |
+| 1 | descend | 209 | 21 | 0.030 | 7.29 | 12.63 | 2.00 | 0.7905 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.619 |
+| TCP position RMSE (mm, per-axis) | 12.11 |
+| EE position RMS L2 (mm) | 22.78 |
+| TCP rotvec (mrad) | 8.40 |
+| W1 effort mean (A) | 0.7937 |
+| W1 effort per joint (A) | j0=0.1558, j1=1.7163, j2=1.7840, j3=0.6951, j4=0.2739, j5=0.1372 |
+
+## 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 | 0.00586 | -0.01112 | -0.00080 | 0.01260 | 0.048 |
+| 1 | 0.00607 | -0.01109 | -0.00079 | 0.01267 | 0.047 |
+
+## 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.
diff --git a/gap_reports/gap_55933f28-d21d-41b7-924e-2d5fb55d24b9.md b/gap_reports/gap_55933f28-d21d-41b7-924e-2d5fb55d24b9.md
new file mode 100644
index 0000000000000000000000000000000000000000..dec3e275abff5423a17547f263833a48d468be48
--- /dev/null
+++ b/gap_reports/gap_55933f28-d21d-41b7-924e-2d5fb55d24b9.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/55933f28-d21d-41b7-924e-2d5fb55d24b9.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/55933f28-d21d-41b7-924e-2d5fb55d24b9.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2622 |
+| Sim rows | 234 |
+| Real episode_id | `55933f28-d21d-41b7-924e-2d5fb55d24b9` |
+| Sim episode_id | `55933f28-d21d-41b7-924e-2d5fb55d24b9` |
+
+## 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 | 2.834 | 11.34 | 19.64 | 1949.97 | 0.5752 |
+| 1 | descend | 349 | 31 | 0.899 | 5.50 | 9.52 | 3626.00 | 0.6718 |
+| 2 | settle | 378 | 33 | 0.022 | 0.60 | 1.04 | 3625.97 | 0.6830 |
+| 3 | close | 127 | 12 | 0.720 | 4.37 | 7.56 | 669.78 | 0.8905 |
+| 4 | lift | 342 | 30 | 2.174 | 8.90 | 15.41 | 1691.32 | 1.0537 |
+| 5 | move_xy | 362 | 32 | 6.504 | 29.52 | 51.13 | 1951.84 | 0.8737 |
+| 6 | lower | 388 | 34 | 0.082 | 1.13 | 1.96 | 1312.27 | 0.9609 |
+| 7 | open | 128 | 12 | 0.650 | 3.86 | 6.69 | 3626.22 | 0.5871 |
+| 8 | retract | 344 | 30 | 2.227 | 9.10 | 15.75 | 2096.43 | 0.6895 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.620 |
+| TCP position RMSE (mm, per-axis) | 11.68 |
+| EE position RMS L2 (mm) | 21.73 |
+| TCP rotvec (mrad) | 2505.18 |
+| W1 effort mean (A) | 0.7636 |
+| W1 effort per joint (A) | j0=0.2257, j1=1.1998, j2=1.5640, j3=0.6742, j4=0.3503, j5=0.5679 |
+
+## 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 | 0.00045 | -0.00034 | -0.00048 | 0.00074 | 0.031 |
+| 1 | 0.00041 | -0.00053 | -0.00078 | 0.00103 | 0.037 |
+| 2 | 0.00042 | -0.00056 | -0.00075 | 0.00103 | 0.036 |
+| 3 | 0.00087 | -0.00040 | -0.00055 | 0.00111 | 0.104 |
+| 4 | 0.00037 | 0.00010 | -0.00023 | 0.00045 | 0.084 |
+| 5 | 0.00135 | -0.00089 | -0.00040 | 0.00167 | 0.138 |
+| 6 | 0.00147 | -0.00076 | -0.00098 | 0.00192 | 0.148 |
+| 7 | 0.00026 | -0.00032 | -0.00060 | 0.00073 | 0.043 |
+| 8 | -0.00009 | -0.00011 | -0.00014 | 0.00019 | 0.029 |
+
+## 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.
diff --git a/gap_reports/gap_5599b27b-9338-4d65-a5b3-d24f4c14f66d.md b/gap_reports/gap_5599b27b-9338-4d65-a5b3-d24f4c14f66d.md
new file mode 100644
index 0000000000000000000000000000000000000000..5c91af1b712850a0f5b53be0dca80ac9c29053e3
--- /dev/null
+++ b/gap_reports/gap_5599b27b-9338-4d65-a5b3-d24f4c14f66d.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/5599b27b-9338-4d65-a5b3-d24f4c14f66d.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/5599b27b-9338-4d65-a5b3-d24f4c14f66d.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1825 |
+| Sim rows | 183 |
+| Real episode_id | `5599b27b-9338-4d65-a5b3-d24f4c14f66d` |
+| Sim episode_id | `5599b27b-9338-4d65-a5b3-d24f4c14f66d` |
+
+## 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 | 213 | 21 | 4.729 | 17.58 | 30.45 | 283.10 | 0.6885 |
+| 1 | descend | 89 | 9 | 5.976 | 3.42 | 5.93 | 233.98 | 0.7540 |
+| 2 | settle | 31 | 4 | 5.941 | 2.43 | 4.20 | 233.99 | 0.7459 |
+| 3 | close | 374 | 37 | 5.940 | 2.49 | 4.31 | 233.61 | 1.1521 |
+| 4 | lift | 90 | 9 | 5.970 | 3.45 | 5.98 | 233.54 | 1.3180 |
+| 5 | move_xy | 252 | 25 | 6.226 | 29.39 | 50.90 | 76.94 | 1.2332 |
+| 6 | lower | 86 | 9 | 0.603 | 4.54 | 7.87 | 7.76 | 1.1255 |
+| 7 | open | 374 | 37 | 0.025 | 2.89 | 5.01 | 5.58 | 0.7331 |
+| 8 | retract | 87 | 9 | 0.566 | 3.63 | 6.28 | 5.04 | 0.7237 |
+| 9 | return | 229 | 23 | 2.678 | 15.72 | 27.23 | 1020.42 | 0.7009 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 4.593 |
+| TCP position RMSE (mm, per-axis) | 12.24 |
+| EE position RMS L2 (mm) | 24.01 |
+| TCP rotvec (mrad) | 366.88 |
+| W1 effort mean (A) | 0.9007 |
+| W1 effort per joint (A) | j0=0.1791, j1=1.8272, j2=1.5928, j3=0.9171, j4=0.2161, j5=0.6721 |
+
+## 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 | 0.00253 | -0.00326 | -0.00030 | 0.00413 | 14.617 |
+| 1 | 0.00278 | -0.00313 | -0.00033 | 0.00420 | 14.553 |
+| 2 | 0.00276 | -0.00313 | -0.00045 | 0.00420 | 14.549 |
+| 3 | 0.00256 | -0.00346 | -0.00056 | 0.00434 | 14.549 |
+| 4 | 0.00257 | -0.00352 | -0.00110 | 0.00449 | 14.615 |
+| 5 | 0.00281 | -0.00555 | -0.00156 | 0.00641 | 0.218 |
+| 6 | 0.00342 | -0.00575 | -0.00202 | 0.00699 | 0.215 |
+| 7 | 0.00228 | -0.00438 | -0.00107 | 0.00505 | 0.053 |
+| 8 | 0.00191 | -0.00415 | -0.00113 | 0.00471 | 0.049 |
+| 9 | -0.00016 | -0.00012 | -0.00029 | 0.00035 | 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.
diff --git a/gap_reports/gap_55af0a58-9c2f-4ab1-a32d-186610d1e122.md b/gap_reports/gap_55af0a58-9c2f-4ab1-a32d-186610d1e122.md
new file mode 100644
index 0000000000000000000000000000000000000000..3764253da5421266f913c8e2565cc3019851d09b
--- /dev/null
+++ b/gap_reports/gap_55af0a58-9c2f-4ab1-a32d-186610d1e122.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/55af0a58-9c2f-4ab1-a32d-186610d1e122.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/55af0a58-9c2f-4ab1-a32d-186610d1e122.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2493 |
+| Sim rows | 223 |
+| Real episode_id | `55af0a58-9c2f-4ab1-a32d-186610d1e122` |
+| Sim episode_id | `55af0a58-9c2f-4ab1-a32d-186610d1e122` |
+
+## 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 | 163 | 15 | 2.697 | 13.29 | 23.02 | 2067.23 | 0.5641 |
+| 1 | descend | 271 | 24 | 0.926 | 5.95 | 10.30 | 3625.39 | 0.6874 |
+| 2 | settle | 413 | 36 | 0.022 | 0.73 | 1.27 | 3625.20 | 0.6273 |
+| 3 | close | 115 | 11 | 0.838 | 5.47 | 9.48 | 3237.64 | 0.9645 |
+| 4 | lift | 331 | 29 | 2.452 | 11.98 | 20.75 | 2307.11 | 1.0623 |
+| 5 | move_xy | 314 | 28 | 5.080 | 27.63 | 47.86 | 2651.36 | 0.9171 |
+| 6 | lower | 439 | 38 | 0.084 | 1.29 | 2.24 | 3560.04 | 1.0097 |
+| 7 | open | 116 | 11 | 0.772 | 4.96 | 8.59 | 3625.35 | 0.6982 |
+| 8 | retract | 331 | 29 | 2.548 | 12.48 | 21.62 | 2306.67 | 0.6994 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.303 |
+| TCP position RMSE (mm, per-axis) | 12.16 |
+| EE position RMS L2 (mm) | 21.51 |
+| TCP rotvec (mrad) | 3064.70 |
+| W1 effort mean (A) | 0.7978 |
+| W1 effort per joint (A) | j0=0.2113, j1=1.3895, j2=1.5777, j3=0.7610, j4=0.2688, j5=0.5785 |
+
+## 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 | 0.00043 | -0.00038 | -0.00068 | 0.00089 | 0.040 |
+| 1 | 0.00042 | -0.00073 | -0.00095 | 0.00127 | 0.042 |
+| 2 | 0.00041 | -0.00074 | -0.00094 | 0.00127 | 0.043 |
+| 3 | 0.00079 | -0.00053 | -0.00069 | 0.00118 | 0.095 |
+| 4 | 0.00053 | -0.00001 | -0.00022 | 0.00057 | 0.114 |
+| 5 | 0.00133 | -0.00099 | -0.00183 | 0.00247 | 0.121 |
+| 6 | 0.00111 | -0.00100 | -0.00087 | 0.00173 | 0.109 |
+| 7 | 0.00017 | -0.00044 | -0.00077 | 0.00090 | 0.043 |
+| 8 | -0.00011 | -0.00015 | -0.00016 | 0.00025 | 0.025 |
+
+## 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.
diff --git a/gap_reports/gap_55b14201-04b6-463c-9d9a-4ddd6339dd5f.md b/gap_reports/gap_55b14201-04b6-463c-9d9a-4ddd6339dd5f.md
new file mode 100644
index 0000000000000000000000000000000000000000..97ec19763c823a5898410a33594cd452e2e06e07
--- /dev/null
+++ b/gap_reports/gap_55b14201-04b6-463c-9d9a-4ddd6339dd5f.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/55b14201-04b6-463c-9d9a-4ddd6339dd5f.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/55b14201-04b6-463c-9d9a-4ddd6339dd5f.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2319 |
+| Sim rows | 208 |
+| Real episode_id | `55b14201-04b6-463c-9d9a-4ddd6339dd5f` |
+| Sim episode_id | `55b14201-04b6-463c-9d9a-4ddd6339dd5f` |
+
+## 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 | 174 | 16 | 2.645 | 10.12 | 17.52 | 1904.48 | 0.5798 |
+| 1 | descend | 201 | 18 | 0.793 | 4.82 | 8.34 | 3625.95 | 0.7083 |
+| 2 | settle | 378 | 33 | 0.021 | 0.60 | 1.04 | 3625.96 | 0.6914 |
+| 3 | close | 92 | 9 | 0.439 | 2.70 | 4.68 | 1471.05 | 0.9828 |
+| 4 | lift | 344 | 30 | 2.967 | 12.59 | 21.81 | 1750.58 | 1.0484 |
+| 5 | move_xy | 294 | 26 | 6.360 | 28.97 | 50.18 | 1966.11 | 0.9057 |
+| 6 | lower | 400 | 35 | 0.083 | 1.14 | 1.98 | 2090.72 | 1.0113 |
+| 7 | open | 93 | 9 | 0.480 | 2.93 | 5.07 | 3626.25 | 0.5917 |
+| 8 | retract | 343 | 30 | 3.096 | 13.16 | 22.79 | 2197.54 | 0.6601 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.726 |
+| TCP position RMSE (mm, per-axis) | 12.08 |
+| EE position RMS L2 (mm) | 22.33 |
+| TCP rotvec (mrad) | 2611.22 |
+| W1 effort mean (A) | 0.8029 |
+| W1 effort per joint (A) | j0=0.2265, j1=1.2328, j2=1.6266, j3=0.7079, j4=0.3992, j5=0.6242 |
+
+## 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 | -0.00036 | -0.00050 | 0.00074 | 0.038 |
+| 1 | 0.00039 | -0.00054 | -0.00082 | 0.00106 | 0.042 |
+| 2 | 0.00042 | -0.00056 | -0.00076 | 0.00103 | 0.034 |
+| 3 | 0.00093 | -0.00043 | -0.00124 | 0.00161 | 0.104 |
+| 4 | 0.00029 | -0.00015 | -0.00029 | 0.00044 | 0.087 |
+| 5 | 0.00142 | -0.00082 | -0.00126 | 0.00207 | 0.147 |
+| 6 | 0.00099 | -0.00068 | -0.00122 | 0.00172 | 0.087 |
+| 7 | 0.00018 | -0.00039 | -0.00062 | 0.00076 | 0.034 |
+| 8 | -0.00005 | -0.00011 | -0.00015 | 0.00019 | 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.
diff --git a/gap_reports/gap_55b4e58e-dc04-4128-bf14-603b81f3613d.md b/gap_reports/gap_55b4e58e-dc04-4128-bf14-603b81f3613d.md
new file mode 100644
index 0000000000000000000000000000000000000000..07f07325c6df36f01136490fb1f6bbb6d9de6953
--- /dev/null
+++ b/gap_reports/gap_55b4e58e-dc04-4128-bf14-603b81f3613d.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/55b4e58e-dc04-4128-bf14-603b81f3613d.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/55b4e58e-dc04-4128-bf14-603b81f3613d.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2337 |
+| Sim rows | 210 |
+| Real episode_id | `55b4e58e-dc04-4128-bf14-603b81f3613d` |
+| Sim episode_id | `55b4e58e-dc04-4128-bf14-603b81f3613d` |
+
+## 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 | 172 | 16 | 1.929 | 9.19 | 15.91 | 1974.17 | 0.5706 |
+| 1 | descend | 324 | 29 | 0.778 | 5.09 | 8.81 | 3625.29 | 0.7849 |
+| 2 | settle | 383 | 34 | 0.025 | 0.75 | 1.30 | 3625.21 | 0.6141 |
+| 3 | close | 95 | 9 | 0.367 | 2.46 | 4.26 | 2968.62 | 0.9781 |
+| 4 | lift | 297 | 26 | 2.378 | 12.31 | 21.32 | 2216.47 | 1.1182 |
+| 5 | move_xy | 297 | 26 | 5.126 | 28.50 | 49.36 | 2687.52 | 0.9004 |
+| 6 | lower | 380 | 33 | 0.088 | 1.35 | 2.34 | 3471.89 | 0.9925 |
+| 7 | open | 94 | 9 | 0.462 | 3.09 | 5.35 | 3625.44 | 0.6759 |
+| 8 | retract | 295 | 26 | 2.443 | 12.78 | 22.13 | 2213.72 | 0.6997 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.175 |
+| TCP position RMSE (mm, per-axis) | 11.81 |
+| EE position RMS L2 (mm) | 21.49 |
+| TCP rotvec (mrad) | 3004.24 |
+| W1 effort mean (A) | 0.8047 |
+| W1 effort per joint (A) | j0=0.2019, j1=1.3501, j2=1.6025, j3=0.7849, j4=0.3052, j5=0.5836 |
+
+## 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 | 0.00046 | -0.00050 | -0.00064 | 0.00094 | 0.031 |
+| 1 | 0.00040 | -0.00071 | -0.00097 | 0.00126 | 0.044 |
+| 2 | 0.00044 | -0.00070 | -0.00100 | 0.00130 | 0.046 |
+| 3 | 0.00126 | -0.00056 | -0.00078 | 0.00158 | 0.138 |
+| 4 | 0.00035 | -0.00024 | -0.00039 | 0.00058 | 0.101 |
+| 5 | 0.00148 | -0.00090 | -0.00130 | 0.00217 | 0.162 |
+| 6 | 0.00154 | -0.00093 | -0.00094 | 0.00203 | 0.156 |
+| 7 | 0.00017 | -0.00054 | -0.00082 | 0.00100 | 0.044 |
+| 8 | -0.00012 | -0.00016 | -0.00018 | 0.00027 | 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.
diff --git a/gap_reports/gap_55c65d10-9bf1-4838-84fc-7f8f8a7df3b2.md b/gap_reports/gap_55c65d10-9bf1-4838-84fc-7f8f8a7df3b2.md
new file mode 100644
index 0000000000000000000000000000000000000000..51b13da954c1faab24eea987f1c91240869f1154
--- /dev/null
+++ b/gap_reports/gap_55c65d10-9bf1-4838-84fc-7f8f8a7df3b2.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/55c65d10-9bf1-4838-84fc-7f8f8a7df3b2.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/55c65d10-9bf1-4838-84fc-7f8f8a7df3b2.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2681 |
+| Sim rows | 238 |
+| Real episode_id | `55c65d10-9bf1-4838-84fc-7f8f8a7df3b2` |
+| Sim episode_id | `55c65d10-9bf1-4838-84fc-7f8f8a7df3b2` |
+
+## 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 | 246 | 22 | 3.162 | 16.31 | 28.25 | 1877.55 | 0.6167 |
+| 1 | descend | 413 | 36 | 1.015 | 7.19 | 12.46 | 3624.74 | 0.7349 |
+| 2 | settle | 380 | 33 | 0.028 | 0.98 | 1.69 | 3624.58 | 0.7330 |
+| 3 | close | 125 | 11 | 0.696 | 4.97 | 8.62 | 3625.19 | 1.0336 |
+| 4 | lift | 296 | 26 | 2.850 | 15.83 | 27.41 | 2374.65 | 1.1249 |
+| 5 | move_xy | 417 | 36 | 6.440 | 37.45 | 64.87 | 2709.72 | 0.9341 |
+| 6 | lower | 388 | 34 | 0.087 | 1.62 | 2.81 | 3625.16 | 1.0713 |
+| 7 | open | 125 | 12 | 0.634 | 4.46 | 7.73 | 3624.67 | 0.7615 |
+| 8 | retract | 291 | 26 | 2.928 | 16.34 | 28.30 | 2385.26 | 0.7563 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.791 |
+| TCP position RMSE (mm, per-axis) | 15.94 |
+| EE position RMS L2 (mm) | 30.48 |
+| TCP rotvec (mrad) | 3125.07 |
+| W1 effort mean (A) | 0.8447 |
+| W1 effort per joint (A) | j0=0.2404, j1=1.5015, j2=1.6836, j3=0.7814, j4=0.2899, j5=0.5713 |
+
+## 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 | 0.00092 | -0.00038 | -0.00085 | 0.00131 | 0.039 |
+| 1 | 0.00095 | -0.00076 | -0.00112 | 0.00166 | 0.048 |
+| 2 | 0.00094 | -0.00076 | -0.00119 | 0.00170 | 0.057 |
+| 3 | 0.00153 | -0.00060 | -0.00254 | 0.00303 | 0.215 |
+| 4 | 0.00040 | -0.00011 | -0.00029 | 0.00051 | 0.103 |
+| 5 | 0.00200 | -0.00106 | -0.00130 | 0.00261 | 0.133 |
+| 6 | 0.00196 | -0.00095 | -0.00036 | 0.00221 | 0.120 |
+| 7 | 0.00076 | -0.00041 | -0.00097 | 0.00130 | 0.046 |
+| 8 | -0.00014 | -0.00022 | -0.00020 | 0.00033 | 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.
diff --git a/gap_reports/gap_55d870cc-c597-44b2-8b09-520708b4aecc.md b/gap_reports/gap_55d870cc-c597-44b2-8b09-520708b4aecc.md
new file mode 100644
index 0000000000000000000000000000000000000000..734f1a638a8a88bdb6a7afc24e9c74cafb2ed414
--- /dev/null
+++ b/gap_reports/gap_55d870cc-c597-44b2-8b09-520708b4aecc.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/55d870cc-c597-44b2-8b09-520708b4aecc.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/55d870cc-c597-44b2-8b09-520708b4aecc.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 656 |
+| Sim rows | 81 |
+| Real episode_id | `55d870cc-c597-44b2-8b09-520708b4aecc` |
+| Sim episode_id | `55d870cc-c597-44b2-8b09-520708b4aecc` |
+
+## 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 | 450 | 44 | 3.462 | 14.18 | 24.57 | 6.15 | 0.7923 |
+| 1 | descend | 206 | 21 | 0.024 | 0.50 | 0.87 | 2.04 | 0.8155 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.448 |
+| TCP position RMSE (mm, per-axis) | 10.04 |
+| EE position RMS L2 (mm) | 20.35 |
+| TCP rotvec (mrad) | 4.58 |
+| W1 effort mean (A) | 0.7995 |
+| W1 effort per joint (A) | j0=0.2049, j1=1.6513, j2=1.7296, j3=0.9172, j4=0.1301, j5=0.1642 |
+
+## 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 | 0.00008 | -0.00055 | 0.00079 | 0.00096 | 0.037 |
+| 1 | 0.00024 | -0.00057 | 0.00062 | 0.00087 | 0.050 |
+
+## 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.
diff --git a/gap_reports/gap_5619c996-5031-4c1a-bbae-408c1344e8d2.md b/gap_reports/gap_5619c996-5031-4c1a-bbae-408c1344e8d2.md
new file mode 100644
index 0000000000000000000000000000000000000000..6e4243fb96df3d425cd115686a1e213e8d13c9ea
--- /dev/null
+++ b/gap_reports/gap_5619c996-5031-4c1a-bbae-408c1344e8d2.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/5619c996-5031-4c1a-bbae-408c1344e8d2.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/5619c996-5031-4c1a-bbae-408c1344e8d2.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 3161 |
+| Sim rows | 279 |
+| Real episode_id | `5619c996-5031-4c1a-bbae-408c1344e8d2` |
+| Sim episode_id | `5619c996-5031-4c1a-bbae-408c1344e8d2` |
+
+## 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 | 2.675 | 11.02 | 19.09 | 1910.83 | 0.5956 |
+| 1 | descend | 773 | 67 | 0.722 | 4.80 | 8.32 | 3625.42 | 0.7061 |
+| 2 | settle | 379 | 33 | 0.024 | 0.77 | 1.34 | 3625.28 | 0.7334 |
+| 3 | close | 157 | 14 | 1.071 | 6.79 | 11.76 | 3235.88 | 0.9800 |
+| 4 | lift | 400 | 35 | 3.216 | 14.89 | 25.80 | 2113.72 | 1.1192 |
+| 5 | move_xy | 341 | 30 | 7.194 | 36.58 | 63.37 | 2794.95 | 0.9131 |
+| 6 | lower | 374 | 33 | 0.082 | 1.33 | 2.29 | 3549.66 | 1.0023 |
+| 7 | open | 157 | 14 | 0.853 | 5.42 | 9.39 | 3625.50 | 0.6417 |
+| 8 | retract | 400 | 35 | 3.239 | 15.12 | 26.19 | 2465.58 | 0.7315 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.021 |
+| TCP position RMSE (mm, per-axis) | 14.95 |
+| EE position RMS L2 (mm) | 25.57 |
+| TCP rotvec (mrad) | 3064.34 |
+| W1 effort mean (A) | 0.8019 |
+| W1 effort per joint (A) | j0=0.2655, j1=1.3454, j2=1.6347, j3=0.6961, j4=0.3028, j5=0.5667 |
+
+## 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 | 0.00057 | -0.00016 | -0.00061 | 0.00085 | 0.042 |
+| 1 | 0.00060 | -0.00063 | -0.00100 | 0.00132 | 0.046 |
+| 2 | 0.00066 | -0.00064 | -0.00100 | 0.00136 | 0.044 |
+| 3 | 0.00115 | -0.00042 | -0.00100 | 0.00158 | 0.100 |
+| 4 | 0.00029 | -0.00013 | -0.00023 | 0.00039 | 0.079 |
+| 5 | 0.00140 | -0.00093 | -0.00066 | 0.00180 | 0.114 |
+| 6 | 0.00116 | -0.00091 | -0.00166 | 0.00222 | 0.129 |
+| 7 | 0.00041 | -0.00033 | -0.00078 | 0.00095 | 0.054 |
+| 8 | -0.00009 | -0.00014 | -0.00016 | 0.00023 | 0.025 |
+
+## 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.
diff --git a/gap_reports/gap_561b0adc-a6b0-433c-b15d-5436e8468372.md b/gap_reports/gap_561b0adc-a6b0-433c-b15d-5436e8468372.md
new file mode 100644
index 0000000000000000000000000000000000000000..cfb1d5b773b2fbe6cc79c6274c0f4b6fd665a2a9
--- /dev/null
+++ b/gap_reports/gap_561b0adc-a6b0-433c-b15d-5436e8468372.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/561b0adc-a6b0-433c-b15d-5436e8468372.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/561b0adc-a6b0-433c-b15d-5436e8468372.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2791 |
+| Sim rows | 248 |
+| Real episode_id | `561b0adc-a6b0-433c-b15d-5436e8468372` |
+| Sim episode_id | `561b0adc-a6b0-433c-b15d-5436e8468372` |
+
+## 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 | 272 | 24 | 3.645 | 13.06 | 22.61 | 2026.99 | 0.5746 |
+| 1 | descend | 280 | 25 | 1.057 | 6.16 | 10.67 | 3626.13 | 0.6925 |
+| 2 | settle | 364 | 32 | 0.018 | 0.61 | 1.06 | 3626.06 | 0.6308 |
+| 3 | close | 117 | 11 | 0.836 | 4.77 | 8.27 | 1318.92 | 0.8980 |
+| 4 | lift | 386 | 34 | 2.460 | 10.13 | 17.54 | 1782.33 | 1.0804 |
+| 5 | move_xy | 463 | 40 | 8.914 | 37.91 | 65.66 | 2063.96 | 0.8603 |
+| 6 | lower | 403 | 35 | 0.080 | 1.15 | 1.99 | 1195.65 | 0.9577 |
+| 7 | open | 117 | 11 | 0.812 | 4.52 | 7.82 | 3626.14 | 0.6455 |
+| 8 | retract | 389 | 34 | 2.814 | 11.45 | 19.84 | 2281.39 | 0.7093 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.483 |
+| TCP position RMSE (mm, per-axis) | 14.62 |
+| EE position RMS L2 (mm) | 29.67 |
+| TCP rotvec (mrad) | 2568.29 |
+| W1 effort mean (A) | 0.7802 |
+| W1 effort per joint (A) | j0=0.2414, j1=1.1545, j2=1.5503, j3=0.8089, j4=0.3049, j5=0.6214 |
+
+## 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 | -0.00019 | -0.00046 | 0.00081 | 0.029 |
+| 1 | 0.00061 | -0.00051 | -0.00067 | 0.00104 | 0.040 |
+| 2 | 0.00065 | -0.00051 | -0.00063 | 0.00104 | 0.029 |
+| 3 | 0.00100 | -0.00028 | -0.00075 | 0.00128 | 0.110 |
+| 4 | 0.00040 | -0.00003 | -0.00040 | 0.00057 | 0.115 |
+| 5 | 0.00138 | -0.00071 | -0.00110 | 0.00190 | 0.108 |
+| 6 | 0.00156 | -0.00053 | -0.00075 | 0.00181 | 0.146 |
+| 7 | 0.00043 | -0.00026 | -0.00051 | 0.00072 | 0.035 |
+| 8 | -0.00006 | -0.00010 | -0.00015 | 0.00020 | 0.029 |
+
+## 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.
diff --git a/gap_reports/gap_56296f75-ea15-4223-b502-65c3e4f5629c.md b/gap_reports/gap_56296f75-ea15-4223-b502-65c3e4f5629c.md
new file mode 100644
index 0000000000000000000000000000000000000000..98b5101b47de793fa885860eac561644522c6418
--- /dev/null
+++ b/gap_reports/gap_56296f75-ea15-4223-b502-65c3e4f5629c.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/56296f75-ea15-4223-b502-65c3e4f5629c.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/56296f75-ea15-4223-b502-65c3e4f5629c.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2605 |
+| Sim rows | 231 |
+| Real episode_id | `56296f75-ea15-4223-b502-65c3e4f5629c` |
+| Sim episode_id | `56296f75-ea15-4223-b502-65c3e4f5629c` |
+
+## 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 | 205 | 18 | 2.478 | 13.86 | 24.01 | 1911.41 | 0.6167 |
+| 1 | descend | 319 | 28 | 0.687 | 4.80 | 8.32 | 3624.67 | 0.7952 |
+| 2 | settle | 357 | 31 | 0.027 | 0.97 | 1.68 | 3624.53 | 0.7435 |
+| 3 | close | 114 | 11 | 0.658 | 4.76 | 8.24 | 3377.01 | 1.0552 |
+| 4 | lift | 354 | 31 | 2.321 | 13.67 | 23.68 | 2312.34 | 1.1273 |
+| 5 | move_xy | 382 | 33 | 5.333 | 32.70 | 56.65 | 2830.98 | 0.9458 |
+| 6 | lower | 407 | 35 | 0.091 | 1.66 | 2.87 | 3624.90 | 1.1135 |
+| 7 | open | 113 | 11 | 0.721 | 5.01 | 8.68 | 3624.72 | 0.7605 |
+| 8 | retract | 354 | 31 | 2.382 | 14.05 | 24.34 | 2303.85 | 0.7439 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.287 |
+| TCP position RMSE (mm, per-axis) | 13.83 |
+| EE position RMS L2 (mm) | 26.25 |
+| TCP rotvec (mrad) | 3096.25 |
+| W1 effort mean (A) | 0.8719 |
+| W1 effort per joint (A) | j0=0.2395, j1=1.5858, j2=1.7408, j3=0.7242, j4=0.3350, j5=0.6060 |
+
+## 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 | -0.00047 | -0.00074 | 0.00116 | 0.030 |
+| 1 | 0.00075 | -0.00088 | -0.00121 | 0.00168 | 0.060 |
+| 2 | 0.00078 | -0.00086 | -0.00120 | 0.00167 | 0.054 |
+| 3 | 0.00183 | -0.00088 | -0.00227 | 0.00304 | 0.188 |
+| 4 | 0.00019 | -0.00011 | -0.00015 | 0.00026 | 0.060 |
+| 5 | 0.00165 | -0.00134 | -0.00244 | 0.00324 | 0.174 |
+| 6 | 0.00272 | -0.00146 | -0.00254 | 0.00400 | 0.260 |
+| 7 | 0.00058 | -0.00055 | -0.00100 | 0.00128 | 0.045 |
+| 8 | -0.00012 | -0.00017 | -0.00017 | 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.
diff --git a/gap_reports/gap_56351b76-29c8-4cf1-b501-2f86bd0364ca.md b/gap_reports/gap_56351b76-29c8-4cf1-b501-2f86bd0364ca.md
new file mode 100644
index 0000000000000000000000000000000000000000..0c9e7b61f34620b5330ac2bcfb1004f9b16ac388
--- /dev/null
+++ b/gap_reports/gap_56351b76-29c8-4cf1-b501-2f86bd0364ca.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/56351b76-29c8-4cf1-b501-2f86bd0364ca.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/56351b76-29c8-4cf1-b501-2f86bd0364ca.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2691 |
+| Sim rows | 239 |
+| Real episode_id | `56351b76-29c8-4cf1-b501-2f86bd0364ca` |
+| Sim episode_id | `56351b76-29c8-4cf1-b501-2f86bd0364ca` |
+
+## 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 | 19 | 3.057 | 13.86 | 24.01 | 1937.83 | 0.5851 |
+| 1 | descend | 330 | 29 | 1.391 | 9.10 | 15.77 | 3625.37 | 0.6893 |
+| 2 | settle | 361 | 32 | 0.023 | 0.76 | 1.32 | 3625.25 | 0.7408 |
+| 3 | close | 168 | 15 | 0.892 | 5.76 | 9.97 | 2689.65 | 0.9680 |
+| 4 | lift | 331 | 29 | 3.197 | 14.82 | 25.67 | 2399.68 | 1.1037 |
+| 5 | move_xy | 406 | 36 | 6.740 | 34.54 | 59.82 | 2687.61 | 0.8934 |
+| 6 | lower | 377 | 33 | 0.088 | 1.41 | 2.45 | 3549.64 | 1.0151 |
+| 7 | open | 168 | 15 | 0.841 | 5.34 | 9.25 | 3625.47 | 0.6801 |
+| 8 | retract | 333 | 29 | 2.823 | 13.31 | 23.05 | 2350.73 | 0.7305 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.914 |
+| TCP position RMSE (mm, per-axis) | 14.64 |
+| EE position RMS L2 (mm) | 27.86 |
+| TCP rotvec (mrad) | 3009.74 |
+| W1 effort mean (A) | 0.8080 |
+| W1 effort per joint (A) | j0=0.2192, j1=1.3616, j2=1.6079, j3=0.7481, j4=0.3289, j5=0.5822 |
+
+## 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 | 0.00062 | -0.00027 | -0.00069 | 0.00096 | 0.038 |
+| 1 | 0.00061 | -0.00063 | -0.00100 | 0.00133 | 0.049 |
+| 2 | 0.00064 | -0.00066 | -0.00096 | 0.00133 | 0.045 |
+| 3 | 0.00135 | -0.00035 | -0.00101 | 0.00172 | 0.124 |
+| 4 | 0.00022 | -0.00014 | -0.00015 | 0.00030 | 0.107 |
+| 5 | 0.00140 | -0.00085 | -0.00119 | 0.00202 | 0.114 |
+| 6 | 0.00141 | -0.00078 | -0.00182 | 0.00244 | 0.122 |
+| 7 | 0.00047 | -0.00036 | -0.00076 | 0.00096 | 0.043 |
+| 8 | -0.00011 | -0.00016 | -0.00019 | 0.00027 | 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.
diff --git a/gap_reports/gap_5635b6f8-25b7-4183-84ba-95a5576b02f6.md b/gap_reports/gap_5635b6f8-25b7-4183-84ba-95a5576b02f6.md
new file mode 100644
index 0000000000000000000000000000000000000000..a74ab00813eba6b446f3a97df91ce817adc0aca8
--- /dev/null
+++ b/gap_reports/gap_5635b6f8-25b7-4183-84ba-95a5576b02f6.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/5635b6f8-25b7-4183-84ba-95a5576b02f6.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/5635b6f8-25b7-4183-84ba-95a5576b02f6.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2700 |
+| Sim rows | 240 |
+| Real episode_id | `5635b6f8-25b7-4183-84ba-95a5576b02f6` |
+| Sim episode_id | `5635b6f8-25b7-4183-84ba-95a5576b02f6` |
+
+## 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 | 205 | 18 | 2.875 | 15.23 | 26.38 | 1944.65 | 0.6213 |
+| 1 | descend | 275 | 24 | 0.652 | 4.64 | 8.04 | 3624.69 | 0.8231 |
+| 2 | settle | 362 | 32 | 0.026 | 0.96 | 1.65 | 3624.57 | 0.7575 |
+| 3 | close | 119 | 11 | 0.522 | 3.84 | 6.65 | 3625.27 | 1.0313 |
+| 4 | lift | 431 | 38 | 2.899 | 15.99 | 27.70 | 2342.79 | 1.1432 |
+| 5 | move_xy | 356 | 31 | 6.122 | 35.86 | 62.12 | 2770.77 | 0.9311 |
+| 6 | lower | 399 | 35 | 0.089 | 1.67 | 2.89 | 3625.03 | 1.0859 |
+| 7 | open | 122 | 11 | 0.598 | 4.19 | 7.26 | 3624.66 | 0.7680 |
+| 8 | retract | 431 | 38 | 2.942 | 16.32 | 28.26 | 2342.48 | 0.7423 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.664 |
+| TCP position RMSE (mm, per-axis) | 15.27 |
+| EE position RMS L2 (mm) | 28.71 |
+| TCP rotvec (mrad) | 3129.29 |
+| W1 effort mean (A) | 0.8746 |
+| W1 effort per joint (A) | j0=0.2519, j1=1.5390, j2=1.7483, j3=0.7466, j4=0.3276, j5=0.6339 |
+
+## 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 | -0.00043 | -0.00077 | 0.00128 | 0.027 |
+| 1 | 0.00090 | -0.00073 | -0.00122 | 0.00168 | 0.059 |
+| 2 | 0.00090 | -0.00074 | -0.00118 | 0.00166 | 0.054 |
+| 3 | 0.00181 | -0.00062 | -0.00205 | 0.00280 | 0.153 |
+| 4 | 0.00042 | -0.00015 | -0.00030 | 0.00054 | 0.103 |
+| 5 | 0.00209 | -0.00121 | -0.00233 | 0.00335 | 0.177 |
+| 6 | 0.00208 | -0.00127 | -0.00308 | 0.00392 | 0.256 |
+| 7 | 0.00064 | -0.00048 | -0.00095 | 0.00124 | 0.042 |
+| 8 | -0.00007 | -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.
diff --git a/gap_reports/gap_5655946c-24e6-4b10-b14c-1240438f0c8f.md b/gap_reports/gap_5655946c-24e6-4b10-b14c-1240438f0c8f.md
new file mode 100644
index 0000000000000000000000000000000000000000..f8c65891060cf0c0ba16ef2ddb6d6817c367d342
--- /dev/null
+++ b/gap_reports/gap_5655946c-24e6-4b10-b14c-1240438f0c8f.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/5655946c-24e6-4b10-b14c-1240438f0c8f.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/5655946c-24e6-4b10-b14c-1240438f0c8f.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2701 |
+| Sim rows | 240 |
+| Real episode_id | `5655946c-24e6-4b10-b14c-1240438f0c8f` |
+| Sim episode_id | `5655946c-24e6-4b10-b14c-1240438f0c8f` |
+
+## 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 | 196 | 18 | 2.388 | 10.96 | 18.97 | 2055.39 | 0.5679 |
+| 1 | descend | 321 | 28 | 1.130 | 7.25 | 12.55 | 3625.35 | 0.7757 |
+| 2 | settle | 383 | 34 | 0.025 | 0.76 | 1.31 | 3625.22 | 0.6095 |
+| 3 | close | 135 | 12 | 0.741 | 5.00 | 8.65 | 3159.42 | 1.0045 |
+| 4 | lift | 393 | 35 | 2.439 | 11.87 | 20.56 | 2268.15 | 1.0808 |
+| 5 | move_xy | 345 | 30 | 4.696 | 25.48 | 44.13 | 2705.85 | 0.9159 |
+| 6 | lower | 400 | 35 | 0.085 | 1.31 | 2.26 | 3554.12 | 1.0021 |
+| 7 | open | 135 | 12 | 0.821 | 5.26 | 9.10 | 3625.42 | 0.6899 |
+| 8 | retract | 393 | 34 | 2.644 | 13.11 | 22.71 | 2276.79 | 0.7114 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.191 |
+| TCP position RMSE (mm, per-axis) | 11.50 |
+| EE position RMS L2 (mm) | 20.95 |
+| TCP rotvec (mrad) | 3053.55 |
+| W1 effort mean (A) | 0.8063 |
+| W1 effort per joint (A) | j0=0.2127, j1=1.3695, j2=1.5544, j3=0.7692, j4=0.3173, j5=0.6149 |
+
+## 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 | 0.00042 | -0.00041 | -0.00073 | 0.00094 | 0.042 |
+| 1 | 0.00039 | -0.00071 | -0.00098 | 0.00128 | 0.047 |
+| 2 | 0.00043 | -0.00072 | -0.00099 | 0.00130 | 0.047 |
+| 3 | 0.00076 | -0.00056 | -0.00086 | 0.00127 | 0.109 |
+| 4 | 0.00035 | 0.00001 | -0.00005 | 0.00036 | 0.090 |
+| 5 | 0.00144 | -0.00081 | -0.00068 | 0.00178 | 0.122 |
+| 6 | 0.00122 | -0.00120 | -0.00175 | 0.00245 | 0.139 |
+| 7 | 0.00021 | -0.00044 | -0.00077 | 0.00091 | 0.039 |
+| 8 | -0.00010 | -0.00012 | -0.00015 | 0.00022 | 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.
diff --git a/gap_reports/gap_565f7966-b516-4e3b-9d7b-16dfd21a5117.md b/gap_reports/gap_565f7966-b516-4e3b-9d7b-16dfd21a5117.md
new file mode 100644
index 0000000000000000000000000000000000000000..fbb2231e19ce7b7017116bb2779f601639269125
--- /dev/null
+++ b/gap_reports/gap_565f7966-b516-4e3b-9d7b-16dfd21a5117.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/565f7966-b516-4e3b-9d7b-16dfd21a5117.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/565f7966-b516-4e3b-9d7b-16dfd21a5117.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 583 |
+| Sim rows | 74 |
+| Real episode_id | `565f7966-b516-4e3b-9d7b-16dfd21a5117` |
+| Sim episode_id | `565f7966-b516-4e3b-9d7b-16dfd21a5117` |
+
+## 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 | 376 | 37 | 3.680 | 17.99 | 31.15 | 12.86 | 0.7803 |
+| 1 | descend | 207 | 21 | 0.023 | 0.57 | 0.99 | 2.22 | 0.8428 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.602 |
+| TCP position RMSE (mm, per-axis) | 12.72 |
+| EE position RMS L2 (mm) | 25.02 |
+| TCP rotvec (mrad) | 9.23 |
+| W1 effort mean (A) | 0.8025 |
+| W1 effort per joint (A) | j0=0.1954, j1=1.6252, j2=1.8047, j3=0.9179, j4=0.1039, j5=0.1679 |
+
+## 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 | -0.00008 | -0.00078 | 0.00072 | 0.00107 | 0.039 |
+| 1 | 0.00011 | -0.00073 | 0.00062 | 0.00096 | 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.
diff --git a/gap_reports/gap_565fb7af-6a9b-4e05-af09-ce3515b41668.md b/gap_reports/gap_565fb7af-6a9b-4e05-af09-ce3515b41668.md
new file mode 100644
index 0000000000000000000000000000000000000000..c41cc3f0b22f6bd3328a8fc6c2708c6861053fd9
--- /dev/null
+++ b/gap_reports/gap_565fb7af-6a9b-4e05-af09-ce3515b41668.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/565fb7af-6a9b-4e05-af09-ce3515b41668.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/565fb7af-6a9b-4e05-af09-ce3515b41668.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2963 |
+| Sim rows | 263 |
+| Real episode_id | `565fb7af-6a9b-4e05-af09-ce3515b41668` |
+| Sim episode_id | `565fb7af-6a9b-4e05-af09-ce3515b41668` |
+
+## 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 | 3.436 | 14.48 | 25.08 | 1988.78 | 0.6152 |
+| 1 | descend | 382 | 33 | 0.799 | 5.23 | 9.06 | 3625.36 | 1.0397 |
+| 2 | settle | 387 | 34 | 0.025 | 0.82 | 1.43 | 3625.27 | 1.0989 |
+| 3 | close | 138 | 13 | 1.153 | 7.21 | 12.49 | 3077.78 | 1.1840 |
+| 4 | lift | 464 | 41 | 3.594 | 16.40 | 28.40 | 2366.07 | 1.2651 |
+| 5 | move_xy | 395 | 34 | 8.061 | 39.26 | 68.01 | 2825.86 | 1.0627 |
+| 6 | lower | 377 | 33 | 0.089 | 1.50 | 2.59 | 3392.16 | 1.3866 |
+| 7 | open | 141 | 13 | 1.204 | 7.39 | 12.79 | 3625.52 | 0.8323 |
+| 8 | retract | 463 | 41 | 3.546 | 16.25 | 28.15 | 2458.96 | 0.8973 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.427 |
+| TCP position RMSE (mm, per-axis) | 16.40 |
+| EE position RMS L2 (mm) | 30.65 |
+| TCP rotvec (mrad) | 3054.96 |
+| W1 effort mean (A) | 1.0612 |
+| W1 effort per joint (A) | j0=0.6859, j1=1.3669, j2=1.8954, j3=1.0722, j4=0.7446, j5=0.6023 |
+
+## 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 | 0.00084 | -0.00017 | -0.00061 | 0.00105 | 0.033 |
+| 1 | 0.00088 | -0.00059 | -0.00091 | 0.00139 | 0.036 |
+| 2 | 0.00087 | -0.00059 | -0.00096 | 0.00142 | 0.045 |
+| 3 | 0.00195 | -0.00010 | -0.00139 | 0.00239 | 0.185 |
+| 4 | 0.00026 | -0.00009 | -0.00013 | 0.00030 | 0.096 |
+| 5 | 0.00163 | -0.00074 | -0.00154 | 0.00236 | 0.106 |
+| 6 | 0.00185 | -0.00085 | -0.00143 | 0.00249 | 0.127 |
+| 7 | 0.00064 | -0.00025 | -0.00076 | 0.00103 | 0.054 |
+| 8 | -0.00006 | -0.00009 | -0.00011 | 0.00015 | 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.
diff --git a/gap_reports/gap_567d629c-d850-4b66-9b3e-acc33910e186.md b/gap_reports/gap_567d629c-d850-4b66-9b3e-acc33910e186.md
new file mode 100644
index 0000000000000000000000000000000000000000..f4d69b2a16f48a8e913f0fe98e65a0dabf7f3f60
--- /dev/null
+++ b/gap_reports/gap_567d629c-d850-4b66-9b3e-acc33910e186.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/567d629c-d850-4b66-9b3e-acc33910e186.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/567d629c-d850-4b66-9b3e-acc33910e186.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2883 |
+| Sim rows | 255 |
+| Real episode_id | `567d629c-d850-4b66-9b3e-acc33910e186` |
+| Sim episode_id | `567d629c-d850-4b66-9b3e-acc33910e186` |
+
+## 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 | 275 | 24 | 3.729 | 13.43 | 23.26 | 1943.46 | 0.5693 |
+| 1 | descend | 370 | 32 | 0.899 | 5.47 | 9.47 | 3626.01 | 0.6835 |
+| 2 | settle | 380 | 33 | 0.022 | 0.67 | 1.17 | 3625.96 | 0.6334 |
+| 3 | close | 115 | 11 | 0.669 | 4.16 | 7.21 | 5.93 | 0.8851 |
+| 4 | lift | 392 | 34 | 4.079 | 17.19 | 29.77 | 1856.64 | 1.0667 |
+| 5 | move_xy | 458 | 40 | 7.740 | 33.63 | 58.24 | 1941.48 | 0.8595 |
+| 6 | lower | 387 | 34 | 0.086 | 1.28 | 2.21 | 1506.77 | 0.9309 |
+| 7 | open | 115 | 11 | 0.795 | 4.57 | 7.91 | 3626.21 | 0.5848 |
+| 8 | retract | 391 | 34 | 3.694 | 15.30 | 26.51 | 2326.60 | 0.6977 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.432 |
+| TCP position RMSE (mm, per-axis) | 14.57 |
+| EE position RMS L2 (mm) | 28.69 |
+| TCP rotvec (mrad) | 2541.26 |
+| W1 effort mean (A) | 0.7614 |
+| W1 effort per joint (A) | j0=0.2326, j1=1.1442, j2=1.4886, j3=0.7346, j4=0.3304, j5=0.6378 |
+
+## 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 | -0.00027 | -0.00058 | 0.00094 | 0.036 |
+| 1 | 0.00068 | -0.00054 | -0.00076 | 0.00115 | 0.035 |
+| 2 | 0.00066 | -0.00057 | -0.00075 | 0.00115 | 0.040 |
+| 3 | 0.00121 | -0.00033 | -0.00063 | 0.00141 | 0.100 |
+| 4 | 0.00015 | -0.00020 | -0.00020 | 0.00032 | 0.095 |
+| 5 | 0.00157 | -0.00072 | -0.00085 | 0.00192 | 0.148 |
+| 6 | 0.00181 | -0.00063 | -0.00150 | 0.00243 | 0.158 |
+| 7 | 0.00044 | -0.00027 | -0.00059 | 0.00078 | 0.039 |
+| 8 | -0.00008 | -0.00007 | -0.00011 | 0.00016 | 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.
diff --git a/gap_reports/gap_567fbdc1-3d4d-4774-86fb-77e118461fe7.md b/gap_reports/gap_567fbdc1-3d4d-4774-86fb-77e118461fe7.md
new file mode 100644
index 0000000000000000000000000000000000000000..0034e4a4645722e03fac237cfd7553d022809ffb
--- /dev/null
+++ b/gap_reports/gap_567fbdc1-3d4d-4774-86fb-77e118461fe7.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/567fbdc1-3d4d-4774-86fb-77e118461fe7.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/567fbdc1-3d4d-4774-86fb-77e118461fe7.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2663 |
+| Sim rows | 237 |
+| Real episode_id | `567fbdc1-3d4d-4774-86fb-77e118461fe7` |
+| Sim episode_id | `567fbdc1-3d4d-4774-86fb-77e118461fe7` |
+
+## 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 | 258 | 23 | 2.650 | 14.64 | 25.36 | 1967.35 | 0.6053 |
+| 1 | descend | 346 | 30 | 0.991 | 6.80 | 11.78 | 3624.66 | 0.7610 |
+| 2 | settle | 367 | 32 | 0.026 | 0.96 | 1.67 | 3624.54 | 0.7463 |
+| 3 | close | 118 | 11 | 0.673 | 4.82 | 8.35 | 3624.91 | 1.0241 |
+| 4 | lift | 319 | 28 | 2.391 | 14.13 | 24.48 | 2331.90 | 1.1294 |
+| 5 | move_xy | 445 | 39 | 4.633 | 28.48 | 49.32 | 2686.40 | 0.9588 |
+| 6 | lower | 372 | 33 | 0.095 | 1.70 | 2.94 | 3624.87 | 1.1262 |
+| 7 | open | 118 | 11 | 0.700 | 4.82 | 8.34 | 3624.72 | 0.7559 |
+| 8 | retract | 320 | 28 | 2.381 | 14.07 | 24.36 | 2328.07 | 0.7442 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.155 |
+| TCP position RMSE (mm, per-axis) | 12.99 |
+| EE position RMS L2 (mm) | 25.25 |
+| TCP rotvec (mrad) | 3120.52 |
+| W1 effort mean (A) | 0.8601 |
+| W1 effort per joint (A) | j0=0.2156, j1=1.5448, j2=1.6989, j3=0.7777, j4=0.3143, j5=0.6095 |
+
+## 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 | -0.00053 | -0.00080 | 0.00124 | 0.030 |
+| 1 | 0.00076 | -0.00087 | -0.00124 | 0.00169 | 0.055 |
+| 2 | 0.00078 | -0.00088 | -0.00119 | 0.00167 | 0.055 |
+| 3 | 0.00143 | -0.00077 | -0.00174 | 0.00238 | 0.125 |
+| 4 | -0.00001 | -0.00042 | -0.00036 | 0.00055 | 0.086 |
+| 5 | 0.00160 | -0.00126 | -0.00206 | 0.00289 | 0.136 |
+| 6 | 0.00174 | -0.00158 | -0.00373 | 0.00441 | 0.301 |
+| 7 | 0.00056 | -0.00056 | -0.00102 | 0.00129 | 0.046 |
+| 8 | -0.00014 | -0.00022 | -0.00021 | 0.00033 | 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.
diff --git a/gap_reports/gap_569c9a1d-616a-41b4-b2f9-bad72d9d34d4.md b/gap_reports/gap_569c9a1d-616a-41b4-b2f9-bad72d9d34d4.md
new file mode 100644
index 0000000000000000000000000000000000000000..140d516c586940a95d9564970d7add13f36c7220
--- /dev/null
+++ b/gap_reports/gap_569c9a1d-616a-41b4-b2f9-bad72d9d34d4.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/569c9a1d-616a-41b4-b2f9-bad72d9d34d4.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/569c9a1d-616a-41b4-b2f9-bad72d9d34d4.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1594 |
+| Sim rows | 162 |
+| Real episode_id | `569c9a1d-616a-41b4-b2f9-bad72d9d34d4` |
+| Sim episode_id | `569c9a1d-616a-41b4-b2f9-bad72d9d34d4` |
+
+## 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 | 163 | 17 | 3.548 | 11.12 | 19.26 | 1370.94 | 0.7888 |
+| 1 | descend | 58 | 6 | 0.282 | 2.88 | 4.98 | 5.48 | 0.7264 |
+| 2 | settle | 23 | 3 | 0.025 | 2.61 | 4.52 | 5.89 | 0.7371 |
+| 3 | close | 380 | 38 | 0.152 | 1.88 | 3.26 | 8.23 | 1.2806 |
+| 4 | lift | 58 | 6 | 0.342 | 2.50 | 4.33 | 7.96 | 1.4436 |
+| 5 | move_xy | 160 | 16 | 5.556 | 18.19 | 31.51 | 102.66 | 1.1360 |
+| 6 | lower | 60 | 7 | 1.101 | 2.45 | 4.24 | 45.14 | 1.0506 |
+| 7 | open | 364 | 36 | 1.003 | 2.21 | 3.83 | 43.18 | 0.6064 |
+| 8 | retract | 57 | 6 | 1.034 | 2.45 | 4.25 | 42.81 | 0.6378 |
+| 9 | return | 271 | 27 | 3.834 | 18.92 | 32.77 | 898.50 | 0.7657 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.483 |
+| TCP position RMSE (mm, per-axis) | 9.24 |
+| EE position RMS L2 (mm) | 18.15 |
+| TCP rotvec (mrad) | 519.93 |
+| W1 effort mean (A) | 0.9069 |
+| W1 effort per joint (A) | j0=0.2194, j1=1.5849, j2=1.6710, j3=0.9253, j4=0.4896, j5=0.5512 |
+
+## 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 | 0.00190 | -0.00369 | -0.00066 | 0.00420 | 0.048 |
+| 1 | 0.00220 | -0.00385 | -0.00087 | 0.00452 | 0.050 |
+| 2 | 0.00216 | -0.00384 | -0.00096 | 0.00451 | 0.052 |
+| 3 | 0.00050 | -0.00320 | -0.00089 | 0.00336 | 0.193 |
+| 4 | 0.00026 | -0.00316 | -0.00148 | 0.00350 | 0.234 |
+| 5 | 0.00198 | -0.00214 | -0.00071 | 0.00300 | 2.450 |
+| 6 | 0.00237 | -0.00128 | -0.00149 | 0.00308 | 2.458 |
+| 7 | 0.00204 | -0.00322 | 0.00008 | 0.00381 | 2.456 |
+| 8 | 0.00181 | -0.00347 | 0.00001 | 0.00392 | 2.466 |
+| 9 | 0.00001 | -0.00010 | -0.00020 | 0.00022 | 0.031 |
+
+## 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.
diff --git a/gap_reports/gap_569f688c-0087-476d-9854-5c8d641b2c02.md b/gap_reports/gap_569f688c-0087-476d-9854-5c8d641b2c02.md
new file mode 100644
index 0000000000000000000000000000000000000000..5874303bb05e96a1f4cb447d21b35f3a3f943dfe
--- /dev/null
+++ b/gap_reports/gap_569f688c-0087-476d-9854-5c8d641b2c02.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/569f688c-0087-476d-9854-5c8d641b2c02.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/569f688c-0087-476d-9854-5c8d641b2c02.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 475 |
+| Sim rows | 63 |
+| Real episode_id | `569f688c-0087-476d-9854-5c8d641b2c02` |
+| Sim episode_id | `569f688c-0087-476d-9854-5c8d641b2c02` |
+
+## 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 | 266 | 26 | 2.687 | 12.56 | 21.76 | 16.02 | 0.8151 |
+| 1 | descend | 209 | 21 | 0.023 | 2.59 | 4.49 | 2.13 | 0.7845 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.900 |
+| TCP position RMSE (mm, per-axis) | 9.07 |
+| EE position RMS L2 (mm) | 16.55 |
+| TCP rotvec (mrad) | 11.43 |
+| W1 effort mean (A) | 0.8016 |
+| W1 effort per joint (A) | j0=0.1959, j1=1.6929, j2=1.6612, j3=0.8430, j4=0.2497, j5=0.1668 |
+
+## 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 | 0.00242 | -0.00352 | 0.00051 | 0.00430 | 0.042 |
+| 1 | 0.00272 | -0.00357 | 0.00050 | 0.00451 | 0.046 |
+
+## 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.
diff --git a/gap_reports/gap_56aa5c8d-a72f-4874-8214-d5b0857885ed.md b/gap_reports/gap_56aa5c8d-a72f-4874-8214-d5b0857885ed.md
new file mode 100644
index 0000000000000000000000000000000000000000..dfcfdbee3528ce06cb8ba408f0e23e5a00613836
--- /dev/null
+++ b/gap_reports/gap_56aa5c8d-a72f-4874-8214-d5b0857885ed.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/56aa5c8d-a72f-4874-8214-d5b0857885ed.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/56aa5c8d-a72f-4874-8214-d5b0857885ed.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2993 |
+| Sim rows | 267 |
+| Real episode_id | `56aa5c8d-a72f-4874-8214-d5b0857885ed` |
+| Sim episode_id | `56aa5c8d-a72f-4874-8214-d5b0857885ed` |
+
+## 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 | 183 | 17 | 2.823 | 10.48 | 18.15 | 1895.37 | 0.5844 |
+| 1 | descend | 671 | 58 | 0.469 | 2.89 | 5.00 | 3626.08 | 0.6917 |
+| 2 | settle | 367 | 32 | 0.022 | 0.60 | 1.04 | 3625.95 | 0.6990 |
+| 3 | close | 186 | 17 | 0.964 | 5.56 | 9.63 | 1183.11 | 0.9332 |
+| 4 | lift | 339 | 30 | 3.426 | 13.76 | 23.83 | 1952.67 | 1.1098 |
+| 5 | move_xy | 335 | 30 | 6.452 | 28.97 | 50.17 | 2016.58 | 0.8813 |
+| 6 | lower | 389 | 34 | 0.083 | 1.14 | 1.97 | 1586.14 | 0.9797 |
+| 7 | open | 185 | 17 | 0.995 | 5.69 | 9.86 | 3626.20 | 0.6097 |
+| 8 | retract | 338 | 30 | 3.346 | 13.57 | 23.50 | 2366.68 | 0.7051 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.881 |
+| TCP position RMSE (mm, per-axis) | 12.45 |
+| EE position RMS L2 (mm) | 21.13 |
+| TCP rotvec (mrad) | 2591.31 |
+| W1 effort mean (A) | 0.7687 |
+| W1 effort per joint (A) | j0=0.2584, j1=1.1962, j2=1.5733, j3=0.6712, j4=0.3585, j5=0.5543 |
+
+## 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 | -0.00028 | -0.00040 | 0.00062 | 0.033 |
+| 1 | 0.00041 | -0.00055 | -0.00079 | 0.00105 | 0.038 |
+| 2 | 0.00041 | -0.00056 | -0.00075 | 0.00102 | 0.035 |
+| 3 | 0.00091 | -0.00028 | -0.00107 | 0.00144 | 0.087 |
+| 4 | 0.00037 | 0.00008 | -0.00021 | 0.00043 | 0.081 |
+| 5 | 0.00097 | -0.00083 | -0.00172 | 0.00214 | 0.141 |
+| 6 | 0.00119 | -0.00077 | -0.00153 | 0.00208 | 0.113 |
+| 7 | 0.00025 | -0.00034 | -0.00053 | 0.00068 | 0.035 |
+| 8 | -0.00008 | -0.00012 | -0.00017 | 0.00022 | 0.031 |
+
+## 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.
diff --git a/gap_reports/gap_56e38c14-7b6e-469f-a1b7-7961456396ac.md b/gap_reports/gap_56e38c14-7b6e-469f-a1b7-7961456396ac.md
new file mode 100644
index 0000000000000000000000000000000000000000..dc94cdadaca85a0a81ccb1f9f7de783b6581bafe
--- /dev/null
+++ b/gap_reports/gap_56e38c14-7b6e-469f-a1b7-7961456396ac.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/56e38c14-7b6e-469f-a1b7-7961456396ac.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/56e38c14-7b6e-469f-a1b7-7961456396ac.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1425 |
+| Sim rows | 146 |
+| Real episode_id | `56e38c14-7b6e-469f-a1b7-7961456396ac` |
+| Sim episode_id | `56e38c14-7b6e-469f-a1b7-7961456396ac` |
+
+## 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 | 19 | 4.186 | 22.31 | 38.64 | 1851.24 | 0.7863 |
+| 1 | descend | 75 | 8 | 0.469 | 3.49 | 6.05 | 5.24 | 0.6500 |
+| 2 | settle | 30 | 4 | 0.023 | 2.97 | 5.15 | 5.61 | 0.6405 |
+| 3 | close | 321 | 32 | 0.083 | 2.91 | 5.03 | 2126.20 | 1.1433 |
+| 4 | lift | 94 | 10 | 0.637 | 4.10 | 7.11 | 2115.57 | 1.3168 |
+| 5 | move_xy | 212 | 21 | 9.463 | 41.44 | 71.77 | 949.24 | 1.0739 |
+| 6 | lower | 67 | 7 | 0.382 | 2.69 | 4.65 | 5.02 | 0.9541 |
+| 7 | open | 99 | 10 | 0.020 | 2.22 | 3.85 | 4.73 | 0.6218 |
+| 8 | retract | 69 | 8 | 0.578 | 3.31 | 5.72 | 4.18 | 0.6614 |
+| 9 | return | 270 | 27 | 3.626 | 18.98 | 32.87 | 906.46 | 0.7837 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.483 |
+| TCP position RMSE (mm, per-axis) | 16.26 |
+| EE position RMS L2 (mm) | 34.40 |
+| TCP rotvec (mrad) | 1189.38 |
+| W1 effort mean (A) | 0.9056 |
+| W1 effort per joint (A) | j0=0.2702, j1=1.5377, j2=1.6091, j3=0.8879, j4=0.4275, j5=0.7015 |
+
+## 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 | -0.00437 | -0.00122 | 0.00485 | 0.042 |
+| 1 | 0.00192 | -0.00461 | -0.00132 | 0.00516 | 0.050 |
+| 2 | 0.00189 | -0.00458 | -0.00142 | 0.00515 | 0.049 |
+| 3 | 0.00205 | -0.00387 | -0.00226 | 0.00493 | 0.139 |
+| 4 | 0.00179 | -0.00371 | -0.00257 | 0.00486 | 0.144 |
+| 5 | 0.00165 | -0.00307 | -0.00074 | 0.00357 | 0.154 |
+| 6 | 0.00221 | -0.00268 | -0.00068 | 0.00354 | 0.115 |
+| 7 | 0.00213 | -0.00321 | -0.00000 | 0.00385 | 0.038 |
+| 8 | 0.00188 | -0.00344 | -0.00007 | 0.00392 | 0.049 |
+| 9 | -0.00003 | -0.00010 | -0.00023 | 0.00026 | 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.
diff --git a/gap_reports/gap_56e9ac7c-9c5d-46e4-99bc-2d889f5c08e5.md b/gap_reports/gap_56e9ac7c-9c5d-46e4-99bc-2d889f5c08e5.md
new file mode 100644
index 0000000000000000000000000000000000000000..5324e55edce80ccfb7f656bfcf630b45da6deae1
--- /dev/null
+++ b/gap_reports/gap_56e9ac7c-9c5d-46e4-99bc-2d889f5c08e5.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/56e9ac7c-9c5d-46e4-99bc-2d889f5c08e5.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/56e9ac7c-9c5d-46e4-99bc-2d889f5c08e5.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2772 |
+| Sim rows | 246 |
+| Real episode_id | `56e9ac7c-9c5d-46e4-99bc-2d889f5c08e5` |
+| Sim episode_id | `56e9ac7c-9c5d-46e4-99bc-2d889f5c08e5` |
+
+## 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 | 191 | 17 | 2.873 | 10.49 | 18.17 | 2015.27 | 0.5744 |
+| 1 | descend | 394 | 35 | 0.886 | 5.17 | 8.96 | 3626.05 | 0.7333 |
+| 2 | settle | 368 | 32 | 0.024 | 0.61 | 1.05 | 3626.00 | 0.6835 |
+| 3 | close | 168 | 15 | 1.007 | 5.73 | 9.93 | 1133.45 | 0.9021 |
+| 4 | lift | 369 | 32 | 3.193 | 12.95 | 22.43 | 1727.54 | 1.0652 |
+| 5 | move_xy | 364 | 32 | 6.295 | 28.49 | 49.34 | 2178.32 | 0.9171 |
+| 6 | lower | 385 | 34 | 0.085 | 1.17 | 2.03 | 1819.75 | 0.9833 |
+| 7 | open | 168 | 15 | 0.938 | 5.39 | 9.33 | 3626.20 | 0.5995 |
+| 8 | retract | 365 | 32 | 3.250 | 13.26 | 22.96 | 2316.67 | 0.6984 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.815 |
+| TCP position RMSE (mm, per-axis) | 12.27 |
+| EE position RMS L2 (mm) | 22.41 |
+| TCP rotvec (mrad) | 2607.67 |
+| W1 effort mean (A) | 0.7907 |
+| W1 effort per joint (A) | j0=0.2576, j1=1.1879, j2=1.5740, j3=0.7227, j4=0.3782, j5=0.6238 |
+
+## 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 | -0.00027 | -0.00042 | 0.00062 | 0.034 |
+| 1 | 0.00042 | -0.00054 | -0.00079 | 0.00105 | 0.037 |
+| 2 | 0.00041 | -0.00055 | -0.00078 | 0.00104 | 0.037 |
+| 3 | 0.00116 | -0.00023 | -0.00072 | 0.00138 | 0.129 |
+| 4 | 0.00021 | -0.00028 | -0.00038 | 0.00051 | 0.101 |
+| 5 | 0.00157 | -0.00073 | -0.00121 | 0.00211 | 0.168 |
+| 6 | 0.00101 | -0.00077 | -0.00088 | 0.00154 | 0.105 |
+| 7 | 0.00024 | -0.00032 | -0.00052 | 0.00065 | 0.030 |
+| 8 | -0.00007 | -0.00011 | -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.
diff --git a/gap_reports/gap_56fde83a-657b-4946-99d7-b3a8b156474d.md b/gap_reports/gap_56fde83a-657b-4946-99d7-b3a8b156474d.md
new file mode 100644
index 0000000000000000000000000000000000000000..056506182495c8edcfce177059693f4a7df4130a
--- /dev/null
+++ b/gap_reports/gap_56fde83a-657b-4946-99d7-b3a8b156474d.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/56fde83a-657b-4946-99d7-b3a8b156474d.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/56fde83a-657b-4946-99d7-b3a8b156474d.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2641 |
+| Sim rows | 236 |
+| Real episode_id | `56fde83a-657b-4946-99d7-b3a8b156474d` |
+| Sim episode_id | `56fde83a-657b-4946-99d7-b3a8b156474d` |
+
+## 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 | 3.019 | 13.72 | 23.76 | 1996.13 | 0.5769 |
+| 1 | descend | 375 | 33 | 0.656 | 4.31 | 7.47 | 3625.37 | 0.6793 |
+| 2 | settle | 372 | 33 | 0.023 | 0.76 | 1.31 | 3625.25 | 0.7224 |
+| 3 | close | 119 | 11 | 0.830 | 5.38 | 9.33 | 3377.78 | 0.9564 |
+| 4 | lift | 330 | 29 | 3.228 | 15.07 | 26.11 | 2310.22 | 1.1354 |
+| 5 | move_xy | 384 | 34 | 6.212 | 31.82 | 55.12 | 2728.56 | 0.8891 |
+| 6 | lower | 393 | 34 | 0.087 | 1.39 | 2.41 | 3625.87 | 0.9864 |
+| 7 | open | 118 | 11 | 0.795 | 5.05 | 8.75 | 3625.48 | 0.6605 |
+| 8 | retract | 329 | 29 | 3.117 | 14.54 | 25.18 | 2313.72 | 0.7252 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.781 |
+| TCP position RMSE (mm, per-axis) | 13.80 |
+| EE position RMS L2 (mm) | 25.87 |
+| TCP rotvec (mrad) | 3093.11 |
+| W1 effort mean (A) | 0.8051 |
+| W1 effort per joint (A) | j0=0.2265, j1=1.3383, j2=1.6316, j3=0.7457, j4=0.2806, j5=0.6077 |
+
+## 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 | -0.00029 | -0.00069 | 0.00099 | 0.040 |
+| 1 | 0.00062 | -0.00060 | -0.00100 | 0.00133 | 0.045 |
+| 2 | 0.00064 | -0.00062 | -0.00097 | 0.00131 | 0.040 |
+| 3 | 0.00107 | -0.00045 | -0.00085 | 0.00144 | 0.097 |
+| 4 | 0.00019 | -0.00027 | -0.00023 | 0.00040 | 0.094 |
+| 5 | 0.00166 | -0.00076 | -0.00114 | 0.00215 | 0.150 |
+| 6 | 0.00184 | -0.00088 | -0.00235 | 0.00311 | 0.171 |
+| 7 | 0.00040 | -0.00033 | -0.00075 | 0.00091 | 0.042 |
+| 8 | -0.00010 | -0.00015 | -0.00015 | 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.
diff --git a/gap_reports/gap_5705dbee-f3cc-44d9-a2ac-bd940f55d4e2.md b/gap_reports/gap_5705dbee-f3cc-44d9-a2ac-bd940f55d4e2.md
new file mode 100644
index 0000000000000000000000000000000000000000..c5352f963b555726c1bb7940e269fef0aac2f79e
--- /dev/null
+++ b/gap_reports/gap_5705dbee-f3cc-44d9-a2ac-bd940f55d4e2.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/5705dbee-f3cc-44d9-a2ac-bd940f55d4e2.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/5705dbee-f3cc-44d9-a2ac-bd940f55d4e2.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2748 |
+| Sim rows | 243 |
+| Real episode_id | `5705dbee-f3cc-44d9-a2ac-bd940f55d4e2` |
+| Sim episode_id | `5705dbee-f3cc-44d9-a2ac-bd940f55d4e2` |
+
+## 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 | 207 | 18 | 3.306 | 14.13 | 24.48 | 2000.09 | 0.6137 |
+| 1 | descend | 396 | 34 | 1.578 | 10.28 | 17.80 | 3625.38 | 0.7001 |
+| 2 | settle | 377 | 33 | 0.023 | 0.82 | 1.42 | 3625.25 | 0.6999 |
+| 3 | close | 150 | 14 | 1.030 | 6.45 | 11.17 | 3122.67 | 0.9860 |
+| 4 | lift | 344 | 30 | 3.830 | 17.52 | 30.35 | 2355.77 | 1.1391 |
+| 5 | move_xy | 384 | 33 | 8.303 | 41.08 | 71.16 | 2817.93 | 0.9171 |
+| 6 | lower | 397 | 35 | 0.081 | 1.40 | 2.42 | 3554.14 | 0.9711 |
+| 7 | open | 150 | 14 | 1.115 | 6.99 | 12.12 | 3625.52 | 0.6663 |
+| 8 | retract | 343 | 30 | 3.948 | 18.08 | 31.32 | 2483.77 | 0.7492 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.574 |
+| TCP position RMSE (mm, per-axis) | 17.38 |
+| EE position RMS L2 (mm) | 32.43 |
+| TCP rotvec (mrad) | 3081.72 |
+| W1 effort mean (A) | 0.8142 |
+| W1 effort per joint (A) | j0=0.2587, j1=1.4283, j2=1.5503, j3=0.6628, j4=0.3836, j5=0.6013 |
+
+## 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 | 0.00078 | -0.00015 | -0.00056 | 0.00098 | 0.034 |
+| 1 | 0.00092 | -0.00058 | -0.00094 | 0.00144 | 0.039 |
+| 2 | 0.00089 | -0.00058 | -0.00095 | 0.00143 | 0.042 |
+| 3 | 0.00137 | -0.00032 | -0.00070 | 0.00157 | 0.086 |
+| 4 | 0.00009 | -0.00026 | -0.00017 | 0.00033 | 0.096 |
+| 5 | 0.00205 | -0.00077 | -0.00055 | 0.00225 | 0.161 |
+| 6 | 0.00160 | -0.00074 | -0.00181 | 0.00253 | 0.132 |
+| 7 | 0.00062 | -0.00026 | -0.00072 | 0.00099 | 0.055 |
+| 8 | -0.00012 | -0.00017 | -0.00020 | 0.00029 | 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.
diff --git a/gap_reports/gap_570ccc40-d348-49cf-b5d0-ed56723aa0c7.md b/gap_reports/gap_570ccc40-d348-49cf-b5d0-ed56723aa0c7.md
new file mode 100644
index 0000000000000000000000000000000000000000..81a3fcb8682061052c8d547b234882decf63a31a
--- /dev/null
+++ b/gap_reports/gap_570ccc40-d348-49cf-b5d0-ed56723aa0c7.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/570ccc40-d348-49cf-b5d0-ed56723aa0c7.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/570ccc40-d348-49cf-b5d0-ed56723aa0c7.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1628 |
+| Sim rows | 164 |
+| Real episode_id | `570ccc40-d348-49cf-b5d0-ed56723aa0c7` |
+| Sim episode_id | `570ccc40-d348-49cf-b5d0-ed56723aa0c7` |
+
+## 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 | 15.422 | 9.72 | 16.84 | 659.45 | 0.6490 |
+| 1 | descend | 89 | 10 | 28.694 | 4.64 | 8.04 | 1096.08 | 0.7846 |
+| 2 | settle | 32 | 4 | 28.668 | 2.44 | 4.23 | 1096.61 | 0.8310 |
+| 3 | close | 392 | 38 | 28.667 | 2.21 | 3.83 | 1097.25 | 1.2287 |
+| 4 | lift | 89 | 9 | 28.687 | 4.39 | 7.60 | 1096.67 | 1.3035 |
+| 5 | move_xy | 180 | 18 | 15.741 | 20.22 | 35.02 | 524.00 | 1.3023 |
+| 6 | lower | 89 | 9 | 0.822 | 4.64 | 8.04 | 10.38 | 1.2688 |
+| 7 | open | 353 | 35 | 0.030 | 3.09 | 5.35 | 6.70 | 0.6798 |
+| 8 | retract | 91 | 10 | 0.836 | 4.81 | 8.33 | 6.15 | 0.8049 |
+| 9 | return | 161 | 16 | 2.171 | 14.08 | 24.39 | 1096.52 | 0.6647 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 19.447 |
+| TCP position RMSE (mm, per-axis) | 8.99 |
+| EE position RMS L2 (mm) | 15.65 |
+| TCP rotvec (mrad) | 819.91 |
+| W1 effort mean (A) | 0.9365 |
+| W1 effort per joint (A) | j0=0.1333, j1=1.6840, j2=1.4834, j3=0.7747, j4=0.3375, j5=1.2058 |
+
+## 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 | 0.00119 | -0.00395 | 0.00004 | 0.00412 | 70.282 |
+| 1 | 0.00185 | -0.00381 | 0.00020 | 0.00424 | 70.226 |
+| 2 | 0.00183 | -0.00380 | 0.00007 | 0.00422 | 70.224 |
+| 3 | 0.00204 | -0.00310 | -0.00129 | 0.00393 | 70.221 |
+| 4 | 0.00155 | -0.00369 | -0.00158 | 0.00430 | 70.251 |
+| 5 | 0.00217 | -0.00410 | -0.00384 | 0.00602 | 0.313 |
+| 6 | 0.00288 | -0.00369 | -0.00311 | 0.00562 | 0.202 |
+| 7 | 0.00279 | -0.00441 | -0.00121 | 0.00535 | 0.069 |
+| 8 | 0.00226 | -0.00448 | -0.00147 | 0.00524 | 0.080 |
+| 9 | -0.00018 | -0.00021 | -0.00034 | 0.00044 | 0.061 |
+
+## 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.
diff --git a/gap_reports/gap_570e48ad-9a4f-48a2-b518-6b49ba9c326b.md b/gap_reports/gap_570e48ad-9a4f-48a2-b518-6b49ba9c326b.md
new file mode 100644
index 0000000000000000000000000000000000000000..85e280e710172b9baa99a79d7433659a722109be
--- /dev/null
+++ b/gap_reports/gap_570e48ad-9a4f-48a2-b518-6b49ba9c326b.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/570e48ad-9a4f-48a2-b518-6b49ba9c326b.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/570e48ad-9a4f-48a2-b518-6b49ba9c326b.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 563 |
+| Sim rows | 72 |
+| Real episode_id | `570e48ad-9a4f-48a2-b518-6b49ba9c326b` |
+| Sim episode_id | `570e48ad-9a4f-48a2-b518-6b49ba9c326b` |
+
+## 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 | 354 | 35 | 3.668 | 16.81 | 29.12 | 30.99 | 0.8122 |
+| 1 | descend | 209 | 21 | 0.025 | 10.74 | 18.60 | 2.15 | 0.8480 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.594 |
+| TCP position RMSE (mm, per-axis) | 14.11 |
+| EE position RMS L2 (mm) | 25.72 |
+| TCP rotvec (mrad) | 21.96 |
+| W1 effort mean (A) | 0.8255 |
+| W1 effort per joint (A) | j0=0.1732, j1=1.8614, j2=1.7838, j3=0.6986, j4=0.2963, j5=0.1396 |
+
+## 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 | 0.01457 | -0.01125 | -0.00228 | 0.01855 | 0.037 |
+| 1 | 0.01467 | -0.01126 | -0.00240 | 0.01865 | 0.049 |
+
+## 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.
diff --git a/gap_reports/gap_572c053c-be05-4fe0-ba1b-765d59dce770.md b/gap_reports/gap_572c053c-be05-4fe0-ba1b-765d59dce770.md
new file mode 100644
index 0000000000000000000000000000000000000000..55c2f1efb63d3c8851492874749ae5acab266c9b
--- /dev/null
+++ b/gap_reports/gap_572c053c-be05-4fe0-ba1b-765d59dce770.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/572c053c-be05-4fe0-ba1b-765d59dce770.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/572c053c-be05-4fe0-ba1b-765d59dce770.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1831 |
+| Sim rows | 186 |
+| Real episode_id | `572c053c-be05-4fe0-ba1b-765d59dce770` |
+| Sim episode_id | `572c053c-be05-4fe0-ba1b-765d59dce770` |
+
+## 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 | 226 | 22 | 4.934 | 15.39 | 26.66 | 1450.81 | 0.7567 |
+| 1 | descend | 93 | 10 | 0.473 | 3.09 | 5.36 | 4.40 | 0.5950 |
+| 2 | settle | 20 | 3 | 0.021 | 2.60 | 4.51 | 4.89 | 0.5861 |
+| 3 | close | 366 | 36 | 0.116 | 1.85 | 3.21 | 4.49 | 0.9374 |
+| 4 | lift | 92 | 10 | 0.630 | 3.12 | 5.40 | 4.23 | 1.0714 |
+| 5 | move_xy | 225 | 23 | 3.552 | 20.25 | 35.07 | 7.02 | 0.9889 |
+| 6 | lower | 94 | 10 | 0.520 | 2.87 | 4.98 | 7.21 | 1.0679 |
+| 7 | open | 356 | 35 | 0.025 | 2.31 | 4.00 | 5.12 | 0.6336 |
+| 8 | retract | 89 | 10 | 0.468 | 3.11 | 5.39 | 4.71 | 0.7291 |
+| 9 | return | 270 | 27 | 3.481 | 12.92 | 22.38 | 1161.07 | 0.7547 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.240 |
+| TCP position RMSE (mm, per-axis) | 9.31 |
+| EE position RMS L2 (mm) | 17.99 |
+| TCP rotvec (mrad) | 587.64 |
+| W1 effort mean (A) | 0.7934 |
+| W1 effort per joint (A) | j0=0.2052, j1=1.4219, j2=1.5252, j3=0.7699, j4=0.4120, j5=0.4259 |
+
+## 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 | 0.00150 | -0.00374 | -0.00084 | 0.00411 | 0.031 |
+| 1 | 0.00184 | -0.00400 | -0.00089 | 0.00449 | 0.032 |
+| 2 | 0.00185 | -0.00400 | -0.00098 | 0.00452 | 0.038 |
+| 3 | 0.00091 | -0.00313 | -0.00060 | 0.00331 | 0.124 |
+| 4 | 0.00058 | -0.00281 | -0.00105 | 0.00305 | 0.185 |
+| 5 | -0.00040 | -0.00273 | -0.00077 | 0.00286 | 0.405 |
+| 6 | 0.00065 | -0.00246 | -0.00145 | 0.00293 | 0.241 |
+| 7 | 0.00217 | -0.00334 | -0.00042 | 0.00401 | 0.044 |
+| 8 | 0.00183 | -0.00339 | -0.00048 | 0.00388 | 0.050 |
+| 9 | -0.00010 | -0.00011 | -0.00030 | 0.00033 | 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.
diff --git a/gap_reports/gap_57458bc2-5c37-405c-8401-eb88e208c434.md b/gap_reports/gap_57458bc2-5c37-405c-8401-eb88e208c434.md
new file mode 100644
index 0000000000000000000000000000000000000000..47d98bb59dd59e208646d9d813d0ec75b11bef92
--- /dev/null
+++ b/gap_reports/gap_57458bc2-5c37-405c-8401-eb88e208c434.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/57458bc2-5c37-405c-8401-eb88e208c434.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/57458bc2-5c37-405c-8401-eb88e208c434.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2758 |
+| Sim rows | 276 |
+| Real episode_id | `57458bc2-5c37-405c-8401-eb88e208c434` |
+| Sim episode_id | `57458bc2-5c37-405c-8401-eb88e208c434` |
+
+## 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 | 209 | 21 | 2.602 | 14.02 | 24.29 | 1909.56 | 0.6100 |
+| 1 | descend | 553 | 54 | 0.597 | 4.17 | 7.22 | 3624.72 | 0.7636 |
+| 2 | settle | 346 | 34 | 0.028 | 0.98 | 1.69 | 3624.52 | 0.6805 |
+| 3 | close | 122 | 13 | 0.902 | 6.13 | 10.62 | 3625.17 | 1.0064 |
+| 4 | lift | 346 | 34 | 2.352 | 13.35 | 23.13 | 2402.85 | 1.1492 |
+| 5 | move_xy | 371 | 37 | 4.793 | 28.86 | 49.99 | 2822.92 | 0.9593 |
+| 6 | lower | 348 | 34 | 0.100 | 1.75 | 3.03 | 3625.13 | 1.0529 |
+| 7 | open | 121 | 13 | 1.006 | 6.93 | 12.00 | 3624.71 | 0.7455 |
+| 8 | retract | 342 | 34 | 2.532 | 14.51 | 25.12 | 2392.67 | 0.7447 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.208 |
+| TCP position RMSE (mm, per-axis) | 13.02 |
+| EE position RMS L2 (mm) | 23.44 |
+| TCP rotvec (mrad) | 3141.33 |
+| W1 effort mean (A) | 0.8391 |
+| W1 effort per joint (A) | j0=0.2649, j1=1.5421, j2=1.6853, j3=0.7141, j4=0.2801, j5=0.5482 |
+
+## 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 | -0.00040 | -0.00070 | 0.00111 | 0.032 |
+| 1 | 0.00076 | -0.00087 | -0.00122 | 0.00168 | 0.059 |
+| 2 | 0.00077 | -0.00084 | -0.00117 | 0.00164 | 0.049 |
+| 3 | 0.00118 | -0.00065 | -0.00125 | 0.00184 | 0.106 |
+| 4 | 0.00033 | -0.00012 | -0.00015 | 0.00038 | 0.105 |
+| 5 | 0.00231 | -0.00130 | -0.00200 | 0.00332 | 0.198 |
+| 6 | 0.00208 | -0.00111 | -0.00107 | 0.00259 | 0.166 |
+| 7 | 0.00057 | -0.00052 | -0.00100 | 0.00126 | 0.061 |
+| 8 | -0.00010 | -0.00015 | -0.00014 | 0.00023 | 0.026 |
+
+## 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.
diff --git a/gap_reports/gap_575013cf-a788-4ee4-b9f9-e7acceac0e97.md b/gap_reports/gap_575013cf-a788-4ee4-b9f9-e7acceac0e97.md
new file mode 100644
index 0000000000000000000000000000000000000000..a08777854cc4ea8ad7940e6c043b06cdbc13995c
--- /dev/null
+++ b/gap_reports/gap_575013cf-a788-4ee4-b9f9-e7acceac0e97.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/575013cf-a788-4ee4-b9f9-e7acceac0e97.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/575013cf-a788-4ee4-b9f9-e7acceac0e97.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 454 |
+| Sim rows | 61 |
+| Real episode_id | `575013cf-a788-4ee4-b9f9-e7acceac0e97` |
+| Sim episode_id | `575013cf-a788-4ee4-b9f9-e7acceac0e97` |
+
+## 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 | 245 | 24 | 1.727 | 6.76 | 11.71 | 5.70 | 0.7941 |
+| 1 | descend | 209 | 21 | 0.023 | 4.09 | 7.08 | 2.23 | 0.7493 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.221 |
+| TCP position RMSE (mm, per-axis) | 5.59 |
+| EE position RMS L2 (mm) | 9.85 |
+| TCP rotvec (mrad) | 4.33 |
+| W1 effort mean (A) | 0.7734 |
+| W1 effort per joint (A) | j0=0.1554, j1=1.7648, j2=1.6319, j3=0.8275, j4=0.1330, j5=0.1280 |
+
+## 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 | 0.00660 | -0.00152 | 0.00029 | 0.00678 | 0.052 |
+| 1 | 0.00692 | -0.00155 | 0.00029 | 0.00710 | 0.043 |
+
+## 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.
diff --git a/gap_reports/gap_579b9c04-a46d-40b3-99c5-5f973bc55b1a.md b/gap_reports/gap_579b9c04-a46d-40b3-99c5-5f973bc55b1a.md
new file mode 100644
index 0000000000000000000000000000000000000000..c3239bbb27f926985879bb01a4eef67dc21476af
--- /dev/null
+++ b/gap_reports/gap_579b9c04-a46d-40b3-99c5-5f973bc55b1a.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/579b9c04-a46d-40b3-99c5-5f973bc55b1a.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/579b9c04-a46d-40b3-99c5-5f973bc55b1a.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2689 |
+| Sim rows | 237 |
+| Real episode_id | `579b9c04-a46d-40b3-99c5-5f973bc55b1a` |
+| Sim episode_id | `579b9c04-a46d-40b3-99c5-5f973bc55b1a` |
+
+## 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 | 230 | 20 | 2.859 | 11.47 | 19.87 | 1957.02 | 0.5664 |
+| 1 | descend | 403 | 35 | 0.544 | 3.41 | 5.90 | 3626.01 | 0.7010 |
+| 2 | settle | 368 | 32 | 0.021 | 0.60 | 1.03 | 3625.95 | 0.7099 |
+| 3 | close | 108 | 10 | 0.536 | 3.42 | 5.93 | 1572.69 | 0.9346 |
+| 4 | lift | 345 | 30 | 3.111 | 13.00 | 22.51 | 1931.69 | 1.0610 |
+| 5 | move_xy | 393 | 34 | 6.151 | 27.86 | 48.26 | 1941.54 | 0.8846 |
+| 6 | lower | 390 | 34 | 0.078 | 1.09 | 1.88 | 1267.07 | 0.9570 |
+| 7 | open | 107 | 10 | 0.622 | 3.67 | 6.35 | 3626.24 | 0.5814 |
+| 8 | retract | 345 | 30 | 3.335 | 13.87 | 24.03 | 2276.39 | 0.6794 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.744 |
+| TCP position RMSE (mm, per-axis) | 12.05 |
+| EE position RMS L2 (mm) | 22.85 |
+| TCP rotvec (mrad) | 2582.78 |
+| W1 effort mean (A) | 0.7747 |
+| W1 effort per joint (A) | j0=0.2247, j1=1.1687, j2=1.6129, j3=0.7000, j4=0.3709, j5=0.5708 |
+
+## 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 | 0.00044 | -0.00038 | -0.00050 | 0.00077 | 0.027 |
+| 1 | 0.00041 | -0.00054 | -0.00079 | 0.00104 | 0.038 |
+| 2 | 0.00043 | -0.00055 | -0.00078 | 0.00104 | 0.035 |
+| 3 | 0.00078 | -0.00047 | -0.00036 | 0.00098 | 0.111 |
+| 4 | 0.00022 | -0.00017 | -0.00025 | 0.00037 | 0.092 |
+| 5 | 0.00137 | -0.00087 | -0.00152 | 0.00223 | 0.147 |
+| 6 | 0.00122 | -0.00067 | -0.00103 | 0.00173 | 0.116 |
+| 7 | 0.00018 | -0.00037 | -0.00059 | 0.00072 | 0.032 |
+| 8 | -0.00008 | -0.00008 | -0.00014 | 0.00018 | 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.
diff --git a/gap_reports/gap_579c20a5-001c-4f41-8af3-f1ee4c1dc11c.md b/gap_reports/gap_579c20a5-001c-4f41-8af3-f1ee4c1dc11c.md
new file mode 100644
index 0000000000000000000000000000000000000000..6d36a75eb05179f4400f1c6194f5cf46227ff47d
--- /dev/null
+++ b/gap_reports/gap_579c20a5-001c-4f41-8af3-f1ee4c1dc11c.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/579c20a5-001c-4f41-8af3-f1ee4c1dc11c.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/579c20a5-001c-4f41-8af3-f1ee4c1dc11c.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 575 |
+| Sim rows | 73 |
+| Real episode_id | `579c20a5-001c-4f41-8af3-f1ee4c1dc11c` |
+| Sim episode_id | `579c20a5-001c-4f41-8af3-f1ee4c1dc11c` |
+
+## 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 | 369 | 36 | 6.690 | 34.78 | 60.24 | 25.03 | 0.7712 |
+| 1 | descend | 206 | 21 | 0.025 | 4.22 | 7.31 | 2.32 | 0.7981 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 4.730 |
+| TCP position RMSE (mm, per-axis) | 24.77 |
+| EE position RMS L2 (mm) | 48.45 |
+| TCP rotvec (mrad) | 17.77 |
+| W1 effort mean (A) | 0.7807 |
+| W1 effort per joint (A) | j0=0.1935, j1=1.6184, j2=1.6185, j3=0.8962, j4=0.2031, j5=0.1547 |
+
+## 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 | 0.00580 | 0.00416 | 0.00028 | 0.00714 | 0.053 |
+| 1 | 0.00607 | 0.00412 | 0.00022 | 0.00734 | 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.
diff --git a/gap_reports/gap_57c022de-9f13-4276-ac5e-b0b35ad3802f.md b/gap_reports/gap_57c022de-9f13-4276-ac5e-b0b35ad3802f.md
new file mode 100644
index 0000000000000000000000000000000000000000..3258fe32c94d8f2929cfde3c833846f14fb2c486
--- /dev/null
+++ b/gap_reports/gap_57c022de-9f13-4276-ac5e-b0b35ad3802f.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/57c022de-9f13-4276-ac5e-b0b35ad3802f.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/57c022de-9f13-4276-ac5e-b0b35ad3802f.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2627 |
+| Sim rows | 263 |
+| Real episode_id | `57c022de-9f13-4276-ac5e-b0b35ad3802f` |
+| Sim episode_id | `57c022de-9f13-4276-ac5e-b0b35ad3802f` |
+
+## 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 | 232 | 23 | 3.992 | 18.98 | 32.88 | 1918.70 | 0.6288 |
+| 1 | descend | 311 | 31 | 1.236 | 8.78 | 15.21 | 3624.79 | 0.7996 |
+| 2 | settle | 319 | 31 | 0.031 | 1.01 | 1.75 | 3624.56 | 0.7216 |
+| 3 | close | 132 | 14 | 1.152 | 7.71 | 13.36 | 3625.20 | 1.0086 |
+| 4 | lift | 370 | 36 | 3.563 | 18.59 | 32.20 | 2493.33 | 1.1248 |
+| 5 | move_xy | 409 | 40 | 7.808 | 42.56 | 73.72 | 2845.16 | 0.9341 |
+| 6 | lower | 354 | 35 | 0.095 | 1.79 | 3.09 | 3625.06 | 1.0773 |
+| 7 | open | 133 | 14 | 1.168 | 7.91 | 13.70 | 3624.74 | 0.7450 |
+| 8 | retract | 367 | 37 | 3.504 | 18.33 | 31.75 | 2510.30 | 0.7587 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.434 |
+| TCP position RMSE (mm, per-axis) | 18.43 |
+| EE position RMS L2 (mm) | 35.72 |
+| TCP rotvec (mrad) | 3162.16 |
+| W1 effort mean (A) | 0.8486 |
+| W1 effort per joint (A) | j0=0.2746, j1=1.5660, j2=1.5614, j3=0.7629, j4=0.2953, j5=0.6313 |
+
+## 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 | -0.00012 | -0.00081 | 0.00135 | 0.039 |
+| 1 | 0.00123 | -0.00065 | -0.00121 | 0.00184 | 0.055 |
+| 2 | 0.00114 | -0.00064 | -0.00122 | 0.00179 | 0.059 |
+| 3 | 0.00194 | -0.00028 | -0.00153 | 0.00249 | 0.147 |
+| 4 | 0.00001 | -0.00042 | -0.00042 | 0.00059 | 0.102 |
+| 5 | 0.00210 | -0.00086 | -0.00241 | 0.00331 | 0.180 |
+| 6 | 0.00260 | -0.00102 | -0.00167 | 0.00326 | 0.190 |
+| 7 | 0.00092 | -0.00019 | -0.00103 | 0.00139 | 0.063 |
+| 8 | -0.00009 | -0.00012 | -0.00014 | 0.00020 | 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.
diff --git a/gap_reports/gap_57cfd53f-052c-46d3-8c7c-5abb25b88cf3.md b/gap_reports/gap_57cfd53f-052c-46d3-8c7c-5abb25b88cf3.md
new file mode 100644
index 0000000000000000000000000000000000000000..ea42619441270d966206de310ee3bdeeed1f7096
--- /dev/null
+++ b/gap_reports/gap_57cfd53f-052c-46d3-8c7c-5abb25b88cf3.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/57cfd53f-052c-46d3-8c7c-5abb25b88cf3.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/57cfd53f-052c-46d3-8c7c-5abb25b88cf3.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1523 |
+| Sim rows | 155 |
+| Real episode_id | `57cfd53f-052c-46d3-8c7c-5abb25b88cf3` |
+| Sim episode_id | `57cfd53f-052c-46d3-8c7c-5abb25b88cf3` |
+
+## 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 | 128 | 13 | 2.260 | 13.72 | 23.77 | 818.51 | 0.7474 |
+| 1 | descend | 77 | 8 | 0.750 | 4.54 | 7.86 | 5.55 | 0.7299 |
+| 2 | settle | 20 | 3 | 0.023 | 2.94 | 5.10 | 6.11 | 0.7711 |
+| 3 | close | 315 | 31 | 0.090 | 2.99 | 5.17 | 7.73 | 1.1698 |
+| 4 | lift | 75 | 8 | 0.473 | 3.48 | 6.02 | 7.00 | 1.3431 |
+| 5 | move_xy | 174 | 18 | 10.465 | 20.92 | 36.23 | 326.37 | 1.2351 |
+| 6 | lower | 73 | 8 | 20.335 | 3.91 | 6.76 | 783.53 | 1.2936 |
+| 7 | open | 286 | 28 | 20.306 | 2.29 | 3.97 | 783.35 | 0.7787 |
+| 8 | retract | 74 | 8 | 20.327 | 3.78 | 6.55 | 783.01 | 0.8788 |
+| 9 | return | 301 | 30 | 11.554 | 20.94 | 36.27 | 1248.07 | 0.8546 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 12.198 |
+| TCP position RMSE (mm, per-axis) | 10.72 |
+| EE position RMS L2 (mm) | 21.80 |
+| TCP rotvec (mrad) | 646.14 |
+| W1 effort mean (A) | 0.9622 |
+| W1 effort per joint (A) | j0=0.2137, j1=1.7694, j2=1.6930, j3=0.7229, j4=0.4317, j5=0.9424 |
+
+## 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 | 0.00224 | -0.00408 | -0.00066 | 0.00470 | 0.053 |
+| 1 | 0.00263 | -0.00427 | -0.00088 | 0.00509 | 0.041 |
+| 2 | 0.00262 | -0.00427 | -0.00097 | 0.00511 | 0.050 |
+| 3 | 0.00260 | -0.00373 | -0.00213 | 0.00502 | 0.140 |
+| 4 | 0.00187 | -0.00384 | -0.00215 | 0.00478 | 0.159 |
+| 5 | 0.00173 | -0.00334 | -0.00065 | 0.00382 | 49.774 |
+| 6 | 0.00188 | -0.00258 | -0.00168 | 0.00361 | 49.754 |
+| 7 | 0.00206 | -0.00338 | -0.00010 | 0.00396 | 49.738 |
+| 8 | 0.00181 | -0.00367 | -0.00027 | 0.00410 | 49.796 |
+| 9 | -0.00005 | -0.00011 | -0.00024 | 0.00027 | 0.029 |
+
+## 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.
diff --git a/gap_reports/gap_57da0495-930e-46f7-b65d-e97cf4add3c8.md b/gap_reports/gap_57da0495-930e-46f7-b65d-e97cf4add3c8.md
new file mode 100644
index 0000000000000000000000000000000000000000..25670cbb39d58238a16b11e2ae38e235485e0287
--- /dev/null
+++ b/gap_reports/gap_57da0495-930e-46f7-b65d-e97cf4add3c8.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/57da0495-930e-46f7-b65d-e97cf4add3c8.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/57da0495-930e-46f7-b65d-e97cf4add3c8.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2663 |
+| Sim rows | 238 |
+| Real episode_id | `57da0495-930e-46f7-b65d-e97cf4add3c8` |
+| Sim episode_id | `57da0495-930e-46f7-b65d-e97cf4add3c8` |
+
+## 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 | 230 | 21 | 3.395 | 16.85 | 29.19 | 1866.79 | 0.6290 |
+| 1 | descend | 280 | 25 | 1.086 | 7.67 | 13.28 | 3624.75 | 0.7467 |
+| 2 | settle | 369 | 33 | 0.027 | 1.00 | 1.74 | 3624.61 | 0.6975 |
+| 3 | close | 170 | 15 | 0.789 | 5.77 | 10.00 | 3625.24 | 1.0189 |
+| 4 | lift | 333 | 29 | 3.363 | 17.65 | 30.58 | 2489.36 | 1.1467 |
+| 5 | move_xy | 392 | 35 | 7.066 | 38.87 | 67.32 | 2782.71 | 0.9258 |
+| 6 | lower | 388 | 34 | 0.096 | 1.78 | 3.09 | 3625.24 | 1.0096 |
+| 7 | open | 168 | 15 | 0.858 | 5.95 | 10.30 | 3624.75 | 0.7643 |
+| 8 | retract | 333 | 29 | 3.500 | 18.42 | 31.91 | 2504.80 | 0.7576 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.119 |
+| TCP position RMSE (mm, per-axis) | 16.92 |
+| EE position RMS L2 (mm) | 31.91 |
+| TCP rotvec (mrad) | 3151.71 |
+| W1 effort mean (A) | 0.8431 |
+| W1 effort per joint (A) | j0=0.2281, j1=1.5933, j2=1.5760, j3=0.7748, j4=0.2686, j5=0.6181 |
+
+## 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 | 0.00108 | -0.00022 | -0.00066 | 0.00128 | 0.030 |
+| 1 | 0.00109 | -0.00066 | -0.00116 | 0.00172 | 0.056 |
+| 2 | 0.00111 | -0.00065 | -0.00116 | 0.00173 | 0.055 |
+| 3 | 0.00212 | -0.00021 | -0.00141 | 0.00256 | 0.155 |
+| 4 | 0.00001 | -0.00063 | -0.00055 | 0.00084 | 0.109 |
+| 5 | 0.00248 | -0.00095 | -0.00132 | 0.00296 | 0.173 |
+| 6 | 0.00254 | -0.00098 | -0.00238 | 0.00361 | 0.181 |
+| 7 | 0.00093 | -0.00027 | -0.00096 | 0.00137 | 0.058 |
+| 8 | -0.00015 | -0.00023 | -0.00022 | 0.00035 | 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.
diff --git a/gap_reports/gap_58136faa-22a8-43a6-9c67-d426774cff1e.md b/gap_reports/gap_58136faa-22a8-43a6-9c67-d426774cff1e.md
new file mode 100644
index 0000000000000000000000000000000000000000..82432c728ffb39f7123a1e98794f1e25a4af8db0
--- /dev/null
+++ b/gap_reports/gap_58136faa-22a8-43a6-9c67-d426774cff1e.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/58136faa-22a8-43a6-9c67-d426774cff1e.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/58136faa-22a8-43a6-9c67-d426774cff1e.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 745 |
+| Sim rows | 90 |
+| Real episode_id | `58136faa-22a8-43a6-9c67-d426774cff1e` |
+| Sim episode_id | `58136faa-22a8-43a6-9c67-d426774cff1e` |
+
+## 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 | 538 | 53 | 2.118 | 9.08 | 15.73 | 5.46 | 0.7853 |
+| 1 | descend | 207 | 21 | 0.025 | 1.70 | 2.94 | 2.24 | 0.8889 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.498 |
+| TCP position RMSE (mm, per-axis) | 6.53 |
+| EE position RMS L2 (mm) | 13.45 |
+| TCP rotvec (mrad) | 4.18 |
+| W1 effort mean (A) | 0.8137 |
+| W1 effort per joint (A) | j0=0.1671, j1=1.6851, j2=1.8043, j3=0.9168, j4=0.1659, j5=0.1433 |
+
+## 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 | 0.00273 | 0.00062 | 0.00072 | 0.00289 | 0.031 |
+| 1 | 0.00289 | 0.00061 | 0.00061 | 0.00302 | 0.043 |
+
+## 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.
diff --git a/gap_reports/gap_5821dbb6-7eb8-421d-abf6-312d80f0c01c.md b/gap_reports/gap_5821dbb6-7eb8-421d-abf6-312d80f0c01c.md
new file mode 100644
index 0000000000000000000000000000000000000000..a75b45155e2c0f414604c9a44989ea1cf72940cd
--- /dev/null
+++ b/gap_reports/gap_5821dbb6-7eb8-421d-abf6-312d80f0c01c.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/5821dbb6-7eb8-421d-abf6-312d80f0c01c.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/5821dbb6-7eb8-421d-abf6-312d80f0c01c.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 450 |
+| Sim rows | 61 |
+| Real episode_id | `5821dbb6-7eb8-421d-abf6-312d80f0c01c` |
+| Sim episode_id | `5821dbb6-7eb8-421d-abf6-312d80f0c01c` |
+
+## 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 | 243 | 24 | 3.492 | 13.26 | 22.96 | 18.82 | 0.8158 |
+| 1 | descend | 207 | 21 | 0.026 | 9.73 | 16.84 | 2.47 | 0.8485 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.469 |
+| TCP position RMSE (mm, per-axis) | 11.63 |
+| EE position RMS L2 (mm) | 20.38 |
+| TCP rotvec (mrad) | 13.42 |
+| W1 effort mean (A) | 0.8305 |
+| W1 effort per joint (A) | j0=0.0856, j1=1.7506, j2=1.8397, j3=0.9116, j4=0.2920, j5=0.1037 |
+
+## 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 | 0.01641 | 0.00178 | -0.00169 | 0.01659 | 0.049 |
+| 1 | 0.01672 | 0.00178 | -0.00176 | 0.01690 | 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.
diff --git a/gap_reports/gap_583ebc10-1493-4379-b3aa-9809019580ac.md b/gap_reports/gap_583ebc10-1493-4379-b3aa-9809019580ac.md
new file mode 100644
index 0000000000000000000000000000000000000000..aba46177db0c7fbc8d6849ef1ec0ecec98fd8d99
--- /dev/null
+++ b/gap_reports/gap_583ebc10-1493-4379-b3aa-9809019580ac.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/583ebc10-1493-4379-b3aa-9809019580ac.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/583ebc10-1493-4379-b3aa-9809019580ac.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2634 |
+| Sim rows | 232 |
+| Real episode_id | `583ebc10-1493-4379-b3aa-9809019580ac` |
+| Sim episode_id | `583ebc10-1493-4379-b3aa-9809019580ac` |
+
+## 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 | 177 | 16 | 2.052 | 9.10 | 15.76 | 2.78 | 0.5888 |
+| 1 | descend | 350 | 30 | 1.416 | 9.21 | 15.94 | 3.79 | 0.7513 |
+| 2 | settle | 365 | 32 | 0.024 | 0.91 | 1.58 | 3.98 | 0.6931 |
+| 3 | close | 154 | 14 | 1.077 | 6.68 | 11.56 | 5.45 | 0.9612 |
+| 4 | lift | 348 | 30 | 2.649 | 12.68 | 21.97 | 4.04 | 1.1057 |
+| 5 | move_xy | 339 | 30 | 5.072 | 27.43 | 47.50 | 4.84 | 0.9267 |
+| 6 | lower | 402 | 35 | 0.087 | 1.51 | 2.61 | 5.96 | 0.9618 |
+| 7 | open | 149 | 13 | 0.837 | 5.42 | 9.38 | 3.91 | 0.6614 |
+| 8 | retract | 350 | 30 | 2.464 | 11.97 | 20.73 | 2.91 | 0.7215 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.283 |
+| TCP position RMSE (mm, per-axis) | 12.02 |
+| EE position RMS L2 (mm) | 21.82 |
+| TCP rotvec (mrad) | 4.30 |
+| W1 effort mean (A) | 0.8130 |
+| W1 effort per joint (A) | j0=0.2764, j1=1.3692, j2=1.5253, j3=0.6685, j4=0.4112, j5=0.6271 |
+
+## 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 | -0.00062 | -0.00070 | 0.00117 | 0.042 |
+| 1 | 0.00070 | -0.00099 | -0.00101 | 0.00158 | 0.046 |
+| 2 | 0.00072 | -0.00098 | -0.00096 | 0.00155 | 0.039 |
+| 3 | 0.00122 | -0.00099 | -0.00137 | 0.00208 | 0.148 |
+| 4 | 0.00035 | 0.00014 | -0.00032 | 0.00050 | 0.109 |
+| 5 | 0.00137 | -0.00121 | -0.00130 | 0.00224 | 0.115 |
+| 6 | 0.00182 | -0.00143 | -0.00216 | 0.00316 | 0.169 |
+| 7 | 0.00055 | -0.00077 | -0.00077 | 0.00122 | 0.055 |
+| 8 | -0.00008 | -0.00012 | -0.00015 | 0.00021 | 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.
diff --git a/gap_reports/gap_584ba196-a663-4a2e-aa5e-b93e4863c11e.md b/gap_reports/gap_584ba196-a663-4a2e-aa5e-b93e4863c11e.md
new file mode 100644
index 0000000000000000000000000000000000000000..d4f770d41439af1a9e21a06014e09f0bec91db9d
--- /dev/null
+++ b/gap_reports/gap_584ba196-a663-4a2e-aa5e-b93e4863c11e.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/584ba196-a663-4a2e-aa5e-b93e4863c11e.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/584ba196-a663-4a2e-aa5e-b93e4863c11e.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2444 |
+| Sim rows | 244 |
+| Real episode_id | `584ba196-a663-4a2e-aa5e-b93e4863c11e` |
+| Sim episode_id | `584ba196-a663-4a2e-aa5e-b93e4863c11e` |
+
+## 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 | 3.123 | 14.36 | 24.88 | 2024.41 | 0.5848 |
+| 1 | descend | 503 | 49 | 0.386 | 2.73 | 4.73 | 3625.38 | 0.7037 |
+| 2 | settle | 326 | 32 | 0.023 | 0.76 | 1.31 | 3625.25 | 0.7359 |
+| 3 | close | 100 | 11 | 0.627 | 4.33 | 7.50 | 3110.83 | 0.9442 |
+| 4 | lift | 281 | 28 | 2.975 | 13.84 | 23.98 | 2309.29 | 1.0829 |
+| 5 | move_xy | 318 | 31 | 6.706 | 34.29 | 59.40 | 2545.83 | 0.8572 |
+| 6 | lower | 348 | 34 | 0.085 | 1.37 | 2.38 | 3552.05 | 0.9970 |
+| 7 | open | 97 | 10 | 0.625 | 4.02 | 6.96 | 3625.46 | 0.6555 |
+| 8 | retract | 285 | 28 | 3.142 | 14.98 | 25.95 | 2292.85 | 0.7199 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.875 |
+| TCP position RMSE (mm, per-axis) | 14.31 |
+| EE position RMS L2 (mm) | 25.70 |
+| TCP rotvec (mrad) | 3034.86 |
+| W1 effort mean (A) | 0.7904 |
+| W1 effort per joint (A) | j0=0.2352, j1=1.3239, j2=1.6655, j3=0.7251, j4=0.2356, j5=0.5569 |
+
+## 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 | 0.00066 | -0.00033 | -0.00071 | 0.00103 | 0.041 |
+| 1 | 0.00062 | -0.00062 | -0.00099 | 0.00133 | 0.044 |
+| 2 | 0.00067 | -0.00064 | -0.00097 | 0.00134 | 0.042 |
+| 3 | 0.00099 | -0.00049 | -0.00154 | 0.00190 | 0.122 |
+| 4 | 0.00019 | -0.00019 | -0.00032 | 0.00042 | 0.071 |
+| 5 | 0.00211 | -0.00096 | -0.00230 | 0.00327 | 0.201 |
+| 6 | 0.00125 | -0.00091 | -0.00238 | 0.00284 | 0.194 |
+| 7 | 0.00040 | -0.00037 | -0.00079 | 0.00096 | 0.042 |
+| 8 | -0.00013 | -0.00019 | -0.00021 | 0.00031 | 0.031 |
+
+## 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.
diff --git a/gap_reports/gap_5853d7b8-5f7a-4e8e-af2c-596185f236da.md b/gap_reports/gap_5853d7b8-5f7a-4e8e-af2c-596185f236da.md
new file mode 100644
index 0000000000000000000000000000000000000000..02085fcbb54da7f86f9e1fc3931a69f4c7d68832
--- /dev/null
+++ b/gap_reports/gap_5853d7b8-5f7a-4e8e-af2c-596185f236da.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/5853d7b8-5f7a-4e8e-af2c-596185f236da.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/5853d7b8-5f7a-4e8e-af2c-596185f236da.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 550 |
+| Sim rows | 71 |
+| Real episode_id | `5853d7b8-5f7a-4e8e-af2c-596185f236da` |
+| Sim episode_id | `5853d7b8-5f7a-4e8e-af2c-596185f236da` |
+
+## 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 | 342 | 34 | 5.021 | 22.84 | 39.56 | 1436.35 | 0.7885 |
+| 1 | descend | 208 | 21 | 0.347 | 5.05 | 8.74 | 14.24 | 0.7393 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.559 |
+| TCP position RMSE (mm, per-axis) | 16.54 |
+| EE position RMS L2 (mm) | 31.66 |
+| TCP rotvec (mrad) | 1015.70 |
+| W1 effort mean (A) | 0.7698 |
+| W1 effort per joint (A) | j0=0.1953, j1=1.8017, j2=1.6219, j3=0.7210, j4=0.1072, j5=0.1718 |
+
+## 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 | -0.00623 | -0.00621 | -0.00014 | 0.00880 | 0.817 |
+| 1 | -0.00598 | -0.00632 | -0.00014 | 0.00871 | 0.847 |
+
+## 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.
diff --git a/gap_reports/gap_5855530e-984a-44d0-ac95-9284c132e665.md b/gap_reports/gap_5855530e-984a-44d0-ac95-9284c132e665.md
new file mode 100644
index 0000000000000000000000000000000000000000..5db32322da7dfd3c5577451bbb04add3f35f5fa1
--- /dev/null
+++ b/gap_reports/gap_5855530e-984a-44d0-ac95-9284c132e665.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/5855530e-984a-44d0-ac95-9284c132e665.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/5855530e-984a-44d0-ac95-9284c132e665.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2729 |
+| Sim rows | 243 |
+| Real episode_id | `5855530e-984a-44d0-ac95-9284c132e665` |
+| Sim episode_id | `5855530e-984a-44d0-ac95-9284c132e665` |
+
+## 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 | 3.327 | 16.37 | 28.35 | 2003.71 | 0.6747 |
+| 1 | descend | 407 | 36 | 0.643 | 4.80 | 8.32 | 3624.68 | 1.1077 |
+| 2 | settle | 363 | 32 | 0.027 | 1.02 | 1.76 | 3624.60 | 1.0454 |
+| 3 | close | 135 | 12 | 0.624 | 4.73 | 8.19 | 3624.98 | 1.2685 |
+| 4 | lift | 359 | 32 | 2.495 | 13.16 | 22.79 | 2263.92 | 1.3067 |
+| 5 | move_xy | 354 | 31 | 6.935 | 38.26 | 66.27 | 2765.24 | 1.0872 |
+| 6 | lower | 401 | 35 | 0.095 | 1.79 | 3.09 | 3624.99 | 1.4405 |
+| 7 | open | 134 | 12 | 0.652 | 4.46 | 7.72 | 3624.72 | 0.9698 |
+| 8 | retract | 360 | 32 | 2.462 | 12.98 | 22.48 | 2324.14 | 0.9392 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.842 |
+| TCP position RMSE (mm, per-axis) | 15.43 |
+| EE position RMS L2 (mm) | 28.05 |
+| TCP rotvec (mrad) | 3124.88 |
+| W1 effort mean (A) | 1.1068 |
+| W1 effort per joint (A) | j0=0.7456, j1=1.5707, j2=1.8868, j3=1.1265, j4=0.6991, j5=0.6124 |
+
+## 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 | -0.00035 | -0.00073 | 0.00138 | 0.030 |
+| 1 | 0.00111 | -0.00063 | -0.00121 | 0.00176 | 0.059 |
+| 2 | 0.00114 | -0.00066 | -0.00118 | 0.00176 | 0.056 |
+| 3 | 0.00187 | -0.00048 | -0.00076 | 0.00207 | 0.120 |
+| 4 | 0.00017 | -0.00023 | -0.00053 | 0.00060 | 0.104 |
+| 5 | 0.00211 | -0.00098 | -0.00132 | 0.00268 | 0.125 |
+| 6 | 0.00235 | -0.00093 | -0.00161 | 0.00299 | 0.173 |
+| 7 | 0.00096 | -0.00035 | -0.00096 | 0.00140 | 0.041 |
+| 8 | -0.00013 | -0.00019 | -0.00019 | 0.00030 | 0.031 |
+
+## 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.
diff --git a/gap_reports/gap_58589deb-3112-4694-9021-1bb0f9d9ec51.md b/gap_reports/gap_58589deb-3112-4694-9021-1bb0f9d9ec51.md
new file mode 100644
index 0000000000000000000000000000000000000000..db3dc22c5ea280f35611280d367870ff7378264c
--- /dev/null
+++ b/gap_reports/gap_58589deb-3112-4694-9021-1bb0f9d9ec51.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/58589deb-3112-4694-9021-1bb0f9d9ec51.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/58589deb-3112-4694-9021-1bb0f9d9ec51.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 500 |
+| Sim rows | 66 |
+| Real episode_id | `58589deb-3112-4694-9021-1bb0f9d9ec51` |
+| Sim episode_id | `58589deb-3112-4694-9021-1bb0f9d9ec51` |
+
+## 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 | 289 | 29 | 3.053 | 15.79 | 27.35 | 637.99 | 0.8082 |
+| 1 | descend | 211 | 21 | 0.023 | 1.55 | 2.69 | 1.94 | 0.8056 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.159 |
+| TCP position RMSE (mm, per-axis) | 11.22 |
+| EE position RMS L2 (mm) | 20.86 |
+| TCP rotvec (mrad) | 451.13 |
+| W1 effort mean (A) | 0.8071 |
+| W1 effort per joint (A) | j0=0.1694, j1=1.7995, j2=1.7489, j3=0.8568, j4=0.1414, j5=0.1263 |
+
+## 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 | -0.00194 | -0.00195 | 0.00065 | 0.00283 | 0.034 |
+| 1 | -0.00181 | -0.00191 | 0.00056 | 0.00269 | 0.047 |
+
+## 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.
diff --git a/gap_reports/gap_58624426-3340-47a2-9551-fdf3fb759b01.md b/gap_reports/gap_58624426-3340-47a2-9551-fdf3fb759b01.md
new file mode 100644
index 0000000000000000000000000000000000000000..329ba4c5b9f8ba1c7f4d8aa25c6a25d0e6686824
--- /dev/null
+++ b/gap_reports/gap_58624426-3340-47a2-9551-fdf3fb759b01.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/58624426-3340-47a2-9551-fdf3fb759b01.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/58624426-3340-47a2-9551-fdf3fb759b01.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2802 |
+| Sim rows | 249 |
+| Real episode_id | `58624426-3340-47a2-9551-fdf3fb759b01` |
+| Sim episode_id | `58624426-3340-47a2-9551-fdf3fb759b01` |
+
+## 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 | 3.345 | 13.30 | 23.03 | 1996.32 | 0.6080 |
+| 1 | descend | 356 | 31 | 1.024 | 6.72 | 11.65 | 3625.37 | 0.7285 |
+| 2 | settle | 352 | 31 | 0.023 | 0.82 | 1.42 | 3625.25 | 0.6925 |
+| 3 | close | 139 | 13 | 0.967 | 6.41 | 11.10 | 3359.85 | 0.9697 |
+| 4 | lift | 449 | 39 | 3.764 | 17.06 | 29.55 | 2425.82 | 1.1108 |
+| 5 | move_xy | 337 | 30 | 8.002 | 38.91 | 67.40 | 2605.85 | 0.8806 |
+| 6 | lower | 391 | 34 | 0.085 | 1.45 | 2.50 | 3551.99 | 0.8981 |
+| 7 | open | 138 | 13 | 0.958 | 6.20 | 10.75 | 3625.48 | 0.6522 |
+| 8 | retract | 452 | 39 | 3.462 | 15.90 | 27.53 | 2435.54 | 0.7282 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.404 |
+| TCP position RMSE (mm, per-axis) | 16.20 |
+| EE position RMS L2 (mm) | 29.57 |
+| TCP rotvec (mrad) | 3089.90 |
+| W1 effort mean (A) | 0.8049 |
+| W1 effort per joint (A) | j0=0.2554, j1=1.3763, j2=1.5546, j3=0.7165, j4=0.3073, 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 | 0.00084 | -0.00021 | -0.00054 | 0.00102 | 0.036 |
+| 1 | 0.00084 | -0.00056 | -0.00098 | 0.00141 | 0.048 |
+| 2 | 0.00088 | -0.00059 | -0.00094 | 0.00142 | 0.043 |
+| 3 | 0.00163 | -0.00035 | -0.00071 | 0.00181 | 0.120 |
+| 4 | 0.00004 | -0.00041 | -0.00059 | 0.00073 | 0.082 |
+| 5 | 0.00180 | -0.00076 | -0.00114 | 0.00226 | 0.123 |
+| 6 | 0.00171 | -0.00081 | -0.00144 | 0.00237 | 0.110 |
+| 7 | 0.00072 | -0.00024 | -0.00072 | 0.00105 | 0.035 |
+| 8 | -0.00006 | -0.00009 | -0.00014 | 0.00017 | 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.
diff --git a/gap_reports/gap_58832301-730c-4d04-8d2c-ab78df0e1203.md b/gap_reports/gap_58832301-730c-4d04-8d2c-ab78df0e1203.md
new file mode 100644
index 0000000000000000000000000000000000000000..4beb87353caef40965c4ab748e48b4a9d3dcf182
--- /dev/null
+++ b/gap_reports/gap_58832301-730c-4d04-8d2c-ab78df0e1203.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/58832301-730c-4d04-8d2c-ab78df0e1203.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/58832301-730c-4d04-8d2c-ab78df0e1203.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2651 |
+| Sim rows | 238 |
+| Real episode_id | `58832301-730c-4d04-8d2c-ab78df0e1203` |
+| Sim episode_id | `58832301-730c-4d04-8d2c-ab78df0e1203` |
+
+## 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 | 196 | 18 | 2.034 | 8.72 | 15.10 | 1989.39 | 0.5608 |
+| 1 | descend | 333 | 30 | 0.847 | 5.10 | 8.83 | 3625.96 | 0.7273 |
+| 2 | settle | 381 | 33 | 0.020 | 0.56 | 0.97 | 3625.94 | 0.7160 |
+| 3 | close | 98 | 9 | 0.494 | 3.00 | 5.20 | 1105.46 | 0.9557 |
+| 4 | lift | 408 | 36 | 2.532 | 10.83 | 18.76 | 1802.71 | 1.0962 |
+| 5 | move_xy | 329 | 29 | 4.863 | 23.12 | 40.04 | 2082.21 | 0.9215 |
+| 6 | lower | 409 | 36 | 0.078 | 0.99 | 1.71 | 1735.71 | 0.9817 |
+| 7 | open | 95 | 9 | 0.431 | 2.61 | 4.51 | 3626.24 | 0.6010 |
+| 8 | retract | 402 | 36 | 2.697 | 11.77 | 20.38 | 2170.02 | 0.6682 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.176 |
+| TCP position RMSE (mm, per-axis) | 10.05 |
+| EE position RMS L2 (mm) | 18.58 |
+| TCP rotvec (mrad) | 2580.51 |
+| W1 effort mean (A) | 0.8045 |
+| W1 effort per joint (A) | j0=0.2382, j1=1.1570, j2=1.6285, j3=0.7369, j4=0.4407, j5=0.6256 |
+
+## 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 | 0.00015 | -0.00042 | -0.00055 | 0.00071 | 0.028 |
+| 1 | 0.00016 | -0.00058 | -0.00075 | 0.00096 | 0.033 |
+| 2 | 0.00018 | -0.00058 | -0.00075 | 0.00097 | 0.033 |
+| 3 | 0.00055 | -0.00041 | -0.00072 | 0.00099 | 0.105 |
+| 4 | 0.00031 | -0.00003 | -0.00015 | 0.00035 | 0.097 |
+| 5 | 0.00117 | -0.00077 | -0.00065 | 0.00155 | 0.146 |
+| 6 | 0.00110 | -0.00063 | -0.00087 | 0.00154 | 0.141 |
+| 7 | -0.00005 | -0.00041 | -0.00062 | 0.00074 | 0.031 |
+| 8 | -0.00003 | -0.00007 | -0.00011 | 0.00014 | 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.
diff --git a/gap_reports/gap_588716fe-7d85-4070-8041-af605c771a62.md b/gap_reports/gap_588716fe-7d85-4070-8041-af605c771a62.md
new file mode 100644
index 0000000000000000000000000000000000000000..652bb5fafbf348239f1720fb415993c3e75f91ab
--- /dev/null
+++ b/gap_reports/gap_588716fe-7d85-4070-8041-af605c771a62.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/588716fe-7d85-4070-8041-af605c771a62.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/588716fe-7d85-4070-8041-af605c771a62.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2607 |
+| Sim rows | 230 |
+| Real episode_id | `588716fe-7d85-4070-8041-af605c771a62` |
+| Sim episode_id | `588716fe-7d85-4070-8041-af605c771a62` |
+
+## 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 | 236 | 21 | 3.664 | 16.13 | 27.95 | 2057.29 | 0.5973 |
+| 1 | descend | 211 | 19 | 0.635 | 4.30 | 7.45 | 3625.37 | 0.6810 |
+| 2 | settle | 382 | 33 | 0.022 | 0.77 | 1.33 | 3625.32 | 0.7069 |
+| 3 | close | 113 | 10 | 0.417 | 2.75 | 4.76 | 3047.10 | 0.9747 |
+| 4 | lift | 393 | 34 | 3.244 | 14.74 | 25.54 | 2188.04 | 1.1264 |
+| 5 | move_xy | 363 | 32 | 7.276 | 35.00 | 60.62 | 2684.25 | 0.8793 |
+| 6 | lower | 404 | 35 | 0.083 | 1.37 | 2.36 | 3330.03 | 1.0161 |
+| 7 | open | 113 | 10 | 0.398 | 2.59 | 4.48 | 3625.42 | 0.6712 |
+| 8 | retract | 392 | 34 | 3.224 | 14.73 | 25.52 | 2279.58 | 0.7286 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.127 |
+| TCP position RMSE (mm, per-axis) | 14.74 |
+| EE position RMS L2 (mm) | 28.04 |
+| TCP rotvec (mrad) | 3004.17 |
+| W1 effort mean (A) | 0.8222 |
+| W1 effort per joint (A) | j0=0.2373, j1=1.3391, j2=1.5741, j3=0.7862, j4=0.3383, j5=0.6582 |
+
+## 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 | 0.00085 | -0.00035 | -0.00064 | 0.00112 | 0.028 |
+| 1 | 0.00084 | -0.00051 | -0.00089 | 0.00132 | 0.044 |
+| 2 | 0.00083 | -0.00052 | -0.00089 | 0.00133 | 0.045 |
+| 3 | 0.00169 | -0.00044 | -0.00085 | 0.00194 | 0.129 |
+| 4 | 0.00015 | -0.00018 | -0.00012 | 0.00026 | 0.094 |
+| 5 | 0.00182 | -0.00062 | -0.00204 | 0.00280 | 0.159 |
+| 6 | 0.00170 | -0.00070 | -0.00101 | 0.00210 | 0.118 |
+| 7 | 0.00073 | -0.00031 | -0.00078 | 0.00111 | 0.042 |
+| 8 | -0.00010 | -0.00013 | -0.00015 | 0.00022 | 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.
diff --git a/gap_reports/gap_58c7c8c7-6cba-4e27-b772-bd5eb1288228.md b/gap_reports/gap_58c7c8c7-6cba-4e27-b772-bd5eb1288228.md
new file mode 100644
index 0000000000000000000000000000000000000000..ffb88460a04741c707352427cbbb5a7dd2252847
--- /dev/null
+++ b/gap_reports/gap_58c7c8c7-6cba-4e27-b772-bd5eb1288228.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/58c7c8c7-6cba-4e27-b772-bd5eb1288228.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/58c7c8c7-6cba-4e27-b772-bd5eb1288228.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2843 |
+| Sim rows | 252 |
+| Real episode_id | `58c7c8c7-6cba-4e27-b772-bd5eb1288228` |
+| Sim episode_id | `58c7c8c7-6cba-4e27-b772-bd5eb1288228` |
+
+## 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 | 215 | 19 | 2.436 | 11.74 | 20.34 | 1993.36 | 0.5671 |
+| 1 | descend | 390 | 34 | 1.420 | 9.16 | 15.87 | 3625.34 | 0.7016 |
+| 2 | settle | 367 | 32 | 0.024 | 0.73 | 1.27 | 3625.25 | 0.7198 |
+| 3 | close | 121 | 11 | 0.795 | 5.19 | 9.00 | 3625.83 | 0.9668 |
+| 4 | lift | 407 | 36 | 2.581 | 12.47 | 21.61 | 2219.71 | 1.1012 |
+| 5 | move_xy | 411 | 36 | 5.813 | 31.38 | 54.36 | 2877.92 | 0.8895 |
+| 6 | lower | 404 | 35 | 0.090 | 1.35 | 2.34 | 3554.21 | 0.9818 |
+| 7 | open | 121 | 11 | 0.890 | 5.69 | 9.86 | 3625.49 | 0.6667 |
+| 8 | retract | 407 | 36 | 2.452 | 11.94 | 20.68 | 2322.31 | 0.7176 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.491 |
+| TCP position RMSE (mm, per-axis) | 13.19 |
+| EE position RMS L2 (mm) | 25.09 |
+| TCP rotvec (mrad) | 3123.12 |
+| W1 effort mean (A) | 0.8051 |
+| W1 effort per joint (A) | j0=0.2411, j1=1.3685, j2=1.5861, j3=0.6996, j4=0.3627, j5=0.5728 |
+
+## 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 | 0.00042 | -0.00039 | -0.00073 | 0.00093 | 0.041 |
+| 1 | 0.00039 | -0.00070 | -0.00096 | 0.00125 | 0.043 |
+| 2 | 0.00042 | -0.00069 | -0.00098 | 0.00127 | 0.043 |
+| 3 | 0.00093 | -0.00060 | -0.00160 | 0.00194 | 0.130 |
+| 4 | 0.00019 | -0.00003 | -0.00012 | 0.00022 | 0.042 |
+| 5 | 0.00135 | -0.00106 | -0.00135 | 0.00219 | 0.134 |
+| 6 | 0.00155 | -0.00092 | -0.00142 | 0.00229 | 0.160 |
+| 7 | 0.00019 | -0.00043 | -0.00079 | 0.00092 | 0.040 |
+| 8 | -0.00006 | -0.00007 | -0.00011 | 0.00014 | 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.
diff --git a/gap_reports/gap_58f5316c-cc22-484d-ba0e-2da9fa12491d.md b/gap_reports/gap_58f5316c-cc22-484d-ba0e-2da9fa12491d.md
new file mode 100644
index 0000000000000000000000000000000000000000..2e9f8f638678569a43cdfe01ca46a2c2768ab95c
--- /dev/null
+++ b/gap_reports/gap_58f5316c-cc22-484d-ba0e-2da9fa12491d.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/58f5316c-cc22-484d-ba0e-2da9fa12491d.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/58f5316c-cc22-484d-ba0e-2da9fa12491d.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 613 |
+| Sim rows | 76 |
+| Real episode_id | `58f5316c-cc22-484d-ba0e-2da9fa12491d` |
+| Sim episode_id | `58f5316c-cc22-484d-ba0e-2da9fa12491d` |
+
+## 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 | 403 | 39 | 2.582 | 13.08 | 22.65 | 724.70 | 0.8146 |
+| 1 | descend | 210 | 21 | 0.023 | 0.40 | 0.69 | 2.14 | 0.7879 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.826 |
+| TCP position RMSE (mm, per-axis) | 9.25 |
+| EE position RMS L2 (mm) | 18.37 |
+| TCP rotvec (mrad) | 512.44 |
+| W1 effort mean (A) | 0.8055 |
+| W1 effort per joint (A) | j0=0.1734, j1=1.7718, j2=1.7246, j3=0.9040, j4=0.1208, j5=0.1381 |
+
+## 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 | -0.00027 | -0.00009 | 0.00069 | 0.00075 | 0.034 |
+| 1 | -0.00016 | -0.00009 | 0.00063 | 0.00066 | 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.
diff --git a/gap_reports/gap_58fc2e83-ab0f-4c61-a1e2-c4a2da576a9c.md b/gap_reports/gap_58fc2e83-ab0f-4c61-a1e2-c4a2da576a9c.md
new file mode 100644
index 0000000000000000000000000000000000000000..c659442c232ec9c2d46e51d53330f8fd8b39db61
--- /dev/null
+++ b/gap_reports/gap_58fc2e83-ab0f-4c61-a1e2-c4a2da576a9c.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/58fc2e83-ab0f-4c61-a1e2-c4a2da576a9c.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/58fc2e83-ab0f-4c61-a1e2-c4a2da576a9c.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2751 |
+| Sim rows | 245 |
+| Real episode_id | `58fc2e83-ab0f-4c61-a1e2-c4a2da576a9c` |
+| Sim episode_id | `58fc2e83-ab0f-4c61-a1e2-c4a2da576a9c` |
+
+## 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 | 220 | 20 | 2.392 | 11.51 | 19.93 | 1970.57 | 0.5581 |
+| 1 | descend | 399 | 35 | 0.661 | 4.31 | 7.47 | 3625.34 | 0.6938 |
+| 2 | settle | 387 | 34 | 0.022 | 0.73 | 1.26 | 3625.23 | 0.6962 |
+| 3 | close | 176 | 16 | 0.787 | 5.09 | 8.82 | 3625.75 | 1.0276 |
+| 4 | lift | 289 | 25 | 2.483 | 12.35 | 21.39 | 2267.10 | 1.1065 |
+| 5 | move_xy | 413 | 36 | 5.620 | 30.67 | 53.13 | 2776.77 | 0.9170 |
+| 6 | lower | 399 | 35 | 0.086 | 1.32 | 2.29 | 3554.19 | 0.9661 |
+| 7 | open | 177 | 16 | 0.746 | 4.81 | 8.33 | 3625.47 | 0.6585 |
+| 8 | retract | 291 | 26 | 2.485 | 12.35 | 21.40 | 2318.35 | 0.7228 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.387 |
+| TCP position RMSE (mm, per-axis) | 12.69 |
+| EE position RMS L2 (mm) | 23.89 |
+| TCP rotvec (mrad) | 3114.76 |
+| W1 effort mean (A) | 0.7977 |
+| W1 effort per joint (A) | j0=0.2108, j1=1.3581, j2=1.5675, j3=0.7519, j4=0.3282, j5=0.5700 |
+
+## 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 | 0.00044 | -0.00042 | -0.00074 | 0.00096 | 0.038 |
+| 1 | 0.00040 | -0.00070 | -0.00101 | 0.00129 | 0.046 |
+| 2 | 0.00043 | -0.00071 | -0.00096 | 0.00127 | 0.041 |
+| 3 | 0.00120 | -0.00036 | -0.00057 | 0.00137 | 0.135 |
+| 4 | 0.00019 | -0.00023 | -0.00025 | 0.00039 | 0.101 |
+| 5 | 0.00102 | -0.00092 | -0.00121 | 0.00183 | 0.117 |
+| 6 | 0.00138 | -0.00105 | -0.00228 | 0.00286 | 0.154 |
+| 7 | 0.00029 | -0.00045 | -0.00075 | 0.00092 | 0.040 |
+| 8 | -0.00012 | -0.00017 | -0.00017 | 0.00027 | 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.
diff --git a/gap_reports/gap_59134da8-379e-4217-80f3-8db55a9024f9.md b/gap_reports/gap_59134da8-379e-4217-80f3-8db55a9024f9.md
new file mode 100644
index 0000000000000000000000000000000000000000..bf882ece507d228a91a726030a31d3d09b04db46
--- /dev/null
+++ b/gap_reports/gap_59134da8-379e-4217-80f3-8db55a9024f9.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/59134da8-379e-4217-80f3-8db55a9024f9.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/59134da8-379e-4217-80f3-8db55a9024f9.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1184 |
+| Sim rows | 122 |
+| Real episode_id | `59134da8-379e-4217-80f3-8db55a9024f9` |
+| Sim episode_id | `59134da8-379e-4217-80f3-8db55a9024f9` |
+
+## 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 | 129 | 13 | 2.751 | 13.61 | 23.58 | 561.23 | 0.7586 |
+| 1 | descend | 67 | 7 | 0.485 | 3.53 | 6.12 | 5.50 | 0.7112 |
+| 2 | settle | 40 | 5 | 0.024 | 2.83 | 4.89 | 5.97 | 0.7743 |
+| 3 | close | 43 | 5 | 0.120 | 1.98 | 3.42 | 7.55 | 1.2598 |
+| 4 | lift | 86 | 9 | 0.771 | 4.03 | 6.97 | 7.09 | 1.2472 |
+| 5 | move_xy | 181 | 18 | 9.921 | 18.42 | 31.90 | 328.99 | 1.0953 |
+| 6 | lower | 93 | 10 | 19.599 | 4.78 | 8.27 | 756.37 | 1.1445 |
+| 7 | open | 77 | 8 | 19.557 | 2.53 | 4.37 | 755.20 | 0.8844 |
+| 8 | retract | 94 | 10 | 19.604 | 5.85 | 10.12 | 754.81 | 0.9063 |
+| 9 | return | 374 | 37 | 10.965 | 18.01 | 31.19 | 860.40 | 0.8542 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 11.739 |
+| TCP position RMSE (mm, per-axis) | 9.76 |
+| EE position RMS L2 (mm) | 23.35 |
+| TCP rotvec (mrad) | 536.27 |
+| W1 effort mean (A) | 0.9203 |
+| W1 effort per joint (A) | j0=0.2588, j1=1.7161, j2=1.6894, j3=0.6764, j4=0.2629, j5=0.9182 |
+
+## 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 | 0.00214 | -0.00395 | -0.00056 | 0.00452 | 0.035 |
+| 1 | 0.00249 | -0.00409 | -0.00084 | 0.00486 | 0.050 |
+| 2 | 0.00252 | -0.00411 | -0.00101 | 0.00492 | 0.054 |
+| 3 | 0.00148 | -0.00305 | -0.00083 | 0.00349 | 0.169 |
+| 4 | 0.00105 | -0.00287 | -0.00087 | 0.00317 | 0.293 |
+| 5 | 0.00249 | -0.00301 | -0.00004 | 0.00391 | 47.987 |
+| 6 | 0.00295 | -0.00292 | -0.00066 | 0.00421 | 47.910 |
+| 7 | 0.00236 | -0.00367 | -0.00036 | 0.00438 | 47.901 |
+| 8 | 0.00202 | -0.00395 | -0.00046 | 0.00446 | 47.989 |
+| 9 | -0.00006 | -0.00008 | -0.00023 | 0.00025 | 0.029 |
+
+## 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.
diff --git a/gap_reports/gap_591426ce-80e8-4918-873f-d1a8e4e716df.md b/gap_reports/gap_591426ce-80e8-4918-873f-d1a8e4e716df.md
new file mode 100644
index 0000000000000000000000000000000000000000..98bfcab33502b9685428746a424b6f191d9138ed
--- /dev/null
+++ b/gap_reports/gap_591426ce-80e8-4918-873f-d1a8e4e716df.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/591426ce-80e8-4918-873f-d1a8e4e716df.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/591426ce-80e8-4918-873f-d1a8e4e716df.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2385 |
+| Sim rows | 214 |
+| Real episode_id | `591426ce-80e8-4918-873f-d1a8e4e716df` |
+| Sim episode_id | `591426ce-80e8-4918-873f-d1a8e4e716df` |
+
+## 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 | 218 | 20 | 2.271 | 13.05 | 22.61 | 1917.44 | 0.6133 |
+| 1 | descend | 217 | 19 | 0.743 | 5.15 | 8.92 | 3624.60 | 0.7432 |
+| 2 | settle | 389 | 34 | 0.028 | 0.98 | 1.70 | 3624.54 | 0.7576 |
+| 3 | close | 106 | 10 | 0.405 | 2.97 | 5.14 | 3348.23 | 1.0364 |
+| 4 | lift | 283 | 25 | 2.297 | 14.08 | 24.38 | 2290.75 | 1.1407 |
+| 5 | move_xy | 375 | 33 | 4.688 | 29.27 | 50.70 | 2757.32 | 0.9290 |
+| 6 | lower | 408 | 36 | 0.096 | 1.70 | 2.95 | 3625.08 | 1.0636 |
+| 7 | open | 106 | 10 | 0.494 | 3.55 | 6.15 | 3624.67 | 0.7462 |
+| 8 | retract | 283 | 25 | 2.326 | 14.34 | 24.84 | 2249.54 | 0.7362 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.076 |
+| TCP position RMSE (mm, per-axis) | 12.84 |
+| EE position RMS L2 (mm) | 24.63 |
+| TCP rotvec (mrad) | 3079.55 |
+| W1 effort mean (A) | 0.8503 |
+| W1 effort per joint (A) | j0=0.2004, j1=1.5561, j2=1.7047, j3=0.7608, j4=0.2818, j5=0.5978 |
+
+## 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 | -0.00056 | -0.00079 | 0.00127 | 0.032 |
+| 1 | 0.00076 | -0.00087 | -0.00124 | 0.00170 | 0.060 |
+| 2 | 0.00080 | -0.00088 | -0.00122 | 0.00170 | 0.056 |
+| 3 | 0.00174 | -0.00085 | -0.00213 | 0.00287 | 0.148 |
+| 4 | 0.00035 | -0.00024 | -0.00042 | 0.00060 | 0.143 |
+| 5 | 0.00151 | -0.00122 | -0.00184 | 0.00267 | 0.120 |
+| 6 | 0.00151 | -0.00121 | -0.00161 | 0.00252 | 0.102 |
+| 7 | 0.00054 | -0.00064 | -0.00106 | 0.00135 | 0.051 |
+| 8 | -0.00014 | -0.00022 | -0.00020 | 0.00033 | 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.
diff --git a/gap_reports/gap_591aa1cc-e5dd-488e-96e4-352b4733fab3.md b/gap_reports/gap_591aa1cc-e5dd-488e-96e4-352b4733fab3.md
new file mode 100644
index 0000000000000000000000000000000000000000..e643b74d9b87b63d83868422821184d936ba4929
--- /dev/null
+++ b/gap_reports/gap_591aa1cc-e5dd-488e-96e4-352b4733fab3.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/591aa1cc-e5dd-488e-96e4-352b4733fab3.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/591aa1cc-e5dd-488e-96e4-352b4733fab3.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2780 |
+| Sim rows | 247 |
+| Real episode_id | `591aa1cc-e5dd-488e-96e4-352b4733fab3` |
+| Sim episode_id | `591aa1cc-e5dd-488e-96e4-352b4733fab3` |
+
+## 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 | 2.944 | 11.58 | 20.05 | 1916.66 | 0.5712 |
+| 1 | descend | 299 | 26 | 1.098 | 6.55 | 11.35 | 3626.12 | 0.6948 |
+| 2 | settle | 407 | 36 | 0.020 | 0.59 | 1.02 | 3625.90 | 0.6303 |
+| 3 | close | 130 | 12 | 1.014 | 5.80 | 10.04 | 1792.53 | 0.8813 |
+| 4 | lift | 399 | 35 | 3.216 | 13.01 | 22.54 | 2046.42 | 1.0910 |
+| 5 | move_xy | 377 | 33 | 7.021 | 31.19 | 54.03 | 2052.37 | 0.8957 |
+| 6 | lower | 434 | 38 | 0.087 | 1.16 | 2.01 | 1342.93 | 1.0158 |
+| 7 | open | 132 | 12 | 1.033 | 5.91 | 10.24 | 3626.07 | 0.6588 |
+| 8 | retract | 398 | 35 | 3.194 | 12.93 | 22.39 | 2327.53 | 0.6775 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.015 |
+| TCP position RMSE (mm, per-axis) | 13.15 |
+| EE position RMS L2 (mm) | 24.38 |
+| TCP rotvec (mrad) | 2623.65 |
+| W1 effort mean (A) | 0.7927 |
+| W1 effort per joint (A) | j0=0.2149, j1=1.1953, j2=1.6488, j3=0.7652, j4=0.2821, j5=0.6502 |
+
+## 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 | 0.00036 | -0.00028 | -0.00044 | 0.00064 | 0.028 |
+| 1 | 0.00040 | -0.00055 | -0.00075 | 0.00101 | 0.033 |
+| 2 | 0.00038 | -0.00055 | -0.00075 | 0.00101 | 0.034 |
+| 3 | 0.00074 | -0.00035 | -0.00056 | 0.00100 | 0.090 |
+| 4 | 0.00040 | 0.00010 | -0.00011 | 0.00043 | 0.079 |
+| 5 | 0.00110 | -0.00070 | -0.00138 | 0.00190 | 0.106 |
+| 6 | 0.00135 | -0.00066 | -0.00109 | 0.00185 | 0.155 |
+| 7 | 0.00016 | -0.00035 | -0.00050 | 0.00063 | 0.035 |
+| 8 | -0.00005 | -0.00004 | -0.00009 | 0.00011 | 0.020 |
+
+## 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.
diff --git a/gap_reports/gap_591f770b-e81e-4e59-9f45-76b71198dfca.md b/gap_reports/gap_591f770b-e81e-4e59-9f45-76b71198dfca.md
new file mode 100644
index 0000000000000000000000000000000000000000..c7d97f4446ca5cc55f6a255bc8356353554222b1
--- /dev/null
+++ b/gap_reports/gap_591f770b-e81e-4e59-9f45-76b71198dfca.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/591f770b-e81e-4e59-9f45-76b71198dfca.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/591f770b-e81e-4e59-9f45-76b71198dfca.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1247 |
+| Sim rows | 128 |
+| Real episode_id | `591f770b-e81e-4e59-9f45-76b71198dfca` |
+| Sim episode_id | `591f770b-e81e-4e59-9f45-76b71198dfca` |
+
+## 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 | 183 | 18 | 2.934 | 17.57 | 30.44 | 1232.70 | 0.7439 |
+| 1 | descend | 73 | 8 | 0.473 | 3.79 | 6.56 | 5.56 | 0.6713 |
+| 2 | settle | 36 | 4 | 0.021 | 3.05 | 5.29 | 5.87 | 0.7411 |
+| 3 | close | 39 | 5 | 0.145 | 3.66 | 6.34 | 3622.29 | 1.2457 |
+| 4 | lift | 99 | 10 | 0.734 | 5.30 | 9.18 | 3622.43 | 1.1900 |
+| 5 | move_xy | 237 | 24 | 9.470 | 26.94 | 46.66 | 1405.27 | 1.0535 |
+| 6 | lower | 92 | 10 | 16.743 | 3.57 | 6.17 | 648.43 | 1.1089 |
+| 7 | open | 75 | 8 | 16.720 | 2.42 | 4.18 | 647.48 | 0.7631 |
+| 8 | retract | 92 | 10 | 16.745 | 4.22 | 7.31 | 647.10 | 0.8206 |
+| 9 | return | 321 | 31 | 9.478 | 18.02 | 31.21 | 872.49 | 0.8336 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 10.145 |
+| TCP position RMSE (mm, per-axis) | 12.09 |
+| EE position RMS L2 (mm) | 28.63 |
+| TCP rotvec (mrad) | 1782.05 |
+| W1 effort mean (A) | 0.8830 |
+| W1 effort per joint (A) | j0=0.2709, j1=1.5181, j2=1.5967, j3=0.7438, j4=0.4216, j5=0.7472 |
+
+## 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 | 0.00193 | -0.00450 | -0.00098 | 0.00499 | 0.030 |
+| 1 | 0.00216 | -0.00470 | -0.00098 | 0.00526 | 0.029 |
+| 2 | 0.00220 | -0.00469 | -0.00117 | 0.00531 | 0.052 |
+| 3 | 0.00298 | -0.00435 | -0.00338 | 0.00627 | 0.249 |
+| 4 | 0.00236 | -0.00415 | -0.00307 | 0.00568 | 0.237 |
+| 5 | 0.00207 | -0.00309 | -0.00181 | 0.00414 | 40.963 |
+| 6 | 0.00255 | -0.00269 | -0.00137 | 0.00395 | 40.959 |
+| 7 | 0.00221 | -0.00355 | -0.00016 | 0.00419 | 40.953 |
+| 8 | 0.00192 | -0.00376 | -0.00026 | 0.00423 | 41.004 |
+| 9 | -0.00004 | -0.00009 | -0.00022 | 0.00024 | 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.
diff --git a/gap_reports/gap_5921579c-9fa5-41d0-96b3-010111d4a555.md b/gap_reports/gap_5921579c-9fa5-41d0-96b3-010111d4a555.md
new file mode 100644
index 0000000000000000000000000000000000000000..a9a30ff94fbdeed7f836a5924af57b41f01af3df
--- /dev/null
+++ b/gap_reports/gap_5921579c-9fa5-41d0-96b3-010111d4a555.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/5921579c-9fa5-41d0-96b3-010111d4a555.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/5921579c-9fa5-41d0-96b3-010111d4a555.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 3285 |
+| Sim rows | 291 |
+| Real episode_id | `5921579c-9fa5-41d0-96b3-010111d4a555` |
+| Sim episode_id | `5921579c-9fa5-41d0-96b3-010111d4a555` |
+
+## 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 | 258 | 23 | 4.066 | 17.34 | 30.04 | 2006.09 | 0.5929 |
+| 1 | descend | 747 | 65 | 0.536 | 3.65 | 6.32 | 3625.39 | 0.7814 |
+| 2 | settle | 378 | 33 | 0.025 | 0.83 | 1.43 | 3625.27 | 0.6553 |
+| 3 | close | 141 | 13 | 1.000 | 6.64 | 11.50 | 3419.90 | 0.9604 |
+| 4 | lift | 396 | 35 | 3.708 | 17.17 | 29.74 | 2245.33 | 1.1157 |
+| 5 | move_xy | 459 | 40 | 8.508 | 41.55 | 71.96 | 2657.68 | 0.8828 |
+| 6 | lower | 370 | 32 | 0.084 | 1.44 | 2.49 | 3547.29 | 0.9423 |
+| 7 | open | 140 | 13 | 1.051 | 6.99 | 12.10 | 3625.50 | 0.6696 |
+| 8 | retract | 396 | 35 | 3.898 | 18.11 | 31.38 | 2444.21 | 0.7337 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.655 |
+| TCP position RMSE (mm, per-axis) | 17.51 |
+| EE position RMS L2 (mm) | 32.28 |
+| TCP rotvec (mrad) | 3087.84 |
+| W1 effort mean (A) | 0.7981 |
+| W1 effort per joint (A) | j0=0.2897, j1=1.3155, j2=1.5324, j3=0.7445, j4=0.3709, j5=0.5354 |
+
+## 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 | 0.00084 | -0.00021 | -0.00064 | 0.00108 | 0.032 |
+| 1 | 0.00090 | -0.00061 | -0.00099 | 0.00147 | 0.051 |
+| 2 | 0.00088 | -0.00057 | -0.00097 | 0.00143 | 0.045 |
+| 3 | 0.00182 | -0.00006 | -0.00109 | 0.00212 | 0.157 |
+| 4 | 0.00001 | -0.00022 | -0.00045 | 0.00050 | 0.071 |
+| 5 | 0.00169 | -0.00087 | -0.00080 | 0.00206 | 0.109 |
+| 6 | 0.00206 | -0.00068 | -0.00148 | 0.00262 | 0.170 |
+| 7 | 0.00065 | -0.00025 | -0.00072 | 0.00100 | 0.039 |
+| 8 | -0.00011 | -0.00017 | -0.00018 | 0.00027 | 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.
diff --git a/gap_reports/gap_5938648f-16e1-4256-ad19-0a910320bfab.md b/gap_reports/gap_5938648f-16e1-4256-ad19-0a910320bfab.md
new file mode 100644
index 0000000000000000000000000000000000000000..f0972f88ef0ac0ec043fd53530e29f37a539fd3b
--- /dev/null
+++ b/gap_reports/gap_5938648f-16e1-4256-ad19-0a910320bfab.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/5938648f-16e1-4256-ad19-0a910320bfab.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/5938648f-16e1-4256-ad19-0a910320bfab.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1961 |
+| Sim rows | 198 |
+| Real episode_id | `5938648f-16e1-4256-ad19-0a910320bfab` |
+| Sim episode_id | `5938648f-16e1-4256-ad19-0a910320bfab` |
+
+## 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 | 162 | 17 | 2.796 | 12.48 | 21.61 | 445.74 | 0.6792 |
+| 1 | descend | 84 | 9 | 0.604 | 3.60 | 6.24 | 4.22 | 0.6582 |
+| 2 | settle | 37 | 4 | 0.024 | 2.38 | 4.12 | 4.75 | 0.7096 |
+| 3 | close | 377 | 37 | 0.072 | 2.32 | 4.01 | 5.91 | 1.0930 |
+| 4 | lift | 84 | 9 | 0.639 | 3.74 | 6.48 | 5.37 | 1.1928 |
+| 5 | move_xy | 228 | 23 | 9.724 | 34.70 | 60.10 | 111.74 | 1.2503 |
+| 6 | lower | 84 | 9 | 0.711 | 3.90 | 6.76 | 4.58 | 1.0716 |
+| 7 | open | 353 | 35 | 0.021 | 2.63 | 4.55 | 5.07 | 0.5937 |
+| 8 | retract | 83 | 9 | 0.629 | 3.48 | 6.02 | 4.39 | 0.6758 |
+| 9 | return | 469 | 46 | 6.174 | 22.83 | 39.54 | 1035.50 | 0.6789 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.771 |
+| TCP position RMSE (mm, per-axis) | 13.97 |
+| EE position RMS L2 (mm) | 29.09 |
+| TCP rotvec (mrad) | 358.27 |
+| W1 effort mean (A) | 0.8032 |
+| W1 effort per joint (A) | j0=0.1161, j1=1.5044, j2=1.6048, j3=0.8191, j4=0.2578, j5=0.5172 |
+
+## 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 | 0.00191 | -0.00350 | -0.00013 | 0.00399 | 0.040 |
+| 1 | 0.00239 | -0.00334 | -0.00007 | 0.00411 | 0.044 |
+| 2 | 0.00238 | -0.00337 | -0.00018 | 0.00413 | 0.049 |
+| 3 | 0.00249 | -0.00296 | -0.00108 | 0.00402 | 0.117 |
+| 4 | 0.00218 | -0.00334 | -0.00119 | 0.00416 | 0.134 |
+| 5 | 0.00129 | -0.00343 | -0.00163 | 0.00401 | 0.096 |
+| 6 | 0.00167 | -0.00395 | -0.00144 | 0.00452 | 0.069 |
+| 7 | 0.00156 | -0.00413 | -0.00117 | 0.00456 | 0.041 |
+| 8 | 0.00127 | -0.00366 | -0.00125 | 0.00407 | 0.050 |
+| 9 | -0.00006 | -0.00005 | -0.00020 | 0.00021 | 0.026 |
+
+## 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.
diff --git a/gap_reports/gap_5951e1f2-b2eb-4bbe-a4ef-4e6ac6bcb978.md b/gap_reports/gap_5951e1f2-b2eb-4bbe-a4ef-4e6ac6bcb978.md
new file mode 100644
index 0000000000000000000000000000000000000000..4b7ef452fbe6ad48e5eef7d47f2491d234d422de
--- /dev/null
+++ b/gap_reports/gap_5951e1f2-b2eb-4bbe-a4ef-4e6ac6bcb978.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/5951e1f2-b2eb-4bbe-a4ef-4e6ac6bcb978.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/5951e1f2-b2eb-4bbe-a4ef-4e6ac6bcb978.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1223 |
+| Sim rows | 127 |
+| Real episode_id | `5951e1f2-b2eb-4bbe-a4ef-4e6ac6bcb978` |
+| Sim episode_id | `5951e1f2-b2eb-4bbe-a4ef-4e6ac6bcb978` |
+
+## 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 | 2.509 | 15.24 | 26.40 | 799.84 | 0.7567 |
+| 1 | descend | 62 | 7 | 0.565 | 4.21 | 7.29 | 5.97 | 0.6751 |
+| 2 | settle | 21 | 3 | 0.022 | 3.12 | 5.41 | 6.13 | 0.6949 |
+| 3 | close | 54 | 6 | 0.147 | 3.80 | 6.58 | 3622.47 | 1.1692 |
+| 4 | lift | 81 | 9 | 0.750 | 5.46 | 9.45 | 3622.68 | 1.1608 |
+| 5 | move_xy | 281 | 28 | 6.039 | 41.44 | 71.78 | 1219.40 | 1.0511 |
+| 6 | lower | 116 | 12 | 0.845 | 4.83 | 8.37 | 9.30 | 1.1572 |
+| 7 | open | 80 | 9 | 0.029 | 2.37 | 4.10 | 5.61 | 0.7356 |
+| 8 | retract | 117 | 12 | 0.911 | 4.88 | 8.45 | 4.93 | 0.7716 |
+| 9 | return | 259 | 26 | 2.996 | 19.07 | 33.03 | 626.33 | 0.7398 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.328 |
+| TCP position RMSE (mm, per-axis) | 15.61 |
+| EE position RMS L2 (mm) | 39.08 |
+| TCP rotvec (mrad) | 1696.03 |
+| W1 effort mean (A) | 0.8743 |
+| W1 effort per joint (A) | j0=0.2211, j1=1.7582, j2=1.4953, j3=0.6965, j4=0.4963, j5=0.5784 |
+
+## 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 | 0.00195 | -0.00469 | -0.00098 | 0.00518 | 0.047 |
+| 1 | 0.00213 | -0.00485 | -0.00111 | 0.00541 | 0.053 |
+| 2 | 0.00210 | -0.00486 | -0.00121 | 0.00543 | 0.043 |
+| 3 | 0.00303 | -0.00482 | -0.00361 | 0.00674 | 0.249 |
+| 4 | 0.00243 | -0.00464 | -0.00371 | 0.00642 | 0.265 |
+| 5 | 0.00282 | -0.00289 | -0.00268 | 0.00485 | 0.278 |
+| 6 | 0.00301 | -0.00219 | -0.00273 | 0.00462 | 0.232 |
+| 7 | 0.00274 | -0.00301 | -0.00047 | 0.00410 | 0.065 |
+| 8 | 0.00255 | -0.00333 | -0.00059 | 0.00424 | 0.074 |
+| 9 | -0.00004 | -0.00014 | -0.00031 | 0.00035 | 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.
diff --git a/gap_reports/gap_59ab83fb-cf59-4a6b-b1db-4e0f0c64ef73.md b/gap_reports/gap_59ab83fb-cf59-4a6b-b1db-4e0f0c64ef73.md
new file mode 100644
index 0000000000000000000000000000000000000000..6b9d3797e5650849260378d1393c3a4b2116a27b
--- /dev/null
+++ b/gap_reports/gap_59ab83fb-cf59-4a6b-b1db-4e0f0c64ef73.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/59ab83fb-cf59-4a6b-b1db-4e0f0c64ef73.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/59ab83fb-cf59-4a6b-b1db-4e0f0c64ef73.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2495 |
+| Sim rows | 223 |
+| Real episode_id | `59ab83fb-cf59-4a6b-b1db-4e0f0c64ef73` |
+| Sim episode_id | `59ab83fb-cf59-4a6b-b1db-4e0f0c64ef73` |
+
+## 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 | 3.307 | 17.81 | 30.84 | 1839.88 | 0.6225 |
+| 1 | descend | 250 | 22 | 1.105 | 7.83 | 13.57 | 3624.73 | 0.9453 |
+| 2 | settle | 355 | 31 | 0.028 | 0.98 | 1.69 | 3624.51 | 0.7133 |
+| 3 | close | 151 | 14 | 0.591 | 4.24 | 7.35 | 3625.02 | 1.0473 |
+| 4 | lift | 280 | 25 | 2.731 | 15.53 | 26.90 | 2343.62 | 1.1243 |
+| 5 | move_xy | 385 | 34 | 6.845 | 39.93 | 69.16 | 2727.58 | 0.9220 |
+| 6 | lower | 413 | 36 | 0.094 | 1.74 | 3.01 | 3588.15 | 1.1820 |
+| 7 | open | 152 | 14 | 0.683 | 4.88 | 8.45 | 3624.58 | 0.8862 |
+| 8 | retract | 280 | 25 | 2.626 | 14.93 | 25.85 | 2353.14 | 0.7542 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.871 |
+| TCP position RMSE (mm, per-axis) | 16.61 |
+| EE position RMS L2 (mm) | 31.77 |
+| TCP rotvec (mrad) | 3114.19 |
+| W1 effort mean (A) | 0.8827 |
+| W1 effort per joint (A) | j0=0.2178, j1=1.5920, j2=1.6693, j3=0.9390, j4=0.2376, j5=0.6403 |
+
+## 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 | 0.00096 | -0.00037 | -0.00075 | 0.00128 | 0.027 |
+| 1 | 0.00094 | -0.00077 | -0.00118 | 0.00169 | 0.052 |
+| 2 | 0.00093 | -0.00078 | -0.00115 | 0.00167 | 0.051 |
+| 3 | 0.00182 | -0.00050 | -0.00132 | 0.00230 | 0.125 |
+| 4 | 0.00019 | -0.00021 | -0.00022 | 0.00036 | 0.083 |
+| 5 | 0.00276 | -0.00120 | -0.00184 | 0.00352 | 0.237 |
+| 6 | 0.00231 | -0.00110 | -0.00175 | 0.00310 | 0.189 |
+| 7 | 0.00081 | -0.00045 | -0.00102 | 0.00138 | 0.043 |
+| 8 | -0.00016 | -0.00024 | -0.00022 | 0.00037 | 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.
diff --git a/gap_reports/gap_59c657ad-de15-41b3-b0fe-081685125020.md b/gap_reports/gap_59c657ad-de15-41b3-b0fe-081685125020.md
new file mode 100644
index 0000000000000000000000000000000000000000..942ce9162fb057429d7400df4437100b62c8d489
--- /dev/null
+++ b/gap_reports/gap_59c657ad-de15-41b3-b0fe-081685125020.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/59c657ad-de15-41b3-b0fe-081685125020.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/59c657ad-de15-41b3-b0fe-081685125020.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 642 |
+| Sim rows | 79 |
+| Real episode_id | `59c657ad-de15-41b3-b0fe-081685125020` |
+| Sim episode_id | `59c657ad-de15-41b3-b0fe-081685125020` |
+
+## 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 | 431 | 42 | 2.924 | 15.60 | 27.02 | 11.33 | 0.8346 |
+| 1 | descend | 211 | 21 | 0.026 | 4.80 | 8.31 | 2.40 | 0.8631 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.068 |
+| TCP position RMSE (mm, per-axis) | 11.54 |
+| EE position RMS L2 (mm) | 22.65 |
+| TCP rotvec (mrad) | 8.19 |
+| W1 effort mean (A) | 0.8428 |
+| W1 effort per joint (A) | j0=0.1892, j1=1.7834, j2=1.7403, j3=0.9794, j4=0.1359, j5=0.2286 |
+
+## 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 | 0.00584 | 0.00559 | 0.00022 | 0.00808 | 0.053 |
+| 1 | 0.00621 | 0.00561 | 0.00009 | 0.00837 | 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.
diff --git a/gap_reports/gap_59e8ce70-64cc-48c1-b46c-1c89dde7c76e.md b/gap_reports/gap_59e8ce70-64cc-48c1-b46c-1c89dde7c76e.md
new file mode 100644
index 0000000000000000000000000000000000000000..5d85ce919133248558ed5a8b4e86b91dc49bd006
--- /dev/null
+++ b/gap_reports/gap_59e8ce70-64cc-48c1-b46c-1c89dde7c76e.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/59e8ce70-64cc-48c1-b46c-1c89dde7c76e.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/59e8ce70-64cc-48c1-b46c-1c89dde7c76e.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2662 |
+| Sim rows | 236 |
+| Real episode_id | `59e8ce70-64cc-48c1-b46c-1c89dde7c76e` |
+| Sim episode_id | `59e8ce70-64cc-48c1-b46c-1c89dde7c76e` |
+
+## 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 | 230 | 20 | 2.998 | 11.52 | 19.95 | 1985.98 | 0.5709 |
+| 1 | descend | 392 | 34 | 1.185 | 7.09 | 12.28 | 3626.05 | 0.7017 |
+| 2 | settle | 364 | 32 | 0.021 | 0.60 | 1.03 | 3625.97 | 0.6992 |
+| 3 | close | 135 | 12 | 0.926 | 5.66 | 9.80 | 1806.18 | 0.9068 |
+| 4 | lift | 293 | 26 | 3.017 | 12.32 | 21.34 | 1923.64 | 1.0980 |
+| 5 | move_xy | 421 | 37 | 6.708 | 30.23 | 52.35 | 2140.34 | 0.8898 |
+| 6 | lower | 396 | 34 | 0.083 | 1.15 | 1.99 | 2030.70 | 0.9354 |
+| 7 | open | 137 | 13 | 0.946 | 5.44 | 9.43 | 3626.23 | 0.6076 |
+| 8 | retract | 294 | 26 | 3.266 | 13.31 | 23.05 | 2306.82 | 0.7137 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.924 |
+| TCP position RMSE (mm, per-axis) | 12.86 |
+| EE position RMS L2 (mm) | 24.68 |
+| TCP rotvec (mrad) | 2674.54 |
+| W1 effort mean (A) | 0.7731 |
+| W1 effort per joint (A) | j0=0.2427, j1=1.1790, j2=1.5609, j3=0.6831, j4=0.3706, j5=0.6022 |
+
+## 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 | -0.00028 | -0.00047 | 0.00069 | 0.027 |
+| 1 | 0.00039 | -0.00054 | -0.00075 | 0.00100 | 0.035 |
+| 2 | 0.00043 | -0.00055 | -0.00078 | 0.00105 | 0.037 |
+| 3 | 0.00082 | -0.00037 | -0.00138 | 0.00164 | 0.129 |
+| 4 | 0.00015 | -0.00027 | -0.00027 | 0.00041 | 0.102 |
+| 5 | 0.00127 | -0.00072 | -0.00192 | 0.00241 | 0.151 |
+| 6 | 0.00139 | -0.00074 | -0.00088 | 0.00180 | 0.148 |
+| 7 | 0.00017 | -0.00027 | -0.00054 | 0.00063 | 0.039 |
+| 8 | -0.00008 | -0.00011 | -0.00014 | 0.00020 | 0.029 |
+
+## 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.
diff --git a/gap_reports/gap_5a0774fe-129c-406c-8de8-5015563a694b.md b/gap_reports/gap_5a0774fe-129c-406c-8de8-5015563a694b.md
new file mode 100644
index 0000000000000000000000000000000000000000..dc9f3a8cc24af977e5f26eda981a475f147f67ab
--- /dev/null
+++ b/gap_reports/gap_5a0774fe-129c-406c-8de8-5015563a694b.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/5a0774fe-129c-406c-8de8-5015563a694b.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/5a0774fe-129c-406c-8de8-5015563a694b.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 437 |
+| Sim rows | 60 |
+| Real episode_id | `5a0774fe-129c-406c-8de8-5015563a694b` |
+| Sim episode_id | `5a0774fe-129c-406c-8de8-5015563a694b` |
+
+## 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 | 227 | 23 | 3.183 | 13.33 | 23.08 | 7.48 | 0.8256 |
+| 1 | descend | 210 | 21 | 0.022 | 3.30 | 5.72 | 2.20 | 0.8861 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.251 |
+| TCP position RMSE (mm, per-axis) | 9.71 |
+| EE position RMS L2 (mm) | 17.10 |
+| TCP rotvec (mrad) | 5.51 |
+| W1 effort mean (A) | 0.8543 |
+| W1 effort per joint (A) | j0=0.1285, j1=1.8055, j2=1.8880, j3=0.9365, j4=0.2343, j5=0.1328 |
+
+## 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 | 0.00540 | 0.00135 | 0.00053 | 0.00560 | 0.032 |
+| 1 | 0.00554 | 0.00137 | 0.00043 | 0.00572 | 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.
diff --git a/gap_reports/gap_5a0ec35a-ba11-4874-9eb8-5514afb67885.md b/gap_reports/gap_5a0ec35a-ba11-4874-9eb8-5514afb67885.md
new file mode 100644
index 0000000000000000000000000000000000000000..f9eae0268bb9d0f17b3585f138ae1ef8db782b0f
--- /dev/null
+++ b/gap_reports/gap_5a0ec35a-ba11-4874-9eb8-5514afb67885.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/5a0ec35a-ba11-4874-9eb8-5514afb67885.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/5a0ec35a-ba11-4874-9eb8-5514afb67885.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 3122 |
+| Sim rows | 273 |
+| Real episode_id | `5a0ec35a-ba11-4874-9eb8-5514afb67885` |
+| Sim episode_id | `5a0ec35a-ba11-4874-9eb8-5514afb67885` |
+
+## 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 | 18 | 3.154 | 13.45 | 23.30 | 3.32 | 0.6067 |
+| 1 | descend | 501 | 43 | 0.838 | 5.51 | 9.54 | 5.17 | 0.7016 |
+| 2 | settle | 378 | 33 | 0.025 | 1.01 | 1.74 | 5.34 | 0.6271 |
+| 3 | close | 133 | 12 | 1.044 | 6.55 | 11.34 | 7.01 | 0.9389 |
+| 4 | lift | 499 | 43 | 3.461 | 16.16 | 27.99 | 5.18 | 1.1100 |
+| 5 | move_xy | 368 | 32 | 8.010 | 39.59 | 68.58 | 5.47 | 0.8971 |
+| 6 | lower | 403 | 35 | 0.096 | 1.75 | 3.03 | 7.89 | 0.8976 |
+| 7 | open | 132 | 12 | 0.877 | 5.55 | 9.61 | 5.37 | 0.6026 |
+| 8 | retract | 500 | 43 | 3.684 | 16.93 | 29.32 | 3.55 | 0.7151 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.370 |
+| TCP position RMSE (mm, per-axis) | 16.34 |
+| EE position RMS L2 (mm) | 29.65 |
+| TCP rotvec (mrad) | 5.54 |
+| W1 effort mean (A) | 0.7809 |
+| W1 effort per joint (A) | j0=0.2870, j1=1.3139, j2=1.4459, j3=0.6024, j4=0.4341, j5=0.6024 |
+
+## 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 | 0.00108 | -0.00043 | -0.00057 | 0.00130 | 0.035 |
+| 1 | 0.00114 | -0.00084 | -0.00098 | 0.00172 | 0.046 |
+| 2 | 0.00114 | -0.00088 | -0.00096 | 0.00172 | 0.049 |
+| 3 | 0.00176 | -0.00042 | -0.00153 | 0.00237 | 0.139 |
+| 4 | 0.00044 | -0.00012 | -0.00052 | 0.00069 | 0.107 |
+| 5 | 0.00216 | -0.00102 | -0.00219 | 0.00324 | 0.163 |
+| 6 | 0.00225 | -0.00099 | -0.00212 | 0.00324 | 0.143 |
+| 7 | 0.00094 | -0.00052 | -0.00075 | 0.00131 | 0.049 |
+| 8 | -0.00007 | -0.00008 | -0.00012 | 0.00016 | 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.
diff --git a/gap_reports/gap_5a106fa5-0c39-42c2-a717-8dce37d3896a.md b/gap_reports/gap_5a106fa5-0c39-42c2-a717-8dce37d3896a.md
new file mode 100644
index 0000000000000000000000000000000000000000..754dd03e7a1a41947d70d70e751609d802c52060
--- /dev/null
+++ b/gap_reports/gap_5a106fa5-0c39-42c2-a717-8dce37d3896a.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/5a106fa5-0c39-42c2-a717-8dce37d3896a.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/5a106fa5-0c39-42c2-a717-8dce37d3896a.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 728 |
+| Sim rows | 87 |
+| Real episode_id | `5a106fa5-0c39-42c2-a717-8dce37d3896a` |
+| Sim episode_id | `5a106fa5-0c39-42c2-a717-8dce37d3896a` |
+
+## 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 | 518 | 50 | 5.232 | 20.65 | 35.78 | 28.35 | 0.6795 |
+| 1 | descend | 210 | 21 | 0.019 | 3.36 | 5.81 | 3.24 | 0.8252 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.700 |
+| TCP position RMSE (mm, per-axis) | 14.80 |
+| EE position RMS L2 (mm) | 30.34 |
+| TCP rotvec (mrad) | 20.18 |
+| W1 effort mean (A) | 0.7205 |
+| W1 effort per joint (A) | j0=0.1895, j1=1.1414, j2=1.7420, j3=0.9332, j4=0.1657, j5=0.1511 |
+
+## 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 | -0.00154 | 0.00561 | 0.00094 | 0.00589 | 0.030 |
+| 1 | -0.00149 | 0.00554 | 0.00081 | 0.00579 | 0.035 |
+
+## 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.
diff --git a/gap_reports/gap_5a1d0c7b-035c-469a-a1ab-f7add9f71b2e.md b/gap_reports/gap_5a1d0c7b-035c-469a-a1ab-f7add9f71b2e.md
new file mode 100644
index 0000000000000000000000000000000000000000..fed4bfb9e60a53fbb6c915ad275ea74b0618fd13
--- /dev/null
+++ b/gap_reports/gap_5a1d0c7b-035c-469a-a1ab-f7add9f71b2e.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/5a1d0c7b-035c-469a-a1ab-f7add9f71b2e.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/5a1d0c7b-035c-469a-a1ab-f7add9f71b2e.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 531 |
+| Sim rows | 62 |
+| Real episode_id | `5a1d0c7b-035c-469a-a1ab-f7add9f71b2e` |
+| Sim episode_id | `5a1d0c7b-035c-469a-a1ab-f7add9f71b2e` |
+
+## 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 | 132 | 13 | 17.917 | 12.21 | 21.14 | 775.41 | 0.6621 |
+| 1 | descend | 74 | 8 | 33.261 | 4.72 | 8.17 | 1263.27 | 0.8295 |
+| 2 | settle | 19 | 3 | 33.236 | 2.38 | 4.12 | 1263.97 | 0.8026 |
+| 3 | close | 29 | 4 | 33.236 | 2.44 | 4.23 | 1263.58 | 1.2276 |
+| 4 | lift | 77 | 9 | 33.257 | 5.06 | 8.77 | 1262.69 | 1.2427 |
+| 5 | move_xy | 88 | 9 | 24.600 | 13.68 | 23.70 | 849.28 | 1.1270 |
+| 6 | lower | 7 | 2 | 1.389 | 7.39 | 12.80 | 49.72 | 1.5532 |
+| 7 | open | 90 | 10 | 1.467 | 5.91 | 10.23 | 26.38 | 0.4816 |
+| 8 | retract | 8 | 2 | 0.016 | 3.23 | 5.60 | 4.02 | 0.3957 |
+| 9 | return | 7 | 2 | 0.016 | 3.23 | 5.60 | 4.06 | 0.3790 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 23.134 |
+| TCP position RMSE (mm, per-axis) | 7.11 |
+| EE position RMS L2 (mm) | 15.72 |
+| TCP rotvec (mrad) | 878.08 |
+| W1 effort mean (A) | 0.8225 |
+| W1 effort per joint (A) | j0=0.2342, j1=0.8912, j2=1.3637, j3=0.8941, j4=0.2041, j5=1.3479 |
+
+## 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 | 0.00099 | -0.00405 | 0.00021 | 0.00417 | 81.374 |
+| 1 | 0.00174 | -0.00374 | 0.00030 | 0.00414 | 81.411 |
+| 2 | 0.00174 | -0.00372 | 0.00018 | 0.00411 | 81.410 |
+| 3 | 0.00163 | -0.00397 | 0.00015 | 0.00430 | 81.412 |
+| 4 | 0.00110 | -0.00458 | -0.00016 | 0.00471 | 81.424 |
+| 5 | 0.00393 | -0.00113 | -0.00279 | 0.00495 | 1.275 |
+| 6 | 0.01011 | 0.00033 | -0.00627 | 0.01190 | 2.997 |
+| 7 | 0.00531 | -0.00179 | 0.00015 | 0.00561 | 0.036 |
+| 8 | 0.00531 | -0.00179 | 0.00015 | 0.00560 | 0.034 |
+| 9 | 0.00528 | -0.00178 | 0.00019 | 0.00558 | 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.
diff --git a/gap_reports/gap_5a25e1a0-2f3f-42a5-83b2-7fb935653649.md b/gap_reports/gap_5a25e1a0-2f3f-42a5-83b2-7fb935653649.md
new file mode 100644
index 0000000000000000000000000000000000000000..0f12cb040349f3f30d8f9bf1c7ad451a46cb564a
--- /dev/null
+++ b/gap_reports/gap_5a25e1a0-2f3f-42a5-83b2-7fb935653649.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/5a25e1a0-2f3f-42a5-83b2-7fb935653649.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/5a25e1a0-2f3f-42a5-83b2-7fb935653649.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2761 |
+| Sim rows | 243 |
+| Real episode_id | `5a25e1a0-2f3f-42a5-83b2-7fb935653649` |
+| Sim episode_id | `5a25e1a0-2f3f-42a5-83b2-7fb935653649` |
+
+## 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 | 191 | 17 | 2.801 | 12.19 | 21.11 | 1854.94 | 0.6000 |
+| 1 | descend | 429 | 37 | 0.898 | 5.91 | 10.24 | 3625.35 | 0.7692 |
+| 2 | settle | 368 | 32 | 0.025 | 0.78 | 1.35 | 3625.25 | 0.6996 |
+| 3 | close | 145 | 13 | 0.721 | 4.89 | 8.47 | 3420.30 | 1.0122 |
+| 4 | lift | 366 | 32 | 3.085 | 14.71 | 25.48 | 2321.01 | 1.1005 |
+| 5 | move_xy | 347 | 30 | 7.094 | 36.59 | 63.38 | 2820.22 | 0.9342 |
+| 6 | lower | 400 | 35 | 0.087 | 1.39 | 2.40 | 3406.33 | 1.0593 |
+| 7 | open | 148 | 13 | 0.713 | 4.71 | 8.15 | 3625.50 | 0.6680 |
+| 8 | retract | 367 | 32 | 3.041 | 14.51 | 25.13 | 2309.96 | 0.7263 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.958 |
+| TCP position RMSE (mm, per-axis) | 14.90 |
+| EE position RMS L2 (mm) | 27.03 |
+| TCP rotvec (mrad) | 3070.45 |
+| W1 effort mean (A) | 0.8381 |
+| W1 effort per joint (A) | j0=0.2259, j1=1.4371, j2=1.6866, j3=0.7425, j4=0.3433, j5=0.5929 |
+
+## 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 | 0.00066 | -0.00031 | -0.00070 | 0.00101 | 0.043 |
+| 1 | 0.00064 | -0.00065 | -0.00097 | 0.00133 | 0.044 |
+| 2 | 0.00065 | -0.00065 | -0.00098 | 0.00134 | 0.045 |
+| 3 | 0.00092 | -0.00056 | -0.00107 | 0.00152 | 0.113 |
+| 4 | 0.00014 | -0.00033 | -0.00043 | 0.00056 | 0.075 |
+| 5 | 0.00156 | -0.00094 | -0.00160 | 0.00243 | 0.127 |
+| 6 | 0.00151 | -0.00084 | -0.00150 | 0.00229 | 0.111 |
+| 7 | 0.00050 | -0.00037 | -0.00076 | 0.00099 | 0.046 |
+| 8 | -0.00011 | -0.00016 | -0.00016 | 0.00025 | 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.
diff --git a/gap_reports/gap_5a2c540a-3a80-4ac1-83c8-c0eb79df52a1.md b/gap_reports/gap_5a2c540a-3a80-4ac1-83c8-c0eb79df52a1.md
new file mode 100644
index 0000000000000000000000000000000000000000..d3b7c163fe0ce62793be24daf93c9b04274ee631
--- /dev/null
+++ b/gap_reports/gap_5a2c540a-3a80-4ac1-83c8-c0eb79df52a1.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/5a2c540a-3a80-4ac1-83c8-c0eb79df52a1.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/5a2c540a-3a80-4ac1-83c8-c0eb79df52a1.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2732 |
+| Sim rows | 243 |
+| Real episode_id | `5a2c540a-3a80-4ac1-83c8-c0eb79df52a1` |
+| Sim episode_id | `5a2c540a-3a80-4ac1-83c8-c0eb79df52a1` |
+
+## 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 | 3.113 | 12.22 | 21.17 | 1967.22 | 0.5650 |
+| 1 | descend | 255 | 23 | 1.158 | 6.96 | 12.06 | 3625.96 | 0.7384 |
+| 2 | settle | 369 | 32 | 0.022 | 0.60 | 1.04 | 3625.98 | 0.7288 |
+| 3 | close | 112 | 10 | 0.605 | 3.62 | 6.26 | 981.87 | 0.9157 |
+| 4 | lift | 399 | 35 | 3.169 | 13.03 | 22.57 | 2036.04 | 1.0888 |
+| 5 | move_xy | 435 | 38 | 6.565 | 29.69 | 51.43 | 2098.39 | 0.8890 |
+| 6 | lower | 406 | 35 | 0.077 | 1.08 | 1.87 | 1526.17 | 0.9585 |
+| 7 | open | 112 | 11 | 0.592 | 3.52 | 6.09 | 3626.24 | 0.5890 |
+| 8 | retract | 396 | 35 | 3.143 | 12.94 | 22.42 | 2268.40 | 0.6907 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.882 |
+| TCP position RMSE (mm, per-axis) | 12.67 |
+| EE position RMS L2 (mm) | 25.03 |
+| TCP rotvec (mrad) | 2588.49 |
+| W1 effort mean (A) | 0.7876 |
+| W1 effort per joint (A) | j0=0.2429, j1=1.1892, j2=1.5621, j3=0.6882, j4=0.4145, j5=0.6289 |
+
+## 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 | 0.00046 | -0.00034 | -0.00054 | 0.00079 | 0.036 |
+| 1 | 0.00041 | -0.00057 | -0.00075 | 0.00103 | 0.036 |
+| 2 | 0.00041 | -0.00055 | -0.00075 | 0.00101 | 0.037 |
+| 3 | 0.00064 | -0.00045 | -0.00146 | 0.00165 | 0.134 |
+| 4 | 0.00021 | -0.00009 | -0.00012 | 0.00026 | 0.098 |
+| 5 | 0.00134 | -0.00059 | -0.00107 | 0.00181 | 0.139 |
+| 6 | 0.00134 | -0.00070 | -0.00031 | 0.00154 | 0.130 |
+| 7 | 0.00018 | -0.00030 | -0.00064 | 0.00073 | 0.045 |
+| 8 | -0.00006 | -0.00005 | -0.00010 | 0.00013 | 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.
diff --git a/gap_reports/gap_5a37f73f-f83a-4867-bf08-b89d8a63b7f2.md b/gap_reports/gap_5a37f73f-f83a-4867-bf08-b89d8a63b7f2.md
new file mode 100644
index 0000000000000000000000000000000000000000..68bce5e068dcfb713129cfebf9d685de92ac81e1
--- /dev/null
+++ b/gap_reports/gap_5a37f73f-f83a-4867-bf08-b89d8a63b7f2.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/5a37f73f-f83a-4867-bf08-b89d8a63b7f2.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/5a37f73f-f83a-4867-bf08-b89d8a63b7f2.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2288 |
+| Sim rows | 232 |
+| Real episode_id | `5a37f73f-f83a-4867-bf08-b89d8a63b7f2` |
+| Sim episode_id | `5a37f73f-f83a-4867-bf08-b89d8a63b7f2` |
+
+## 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 | 167 | 17 | 2.793 | 13.50 | 23.38 | 1881.74 | 0.6296 |
+| 1 | descend | 359 | 36 | 1.395 | 9.78 | 16.95 | 3624.75 | 0.7989 |
+| 2 | settle | 338 | 33 | 0.027 | 0.96 | 1.67 | 3624.57 | 0.6873 |
+| 3 | close | 143 | 15 | 0.902 | 6.32 | 10.94 | 3625.57 | 0.9637 |
+| 4 | lift | 247 | 25 | 2.714 | 14.73 | 25.51 | 2430.22 | 1.1251 |
+| 5 | move_xy | 296 | 30 | 6.931 | 40.06 | 69.39 | 2802.98 | 0.9174 |
+| 6 | lower | 349 | 34 | 0.094 | 1.71 | 2.97 | 3625.18 | 1.0389 |
+| 7 | open | 144 | 15 | 0.854 | 5.91 | 10.23 | 3624.72 | 0.7517 |
+| 8 | retract | 245 | 25 | 2.838 | 15.48 | 26.81 | 2428.94 | 0.7631 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.882 |
+| TCP position RMSE (mm, per-axis) | 16.39 |
+| EE position RMS L2 (mm) | 29.51 |
+| TCP rotvec (mrad) | 3142.98 |
+| W1 effort mean (A) | 0.8370 |
+| W1 effort per joint (A) | j0=0.2578, j1=1.5509, j2=1.6674, j3=0.7722, j4=0.2251, j5=0.5487 |
+
+## 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 | -0.00026 | -0.00073 | 0.00116 | 0.037 |
+| 1 | 0.00091 | -0.00074 | -0.00119 | 0.00167 | 0.052 |
+| 2 | 0.00093 | -0.00074 | -0.00122 | 0.00170 | 0.056 |
+| 3 | 0.00185 | -0.00039 | -0.00101 | 0.00214 | 0.131 |
+| 4 | 0.00010 | -0.00013 | -0.00038 | 0.00042 | 0.087 |
+| 5 | 0.00221 | -0.00107 | -0.00175 | 0.00302 | 0.174 |
+| 6 | 0.00189 | -0.00100 | -0.00144 | 0.00258 | 0.122 |
+| 7 | 0.00071 | -0.00037 | -0.00102 | 0.00130 | 0.062 |
+| 8 | -0.00014 | -0.00025 | -0.00023 | 0.00037 | 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.
diff --git a/gap_reports/gap_5a871870-40b5-47d2-9234-399e7b09a208.md b/gap_reports/gap_5a871870-40b5-47d2-9234-399e7b09a208.md
new file mode 100644
index 0000000000000000000000000000000000000000..1d790fe95951c4f50fdda261491ba07d601b7adf
--- /dev/null
+++ b/gap_reports/gap_5a871870-40b5-47d2-9234-399e7b09a208.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/5a871870-40b5-47d2-9234-399e7b09a208.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/5a871870-40b5-47d2-9234-399e7b09a208.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2485 |
+| Sim rows | 247 |
+| Real episode_id | `5a871870-40b5-47d2-9234-399e7b09a208` |
+| Sim episode_id | `5a871870-40b5-47d2-9234-399e7b09a208` |
+
+## 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 | 158 | 16 | 2.132 | 8.24 | 14.27 | 1977.65 | 0.5644 |
+| 1 | descend | 555 | 54 | 0.674 | 4.06 | 7.03 | 3626.01 | 0.7644 |
+| 2 | settle | 314 | 31 | 0.023 | 0.57 | 0.98 | 3625.96 | 0.7135 |
+| 3 | close | 138 | 14 | 0.748 | 4.48 | 7.76 | 2097.02 | 0.9507 |
+| 4 | lift | 274 | 27 | 2.681 | 11.26 | 19.50 | 1799.28 | 1.0618 |
+| 5 | move_xy | 296 | 29 | 5.525 | 25.80 | 44.69 | 2083.10 | 0.8748 |
+| 6 | lower | 343 | 33 | 0.083 | 1.06 | 1.83 | 1771.94 | 1.0480 |
+| 7 | open | 140 | 14 | 0.748 | 4.38 | 7.58 | 3626.14 | 0.6085 |
+| 8 | retract | 267 | 27 | 2.673 | 11.23 | 19.45 | 2230.03 | 0.6863 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.380 |
+| TCP position RMSE (mm, per-axis) | 10.77 |
+| EE position RMS L2 (mm) | 18.75 |
+| TCP rotvec (mrad) | 2655.03 |
+| W1 effort mean (A) | 0.7910 |
+| W1 effort per joint (A) | j0=0.2801, j1=1.1586, j2=1.6158, j3=0.6740, j4=0.4848, j5=0.5327 |
+
+## 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 | 0.00018 | -0.00035 | -0.00053 | 0.00066 | 0.037 |
+| 1 | 0.00014 | -0.00057 | -0.00079 | 0.00098 | 0.039 |
+| 2 | 0.00017 | -0.00057 | -0.00077 | 0.00098 | 0.035 |
+| 3 | 0.00065 | -0.00046 | -0.00078 | 0.00111 | 0.109 |
+| 4 | 0.00013 | -0.00008 | -0.00008 | 0.00017 | 0.048 |
+| 5 | 0.00108 | -0.00093 | -0.00181 | 0.00230 | 0.149 |
+| 6 | 0.00092 | -0.00072 | -0.00030 | 0.00120 | 0.121 |
+| 7 | 0.00006 | -0.00035 | -0.00058 | 0.00068 | 0.044 |
+| 8 | -0.00007 | -0.00009 | -0.00015 | 0.00019 | 0.029 |
+
+## 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.
diff --git a/gap_reports/gap_5a879937-2b98-43b9-a8cf-bd45e9416522.md b/gap_reports/gap_5a879937-2b98-43b9-a8cf-bd45e9416522.md
new file mode 100644
index 0000000000000000000000000000000000000000..b51caa8019a997bf29f8da2e7d978d7377a1e9b7
--- /dev/null
+++ b/gap_reports/gap_5a879937-2b98-43b9-a8cf-bd45e9416522.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/5a879937-2b98-43b9-a8cf-bd45e9416522.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/5a879937-2b98-43b9-a8cf-bd45e9416522.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2698 |
+| Sim rows | 240 |
+| Real episode_id | `5a879937-2b98-43b9-a8cf-bd45e9416522` |
+| Sim episode_id | `5a879937-2b98-43b9-a8cf-bd45e9416522` |
+
+## 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 | 202 | 18 | 3.323 | 14.34 | 24.85 | 2040.66 | 0.6058 |
+| 1 | descend | 348 | 31 | 0.940 | 6.25 | 10.82 | 3625.31 | 0.6989 |
+| 2 | settle | 369 | 32 | 0.026 | 0.83 | 1.43 | 3625.31 | 0.6253 |
+| 3 | close | 117 | 11 | 0.622 | 4.16 | 7.21 | 3378.01 | 0.9480 |
+| 4 | lift | 394 | 34 | 3.768 | 17.71 | 30.67 | 2201.17 | 1.1116 |
+| 5 | move_xy | 355 | 31 | 8.075 | 39.31 | 68.08 | 2709.28 | 0.8788 |
+| 6 | lower | 404 | 35 | 0.089 | 1.47 | 2.55 | 3366.09 | 0.8758 |
+| 7 | open | 117 | 11 | 0.678 | 4.32 | 7.49 | 3625.52 | 0.6366 |
+| 8 | retract | 392 | 35 | 3.793 | 17.86 | 30.93 | 2394.42 | 0.7248 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.441 |
+| TCP position RMSE (mm, per-axis) | 16.54 |
+| EE position RMS L2 (mm) | 30.88 |
+| TCP rotvec (mrad) | 3059.68 |
+| W1 effort mean (A) | 0.7780 |
+| W1 effort per joint (A) | j0=0.2728, j1=1.2890, j2=1.4531, j3=0.6952, j4=0.3321, j5=0.6255 |
+
+## 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 | 0.00084 | -0.00025 | -0.00058 | 0.00105 | 0.034 |
+| 1 | 0.00088 | -0.00054 | -0.00100 | 0.00144 | 0.047 |
+| 2 | 0.00086 | -0.00058 | -0.00096 | 0.00141 | 0.047 |
+| 3 | 0.00196 | -0.00022 | -0.00148 | 0.00246 | 0.161 |
+| 4 | 0.00010 | -0.00041 | -0.00032 | 0.00053 | 0.127 |
+| 5 | 0.00213 | -0.00085 | -0.00155 | 0.00277 | 0.166 |
+| 6 | 0.00155 | -0.00081 | -0.00169 | 0.00243 | 0.132 |
+| 7 | 0.00060 | -0.00026 | -0.00073 | 0.00098 | 0.037 |
+| 8 | -0.00012 | -0.00015 | -0.00017 | 0.00026 | 0.025 |
+
+## 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.
diff --git a/gap_reports/gap_5a8d83fe-44db-4499-8ed8-85c7e88a2118.md b/gap_reports/gap_5a8d83fe-44db-4499-8ed8-85c7e88a2118.md
new file mode 100644
index 0000000000000000000000000000000000000000..bda8e5f6deeff0654671acd6da755b7a23589970
--- /dev/null
+++ b/gap_reports/gap_5a8d83fe-44db-4499-8ed8-85c7e88a2118.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/5a8d83fe-44db-4499-8ed8-85c7e88a2118.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/5a8d83fe-44db-4499-8ed8-85c7e88a2118.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1896 |
+| Sim rows | 191 |
+| Real episode_id | `5a8d83fe-44db-4499-8ed8-85c7e88a2118` |
+| Sim episode_id | `5a8d83fe-44db-4499-8ed8-85c7e88a2118` |
+
+## 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 | 218 | 22 | 5.163 | 19.15 | 33.17 | 1753.22 | 0.7704 |
+| 1 | descend | 90 | 9 | 0.525 | 3.57 | 6.18 | 4.69 | 0.6339 |
+| 2 | settle | 35 | 4 | 0.020 | 2.69 | 4.67 | 5.02 | 0.6498 |
+| 3 | close | 386 | 38 | 0.103 | 2.13 | 3.69 | 5.04 | 1.0735 |
+| 4 | lift | 89 | 9 | 0.480 | 2.92 | 5.06 | 4.92 | 1.1779 |
+| 5 | move_xy | 254 | 25 | 10.119 | 25.58 | 44.30 | 266.49 | 1.0684 |
+| 6 | lower | 92 | 10 | 16.569 | 3.72 | 6.44 | 641.62 | 1.0896 |
+| 7 | open | 354 | 35 | 16.547 | 2.53 | 4.38 | 641.02 | 0.7567 |
+| 8 | retract | 89 | 10 | 16.561 | 3.35 | 5.80 | 640.76 | 0.8063 |
+| 9 | return | 289 | 29 | 9.440 | 15.65 | 27.11 | 1059.21 | 0.8195 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 10.204 |
+| TCP position RMSE (mm, per-axis) | 11.53 |
+| EE position RMS L2 (mm) | 22.69 |
+| TCP rotvec (mrad) | 741.62 |
+| W1 effort mean (A) | 0.8918 |
+| W1 effort per joint (A) | j0=0.2127, j1=1.5567, j2=1.5411, j3=0.7433, j4=0.3609, j5=0.9358 |
+
+## 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 | 0.00165 | -0.00391 | -0.00099 | 0.00436 | 0.028 |
+| 1 | 0.00188 | -0.00415 | -0.00093 | 0.00465 | 0.034 |
+| 2 | 0.00190 | -0.00413 | -0.00109 | 0.00467 | 0.041 |
+| 3 | 0.00106 | -0.00275 | -0.00076 | 0.00304 | 0.199 |
+| 4 | 0.00098 | -0.00263 | -0.00109 | 0.00301 | 0.234 |
+| 5 | 0.00224 | -0.00313 | -0.00042 | 0.00387 | 40.510 |
+| 6 | 0.00277 | -0.00280 | -0.00107 | 0.00408 | 40.538 |
+| 7 | 0.00218 | -0.00378 | -0.00023 | 0.00437 | 40.531 |
+| 8 | 0.00187 | -0.00391 | -0.00027 | 0.00435 | 40.568 |
+| 9 | -0.00007 | -0.00012 | -0.00026 | 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.
diff --git a/gap_reports/gap_5a9101db-ab94-4588-857b-34bb41492a09.md b/gap_reports/gap_5a9101db-ab94-4588-857b-34bb41492a09.md
new file mode 100644
index 0000000000000000000000000000000000000000..fae7ff423b75b9ce06ed9ed8bf84537b20337093
--- /dev/null
+++ b/gap_reports/gap_5a9101db-ab94-4588-857b-34bb41492a09.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/5a9101db-ab94-4588-857b-34bb41492a09.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/5a9101db-ab94-4588-857b-34bb41492a09.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2371 |
+| Sim rows | 237 |
+| Real episode_id | `5a9101db-ab94-4588-857b-34bb41492a09` |
+| Sim episode_id | `5a9101db-ab94-4588-857b-34bb41492a09` |
+
+## 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 | 194 | 20 | 2.449 | 13.92 | 24.11 | 1930.02 | 0.6108 |
+| 1 | descend | 274 | 27 | 0.896 | 6.20 | 10.74 | 3624.63 | 0.8348 |
+| 2 | settle | 317 | 31 | 0.028 | 0.97 | 1.69 | 3624.51 | 0.6392 |
+| 3 | close | 97 | 10 | 0.553 | 3.94 | 6.82 | 3625.30 | 1.0332 |
+| 4 | lift | 355 | 35 | 2.274 | 13.69 | 23.71 | 2284.74 | 1.1178 |
+| 5 | move_xy | 325 | 32 | 4.873 | 30.37 | 52.61 | 2749.54 | 0.9297 |
+| 6 | lower | 358 | 35 | 0.097 | 1.72 | 2.99 | 3625.01 | 1.0567 |
+| 7 | open | 98 | 10 | 0.545 | 3.79 | 6.56 | 3624.67 | 0.7565 |
+| 8 | retract | 353 | 35 | 2.418 | 14.71 | 25.47 | 2266.37 | 0.7354 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.165 |
+| TCP position RMSE (mm, per-axis) | 13.30 |
+| EE position RMS L2 (mm) | 25.03 |
+| TCP rotvec (mrad) | 3115.16 |
+| W1 effort mean (A) | 0.8453 |
+| W1 effort per joint (A) | j0=0.2178, j1=1.5308, j2=1.6976, j3=0.7371, j4=0.2625, j5=0.6259 |
+
+## 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 | -0.00054 | -0.00084 | 0.00128 | 0.038 |
+| 1 | 0.00075 | -0.00088 | -0.00121 | 0.00167 | 0.058 |
+| 2 | 0.00075 | -0.00088 | -0.00121 | 0.00167 | 0.058 |
+| 3 | 0.00137 | -0.00081 | -0.00169 | 0.00232 | 0.114 |
+| 4 | 0.00040 | 0.00013 | 0.00006 | 0.00043 | 0.108 |
+| 5 | 0.00209 | -0.00136 | -0.00178 | 0.00306 | 0.184 |
+| 6 | 0.00207 | -0.00139 | -0.00216 | 0.00330 | 0.173 |
+| 7 | 0.00049 | -0.00062 | -0.00103 | 0.00130 | 0.049 |
+| 8 | -0.00010 | -0.00016 | -0.00016 | 0.00025 | 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.
diff --git a/gap_reports/gap_5a9f3131-2b07-4baf-9e1a-370591ea4087.md b/gap_reports/gap_5a9f3131-2b07-4baf-9e1a-370591ea4087.md
new file mode 100644
index 0000000000000000000000000000000000000000..151db05249c033dd8a68144eca02755df4d5ca0e
--- /dev/null
+++ b/gap_reports/gap_5a9f3131-2b07-4baf-9e1a-370591ea4087.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/5a9f3131-2b07-4baf-9e1a-370591ea4087.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/5a9f3131-2b07-4baf-9e1a-370591ea4087.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1259 |
+| Sim rows | 130 |
+| Real episode_id | `5a9f3131-2b07-4baf-9e1a-370591ea4087` |
+| Sim episode_id | `5a9f3131-2b07-4baf-9e1a-370591ea4087` |
+
+## 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 | 19 | 2.541 | 11.01 | 19.08 | 262.92 | 0.6977 |
+| 1 | descend | 113 | 12 | 2.429 | 4.88 | 8.46 | 91.85 | 0.7435 |
+| 2 | settle | 12 | 2 | 2.261 | 3.06 | 5.30 | 91.99 | 0.7183 |
+| 3 | close | 49 | 6 | 2.264 | 3.64 | 6.30 | 93.44 | 1.1062 |
+| 4 | lift | 138 | 14 | 2.639 | 7.50 | 12.99 | 93.34 | 1.2109 |
+| 5 | move_xy | 228 | 23 | 11.857 | 24.32 | 42.13 | 461.47 | 1.1168 |
+| 6 | lower | 76 | 8 | 18.473 | 3.46 | 6.00 | 714.38 | 1.2296 |
+| 7 | open | 75 | 8 | 18.456 | 2.29 | 3.96 | 713.18 | 0.8835 |
+| 8 | retract | 75 | 8 | 18.469 | 3.18 | 5.51 | 712.99 | 0.9035 |
+| 9 | return | 305 | 30 | 10.667 | 26.13 | 45.26 | 826.93 | 0.8841 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 11.432 |
+| TCP position RMSE (mm, per-axis) | 12.35 |
+| EE position RMS L2 (mm) | 30.06 |
+| TCP rotvec (mrad) | 502.75 |
+| W1 effort mean (A) | 0.9231 |
+| W1 effort per joint (A) | j0=0.2560, j1=1.7382, j2=1.6240, j3=0.7425, j4=0.3309, j5=0.8469 |
+
+## 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 | 0.00198 | -0.00454 | -0.00065 | 0.00499 | 5.632 |
+| 1 | 0.00244 | -0.00461 | -0.00095 | 0.00531 | 5.540 |
+| 2 | 0.00244 | -0.00459 | -0.00104 | 0.00530 | 5.540 |
+| 3 | 0.00334 | -0.00452 | -0.00292 | 0.00633 | 5.538 |
+| 4 | 0.00279 | -0.00476 | -0.00283 | 0.00620 | 5.621 |
+| 5 | 0.00241 | -0.00242 | -0.00217 | 0.00405 | 45.250 |
+| 6 | 0.00262 | -0.00209 | -0.00213 | 0.00397 | 45.211 |
+| 7 | 0.00234 | -0.00318 | -0.00030 | 0.00396 | 45.206 |
+| 8 | 0.00222 | -0.00337 | -0.00046 | 0.00406 | 45.254 |
+| 9 | -0.00007 | -0.00014 | -0.00023 | 0.00028 | 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.
diff --git a/gap_reports/gap_5ab2a360-82f2-458e-b322-6532dc8ca0b9.md b/gap_reports/gap_5ab2a360-82f2-458e-b322-6532dc8ca0b9.md
new file mode 100644
index 0000000000000000000000000000000000000000..ff16be2f6b2d26537ade94455f464143a523a36a
--- /dev/null
+++ b/gap_reports/gap_5ab2a360-82f2-458e-b322-6532dc8ca0b9.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/5ab2a360-82f2-458e-b322-6532dc8ca0b9.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/5ab2a360-82f2-458e-b322-6532dc8ca0b9.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1626 |
+| Sim rows | 167 |
+| Real episode_id | `5ab2a360-82f2-458e-b322-6532dc8ca0b9` |
+| Sim episode_id | `5ab2a360-82f2-458e-b322-6532dc8ca0b9` |
+
+## 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 | 166 | 17 | 2.988 | 14.24 | 24.67 | 1229.18 | 0.7180 |
+| 1 | descend | 67 | 8 | 0.508 | 3.40 | 5.89 | 4.55 | 0.5878 |
+| 2 | settle | 43 | 5 | 0.022 | 2.90 | 5.02 | 4.85 | 0.6053 |
+| 3 | close | 385 | 38 | 0.127 | 3.36 | 5.82 | 3621.76 | 1.0416 |
+| 4 | lift | 71 | 8 | 0.535 | 3.67 | 6.35 | 3621.97 | 1.1257 |
+| 5 | move_xy | 183 | 18 | 4.256 | 22.73 | 39.36 | 2485.07 | 1.0253 |
+| 6 | lower | 70 | 8 | 0.562 | 3.16 | 5.48 | 8.36 | 0.9595 |
+| 7 | open | 373 | 37 | 0.022 | 2.38 | 4.12 | 4.46 | 0.5329 |
+| 8 | retract | 72 | 8 | 0.602 | 3.17 | 5.50 | 3.89 | 0.6046 |
+| 9 | return | 196 | 20 | 2.831 | 12.55 | 21.73 | 1055.06 | 0.7420 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.905 |
+| TCP position RMSE (mm, per-axis) | 9.73 |
+| EE position RMS L2 (mm) | 17.66 |
+| TCP rotvec (mrad) | 1871.78 |
+| W1 effort mean (A) | 0.7936 |
+| W1 effort per joint (A) | j0=0.2298, j1=1.1404, j2=1.4853, j3=0.8327, j4=0.4830, j5=0.5901 |
+
+## 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 | 0.00184 | -0.00431 | -0.00069 | 0.00474 | 0.037 |
+| 1 | 0.00192 | -0.00457 | -0.00058 | 0.00499 | 0.044 |
+| 2 | 0.00196 | -0.00457 | -0.00078 | 0.00504 | 0.037 |
+| 3 | 0.00283 | -0.00444 | -0.00237 | 0.00577 | 0.233 |
+| 4 | 0.00225 | -0.00409 | -0.00260 | 0.00534 | 0.235 |
+| 5 | 0.00191 | -0.00281 | -0.00140 | 0.00368 | 0.246 |
+| 6 | 0.00272 | -0.00190 | -0.00184 | 0.00379 | 0.301 |
+| 7 | 0.00220 | -0.00347 | 0.00009 | 0.00411 | 0.028 |
+| 8 | 0.00176 | -0.00357 | -0.00001 | 0.00398 | 0.044 |
+| 9 | 0.00001 | -0.00010 | -0.00019 | 0.00021 | 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.
diff --git a/gap_reports/gap_5ab99e57-1143-400f-96ec-28eaca59ebe7.md b/gap_reports/gap_5ab99e57-1143-400f-96ec-28eaca59ebe7.md
new file mode 100644
index 0000000000000000000000000000000000000000..1f165949f192810d4d34f9af73fb3bbd2cff7c53
--- /dev/null
+++ b/gap_reports/gap_5ab99e57-1143-400f-96ec-28eaca59ebe7.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/5ab99e57-1143-400f-96ec-28eaca59ebe7.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/5ab99e57-1143-400f-96ec-28eaca59ebe7.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1843 |
+| Sim rows | 185 |
+| Real episode_id | `5ab99e57-1143-400f-96ec-28eaca59ebe7` |
+| Sim episode_id | `5ab99e57-1143-400f-96ec-28eaca59ebe7` |
+
+## 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 | 178 | 18 | 2.743 | 7.99 | 13.84 | 1024.06 | 0.6528 |
+| 1 | descend | 99 | 10 | 0.950 | 4.00 | 6.94 | 3.65 | 0.5338 |
+| 2 | settle | 16 | 2 | 0.021 | 2.23 | 3.87 | 4.49 | 0.5680 |
+| 3 | close | 390 | 39 | 0.114 | 1.95 | 3.38 | 3.42 | 1.0401 |
+| 4 | lift | 101 | 11 | 1.277 | 4.94 | 8.55 | 3.67 | 1.1444 |
+| 5 | move_xy | 169 | 17 | 2.345 | 11.73 | 20.32 | 6.93 | 1.2342 |
+| 6 | lower | 100 | 10 | 0.868 | 4.43 | 7.68 | 6.02 | 1.2549 |
+| 7 | open | 368 | 36 | 0.026 | 2.74 | 4.75 | 5.97 | 0.7034 |
+| 8 | retract | 98 | 10 | 0.763 | 4.32 | 7.48 | 5.33 | 0.8048 |
+| 9 | return | 324 | 32 | 4.177 | 15.64 | 27.09 | 1343.73 | 0.6497 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.854 |
+| TCP position RMSE (mm, per-axis) | 7.36 |
+| EE position RMS L2 (mm) | 14.33 |
+| TCP rotvec (mrad) | 534.28 |
+| W1 effort mean (A) | 0.8234 |
+| W1 effort per joint (A) | j0=0.1450, j1=1.4931, j2=1.4994, j3=0.7335, j4=0.5362, j5=0.5330 |
+
+## 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 | 0.00123 | -0.00318 | 0.00004 | 0.00341 | 0.025 |
+| 1 | 0.00201 | -0.00329 | 0.00012 | 0.00386 | 0.052 |
+| 2 | 0.00197 | -0.00332 | 0.00003 | 0.00386 | 0.023 |
+| 3 | 0.00124 | -0.00336 | 0.00021 | 0.00359 | 0.126 |
+| 4 | -0.00028 | -0.00305 | 0.00028 | 0.00307 | 0.259 |
+| 5 | 0.00040 | -0.00314 | -0.00057 | 0.00322 | 0.173 |
+| 6 | 0.00096 | -0.00334 | -0.00044 | 0.00350 | 0.161 |
+| 7 | 0.00223 | -0.00404 | -0.00111 | 0.00475 | 0.055 |
+| 8 | 0.00169 | -0.00395 | -0.00128 | 0.00448 | 0.059 |
+| 9 | -0.00006 | -0.00011 | -0.00028 | 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.
diff --git a/gap_reports/gap_5abc5ff6-3278-429a-a3df-e116f0d684cd.md b/gap_reports/gap_5abc5ff6-3278-429a-a3df-e116f0d684cd.md
new file mode 100644
index 0000000000000000000000000000000000000000..7f68b5e84205845ef9577753ead1db7597be29b1
--- /dev/null
+++ b/gap_reports/gap_5abc5ff6-3278-429a-a3df-e116f0d684cd.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/5abc5ff6-3278-429a-a3df-e116f0d684cd.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/5abc5ff6-3278-429a-a3df-e116f0d684cd.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2137 |
+| Sim rows | 214 |
+| Real episode_id | `5abc5ff6-3278-429a-a3df-e116f0d684cd` |
+| Sim episode_id | `5abc5ff6-3278-429a-a3df-e116f0d684cd` |
+
+## 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 | 177 | 18 | 2.754 | 10.90 | 18.88 | 2021.23 | 0.5760 |
+| 1 | descend | 223 | 22 | 1.113 | 6.65 | 11.52 | 3625.99 | 0.7147 |
+| 2 | settle | 345 | 34 | 0.021 | 0.60 | 1.04 | 3625.95 | 0.7159 |
+| 3 | close | 110 | 11 | 0.760 | 4.47 | 7.74 | 1613.62 | 0.9643 |
+| 4 | lift | 270 | 27 | 3.369 | 13.96 | 24.18 | 1892.15 | 1.0958 |
+| 5 | move_xy | 291 | 29 | 6.324 | 28.24 | 48.91 | 2171.08 | 0.8386 |
+| 6 | lower | 340 | 33 | 0.078 | 1.08 | 1.87 | 1617.38 | 1.0014 |
+| 7 | open | 110 | 11 | 0.729 | 4.24 | 7.35 | 3626.20 | 0.5935 |
+| 8 | retract | 271 | 27 | 3.320 | 13.84 | 23.96 | 2278.32 | 0.6969 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.835 |
+| TCP position RMSE (mm, per-axis) | 12.41 |
+| EE position RMS L2 (mm) | 22.86 |
+| TCP rotvec (mrad) | 2629.62 |
+| W1 effort mean (A) | 0.7868 |
+| W1 effort per joint (A) | j0=0.2191, j1=1.2419, j2=1.5860, j3=0.7113, j4=0.3630, j5=0.5992 |
+
+## 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 | -0.00049 | 0.00073 | 0.029 |
+| 1 | 0.00041 | -0.00055 | -0.00079 | 0.00104 | 0.036 |
+| 2 | 0.00042 | -0.00056 | -0.00075 | 0.00103 | 0.035 |
+| 3 | 0.00094 | -0.00036 | -0.00029 | 0.00105 | 0.096 |
+| 4 | 0.00011 | -0.00043 | -0.00046 | 0.00064 | 0.104 |
+| 5 | 0.00106 | -0.00084 | -0.00124 | 0.00183 | 0.098 |
+| 6 | 0.00148 | -0.00080 | -0.00164 | 0.00235 | 0.172 |
+| 7 | 0.00020 | -0.00030 | -0.00059 | 0.00069 | 0.040 |
+| 8 | -0.00009 | -0.00013 | -0.00015 | 0.00022 | 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.
diff --git a/gap_reports/gap_5ae05bbc-e516-4194-a0a9-b3bf01cd218b.md b/gap_reports/gap_5ae05bbc-e516-4194-a0a9-b3bf01cd218b.md
new file mode 100644
index 0000000000000000000000000000000000000000..5dee28221dc99092eb8b8617decbe79115d7acc6
--- /dev/null
+++ b/gap_reports/gap_5ae05bbc-e516-4194-a0a9-b3bf01cd218b.md
@@ -0,0 +1,71 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/5ae05bbc-e516-4194-a0a9-b3bf01cd218b.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/5ae05bbc-e516-4194-a0a9-b3bf01cd218b.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2162 |
+| Sim rows | 250 |
+| Real episode_id | `5ae05bbc-e516-4194-a0a9-b3bf01cd218b` |
+| Sim episode_id | `5ae05bbc-e516-4194-a0a9-b3bf01cd218b` |
+
+## 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 | 177 | 18 | 3.222 | 13.79 | 23.89 | 2020.97 | 0.6050 |
+| 1 | descend | 264 | 26 | 1.186 | 7.79 | 13.49 | 3625.32 | 0.7501 |
+| 2 | settle | 327 | 32 | 0.025 | 0.82 | 1.43 | 3625.27 | 0.5735 |
+| 3 | close | 123 | 13 | 1.033 | 6.81 | 11.80 | 2966.36 | 0.9528 |
+| 4 | lift | 388 | 70 | 16.514 | 81.66 | 141.45 | 2529.75 | 1.0735 |
+| 6 | lower | 356 | 35 | 0.088 | 1.47 | 2.55 | 3406.55 | 0.8791 |
+| 7 | open | 128 | 13 | 0.942 | 6.01 | 10.40 | 3625.49 | 0.6474 |
+| 8 | retract | 399 | 39 | 3.554 | 16.34 | 28.30 | 2428.21 | 0.7298 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 6.115 |
+| TCP position RMSE (mm, per-axis) | 30.15 |
+| EE position RMS L2 (mm) | 61.83 |
+| TCP rotvec (mrad) | 3086.54 |
+| W1 effort mean (A) | 0.7667 |
+| W1 effort per joint (A) | j0=0.2753, j1=1.3534, j2=1.4728, j3=0.6314, j4=0.3477, j5=0.5199 |
+
+## 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 | -0.00023 | -0.00055 | 0.00101 | 0.030 |
+| 1 | 0.00087 | -0.00056 | -0.00100 | 0.00144 | 0.047 |
+| 2 | 0.00085 | -0.00059 | -0.00094 | 0.00140 | 0.043 |
+| 3 | 0.00137 | -0.00031 | -0.00135 | 0.00194 | 0.121 |
+| 4 | 0.00171 | -0.00084 | -0.00126 | 0.00228 | 0.126 |
+| 6 | 0.00222 | -0.00062 | -0.00211 | 0.00312 | 0.169 |
+| 7 | 0.00069 | -0.00025 | -0.00071 | 0.00102 | 0.035 |
+| 8 | -0.00007 | -0.00009 | -0.00012 | 0.00017 | 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.
diff --git a/gap_reports/gap_5af3b16f-6c6f-430a-a6e3-4f8fb23dbaa7.md b/gap_reports/gap_5af3b16f-6c6f-430a-a6e3-4f8fb23dbaa7.md
new file mode 100644
index 0000000000000000000000000000000000000000..5ffb3900e15f6a9f54a2bf4c713e7f95de829c8f
--- /dev/null
+++ b/gap_reports/gap_5af3b16f-6c6f-430a-a6e3-4f8fb23dbaa7.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/5af3b16f-6c6f-430a-a6e3-4f8fb23dbaa7.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/5af3b16f-6c6f-430a-a6e3-4f8fb23dbaa7.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1191 |
+| Sim rows | 124 |
+| Real episode_id | `5af3b16f-6c6f-430a-a6e3-4f8fb23dbaa7` |
+| Sim episode_id | `5af3b16f-6c6f-430a-a6e3-4f8fb23dbaa7` |
+
+## 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 | 16 | 4.283 | 11.59 | 20.07 | 1080.43 | 0.7703 |
+| 1 | descend | 84 | 9 | 0.997 | 4.15 | 7.20 | 4.20 | 0.5121 |
+| 2 | settle | 36 | 4 | 0.013 | 2.48 | 4.30 | 4.77 | 0.5109 |
+| 3 | close | 51 | 6 | 0.052 | 2.39 | 4.15 | 5.94 | 0.8694 |
+| 4 | lift | 103 | 11 | 1.220 | 4.68 | 8.11 | 5.19 | 0.9951 |
+| 5 | move_xy | 260 | 26 | 12.687 | 36.39 | 63.02 | 151.97 | 0.8708 |
+| 6 | lower | 99 | 10 | 8.939 | 3.95 | 6.85 | 348.27 | 1.1301 |
+| 7 | open | 74 | 8 | 8.893 | 2.22 | 3.84 | 347.58 | 0.7554 |
+| 8 | retract | 101 | 11 | 8.925 | 3.61 | 6.25 | 347.35 | 0.7750 |
+| 9 | return | 231 | 23 | 5.655 | 21.59 | 37.40 | 858.47 | 0.8483 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 6.726 |
+| TCP position RMSE (mm, per-axis) | 14.17 |
+| EE position RMS L2 (mm) | 34.76 |
+| TCP rotvec (mrad) | 478.57 |
+| W1 effort mean (A) | 0.8097 |
+| W1 effort per joint (A) | j0=0.2300, j1=1.2561, j2=1.5768, j3=0.7847, j4=0.3226, j5=0.6882 |
+
+## 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 | 0.00152 | -0.00343 | -0.00040 | 0.00377 | 0.052 |
+| 1 | 0.00164 | -0.00398 | -0.00025 | 0.00431 | 0.051 |
+| 2 | 0.00166 | -0.00393 | -0.00045 | 0.00429 | 0.023 |
+| 3 | 0.00149 | -0.00394 | -0.00054 | 0.00425 | 0.086 |
+| 4 | 0.00108 | -0.00323 | -0.00066 | 0.00347 | 0.120 |
+| 5 | 0.00194 | -0.00283 | -0.00154 | 0.00376 | 21.849 |
+| 6 | 0.00213 | -0.00244 | -0.00087 | 0.00335 | 21.789 |
+| 7 | 0.00217 | -0.00315 | -0.00015 | 0.00383 | 21.785 |
+| 8 | 0.00199 | -0.00338 | -0.00020 | 0.00393 | 21.843 |
+| 9 | -0.00001 | -0.00015 | -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.
diff --git a/gap_reports/gap_5b002b00-1f65-4802-998b-a025f1379806.md b/gap_reports/gap_5b002b00-1f65-4802-998b-a025f1379806.md
new file mode 100644
index 0000000000000000000000000000000000000000..dfc6b07333bb3d29c8fc38d7d4a769e2e298aba5
--- /dev/null
+++ b/gap_reports/gap_5b002b00-1f65-4802-998b-a025f1379806.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/5b002b00-1f65-4802-998b-a025f1379806.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/5b002b00-1f65-4802-998b-a025f1379806.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 3043 |
+| Sim rows | 271 |
+| Real episode_id | `5b002b00-1f65-4802-998b-a025f1379806` |
+| Sim episode_id | `5b002b00-1f65-4802-998b-a025f1379806` |
+
+## 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 | 202 | 18 | 2.488 | 11.22 | 19.43 | 1942.67 | 0.5578 |
+| 1 | descend | 689 | 60 | 0.524 | 3.35 | 5.81 | 3625.43 | 0.7019 |
+| 2 | settle | 427 | 38 | 0.023 | 0.74 | 1.28 | 3625.22 | 0.6752 |
+| 3 | close | 173 | 16 | 1.022 | 6.45 | 11.17 | 3461.59 | 0.9900 |
+| 4 | lift | 270 | 24 | 2.363 | 11.45 | 19.83 | 2345.63 | 1.1198 |
+| 5 | move_xy | 399 | 35 | 5.553 | 30.04 | 52.03 | 2845.01 | 0.9096 |
+| 6 | lower | 439 | 38 | 0.081 | 1.27 | 2.19 | 3625.84 | 1.0204 |
+| 7 | open | 175 | 16 | 0.978 | 6.19 | 10.72 | 3625.39 | 0.6944 |
+| 8 | retract | 269 | 24 | 2.395 | 11.54 | 19.99 | 2391.01 | 0.7166 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.372 |
+| TCP position RMSE (mm, per-axis) | 12.41 |
+| EE position RMS L2 (mm) | 21.74 |
+| TCP rotvec (mrad) | 3120.64 |
+| W1 effort mean (A) | 0.7936 |
+| W1 effort per joint (A) | j0=0.2347, j1=1.3509, j2=1.6040, j3=0.7679, j4=0.2553, j5=0.5486 |
+
+## 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 | 0.00042 | -0.00035 | -0.00071 | 0.00089 | 0.039 |
+| 1 | 0.00037 | -0.00072 | -0.00097 | 0.00126 | 0.045 |
+| 2 | 0.00046 | -0.00070 | -0.00097 | 0.00129 | 0.041 |
+| 3 | 0.00125 | -0.00040 | -0.00084 | 0.00156 | 0.142 |
+| 4 | 0.00029 | -0.00013 | -0.00025 | 0.00040 | 0.074 |
+| 5 | 0.00174 | -0.00114 | -0.00183 | 0.00277 | 0.175 |
+| 6 | 0.00119 | -0.00105 | -0.00155 | 0.00222 | 0.109 |
+| 7 | 0.00030 | -0.00045 | -0.00077 | 0.00094 | 0.049 |
+| 8 | -0.00008 | -0.00015 | -0.00016 | 0.00023 | 0.025 |
+
+## 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.
diff --git a/gap_reports/gap_5b099d4e-414a-45c2-be01-8aeb04018870.md b/gap_reports/gap_5b099d4e-414a-45c2-be01-8aeb04018870.md
new file mode 100644
index 0000000000000000000000000000000000000000..c9088e4d893ae2a9055bfe499726b0980727e629
--- /dev/null
+++ b/gap_reports/gap_5b099d4e-414a-45c2-be01-8aeb04018870.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/5b099d4e-414a-45c2-be01-8aeb04018870.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/5b099d4e-414a-45c2-be01-8aeb04018870.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 559 |
+| Sim rows | 71 |
+| Real episode_id | `5b099d4e-414a-45c2-be01-8aeb04018870` |
+| Sim episode_id | `5b099d4e-414a-45c2-be01-8aeb04018870` |
+
+## 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 | 351 | 34 | 7.892 | 32.76 | 56.74 | 71.36 | 0.8143 |
+| 1 | descend | 208 | 21 | 4.816 | 7.25 | 12.55 | 175.53 | 0.8309 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 6.537 |
+| TCP position RMSE (mm, per-axis) | 23.72 |
+| EE position RMS L2 (mm) | 45.61 |
+| TCP rotvec (mrad) | 133.98 |
+| W1 effort mean (A) | 0.8085 |
+| W1 effort per joint (A) | j0=0.2146, j1=1.7554, j2=1.5870, j3=0.8327, j4=0.2561, j5=0.2053 |
+
+## 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 | 0.01179 | -0.00350 | -0.00058 | 0.01231 | 11.810 |
+| 1 | 0.01206 | -0.00353 | -0.00070 | 0.01259 | 11.792 |
+
+## 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.
diff --git a/gap_reports/gap_5b15c2d0-4430-4b25-8122-d2394be5b50a.md b/gap_reports/gap_5b15c2d0-4430-4b25-8122-d2394be5b50a.md
new file mode 100644
index 0000000000000000000000000000000000000000..8318a107b34e6d1cff47761af97ce4f41e61db24
--- /dev/null
+++ b/gap_reports/gap_5b15c2d0-4430-4b25-8122-d2394be5b50a.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/5b15c2d0-4430-4b25-8122-d2394be5b50a.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/5b15c2d0-4430-4b25-8122-d2394be5b50a.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2680 |
+| Sim rows | 237 |
+| Real episode_id | `5b15c2d0-4430-4b25-8122-d2394be5b50a` |
+| Sim episode_id | `5b15c2d0-4430-4b25-8122-d2394be5b50a` |
+
+## 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 | 193 | 17 | 2.673 | 10.34 | 17.90 | 1970.54 | 0.5742 |
+| 1 | descend | 433 | 38 | 0.775 | 4.74 | 8.20 | 3626.03 | 0.6960 |
+| 2 | settle | 381 | 33 | 0.022 | 0.60 | 1.04 | 3625.99 | 0.6947 |
+| 3 | close | 122 | 11 | 0.821 | 4.86 | 8.42 | 1744.31 | 0.9544 |
+| 4 | lift | 354 | 31 | 3.271 | 13.37 | 23.16 | 2008.54 | 1.1096 |
+| 5 | move_xy | 342 | 30 | 5.823 | 26.45 | 45.81 | 2127.33 | 0.8898 |
+| 6 | lower | 379 | 33 | 0.080 | 1.10 | 1.91 | 1657.97 | 0.9715 |
+| 7 | open | 123 | 11 | 0.810 | 4.72 | 8.18 | 3626.24 | 0.5966 |
+| 8 | retract | 353 | 31 | 3.476 | 14.25 | 24.68 | 2283.42 | 0.6944 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.703 |
+| TCP position RMSE (mm, per-axis) | 11.82 |
+| EE position RMS L2 (mm) | 21.44 |
+| TCP rotvec (mrad) | 2643.52 |
+| W1 effort mean (A) | 0.7795 |
+| W1 effort per joint (A) | j0=0.2563, j1=1.1920, j2=1.5833, j3=0.6698, j4=0.4129, j5=0.5627 |
+
+## 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 | 0.00043 | -0.00030 | -0.00046 | 0.00070 | 0.033 |
+| 1 | 0.00042 | -0.00054 | -0.00077 | 0.00103 | 0.037 |
+| 2 | 0.00042 | -0.00056 | -0.00077 | 0.00104 | 0.037 |
+| 3 | 0.00066 | -0.00043 | -0.00019 | 0.00081 | 0.106 |
+| 4 | 0.00002 | -0.00038 | -0.00031 | 0.00049 | 0.092 |
+| 5 | 0.00155 | -0.00074 | -0.00080 | 0.00190 | 0.173 |
+| 6 | 0.00122 | -0.00070 | -0.00057 | 0.00152 | 0.107 |
+| 7 | 0.00020 | -0.00030 | -0.00054 | 0.00065 | 0.035 |
+| 8 | -0.00008 | -0.00009 | -0.00014 | 0.00019 | 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.
diff --git a/gap_reports/gap_5b16d9a6-39a1-452e-8baa-c8676b48eaf7.md b/gap_reports/gap_5b16d9a6-39a1-452e-8baa-c8676b48eaf7.md
new file mode 100644
index 0000000000000000000000000000000000000000..d772bc4b9943c0b323f7013c205ecc98eb7e625c
--- /dev/null
+++ b/gap_reports/gap_5b16d9a6-39a1-452e-8baa-c8676b48eaf7.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/5b16d9a6-39a1-452e-8baa-c8676b48eaf7.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/5b16d9a6-39a1-452e-8baa-c8676b48eaf7.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1688 |
+| Sim rows | 171 |
+| Real episode_id | `5b16d9a6-39a1-452e-8baa-c8676b48eaf7` |
+| Sim episode_id | `5b16d9a6-39a1-452e-8baa-c8676b48eaf7` |
+
+## 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 | 129 | 13 | 2.459 | 14.83 | 25.69 | 644.37 | 0.7417 |
+| 1 | descend | 74 | 8 | 0.448 | 3.51 | 6.09 | 5.64 | 0.7216 |
+| 2 | settle | 20 | 3 | 0.024 | 2.95 | 5.11 | 6.11 | 0.7580 |
+| 3 | close | 386 | 38 | 0.087 | 2.96 | 5.13 | 7.61 | 1.2358 |
+| 4 | lift | 72 | 8 | 0.747 | 4.24 | 7.34 | 7.26 | 1.2888 |
+| 5 | move_xy | 174 | 18 | 10.300 | 19.62 | 33.99 | 332.41 | 1.1560 |
+| 6 | lower | 78 | 8 | 20.341 | 4.68 | 8.10 | 783.48 | 1.1696 |
+| 7 | open | 377 | 37 | 20.308 | 2.30 | 3.98 | 783.40 | 0.8888 |
+| 8 | retract | 74 | 8 | 20.329 | 4.02 | 6.96 | 783.02 | 0.8793 |
+| 9 | return | 304 | 30 | 11.449 | 20.03 | 34.70 | 1030.11 | 0.8606 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 12.180 |
+| TCP position RMSE (mm, per-axis) | 10.48 |
+| EE position RMS L2 (mm) | 20.13 |
+| TCP rotvec (mrad) | 585.47 |
+| W1 effort mean (A) | 0.9853 |
+| W1 effort per joint (A) | j0=0.1985, j1=1.8362, j2=1.7155, j3=0.7131, j4=0.4842, j5=0.9644 |
+
+## 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 | 0.00227 | -0.00410 | -0.00067 | 0.00473 | 0.054 |
+| 1 | 0.00263 | -0.00431 | -0.00081 | 0.00511 | 0.041 |
+| 2 | 0.00264 | -0.00429 | -0.00095 | 0.00512 | 0.049 |
+| 3 | 0.00274 | -0.00385 | -0.00243 | 0.00531 | 0.163 |
+| 4 | 0.00197 | -0.00389 | -0.00218 | 0.00488 | 0.159 |
+| 5 | 0.00171 | -0.00344 | -0.00104 | 0.00398 | 49.731 |
+| 6 | 0.00194 | -0.00254 | -0.00136 | 0.00347 | 49.741 |
+| 7 | 0.00206 | -0.00338 | -0.00014 | 0.00396 | 49.744 |
+| 8 | 0.00185 | -0.00368 | -0.00025 | 0.00413 | 49.798 |
+| 9 | -0.00002 | -0.00013 | -0.00024 | 0.00027 | 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.
diff --git a/gap_reports/gap_5b2b1000-fb97-41ae-ab9a-29cb01e945a0.md b/gap_reports/gap_5b2b1000-fb97-41ae-ab9a-29cb01e945a0.md
new file mode 100644
index 0000000000000000000000000000000000000000..1c80d37eef8e56414bb45b06c9c0625d86b37650
--- /dev/null
+++ b/gap_reports/gap_5b2b1000-fb97-41ae-ab9a-29cb01e945a0.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/5b2b1000-fb97-41ae-ab9a-29cb01e945a0.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/5b2b1000-fb97-41ae-ab9a-29cb01e945a0.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1792 |
+| Sim rows | 181 |
+| Real episode_id | `5b2b1000-fb97-41ae-ab9a-29cb01e945a0` |
+| Sim episode_id | `5b2b1000-fb97-41ae-ab9a-29cb01e945a0` |
+
+## 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 | 162 | 16 | 2.757 | 12.25 | 21.22 | 374.44 | 0.6747 |
+| 1 | descend | 84 | 9 | 0.681 | 3.86 | 6.68 | 4.24 | 0.6598 |
+| 2 | settle | 37 | 4 | 0.024 | 2.37 | 4.10 | 4.85 | 0.7070 |
+| 3 | close | 306 | 30 | 0.072 | 2.31 | 4.00 | 5.94 | 1.1141 |
+| 4 | lift | 83 | 9 | 0.614 | 3.52 | 6.10 | 5.24 | 1.3102 |
+| 5 | move_xy | 228 | 23 | 8.521 | 30.07 | 52.08 | 96.91 | 1.3569 |
+| 6 | lower | 83 | 9 | 0.585 | 3.40 | 5.89 | 4.52 | 1.1689 |
+| 7 | open | 261 | 26 | 0.020 | 2.61 | 4.51 | 5.10 | 0.6232 |
+| 8 | retract | 82 | 9 | 0.746 | 4.02 | 6.96 | 4.58 | 0.6749 |
+| 9 | return | 466 | 46 | 6.172 | 22.72 | 39.34 | 1029.06 | 0.6787 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.465 |
+| TCP position RMSE (mm, per-axis) | 12.82 |
+| EE position RMS L2 (mm) | 28.32 |
+| TCP rotvec (mrad) | 347.67 |
+| W1 effort mean (A) | 0.8340 |
+| W1 effort per joint (A) | j0=0.1589, j1=1.5371, j2=1.6367, j3=0.8715, j4=0.2848, j5=0.5151 |
+
+## 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 | 0.00192 | -0.00348 | -0.00009 | 0.00398 | 0.036 |
+| 1 | 0.00238 | -0.00331 | -0.00007 | 0.00408 | 0.050 |
+| 2 | 0.00238 | -0.00334 | -0.00018 | 0.00411 | 0.048 |
+| 3 | 0.00250 | -0.00293 | -0.00099 | 0.00398 | 0.117 |
+| 4 | 0.00219 | -0.00321 | -0.00114 | 0.00406 | 0.150 |
+| 5 | 0.00142 | -0.00356 | -0.00182 | 0.00424 | 0.104 |
+| 6 | 0.00170 | -0.00406 | -0.00157 | 0.00467 | 0.084 |
+| 7 | 0.00154 | -0.00410 | -0.00114 | 0.00452 | 0.040 |
+| 8 | 0.00128 | -0.00366 | -0.00128 | 0.00409 | 0.050 |
+| 9 | -0.00006 | -0.00003 | -0.00019 | 0.00020 | 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.
diff --git a/gap_reports/gap_5b462225-b5d7-4ea8-ba69-a0f0025e2ea3.md b/gap_reports/gap_5b462225-b5d7-4ea8-ba69-a0f0025e2ea3.md
new file mode 100644
index 0000000000000000000000000000000000000000..cdf4f5c988da0f1fe13c2ddc7babade672e3d653
--- /dev/null
+++ b/gap_reports/gap_5b462225-b5d7-4ea8-ba69-a0f0025e2ea3.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/5b462225-b5d7-4ea8-ba69-a0f0025e2ea3.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/5b462225-b5d7-4ea8-ba69-a0f0025e2ea3.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 612 |
+| Sim rows | 76 |
+| Real episode_id | `5b462225-b5d7-4ea8-ba69-a0f0025e2ea3` |
+| Sim episode_id | `5b462225-b5d7-4ea8-ba69-a0f0025e2ea3` |
+
+## 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 | 403 | 39 | 2.859 | 14.41 | 24.96 | 8.87 | 0.8168 |
+| 1 | descend | 209 | 21 | 0.023 | 4.53 | 7.84 | 2.31 | 0.8150 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.022 |
+| TCP position RMSE (mm, per-axis) | 10.68 |
+| EE position RMS L2 (mm) | 20.77 |
+| TCP rotvec (mrad) | 6.48 |
+| W1 effort mean (A) | 0.8161 |
+| W1 effort per joint (A) | j0=0.2403, j1=1.6824, j2=1.6981, j3=0.8623, j4=0.1976, j5=0.2157 |
+
+## 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 | 0.00711 | 0.00233 | 0.00031 | 0.00749 | 0.059 |
+| 1 | 0.00753 | 0.00229 | 0.00015 | 0.00787 | 0.049 |
+
+## 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.
diff --git a/gap_reports/gap_5b7c79b7-f97b-4a8c-bbf6-2ee1c384dcc2.md b/gap_reports/gap_5b7c79b7-f97b-4a8c-bbf6-2ee1c384dcc2.md
new file mode 100644
index 0000000000000000000000000000000000000000..bf963bb3c58141b36a379786fc0904e15e048839
--- /dev/null
+++ b/gap_reports/gap_5b7c79b7-f97b-4a8c-bbf6-2ee1c384dcc2.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/5b7c79b7-f97b-4a8c-bbf6-2ee1c384dcc2.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/5b7c79b7-f97b-4a8c-bbf6-2ee1c384dcc2.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2470 |
+| Sim rows | 219 |
+| Real episode_id | `5b7c79b7-f97b-4a8c-bbf6-2ee1c384dcc2` |
+| Sim episode_id | `5b7c79b7-f97b-4a8c-bbf6-2ee1c384dcc2` |
+
+## 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 | 200 | 18 | 3.066 | 11.96 | 20.71 | 1918.69 | 0.5758 |
+| 1 | descend | 285 | 25 | 1.063 | 6.51 | 11.27 | 3625.97 | 0.6576 |
+| 2 | settle | 360 | 31 | 0.022 | 0.68 | 1.17 | 3625.96 | 0.5944 |
+| 3 | close | 121 | 11 | 0.624 | 3.83 | 6.63 | 1881.08 | 0.9568 |
+| 4 | lift | 328 | 29 | 3.777 | 15.71 | 27.21 | 2169.68 | 1.0575 |
+| 5 | move_xy | 323 | 28 | 7.342 | 31.87 | 55.21 | 2263.48 | 0.8546 |
+| 6 | lower | 401 | 35 | 0.082 | 1.23 | 2.12 | 1603.29 | 0.8915 |
+| 7 | open | 123 | 11 | 0.580 | 3.47 | 6.01 | 3626.19 | 0.5510 |
+| 8 | retract | 329 | 29 | 3.808 | 15.96 | 27.64 | 2279.07 | 0.6921 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.231 |
+| TCP position RMSE (mm, per-axis) | 13.87 |
+| EE position RMS L2 (mm) | 25.55 |
+| TCP rotvec (mrad) | 2672.08 |
+| W1 effort mean (A) | 0.7447 |
+| W1 effort per joint (A) | j0=0.2310, j1=1.1770, j2=1.3812, j3=0.6662, j4=0.4220, j5=0.5910 |
+
+## 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 | 0.00067 | -0.00033 | -0.00048 | 0.00089 | 0.037 |
+| 1 | 0.00090 | -0.00056 | -0.00080 | 0.00133 | 0.043 |
+| 2 | 0.00068 | -0.00057 | -0.00074 | 0.00116 | 0.038 |
+| 3 | 0.00177 | -0.00025 | -0.00147 | 0.00231 | 0.182 |
+| 4 | 0.00037 | -0.00011 | -0.00055 | 0.00067 | 0.117 |
+| 5 | 0.00177 | -0.00057 | -0.00248 | 0.00310 | 0.197 |
+| 6 | 0.00125 | -0.00077 | -0.00075 | 0.00164 | 0.107 |
+| 7 | 0.00054 | -0.00033 | -0.00059 | 0.00087 | 0.036 |
+| 8 | -0.00010 | -0.00015 | -0.00017 | 0.00025 | 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.
diff --git a/gap_reports/gap_5b8153e3-7a98-4996-af8a-0e2c46880d08.md b/gap_reports/gap_5b8153e3-7a98-4996-af8a-0e2c46880d08.md
new file mode 100644
index 0000000000000000000000000000000000000000..4e577434472be1f980011f52a0f4979fe897b7a8
--- /dev/null
+++ b/gap_reports/gap_5b8153e3-7a98-4996-af8a-0e2c46880d08.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/5b8153e3-7a98-4996-af8a-0e2c46880d08.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/5b8153e3-7a98-4996-af8a-0e2c46880d08.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 632 |
+| Sim rows | 78 |
+| Real episode_id | `5b8153e3-7a98-4996-af8a-0e2c46880d08` |
+| Sim episode_id | `5b8153e3-7a98-4996-af8a-0e2c46880d08` |
+
+## 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 | 425 | 41 | 2.418 | 10.67 | 18.48 | 4.58 | 0.7954 |
+| 1 | descend | 207 | 21 | 0.023 | 3.20 | 5.55 | 2.32 | 0.9038 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.710 |
+| TCP position RMSE (mm, per-axis) | 7.88 |
+| EE position RMS L2 (mm) | 15.48 |
+| TCP rotvec (mrad) | 3.63 |
+| W1 effort mean (A) | 0.8309 |
+| W1 effort per joint (A) | j0=0.1351, j1=1.7991, j2=1.8140, j3=0.9084, j4=0.1973, j5=0.1316 |
+
+## 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 | 0.00475 | 0.00231 | 0.00063 | 0.00532 | 0.039 |
+| 1 | 0.00510 | 0.00229 | 0.00041 | 0.00561 | 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.
diff --git a/gap_reports/gap_5b8a2347-d288-4b4a-8fa0-35ece6a18c96.md b/gap_reports/gap_5b8a2347-d288-4b4a-8fa0-35ece6a18c96.md
new file mode 100644
index 0000000000000000000000000000000000000000..55a77ee63347c1a0759a265c2b270c54877e23b0
--- /dev/null
+++ b/gap_reports/gap_5b8a2347-d288-4b4a-8fa0-35ece6a18c96.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/5b8a2347-d288-4b4a-8fa0-35ece6a18c96.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/5b8a2347-d288-4b4a-8fa0-35ece6a18c96.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 867 |
+| Sim rows | 100 |
+| Real episode_id | `5b8a2347-d288-4b4a-8fa0-35ece6a18c96` |
+| Sim episode_id | `5b8a2347-d288-4b4a-8fa0-35ece6a18c96` |
+
+## 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 | 657 | 63 | 2.787 | 14.71 | 25.48 | 5.48 | 0.7552 |
+| 1 | descend | 210 | 21 | 0.022 | 0.54 | 0.93 | 2.14 | 0.7952 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.971 |
+| TCP position RMSE (mm, per-axis) | 10.41 |
+| EE position RMS L2 (mm) | 22.18 |
+| TCP rotvec (mrad) | 4.16 |
+| W1 effort mean (A) | 0.7640 |
+| W1 effort per joint (A) | j0=0.1576, j1=1.5132, j2=1.7417, j3=0.8493, j4=0.1511, j5=0.1714 |
+
+## 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 | 0.00054 | 0.00005 | 0.00076 | 0.00093 | 0.036 |
+| 1 | 0.00062 | -0.00003 | 0.00067 | 0.00092 | 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.
diff --git a/gap_reports/gap_5bab9504-3f40-449a-8c86-176597900494.md b/gap_reports/gap_5bab9504-3f40-449a-8c86-176597900494.md
new file mode 100644
index 0000000000000000000000000000000000000000..d514deeff29a4c30c20e2ba7d4bfcb06fe8733f6
--- /dev/null
+++ b/gap_reports/gap_5bab9504-3f40-449a-8c86-176597900494.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/5bab9504-3f40-449a-8c86-176597900494.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/5bab9504-3f40-449a-8c86-176597900494.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2612 |
+| Sim rows | 232 |
+| Real episode_id | `5bab9504-3f40-449a-8c86-176597900494` |
+| Sim episode_id | `5bab9504-3f40-449a-8c86-176597900494` |
+
+## 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 | 2.512 | 10.31 | 17.86 | 1935.85 | 0.5593 |
+| 1 | descend | 360 | 31 | 1.375 | 8.03 | 13.90 | 3626.10 | 0.7059 |
+| 2 | settle | 388 | 34 | 0.018 | 0.50 | 0.87 | 3626.02 | 0.6878 |
+| 3 | close | 105 | 10 | 0.574 | 3.36 | 5.82 | 1699.98 | 0.9210 |
+| 4 | lift | 329 | 29 | 2.572 | 10.52 | 18.22 | 1972.50 | 1.0672 |
+| 5 | move_xy | 383 | 34 | 5.469 | 25.17 | 43.60 | 2354.76 | 0.9419 |
+| 6 | lower | 396 | 34 | 0.073 | 0.88 | 1.52 | 1311.86 | 1.0519 |
+| 7 | open | 105 | 10 | 0.631 | 3.65 | 6.33 | 3626.09 | 0.6075 |
+| 8 | retract | 332 | 29 | 2.635 | 10.83 | 18.76 | 2286.29 | 0.6875 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.413 |
+| TCP position RMSE (mm, per-axis) | 10.84 |
+| EE position RMS L2 (mm) | 20.53 |
+| TCP rotvec (mrad) | 2634.52 |
+| W1 effort mean (A) | 0.8057 |
+| W1 effort per joint (A) | j0=0.2061, j1=1.1774, j2=1.6297, j3=0.8598, j4=0.3140, j5=0.6475 |
+
+## 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 | 0.00014 | -0.00038 | -0.00049 | 0.00063 | 0.030 |
+| 1 | 0.00013 | -0.00053 | -0.00068 | 0.00087 | 0.039 |
+| 2 | 0.00013 | -0.00054 | -0.00066 | 0.00086 | 0.030 |
+| 3 | 0.00044 | -0.00047 | -0.00093 | 0.00113 | 0.099 |
+| 4 | 0.00034 | -0.00010 | -0.00026 | 0.00044 | 0.083 |
+| 5 | 0.00106 | -0.00060 | -0.00055 | 0.00134 | 0.142 |
+| 6 | 0.00107 | -0.00058 | -0.00028 | 0.00125 | 0.136 |
+| 7 | -0.00008 | -0.00033 | -0.00059 | 0.00068 | 0.045 |
+| 8 | -0.00006 | -0.00007 | -0.00010 | 0.00014 | 0.020 |
+
+## 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.
diff --git a/gap_reports/gap_5bd4c0bc-18ee-426a-ace5-739b305ebd1e.md b/gap_reports/gap_5bd4c0bc-18ee-426a-ace5-739b305ebd1e.md
new file mode 100644
index 0000000000000000000000000000000000000000..22f3968dad3457236971f215701d4c723f92a98a
--- /dev/null
+++ b/gap_reports/gap_5bd4c0bc-18ee-426a-ace5-739b305ebd1e.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/5bd4c0bc-18ee-426a-ace5-739b305ebd1e.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/5bd4c0bc-18ee-426a-ace5-739b305ebd1e.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2582 |
+| Sim rows | 230 |
+| Real episode_id | `5bd4c0bc-18ee-426a-ace5-739b305ebd1e` |
+| Sim episode_id | `5bd4c0bc-18ee-426a-ace5-739b305ebd1e` |
+
+## 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 | 213 | 19 | 3.259 | 15.78 | 27.34 | 1955.72 | 0.6344 |
+| 1 | descend | 249 | 22 | 0.644 | 4.68 | 8.11 | 3624.80 | 0.7517 |
+| 2 | settle | 391 | 34 | 0.024 | 0.94 | 1.62 | 3624.66 | 0.7116 |
+| 3 | close | 116 | 11 | 0.583 | 4.32 | 7.48 | 3625.15 | 0.9882 |
+| 4 | lift | 377 | 33 | 3.711 | 19.67 | 34.07 | 2441.76 | 1.1237 |
+| 5 | move_xy | 352 | 31 | 7.773 | 42.52 | 73.64 | 2793.02 | 0.9425 |
+| 6 | lower | 394 | 34 | 0.093 | 1.72 | 2.98 | 3625.02 | 1.0709 |
+| 7 | open | 115 | 11 | 0.610 | 4.32 | 7.48 | 3624.75 | 0.7545 |
+| 8 | retract | 375 | 33 | 3.590 | 19.30 | 33.42 | 2440.64 | 0.7614 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.314 |
+| TCP position RMSE (mm, per-axis) | 17.89 |
+| EE position RMS L2 (mm) | 33.85 |
+| TCP rotvec (mrad) | 3148.96 |
+| W1 effort mean (A) | 0.8511 |
+| W1 effort per joint (A) | j0=0.2064, j1=1.5730, j2=1.6351, j3=0.7616, j4=0.3358, j5=0.5943 |
+
+## 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 | 0.00109 | -0.00026 | -0.00071 | 0.00133 | 0.027 |
+| 1 | 0.00107 | -0.00060 | -0.00109 | 0.00164 | 0.058 |
+| 2 | 0.00108 | -0.00058 | -0.00107 | 0.00162 | 0.052 |
+| 3 | 0.00196 | -0.00029 | -0.00207 | 0.00287 | 0.177 |
+| 4 | 0.00006 | -0.00036 | -0.00036 | 0.00052 | 0.090 |
+| 5 | 0.00200 | -0.00064 | -0.00257 | 0.00332 | 0.191 |
+| 6 | 0.00218 | -0.00075 | -0.00247 | 0.00338 | 0.192 |
+| 7 | 0.00090 | -0.00027 | -0.00097 | 0.00135 | 0.047 |
+| 8 | -0.00013 | -0.00020 | -0.00021 | 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.
diff --git a/gap_reports/gap_5be77ad3-a9bb-4600-bcce-946ce870859b.md b/gap_reports/gap_5be77ad3-a9bb-4600-bcce-946ce870859b.md
new file mode 100644
index 0000000000000000000000000000000000000000..c0f8414c8dc6e5efee5cc24c7c5cad785f1329c0
--- /dev/null
+++ b/gap_reports/gap_5be77ad3-a9bb-4600-bcce-946ce870859b.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/5be77ad3-a9bb-4600-bcce-946ce870859b.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/5be77ad3-a9bb-4600-bcce-946ce870859b.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1397 |
+| Sim rows | 143 |
+| Real episode_id | `5be77ad3-a9bb-4600-bcce-946ce870859b` |
+| Sim episode_id | `5be77ad3-a9bb-4600-bcce-946ce870859b` |
+
+## 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 | 145 | 15 | 11.604 | 15.63 | 27.08 | 499.14 | 0.6834 |
+| 1 | descend | 74 | 8 | 20.335 | 4.12 | 7.14 | 783.19 | 0.7827 |
+| 2 | settle | 23 | 3 | 20.309 | 2.30 | 3.99 | 783.44 | 0.8586 |
+| 3 | close | 318 | 31 | 20.307 | 2.43 | 4.21 | 782.94 | 1.2447 |
+| 4 | lift | 73 | 8 | 20.330 | 4.25 | 7.36 | 782.53 | 1.3638 |
+| 5 | move_xy | 170 | 17 | 12.218 | 23.88 | 41.36 | 378.43 | 1.3053 |
+| 6 | lower | 72 | 8 | 0.792 | 4.53 | 7.84 | 5.93 | 1.1571 |
+| 7 | open | 284 | 28 | 0.021 | 2.80 | 4.85 | 4.85 | 0.5208 |
+| 8 | retract | 73 | 8 | 0.838 | 4.10 | 7.09 | 4.12 | 0.6506 |
+| 9 | return | 165 | 17 | 2.238 | 11.58 | 20.05 | 540.46 | 0.6712 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 13.935 |
+| TCP position RMSE (mm, per-axis) | 10.20 |
+| EE position RMS L2 (mm) | 18.76 |
+| TCP rotvec (mrad) | 560.09 |
+| W1 effort mean (A) | 0.8957 |
+| W1 effort per joint (A) | j0=0.1738, j1=1.5124, j2=1.5859, j3=0.9266, j4=0.1995, j5=0.9763 |
+
+## 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 | 0.00164 | -0.00364 | 0.00012 | 0.00399 | 49.829 |
+| 1 | 0.00210 | -0.00339 | 0.00011 | 0.00399 | 49.747 |
+| 2 | 0.00208 | -0.00340 | -0.00008 | 0.00398 | 49.744 |
+| 3 | 0.00197 | -0.00392 | -0.00003 | 0.00439 | 49.740 |
+| 4 | 0.00173 | -0.00396 | -0.00049 | 0.00435 | 49.798 |
+| 5 | 0.00225 | -0.00488 | -0.00075 | 0.00543 | 0.164 |
+| 6 | 0.00286 | -0.00489 | -0.00096 | 0.00575 | 0.130 |
+| 7 | 0.00216 | -0.00428 | -0.00061 | 0.00484 | 0.035 |
+| 8 | 0.00166 | -0.00392 | -0.00084 | 0.00434 | 0.064 |
+| 9 | -0.00019 | -0.00010 | -0.00026 | 0.00034 | 0.035 |
+
+## 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.
diff --git a/gap_reports/gap_5be82fcc-0ca0-4b75-b738-e0822bc0ccf2.md b/gap_reports/gap_5be82fcc-0ca0-4b75-b738-e0822bc0ccf2.md
new file mode 100644
index 0000000000000000000000000000000000000000..2a5b3a021bfa75d29af5880c470f1839a058e1aa
--- /dev/null
+++ b/gap_reports/gap_5be82fcc-0ca0-4b75-b738-e0822bc0ccf2.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/5be82fcc-0ca0-4b75-b738-e0822bc0ccf2.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/5be82fcc-0ca0-4b75-b738-e0822bc0ccf2.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2636 |
+| Sim rows | 235 |
+| Real episode_id | `5be82fcc-0ca0-4b75-b738-e0822bc0ccf2` |
+| Sim episode_id | `5be82fcc-0ca0-4b75-b738-e0822bc0ccf2` |
+
+## 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 | 2.331 | 11.25 | 19.48 | 2.70 | 0.5792 |
+| 1 | descend | 426 | 37 | 1.034 | 6.78 | 11.74 | 3.77 | 0.7627 |
+| 2 | settle | 366 | 32 | 0.025 | 0.91 | 1.58 | 3.96 | 0.6962 |
+| 3 | close | 127 | 12 | 0.926 | 6.07 | 10.52 | 6.51 | 1.0165 |
+| 4 | lift | 289 | 26 | 2.418 | 11.82 | 20.47 | 4.13 | 1.1270 |
+| 5 | move_xy | 401 | 35 | 5.491 | 29.76 | 51.55 | 4.94 | 0.9429 |
+| 6 | lower | 404 | 35 | 0.089 | 1.54 | 2.66 | 6.17 | 0.9673 |
+| 7 | open | 127 | 12 | 0.998 | 6.35 | 11.00 | 3.96 | 0.6620 |
+| 8 | retract | 290 | 26 | 2.418 | 11.84 | 20.51 | 2.88 | 0.7244 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.362 |
+| TCP position RMSE (mm, per-axis) | 12.55 |
+| EE position RMS L2 (mm) | 23.69 |
+| TCP rotvec (mrad) | 4.51 |
+| W1 effort mean (A) | 0.8100 |
+| W1 effort per joint (A) | j0=0.2844, j1=1.3394, j2=1.5138, j3=0.6481, j4=0.4799, j5=0.5946 |
+
+## 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 | 0.00071 | -0.00065 | -0.00074 | 0.00122 | 0.041 |
+| 1 | 0.00071 | -0.00101 | -0.00096 | 0.00156 | 0.044 |
+| 2 | 0.00070 | -0.00100 | -0.00097 | 0.00156 | 0.044 |
+| 3 | 0.00149 | -0.00079 | -0.00120 | 0.00207 | 0.117 |
+| 4 | 0.00015 | -0.00018 | -0.00013 | 0.00027 | 0.095 |
+| 5 | 0.00153 | -0.00131 | -0.00139 | 0.00245 | 0.123 |
+| 6 | 0.00182 | -0.00119 | -0.00126 | 0.00251 | 0.153 |
+| 7 | 0.00051 | -0.00078 | -0.00075 | 0.00120 | 0.050 |
+| 8 | -0.00011 | -0.00018 | -0.00020 | 0.00029 | 0.031 |
+
+## 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.
diff --git a/gap_reports/gap_5bf0107f-5dba-443c-a523-add78d47d08c.md b/gap_reports/gap_5bf0107f-5dba-443c-a523-add78d47d08c.md
new file mode 100644
index 0000000000000000000000000000000000000000..8c91761e69fcf2a490d664edd455afc0e979d9de
--- /dev/null
+++ b/gap_reports/gap_5bf0107f-5dba-443c-a523-add78d47d08c.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/5bf0107f-5dba-443c-a523-add78d47d08c.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/5bf0107f-5dba-443c-a523-add78d47d08c.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2527 |
+| Sim rows | 225 |
+| Real episode_id | `5bf0107f-5dba-443c-a523-add78d47d08c` |
+| Sim episode_id | `5bf0107f-5dba-443c-a523-add78d47d08c` |
+
+## 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 | 249 | 22 | 3.778 | 16.65 | 28.83 | 1989.62 | 0.5916 |
+| 1 | descend | 264 | 23 | 0.559 | 3.72 | 6.45 | 3625.25 | 0.7804 |
+| 2 | settle | 360 | 32 | 0.031 | 0.85 | 1.47 | 3610.09 | 0.6548 |
+| 3 | close | 120 | 11 | 0.512 | 3.49 | 6.04 | 3377.33 | 0.9671 |
+| 4 | lift | 317 | 28 | 3.558 | 16.74 | 29.00 | 2168.55 | 1.0959 |
+| 5 | move_xy | 401 | 35 | 7.462 | 36.71 | 63.58 | 2540.65 | 0.8764 |
+| 6 | lower | 379 | 33 | 0.081 | 1.39 | 2.42 | 3331.35 | 1.0215 |
+| 7 | open | 117 | 11 | 0.482 | 3.23 | 5.59 | 3625.26 | 0.8051 |
+| 8 | retract | 320 | 28 | 3.523 | 16.69 | 28.91 | 2283.77 | 0.7208 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.263 |
+| TCP position RMSE (mm, per-axis) | 15.71 |
+| EE position RMS L2 (mm) | 30.72 |
+| TCP rotvec (mrad) | 3021.29 |
+| W1 effort mean (A) | 0.8155 |
+| W1 effort per joint (A) | j0=0.2292, j1=1.3787, j2=1.5333, j3=0.8613, j4=0.2871, j5=0.6037 |
+
+## 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 | -0.00042 | -0.00066 | 0.00117 | 0.026 |
+| 1 | 0.00080 | -0.00061 | -0.00089 | 0.00134 | 0.041 |
+| 2 | 0.00086 | -0.00061 | -0.00096 | 0.00143 | 0.047 |
+| 3 | 0.00184 | -0.00024 | -0.00197 | 0.00270 | 0.143 |
+| 4 | 0.00032 | 0.00013 | -0.00022 | 0.00041 | 0.085 |
+| 5 | 0.00173 | -0.00089 | -0.00051 | 0.00201 | 0.117 |
+| 6 | 0.00156 | -0.00081 | -0.00124 | 0.00215 | 0.121 |
+| 7 | 0.00070 | -0.00037 | -0.00081 | 0.00113 | 0.038 |
+| 8 | -0.00010 | -0.00016 | -0.00016 | 0.00025 | 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.
diff --git a/gap_reports/gap_5c0639ed-2175-428a-a46c-a8c539e55a24.md b/gap_reports/gap_5c0639ed-2175-428a-a46c-a8c539e55a24.md
new file mode 100644
index 0000000000000000000000000000000000000000..76458f193cacdf0812ea876442f20150282756a4
--- /dev/null
+++ b/gap_reports/gap_5c0639ed-2175-428a-a46c-a8c539e55a24.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/5c0639ed-2175-428a-a46c-a8c539e55a24.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/5c0639ed-2175-428a-a46c-a8c539e55a24.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1512 |
+| Sim rows | 154 |
+| Real episode_id | `5c0639ed-2175-428a-a46c-a8c539e55a24` |
+| Sim episode_id | `5c0639ed-2175-428a-a46c-a8c539e55a24` |
+
+## 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 | 137 | 14 | 2.104 | 11.18 | 19.37 | 378.26 | 0.7349 |
+| 1 | descend | 78 | 8 | 0.717 | 4.59 | 7.95 | 5.31 | 0.7122 |
+| 2 | settle | 35 | 4 | 0.025 | 3.09 | 5.35 | 5.83 | 0.7680 |
+| 3 | close | 383 | 38 | 0.136 | 3.77 | 6.53 | 10.65 | 1.2106 |
+| 4 | lift | 98 | 10 | 1.074 | 6.18 | 10.70 | 9.92 | 1.2385 |
+| 5 | move_xy | 267 | 26 | 2.489 | 17.72 | 30.69 | 96.53 | 1.1548 |
+| 6 | lower | 109 | 12 | 0.826 | 4.93 | 8.53 | 10.46 | 1.1334 |
+| 7 | open | 73 | 8 | 0.027 | 2.16 | 3.73 | 5.61 | 0.6846 |
+| 8 | retract | 113 | 12 | 0.843 | 4.55 | 7.89 | 4.98 | 0.7900 |
+| 9 | return | 219 | 22 | 2.827 | 18.66 | 32.32 | 238.99 | 0.7357 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.473 |
+| TCP position RMSE (mm, per-axis) | 9.59 |
+| EE position RMS L2 (mm) | 19.60 |
+| TCP rotvec (mrad) | 144.90 |
+| W1 effort mean (A) | 0.9724 |
+| W1 effort per joint (A) | j0=0.1886, j1=1.8757, j2=1.6008, j3=0.7626, j4=0.6546, j5=0.7522 |
+
+## 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 | 0.00194 | -0.00449 | -0.00065 | 0.00494 | 0.043 |
+| 1 | 0.00240 | -0.00469 | -0.00091 | 0.00534 | 0.041 |
+| 2 | 0.00241 | -0.00467 | -0.00107 | 0.00536 | 0.055 |
+| 3 | 0.00335 | -0.00456 | -0.00304 | 0.00642 | 0.226 |
+| 4 | 0.00256 | -0.00482 | -0.00330 | 0.00638 | 0.234 |
+| 5 | 0.00223 | -0.00274 | -0.00271 | 0.00446 | 0.247 |
+| 6 | 0.00238 | -0.00194 | -0.00299 | 0.00429 | 0.253 |
+| 7 | 0.00245 | -0.00280 | -0.00036 | 0.00374 | 0.059 |
+| 8 | 0.00227 | -0.00304 | -0.00044 | 0.00382 | 0.061 |
+| 9 | -0.00006 | -0.00018 | -0.00037 | 0.00042 | 0.043 |
+
+## 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.
diff --git a/gap_reports/gap_5c1740cf-0c73-436b-aa46-15dd7a431b34.md b/gap_reports/gap_5c1740cf-0c73-436b-aa46-15dd7a431b34.md
new file mode 100644
index 0000000000000000000000000000000000000000..e75ddb8ca47958a8d2a0c4bf14f3f41272bd66cf
--- /dev/null
+++ b/gap_reports/gap_5c1740cf-0c73-436b-aa46-15dd7a431b34.md
@@ -0,0 +1,61 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/5c1740cf-0c73-436b-aa46-15dd7a431b34.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/5c1740cf-0c73-436b-aa46-15dd7a431b34.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 45 |
+| Sim rows | 22 |
+| Real episode_id | `5c1740cf-0c73-436b-aa46-15dd7a431b34` |
+| Sim episode_id | `5c1740cf-0c73-436b-aa46-15dd7a431b34` |
+
+## 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 | 8 | 2 | 0.014 | 0.09 | 0.16 | 0.28 | 0.4522 |
+| 1 | descend | 7 | 2 | 0.015 | 0.10 | 0.18 | 0.32 | 0.4522 |
+| 2 | settle | 30 | 4 | 0.015 | 0.10 | 0.17 | 0.30 | 0.4510 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 0.015 |
+| TCP position RMSE (mm, per-axis) | 0.10 |
+| EE position RMS L2 (mm) | 0.17 |
+| TCP rotvec (mrad) | 0.30 |
+| W1 effort mean (A) | 0.4514 |
+| W1 effort per joint (A) | j0=0.1589, j1=0.0716, j2=1.6913, j3=0.6587, j4=0.0406, j5=0.0873 |
+
+## 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 | 0.00006 | 0.00001 | -0.00016 | 0.00017 | 0.032 |
+| 1 | 0.00007 | 0.00000 | -0.00017 | 0.00018 | 0.035 |
+| 2 | 0.00007 | 0.00000 | -0.00015 | 0.00017 | 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.
diff --git a/gap_reports/gap_5c1c187f-5607-4586-bfa8-254656141551.md b/gap_reports/gap_5c1c187f-5607-4586-bfa8-254656141551.md
new file mode 100644
index 0000000000000000000000000000000000000000..eac6ce5f89a70f708bf39339696b2e65a15019ce
--- /dev/null
+++ b/gap_reports/gap_5c1c187f-5607-4586-bfa8-254656141551.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/5c1c187f-5607-4586-bfa8-254656141551.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/5c1c187f-5607-4586-bfa8-254656141551.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2479 |
+| Sim rows | 222 |
+| Real episode_id | `5c1c187f-5607-4586-bfa8-254656141551` |
+| Sim episode_id | `5c1c187f-5607-4586-bfa8-254656141551` |
+
+## 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 | 190 | 17 | 2.170 | 10.26 | 17.77 | 1950.57 | 0.5713 |
+| 1 | descend | 305 | 27 | 1.164 | 7.52 | 13.02 | 3625.30 | 0.7758 |
+| 2 | settle | 370 | 32 | 0.025 | 0.75 | 1.30 | 3625.23 | 0.6072 |
+| 3 | close | 129 | 12 | 0.780 | 5.08 | 8.80 | 3507.90 | 1.0038 |
+| 4 | lift | 309 | 27 | 2.472 | 12.30 | 21.30 | 2269.01 | 1.0845 |
+| 5 | move_xy | 339 | 30 | 5.177 | 28.55 | 49.46 | 2812.37 | 0.9096 |
+| 6 | lower | 398 | 35 | 0.087 | 1.34 | 2.33 | 3587.84 | 0.9962 |
+| 7 | open | 127 | 12 | 0.656 | 4.28 | 7.42 | 3625.46 | 0.6772 |
+| 8 | retract | 312 | 28 | 2.637 | 13.24 | 22.93 | 2248.30 | 0.7168 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.285 |
+| TCP position RMSE (mm, per-axis) | 12.25 |
+| EE position RMS L2 (mm) | 22.59 |
+| TCP rotvec (mrad) | 3100.62 |
+| W1 effort mean (A) | 0.8050 |
+| W1 effort per joint (A) | j0=0.2166, j1=1.3575, j2=1.5685, j3=0.7591, j4=0.3254, j5=0.6028 |
+
+## 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 | 0.00043 | -0.00044 | -0.00073 | 0.00095 | 0.036 |
+| 1 | 0.00042 | -0.00072 | -0.00096 | 0.00127 | 0.044 |
+| 2 | 0.00042 | -0.00070 | -0.00099 | 0.00128 | 0.043 |
+| 3 | 0.00116 | -0.00058 | -0.00044 | 0.00137 | 0.109 |
+| 4 | 0.00009 | -0.00035 | -0.00029 | 0.00046 | 0.103 |
+| 5 | 0.00155 | -0.00119 | -0.00239 | 0.00308 | 0.171 |
+| 6 | 0.00171 | -0.00110 | -0.00166 | 0.00262 | 0.167 |
+| 7 | 0.00022 | -0.00049 | -0.00077 | 0.00093 | 0.040 |
+| 8 | -0.00009 | -0.00011 | -0.00014 | 0.00020 | 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.
diff --git a/gap_reports/gap_5c498503-375d-4c86-b939-2102da8f1c07.md b/gap_reports/gap_5c498503-375d-4c86-b939-2102da8f1c07.md
new file mode 100644
index 0000000000000000000000000000000000000000..9b164c63e88ef6f9a8fe39418441f80270a2f01f
--- /dev/null
+++ b/gap_reports/gap_5c498503-375d-4c86-b939-2102da8f1c07.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/5c498503-375d-4c86-b939-2102da8f1c07.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/5c498503-375d-4c86-b939-2102da8f1c07.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2664 |
+| Sim rows | 237 |
+| Real episode_id | `5c498503-375d-4c86-b939-2102da8f1c07` |
+| Sim episode_id | `5c498503-375d-4c86-b939-2102da8f1c07` |
+
+## 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 | 258 | 23 | 3.341 | 15.01 | 26.00 | 2031.28 | 0.5704 |
+| 1 | descend | 329 | 29 | 1.074 | 7.07 | 12.24 | 3625.41 | 0.6779 |
+| 2 | settle | 355 | 31 | 0.023 | 0.72 | 1.25 | 3625.34 | 0.7316 |
+| 3 | close | 141 | 13 | 0.648 | 4.34 | 7.52 | 3025.70 | 1.0028 |
+| 4 | lift | 318 | 28 | 3.071 | 14.39 | 24.93 | 2135.87 | 1.0897 |
+| 5 | move_xy | 420 | 37 | 6.665 | 33.88 | 58.68 | 2644.52 | 0.8466 |
+| 6 | lower | 381 | 33 | 0.082 | 1.28 | 2.22 | 3349.21 | 1.0119 |
+| 7 | open | 142 | 13 | 0.514 | 3.38 | 5.86 | 3625.44 | 0.6703 |
+| 8 | retract | 320 | 28 | 3.024 | 14.24 | 24.67 | 2274.89 | 0.7269 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.906 |
+| TCP position RMSE (mm, per-axis) | 14.40 |
+| EE position RMS L2 (mm) | 27.93 |
+| TCP rotvec (mrad) | 2993.68 |
+| W1 effort mean (A) | 0.7958 |
+| W1 effort per joint (A) | j0=0.2179, j1=1.3161, j2=1.5682, j3=0.8005, j4=0.2577, j5=0.6146 |
+
+## 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 | 0.00062 | -0.00032 | -0.00072 | 0.00100 | 0.036 |
+| 1 | 0.00061 | -0.00056 | -0.00088 | 0.00121 | 0.040 |
+| 2 | 0.00063 | -0.00057 | -0.00095 | 0.00127 | 0.048 |
+| 3 | 0.00152 | -0.00035 | -0.00091 | 0.00180 | 0.136 |
+| 4 | 0.00012 | -0.00027 | -0.00027 | 0.00040 | 0.084 |
+| 5 | 0.00206 | -0.00082 | -0.00104 | 0.00244 | 0.205 |
+| 6 | 0.00132 | -0.00073 | -0.00183 | 0.00237 | 0.124 |
+| 7 | 0.00049 | -0.00036 | -0.00072 | 0.00094 | 0.037 |
+| 8 | -0.00011 | -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.
diff --git a/gap_reports/gap_5c76a51e-b198-47b7-b037-1dc082901ffb.md b/gap_reports/gap_5c76a51e-b198-47b7-b037-1dc082901ffb.md
new file mode 100644
index 0000000000000000000000000000000000000000..bb3b5f7dd1c8df7be293ecd139c43ab4bedf2412
--- /dev/null
+++ b/gap_reports/gap_5c76a51e-b198-47b7-b037-1dc082901ffb.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/5c76a51e-b198-47b7-b037-1dc082901ffb.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/5c76a51e-b198-47b7-b037-1dc082901ffb.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2694 |
+| Sim rows | 239 |
+| Real episode_id | `5c76a51e-b198-47b7-b037-1dc082901ffb` |
+| Sim episode_id | `5c76a51e-b198-47b7-b037-1dc082901ffb` |
+
+## 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 | 233 | 21 | 2.981 | 11.87 | 20.57 | 1958.83 | 0.5659 |
+| 1 | descend | 403 | 35 | 0.554 | 3.47 | 6.01 | 3625.99 | 0.7310 |
+| 2 | settle | 369 | 32 | 0.023 | 0.60 | 1.04 | 3625.98 | 0.7307 |
+| 3 | close | 106 | 10 | 0.525 | 3.18 | 5.51 | 1228.72 | 0.8826 |
+| 4 | lift | 342 | 30 | 3.271 | 13.27 | 22.99 | 2074.00 | 1.0428 |
+| 5 | move_xy | 392 | 34 | 6.214 | 28.01 | 48.52 | 2290.47 | 0.9080 |
+| 6 | lower | 398 | 35 | 0.085 | 1.16 | 2.02 | 1719.61 | 0.9907 |
+| 7 | open | 107 | 10 | 0.583 | 3.47 | 6.00 | 3626.22 | 0.5887 |
+| 8 | retract | 344 | 30 | 3.298 | 13.68 | 23.70 | 2245.94 | 0.6753 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.789 |
+| TCP position RMSE (mm, per-axis) | 12.13 |
+| EE position RMS L2 (mm) | 22.95 |
+| TCP rotvec (mrad) | 2631.87 |
+| W1 effort mean (A) | 0.7785 |
+| W1 effort per joint (A) | j0=0.2429, j1=1.1732, j2=1.5644, j3=0.6762, j4=0.4246, j5=0.5894 |
+
+## 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 | 0.00040 | -0.00038 | -0.00056 | 0.00078 | 0.029 |
+| 1 | 0.00041 | -0.00056 | -0.00077 | 0.00103 | 0.036 |
+| 2 | 0.00042 | -0.00054 | -0.00077 | 0.00104 | 0.037 |
+| 3 | 0.00100 | -0.00044 | -0.00097 | 0.00146 | 0.106 |
+| 4 | 0.00020 | -0.00027 | -0.00040 | 0.00053 | 0.090 |
+| 5 | 0.00108 | -0.00091 | -0.00140 | 0.00199 | 0.115 |
+| 6 | 0.00117 | -0.00075 | -0.00190 | 0.00236 | 0.136 |
+| 7 | 0.00017 | -0.00037 | -0.00060 | 0.00073 | 0.034 |
+| 8 | -0.00008 | -0.00009 | -0.00014 | 0.00019 | 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.
diff --git a/gap_reports/gap_5c7b3f65-61dd-4498-9b14-275d6cfd5548.md b/gap_reports/gap_5c7b3f65-61dd-4498-9b14-275d6cfd5548.md
new file mode 100644
index 0000000000000000000000000000000000000000..339a9e8d195fcd470e9f2ddf0ad9f5b387018e95
--- /dev/null
+++ b/gap_reports/gap_5c7b3f65-61dd-4498-9b14-275d6cfd5548.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/5c7b3f65-61dd-4498-9b14-275d6cfd5548.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/5c7b3f65-61dd-4498-9b14-275d6cfd5548.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 3008 |
+| Sim rows | 267 |
+| Real episode_id | `5c7b3f65-61dd-4498-9b14-275d6cfd5548` |
+| Sim episode_id | `5c7b3f65-61dd-4498-9b14-275d6cfd5548` |
+
+## 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 | 3.290 | 12.17 | 21.07 | 1812.99 | 0.5860 |
+| 1 | descend | 411 | 36 | 1.133 | 6.76 | 11.70 | 3626.04 | 0.6355 |
+| 2 | settle | 385 | 34 | 0.023 | 0.68 | 1.18 | 3625.97 | 0.6380 |
+| 3 | close | 144 | 13 | 1.227 | 6.91 | 11.97 | 1831.92 | 0.9055 |
+| 4 | lift | 456 | 40 | 3.678 | 15.05 | 26.08 | 2122.40 | 1.0955 |
+| 5 | move_xy | 401 | 35 | 8.891 | 38.77 | 67.15 | 2097.98 | 0.8484 |
+| 6 | lower | 396 | 35 | 0.083 | 1.24 | 2.15 | 1292.49 | 0.8807 |
+| 7 | open | 143 | 13 | 0.891 | 5.07 | 8.78 | 3626.21 | 0.5838 |
+| 8 | retract | 456 | 40 | 3.709 | 15.21 | 26.35 | 2364.98 | 0.7030 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.663 |
+| TCP position RMSE (mm, per-axis) | 15.74 |
+| EE position RMS L2 (mm) | 29.52 |
+| TCP rotvec (mrad) | 2630.12 |
+| W1 effort mean (A) | 0.7544 |
+| W1 effort per joint (A) | j0=0.2583, j1=1.1682, j2=1.4460, j3=0.6603, j4=0.3688, j5=0.6251 |
+
+## 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 | -0.00017 | -0.00044 | 0.00080 | 0.033 |
+| 1 | 0.00070 | -0.00055 | -0.00077 | 0.00118 | 0.038 |
+| 2 | 0.00068 | -0.00055 | -0.00076 | 0.00116 | 0.037 |
+| 3 | 0.00124 | -0.00016 | -0.00093 | 0.00156 | 0.098 |
+| 4 | 0.00029 | 0.00007 | -0.00002 | 0.00030 | 0.063 |
+| 5 | 0.00148 | -0.00065 | -0.00241 | 0.00291 | 0.224 |
+| 6 | 0.00132 | -0.00075 | -0.00075 | 0.00170 | 0.124 |
+| 7 | 0.00046 | -0.00024 | -0.00052 | 0.00073 | 0.036 |
+| 8 | -0.00007 | -0.00009 | -0.00012 | 0.00017 | 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.
diff --git a/gap_reports/gap_5cbcebef-00e7-4384-884f-e4081503ee55.md b/gap_reports/gap_5cbcebef-00e7-4384-884f-e4081503ee55.md
new file mode 100644
index 0000000000000000000000000000000000000000..6dce5fe0f3822dd32f0c60b8380a9776b6b53407
--- /dev/null
+++ b/gap_reports/gap_5cbcebef-00e7-4384-884f-e4081503ee55.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/5cbcebef-00e7-4384-884f-e4081503ee55.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/5cbcebef-00e7-4384-884f-e4081503ee55.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 978 |
+| Sim rows | 103 |
+| Real episode_id | `5cbcebef-00e7-4384-884f-e4081503ee55` |
+| Sim episode_id | `5cbcebef-00e7-4384-884f-e4081503ee55` |
+
+## 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 | 18 | 3.986 | 20.65 | 35.76 | 679.97 | 0.7003 |
+| 1 | descend | 73 | 8 | 0.333 | 2.69 | 4.66 | 5.14 | 0.7187 |
+| 2 | settle | 21 | 3 | 0.027 | 2.11 | 3.65 | 5.55 | 0.6778 |
+| 3 | close | 24 | 3 | 0.079 | 2.23 | 3.86 | 4.96 | 1.0370 |
+| 4 | lift | 74 | 8 | 0.475 | 3.22 | 5.57 | 4.92 | 1.0744 |
+| 5 | move_xy | 201 | 20 | 6.024 | 33.63 | 58.25 | 243.57 | 1.0258 |
+| 6 | lower | 71 | 8 | 4.127 | 3.56 | 6.16 | 161.12 | 0.9136 |
+| 7 | open | 82 | 9 | 4.080 | 2.83 | 4.90 | 162.22 | 0.5664 |
+| 8 | retract | 72 | 8 | 4.128 | 3.50 | 6.06 | 161.78 | 0.6455 |
+| 9 | return | 179 | 18 | 3.443 | 11.59 | 20.07 | 889.72 | 0.7081 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.393 |
+| TCP position RMSE (mm, per-axis) | 13.23 |
+| EE position RMS L2 (mm) | 31.94 |
+| TCP rotvec (mrad) | 373.07 |
+| W1 effort mean (A) | 0.7783 |
+| W1 effort per joint (A) | j0=0.2084, j1=1.4150, j2=1.5506, j3=0.8407, j4=0.1068, j5=0.5482 |
+
+## 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 | 0.00209 | -0.00287 | -0.00021 | 0.00356 | 0.071 |
+| 1 | 0.00237 | -0.00275 | -0.00023 | 0.00364 | 0.049 |
+| 2 | 0.00240 | -0.00277 | -0.00027 | 0.00367 | 0.055 |
+| 3 | 0.00251 | -0.00276 | -0.00106 | 0.00388 | 0.161 |
+| 4 | 0.00246 | -0.00320 | -0.00145 | 0.00429 | 0.221 |
+| 5 | 0.00102 | -0.00428 | -0.00067 | 0.00445 | 9.983 |
+| 6 | 0.00140 | -0.00443 | -0.00037 | 0.00466 | 9.994 |
+| 7 | 0.00181 | -0.00454 | -0.00046 | 0.00491 | 9.992 |
+| 8 | 0.00140 | -0.00432 | -0.00054 | 0.00457 | 9.996 |
+| 9 | -0.00014 | -0.00010 | -0.00024 | 0.00029 | 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.
diff --git a/gap_reports/gap_5cbe94fb-a78f-4df0-be07-c5960b13243d.md b/gap_reports/gap_5cbe94fb-a78f-4df0-be07-c5960b13243d.md
new file mode 100644
index 0000000000000000000000000000000000000000..1bba9151576de8a7765ab429c7f26d0524986511
--- /dev/null
+++ b/gap_reports/gap_5cbe94fb-a78f-4df0-be07-c5960b13243d.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/5cbe94fb-a78f-4df0-be07-c5960b13243d.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/5cbe94fb-a78f-4df0-be07-c5960b13243d.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 933 |
+| Sim rows | 98 |
+| Real episode_id | `5cbe94fb-a78f-4df0-be07-c5960b13243d` |
+| Sim episode_id | `5cbe94fb-a78f-4df0-be07-c5960b13243d` |
+
+## 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 | 164 | 16 | 9.887 | 15.10 | 26.16 | 601.68 | 0.6912 |
+| 1 | descend | 85 | 9 | 17.356 | 4.09 | 7.08 | 669.98 | 0.9114 |
+| 2 | settle | 34 | 4 | 17.315 | 2.62 | 4.54 | 670.01 | 0.8587 |
+| 3 | close | 298 | 29 | 17.313 | 2.73 | 4.73 | 670.43 | 1.2378 |
+| 4 | lift | 87 | 9 | 17.366 | 5.25 | 9.09 | 670.39 | 1.4595 |
+| 5 | move_xy | 169 | 17 | 12.962 | 40.33 | 69.85 | 338.31 | 1.3551 |
+| 6 | lower | 6 | 2 | 0.598 | 4.12 | 7.13 | 10.42 | 1.2714 |
+| 7 | open | 77 | 8 | 0.687 | 4.00 | 6.93 | 8.91 | 0.8026 |
+| 8 | retract | 7 | 2 | 0.035 | 3.62 | 6.28 | 7.09 | 0.7964 |
+| 9 | return | 6 | 2 | 0.037 | 3.63 | 6.29 | 7.05 | 0.8008 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 12.120 |
+| TCP position RMSE (mm, per-axis) | 14.04 |
+| EE position RMS L2 (mm) | 32.08 |
+| TCP rotvec (mrad) | 476.81 |
+| W1 effort mean (A) | 1.0908 |
+| W1 effort per joint (A) | j0=0.2387, j1=2.1021, j2=1.5733, j3=0.8908, j4=0.4421, j5=1.2980 |
+
+## 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 | 0.00251 | -0.00369 | -0.00123 | 0.00464 | 42.498 |
+| 1 | 0.00283 | -0.00344 | -0.00040 | 0.00447 | 42.416 |
+| 2 | 0.00285 | -0.00350 | -0.00057 | 0.00455 | 42.411 |
+| 3 | 0.00309 | -0.00317 | -0.00182 | 0.00478 | 42.410 |
+| 4 | 0.00305 | -0.00360 | -0.00190 | 0.00509 | 42.516 |
+| 5 | 0.00183 | -0.00487 | -0.00446 | 0.00685 | 0.699 |
+| 6 | 0.00173 | -0.00475 | -0.00515 | 0.00722 | 1.569 |
+| 7 | 0.00361 | -0.00488 | -0.00166 | 0.00629 | 0.080 |
+| 8 | 0.00360 | -0.00488 | -0.00165 | 0.00629 | 0.079 |
+| 9 | 0.00361 | -0.00488 | -0.00166 | 0.00629 | 0.080 |
+
+## 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.
diff --git a/gap_reports/gap_5cce1bb5-9218-4b36-b709-121138387c9e.md b/gap_reports/gap_5cce1bb5-9218-4b36-b709-121138387c9e.md
new file mode 100644
index 0000000000000000000000000000000000000000..bd7e4df6fbf21f8589b8b0942f70693c2c62b5ce
--- /dev/null
+++ b/gap_reports/gap_5cce1bb5-9218-4b36-b709-121138387c9e.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/5cce1bb5-9218-4b36-b709-121138387c9e.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/5cce1bb5-9218-4b36-b709-121138387c9e.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2645 |
+| Sim rows | 235 |
+| Real episode_id | `5cce1bb5-9218-4b36-b709-121138387c9e` |
+| Sim episode_id | `5cce1bb5-9218-4b36-b709-121138387c9e` |
+
+## 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 | 3.046 | 15.43 | 26.73 | 1966.80 | 0.6277 |
+| 1 | descend | 326 | 28 | 1.300 | 9.35 | 16.20 | 3624.84 | 0.7720 |
+| 2 | settle | 372 | 33 | 0.027 | 0.92 | 1.59 | 3624.62 | 0.6368 |
+| 3 | close | 127 | 12 | 0.885 | 6.25 | 10.83 | 3625.15 | 1.0413 |
+| 4 | lift | 362 | 32 | 3.187 | 17.15 | 29.71 | 2440.28 | 1.1106 |
+| 5 | move_xy | 371 | 32 | 7.098 | 40.50 | 70.15 | 2804.21 | 0.9330 |
+| 6 | lower | 384 | 33 | 0.094 | 1.67 | 2.88 | 3625.13 | 1.0294 |
+| 7 | open | 129 | 12 | 0.851 | 5.98 | 10.36 | 3624.78 | 0.7326 |
+| 8 | retract | 360 | 32 | 2.995 | 16.20 | 28.06 | 2454.15 | 0.7549 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.018 |
+| TCP position RMSE (mm, per-axis) | 17.00 |
+| EE position RMS L2 (mm) | 31.95 |
+| TCP rotvec (mrad) | 3151.88 |
+| W1 effort mean (A) | 0.8331 |
+| W1 effort per joint (A) | j0=0.2074, j1=1.4813, j2=1.6381, j3=0.7557, j4=0.3129, j5=0.6029 |
+
+## 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 | -0.00026 | -0.00077 | 0.00119 | 0.033 |
+| 1 | 0.00090 | -0.00068 | -0.00112 | 0.00159 | 0.053 |
+| 2 | 0.00090 | -0.00066 | -0.00113 | 0.00159 | 0.052 |
+| 3 | 0.00141 | -0.00038 | -0.00141 | 0.00203 | 0.109 |
+| 4 | 0.00050 | -0.00013 | -0.00034 | 0.00062 | 0.142 |
+| 5 | 0.00199 | -0.00084 | -0.00071 | 0.00228 | 0.131 |
+| 6 | 0.00232 | -0.00104 | -0.00333 | 0.00419 | 0.268 |
+| 7 | 0.00065 | -0.00034 | -0.00101 | 0.00125 | 0.060 |
+| 8 | -0.00012 | -0.00021 | -0.00019 | 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.
diff --git a/gap_reports/gap_5ce027bd-fd2d-4161-920a-cc2779407fad.md b/gap_reports/gap_5ce027bd-fd2d-4161-920a-cc2779407fad.md
new file mode 100644
index 0000000000000000000000000000000000000000..28d7b8d527d17853d3929b475f36b9cd1be3cf99
--- /dev/null
+++ b/gap_reports/gap_5ce027bd-fd2d-4161-920a-cc2779407fad.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/5ce027bd-fd2d-4161-920a-cc2779407fad.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/5ce027bd-fd2d-4161-920a-cc2779407fad.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2612 |
+| Sim rows | 232 |
+| Real episode_id | `5ce027bd-fd2d-4161-920a-cc2779407fad` |
+| Sim episode_id | `5ce027bd-fd2d-4161-920a-cc2779407fad` |
+
+## 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 | 220 | 20 | 3.573 | 14.14 | 24.49 | 1986.00 | 0.5734 |
+| 1 | descend | 274 | 24 | 1.000 | 6.12 | 10.60 | 3626.01 | 0.6530 |
+| 2 | settle | 380 | 33 | 0.021 | 0.66 | 1.14 | 3625.94 | 0.5904 |
+| 3 | close | 116 | 11 | 0.567 | 3.53 | 6.11 | 931.32 | 0.9052 |
+| 4 | lift | 378 | 33 | 3.477 | 14.43 | 24.99 | 2045.37 | 1.0918 |
+| 5 | move_xy | 358 | 31 | 7.188 | 31.05 | 53.78 | 2193.83 | 0.8569 |
+| 6 | lower | 389 | 34 | 0.086 | 1.28 | 2.21 | 2063.12 | 0.9059 |
+| 7 | open | 119 | 11 | 0.597 | 3.55 | 6.14 | 3626.18 | 0.5642 |
+| 8 | retract | 378 | 33 | 3.438 | 14.15 | 24.51 | 2182.72 | 0.6746 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.163 |
+| TCP position RMSE (mm, per-axis) | 13.49 |
+| EE position RMS L2 (mm) | 25.31 |
+| TCP rotvec (mrad) | 2630.45 |
+| W1 effort mean (A) | 0.7509 |
+| W1 effort per joint (A) | j0=0.2027, j1=1.1968, j2=1.4288, j3=0.7042, j4=0.3392, j5=0.6336 |
+
+## 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 | 0.00068 | -0.00030 | -0.00062 | 0.00097 | 0.036 |
+| 1 | 0.00080 | -0.00057 | -0.00079 | 0.00126 | 0.039 |
+| 2 | 0.00065 | -0.00057 | -0.00071 | 0.00112 | 0.035 |
+| 3 | 0.00144 | -0.00039 | -0.00025 | 0.00151 | 0.130 |
+| 4 | 0.00019 | -0.00014 | -0.00007 | 0.00025 | 0.092 |
+| 5 | 0.00144 | -0.00076 | -0.00132 | 0.00210 | 0.104 |
+| 6 | 0.00180 | -0.00065 | -0.00094 | 0.00213 | 0.166 |
+| 7 | 0.00055 | -0.00031 | -0.00061 | 0.00088 | 0.041 |
+| 8 | -0.00006 | -0.00008 | -0.00012 | 0.00016 | 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.
diff --git a/gap_reports/gap_5cf39f4a-5703-449d-bcd8-1e05235f6566.md b/gap_reports/gap_5cf39f4a-5703-449d-bcd8-1e05235f6566.md
new file mode 100644
index 0000000000000000000000000000000000000000..f4dd4ee39bcc94bab16959d7cec6553921f87e8a
--- /dev/null
+++ b/gap_reports/gap_5cf39f4a-5703-449d-bcd8-1e05235f6566.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/5cf39f4a-5703-449d-bcd8-1e05235f6566.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/5cf39f4a-5703-449d-bcd8-1e05235f6566.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1557 |
+| Sim rows | 158 |
+| Real episode_id | `5cf39f4a-5703-449d-bcd8-1e05235f6566` |
+| Sim episode_id | `5cf39f4a-5703-449d-bcd8-1e05235f6566` |
+
+## 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 | 182 | 19 | 4.363 | 16.70 | 28.93 | 1796.84 | 0.7939 |
+| 1 | descend | 97 | 10 | 0.747 | 4.30 | 7.45 | 6.19 | 0.7990 |
+| 2 | settle | 26 | 3 | 0.029 | 3.04 | 5.27 | 6.74 | 0.8399 |
+| 3 | close | 412 | 40 | 0.155 | 1.96 | 3.39 | 8.19 | 1.2073 |
+| 4 | lift | 118 | 12 | 1.144 | 5.48 | 9.50 | 888.25 | 1.2247 |
+| 5 | move_xy | 226 | 23 | 9.360 | 41.99 | 72.73 | 125.88 | 1.0875 |
+| 6 | lower | 82 | 9 | 4.739 | 3.82 | 6.62 | 183.43 | 1.2650 |
+| 7 | open | 99 | 10 | 4.587 | 2.42 | 4.18 | 181.89 | 0.7719 |
+| 8 | retract | 81 | 9 | 4.825 | 5.52 | 9.56 | 182.02 | 0.8099 |
+| 9 | return | 234 | 23 | 4.880 | 25.92 | 44.90 | 280.79 | 0.8164 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 4.462 |
+| TCP position RMSE (mm, per-axis) | 16.81 |
+| EE position RMS L2 (mm) | 34.50 |
+| TCP rotvec (mrad) | 649.02 |
+| W1 effort mean (A) | 0.9930 |
+| W1 effort per joint (A) | j0=0.2773, j1=2.1157, j2=1.6523, j3=0.7240, j4=0.5435, j5=0.6455 |
+
+## 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 | 0.00194 | -0.00437 | -0.00153 | 0.00503 | 0.080 |
+| 1 | 0.00236 | -0.00447 | -0.00134 | 0.00523 | 0.046 |
+| 2 | 0.00235 | -0.00448 | -0.00152 | 0.00528 | 0.066 |
+| 3 | 0.00035 | -0.00236 | -0.00157 | 0.00285 | 0.343 |
+| 4 | 0.00041 | -0.00302 | -0.00223 | 0.00378 | 0.252 |
+| 5 | 0.00387 | -0.00224 | -0.00242 | 0.00508 | 11.305 |
+| 6 | 0.00353 | -0.00159 | -0.00232 | 0.00452 | 11.233 |
+| 7 | 0.00317 | -0.00267 | -0.00062 | 0.00419 | 11.235 |
+| 8 | 0.00345 | -0.00275 | -0.00035 | 0.00443 | 11.353 |
+| 9 | -0.00010 | -0.00022 | -0.00033 | 0.00041 | 0.055 |
+
+## 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.
diff --git a/gap_reports/gap_5d137e49-dc78-46d2-b792-8e7b9bf3918c.md b/gap_reports/gap_5d137e49-dc78-46d2-b792-8e7b9bf3918c.md
new file mode 100644
index 0000000000000000000000000000000000000000..6bf103fb710919d6c3e9978e115c2b153b281d5d
--- /dev/null
+++ b/gap_reports/gap_5d137e49-dc78-46d2-b792-8e7b9bf3918c.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/5d137e49-dc78-46d2-b792-8e7b9bf3918c.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/5d137e49-dc78-46d2-b792-8e7b9bf3918c.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2501 |
+| Sim rows | 222 |
+| Real episode_id | `5d137e49-dc78-46d2-b792-8e7b9bf3918c` |
+| Sim episode_id | `5d137e49-dc78-46d2-b792-8e7b9bf3918c` |
+
+## 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 | 179 | 16 | 2.791 | 10.05 | 17.41 | 1954.39 | 0.5842 |
+| 1 | descend | 357 | 31 | 1.561 | 9.09 | 15.74 | 3626.13 | 0.6877 |
+| 2 | settle | 379 | 33 | 0.020 | 0.55 | 0.96 | 3626.06 | 0.7089 |
+| 3 | close | 122 | 11 | 0.970 | 5.52 | 9.56 | 931.90 | 0.9260 |
+| 4 | lift | 306 | 27 | 3.041 | 12.27 | 21.26 | 1402.97 | 1.0880 |
+| 5 | move_xy | 348 | 30 | 7.696 | 34.55 | 59.85 | 2082.21 | 0.8761 |
+| 6 | lower | 385 | 34 | 0.079 | 1.03 | 1.78 | 1829.21 | 1.0020 |
+| 7 | open | 119 | 11 | 0.975 | 5.44 | 9.42 | 3626.16 | 0.6344 |
+| 8 | retract | 306 | 27 | 2.804 | 11.21 | 19.41 | 2280.06 | 0.7098 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.135 |
+| TCP position RMSE (mm, per-axis) | 13.80 |
+| EE position RMS L2 (mm) | 25.81 |
+| TCP rotvec (mrad) | 2560.01 |
+| W1 effort mean (A) | 0.7959 |
+| W1 effort per joint (A) | j0=0.2404, j1=1.1966, j2=1.6045, j3=0.7959, j4=0.3170, j5=0.6214 |
+
+## 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 | 0.00034 | -0.00022 | -0.00042 | 0.00059 | 0.033 |
+| 1 | 0.00037 | -0.00049 | -0.00070 | 0.00093 | 0.033 |
+| 2 | 0.00042 | -0.00049 | -0.00072 | 0.00097 | 0.037 |
+| 3 | 0.00059 | -0.00045 | -0.00074 | 0.00105 | 0.095 |
+| 4 | 0.00023 | 0.00003 | -0.00016 | 0.00028 | 0.074 |
+| 5 | 0.00082 | -0.00071 | -0.00165 | 0.00197 | 0.148 |
+| 6 | 0.00139 | -0.00065 | -0.00132 | 0.00202 | 0.162 |
+| 7 | 0.00017 | -0.00032 | -0.00052 | 0.00063 | 0.037 |
+| 8 | -0.00005 | -0.00010 | -0.00015 | 0.00018 | 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.
diff --git a/gap_reports/gap_5d1c2d30-c350-4d03-8f7f-a165362b03f9.md b/gap_reports/gap_5d1c2d30-c350-4d03-8f7f-a165362b03f9.md
new file mode 100644
index 0000000000000000000000000000000000000000..53d6e939c141d6784e50a72d14f6f790d356ce2a
--- /dev/null
+++ b/gap_reports/gap_5d1c2d30-c350-4d03-8f7f-a165362b03f9.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/5d1c2d30-c350-4d03-8f7f-a165362b03f9.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/5d1c2d30-c350-4d03-8f7f-a165362b03f9.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2522 |
+| Sim rows | 224 |
+| Real episode_id | `5d1c2d30-c350-4d03-8f7f-a165362b03f9` |
+| Sim episode_id | `5d1c2d30-c350-4d03-8f7f-a165362b03f9` |
+
+## 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 | 199 | 18 | 2.376 | 13.56 | 23.48 | 1922.91 | 0.6077 |
+| 1 | descend | 288 | 25 | 0.907 | 6.28 | 10.88 | 3624.61 | 0.7312 |
+| 2 | settle | 387 | 34 | 0.027 | 0.97 | 1.69 | 3624.49 | 0.7653 |
+| 3 | close | 114 | 11 | 0.599 | 4.29 | 7.43 | 3625.22 | 1.0480 |
+| 4 | lift | 345 | 30 | 2.428 | 14.45 | 25.03 | 2309.22 | 1.1163 |
+| 5 | move_xy | 334 | 29 | 4.943 | 30.58 | 52.97 | 2755.49 | 0.9644 |
+| 6 | lower | 391 | 34 | 0.098 | 1.74 | 3.02 | 3551.14 | 1.1120 |
+| 7 | open | 116 | 11 | 0.635 | 4.38 | 7.59 | 3624.69 | 0.7220 |
+| 8 | retract | 348 | 30 | 2.442 | 14.62 | 25.33 | 2307.26 | 0.7441 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.199 |
+| TCP position RMSE (mm, per-axis) | 13.43 |
+| EE position RMS L2 (mm) | 24.69 |
+| TCP rotvec (mrad) | 3111.13 |
+| W1 effort mean (A) | 0.8620 |
+| W1 effort per joint (A) | j0=0.2370, j1=1.6002, j2=1.7008, j3=0.7264, j4=0.3345, j5=0.5730 |
+
+## 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 | -0.00047 | -0.00072 | 0.00119 | 0.026 |
+| 1 | 0.00078 | -0.00088 | -0.00129 | 0.00174 | 0.061 |
+| 2 | 0.00079 | -0.00086 | -0.00123 | 0.00170 | 0.057 |
+| 3 | 0.00128 | -0.00067 | -0.00043 | 0.00151 | 0.113 |
+| 4 | -0.00003 | -0.00048 | -0.00049 | 0.00068 | 0.105 |
+| 5 | 0.00262 | -0.00116 | -0.00147 | 0.00322 | 0.239 |
+| 6 | 0.00204 | -0.00122 | -0.00204 | 0.00313 | 0.174 |
+| 7 | 0.00057 | -0.00058 | -0.00102 | 0.00131 | 0.047 |
+| 8 | -0.00014 | -0.00018 | -0.00018 | 0.00029 | 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.
diff --git a/gap_reports/gap_5d4fd925-92e0-443a-ab66-010c77913fbd.md b/gap_reports/gap_5d4fd925-92e0-443a-ab66-010c77913fbd.md
new file mode 100644
index 0000000000000000000000000000000000000000..b9e396acbaceb5be719bd109fcd4b8082cfd3f44
--- /dev/null
+++ b/gap_reports/gap_5d4fd925-92e0-443a-ab66-010c77913fbd.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/5d4fd925-92e0-443a-ab66-010c77913fbd.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/5d4fd925-92e0-443a-ab66-010c77913fbd.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1297 |
+| Sim rows | 135 |
+| Real episode_id | `5d4fd925-92e0-443a-ab66-010c77913fbd` |
+| Sim episode_id | `5d4fd925-92e0-443a-ab66-010c77913fbd` |
+
+## 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 | 174 | 18 | 2.876 | 10.66 | 18.47 | 645.01 | 0.7147 |
+| 1 | descend | 107 | 11 | 0.934 | 4.46 | 7.72 | 4.13 | 0.5785 |
+| 2 | settle | 35 | 4 | 0.019 | 2.64 | 4.58 | 4.80 | 0.5713 |
+| 3 | close | 371 | 38 | 0.104 | 3.36 | 5.83 | 7.47 | 0.9706 |
+| 4 | lift | 128 | 13 | 1.350 | 6.56 | 11.36 | 6.62 | 1.0683 |
+| 5 | move_xy | 215 | 21 | 7.397 | 22.56 | 39.07 | 172.70 | 0.9881 |
+| 6 | lower | 92 | 10 | 11.771 | 3.53 | 6.12 | 456.46 | 1.0644 |
+| 7 | open | 78 | 8 | 11.747 | 2.37 | 4.10 | 457.39 | 0.7197 |
+| 8 | retract | 92 | 10 | 11.774 | 3.87 | 6.71 | 456.98 | 0.7717 |
+| 9 | return | 5 | 2 | 11.762 | 2.40 | 4.15 | 456.65 | 0.7477 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 7.869 |
+| TCP position RMSE (mm, per-axis) | 8.62 |
+| EE position RMS L2 (mm) | 18.27 |
+| TCP rotvec (mrad) | 357.90 |
+| W1 effort mean (A) | 0.8803 |
+| W1 effort per joint (A) | j0=0.1490, j1=1.3751, j2=1.3638, j3=0.8742, j4=0.6000, j5=0.9196 |
+
+## 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 | 0.00173 | -0.00364 | -0.00068 | 0.00409 | 0.032 |
+| 1 | 0.00217 | -0.00397 | -0.00054 | 0.00455 | 0.030 |
+| 2 | 0.00220 | -0.00397 | -0.00066 | 0.00459 | 0.032 |
+| 3 | 0.00312 | -0.00461 | -0.00139 | 0.00574 | 0.148 |
+| 4 | 0.00231 | -0.00422 | -0.00131 | 0.00499 | 0.115 |
+| 5 | 0.00152 | -0.00395 | -0.00023 | 0.00424 | 28.834 |
+| 6 | 0.00186 | -0.00402 | 0.00023 | 0.00444 | 28.773 |
+| 7 | 0.00216 | -0.00349 | -0.00007 | 0.00411 | 28.772 |
+| 8 | 0.00186 | -0.00370 | -0.00015 | 0.00414 | 28.810 |
+| 9 | 0.00185 | -0.00372 | -0.00008 | 0.00415 | 28.812 |
+
+## 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.
diff --git a/gap_reports/gap_5d548b75-8c1c-4f81-ad5a-cf3736adfb9a.md b/gap_reports/gap_5d548b75-8c1c-4f81-ad5a-cf3736adfb9a.md
new file mode 100644
index 0000000000000000000000000000000000000000..ef9e364b64bbe52339e6f81fd78e0161390b7546
--- /dev/null
+++ b/gap_reports/gap_5d548b75-8c1c-4f81-ad5a-cf3736adfb9a.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/5d548b75-8c1c-4f81-ad5a-cf3736adfb9a.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/5d548b75-8c1c-4f81-ad5a-cf3736adfb9a.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1936 |
+| Sim rows | 194 |
+| Real episode_id | `5d548b75-8c1c-4f81-ad5a-cf3736adfb9a` |
+| Sim episode_id | `5d548b75-8c1c-4f81-ad5a-cf3736adfb9a` |
+
+## 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 | 211 | 21 | 6.576 | 18.44 | 31.94 | 1093.22 | 0.7207 |
+| 1 | descend | 95 | 10 | 0.758 | 3.54 | 6.13 | 4.68 | 0.4749 |
+| 2 | settle | 35 | 4 | 0.020 | 2.53 | 4.38 | 4.91 | 0.5106 |
+| 3 | close | 387 | 38 | 0.073 | 2.52 | 4.37 | 7.90 | 0.9999 |
+| 4 | lift | 96 | 10 | 0.819 | 3.44 | 5.95 | 7.42 | 1.1467 |
+| 5 | move_xy | 264 | 26 | 14.523 | 27.15 | 47.03 | 372.24 | 1.1274 |
+| 6 | lower | 95 | 10 | 22.397 | 3.77 | 6.53 | 862.05 | 1.2550 |
+| 7 | open | 373 | 37 | 22.377 | 2.60 | 4.50 | 861.86 | 0.8729 |
+| 8 | retract | 96 | 10 | 22.391 | 3.55 | 6.15 | 861.58 | 0.8889 |
+| 9 | return | 284 | 28 | 12.695 | 14.76 | 25.57 | 1158.82 | 0.8624 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 13.857 |
+| TCP position RMSE (mm, per-axis) | 11.69 |
+| EE position RMS L2 (mm) | 22.90 |
+| TCP rotvec (mrad) | 700.35 |
+| W1 effort mean (A) | 0.9062 |
+| W1 effort per joint (A) | j0=0.2315, j1=1.2982, j2=1.5703, j3=1.0226, j4=0.3601, j5=0.9545 |
+
+## 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 | 0.00164 | -0.00359 | -0.00037 | 0.00397 | 0.035 |
+| 1 | 0.00166 | -0.00405 | -0.00032 | 0.00439 | 0.031 |
+| 2 | 0.00167 | -0.00402 | -0.00038 | 0.00437 | 0.025 |
+| 3 | 0.00157 | -0.00440 | -0.00039 | 0.00469 | 0.168 |
+| 4 | 0.00135 | -0.00373 | -0.00045 | 0.00399 | 0.162 |
+| 5 | 0.00196 | -0.00372 | -0.00006 | 0.00420 | 54.839 |
+| 6 | 0.00251 | -0.00318 | -0.00098 | 0.00417 | 54.816 |
+| 7 | 0.00219 | -0.00392 | -0.00030 | 0.00451 | 54.811 |
+| 8 | 0.00183 | -0.00406 | -0.00035 | 0.00447 | 54.855 |
+| 9 | -0.00008 | -0.00012 | -0.00026 | 0.00030 | 0.031 |
+
+## 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.
diff --git a/gap_reports/gap_5d61d846-45e4-4874-8952-0763fd1e90d6.md b/gap_reports/gap_5d61d846-45e4-4874-8952-0763fd1e90d6.md
new file mode 100644
index 0000000000000000000000000000000000000000..a6d5daf03ca77e0a446e7728235b177cd0568401
--- /dev/null
+++ b/gap_reports/gap_5d61d846-45e4-4874-8952-0763fd1e90d6.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/5d61d846-45e4-4874-8952-0763fd1e90d6.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/5d61d846-45e4-4874-8952-0763fd1e90d6.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2896 |
+| Sim rows | 255 |
+| Real episode_id | `5d61d846-45e4-4874-8952-0763fd1e90d6` |
+| Sim episode_id | `5d61d846-45e4-4874-8952-0763fd1e90d6` |
+
+## 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 | 256 | 23 | 3.862 | 18.23 | 31.57 | 1935.71 | 0.6496 |
+| 1 | descend | 429 | 37 | 1.283 | 9.04 | 15.67 | 3624.75 | 0.8275 |
+| 2 | settle | 381 | 33 | 0.028 | 1.02 | 1.77 | 3624.57 | 0.7698 |
+| 3 | close | 138 | 13 | 0.999 | 7.23 | 12.52 | 3625.32 | 1.0501 |
+| 4 | lift | 347 | 30 | 3.230 | 17.05 | 29.53 | 2500.15 | 1.1211 |
+| 5 | move_xy | 462 | 40 | 8.484 | 46.82 | 81.09 | 2811.77 | 0.9626 |
+| 6 | lower | 398 | 35 | 0.086 | 1.67 | 2.90 | 3625.23 | 1.0493 |
+| 7 | open | 137 | 12 | 0.864 | 6.02 | 10.43 | 3624.79 | 0.7747 |
+| 8 | retract | 348 | 30 | 3.543 | 18.58 | 32.18 | 2488.48 | 0.7720 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.548 |
+| TCP position RMSE (mm, per-axis) | 19.25 |
+| EE position RMS L2 (mm) | 37.64 |
+| TCP rotvec (mrad) | 3158.71 |
+| W1 effort mean (A) | 0.8703 |
+| W1 effort per joint (A) | j0=0.2511, j1=1.6216, j2=1.6324, j3=0.7967, j4=0.2851, j5=0.6352 |
+
+## 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 | -0.00015 | -0.00080 | 0.00134 | 0.038 |
+| 1 | 0.00111 | -0.00062 | -0.00122 | 0.00176 | 0.058 |
+| 2 | 0.00115 | -0.00065 | -0.00120 | 0.00179 | 0.060 |
+| 3 | 0.00219 | -0.00010 | -0.00113 | 0.00246 | 0.149 |
+| 4 | -0.00008 | -0.00071 | -0.00067 | 0.00098 | 0.122 |
+| 5 | 0.00241 | -0.00091 | -0.00061 | 0.00265 | 0.166 |
+| 6 | 0.00217 | -0.00094 | -0.00097 | 0.00256 | 0.128 |
+| 7 | 0.00086 | -0.00019 | -0.00102 | 0.00135 | 0.063 |
+| 8 | -0.00014 | -0.00023 | -0.00023 | 0.00035 | 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.
diff --git a/gap_reports/gap_5d7b8146-559f-494e-8730-32b110953aeb.md b/gap_reports/gap_5d7b8146-559f-494e-8730-32b110953aeb.md
new file mode 100644
index 0000000000000000000000000000000000000000..a954f3ff2d1fe2df0fa789010ae629c17547f429
--- /dev/null
+++ b/gap_reports/gap_5d7b8146-559f-494e-8730-32b110953aeb.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/5d7b8146-559f-494e-8730-32b110953aeb.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/5d7b8146-559f-494e-8730-32b110953aeb.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1629 |
+| Sim rows | 166 |
+| Real episode_id | `5d7b8146-559f-494e-8730-32b110953aeb` |
+| Sim episode_id | `5d7b8146-559f-494e-8730-32b110953aeb` |
+
+## 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 | 149 | 15 | 1.908 | 10.80 | 18.71 | 730.41 | 0.7579 |
+| 1 | descend | 67 | 7 | 0.341 | 3.51 | 6.07 | 6.41 | 0.7528 |
+| 2 | settle | 32 | 4 | 0.027 | 3.09 | 5.35 | 6.65 | 0.8121 |
+| 3 | close | 370 | 37 | 0.093 | 3.09 | 5.35 | 8.19 | 1.2173 |
+| 4 | lift | 64 | 7 | 0.332 | 3.54 | 6.14 | 7.98 | 1.3231 |
+| 5 | move_xy | 196 | 20 | 11.772 | 21.44 | 37.13 | 372.91 | 1.1753 |
+| 6 | lower | 63 | 7 | 23.067 | 2.57 | 4.46 | 887.10 | 1.1746 |
+| 7 | open | 363 | 36 | 23.056 | 2.28 | 3.94 | 886.90 | 0.8455 |
+| 8 | retract | 64 | 7 | 23.062 | 2.77 | 4.80 | 886.57 | 0.8732 |
+| 9 | return | 261 | 26 | 13.164 | 23.01 | 39.86 | 1145.50 | 0.8829 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 13.825 |
+| TCP position RMSE (mm, per-axis) | 10.81 |
+| EE position RMS L2 (mm) | 21.63 |
+| TCP rotvec (mrad) | 659.13 |
+| W1 effort mean (A) | 0.9766 |
+| W1 effort per joint (A) | j0=0.1977, j1=1.9228, j2=1.5867, j3=0.7298, j4=0.4104, j5=1.0121 |
+
+## 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 | 0.00247 | -0.00428 | -0.00069 | 0.00500 | 0.050 |
+| 1 | 0.00281 | -0.00442 | -0.00105 | 0.00534 | 0.046 |
+| 2 | 0.00277 | -0.00443 | -0.00118 | 0.00536 | 0.064 |
+| 3 | 0.00265 | -0.00386 | -0.00263 | 0.00537 | 0.161 |
+| 4 | 0.00237 | -0.00408 | -0.00286 | 0.00552 | 0.164 |
+| 5 | 0.00173 | -0.00321 | -0.00085 | 0.00375 | 56.496 |
+| 6 | 0.00188 | -0.00251 | -0.00155 | 0.00350 | 56.476 |
+| 7 | 0.00202 | -0.00338 | -0.00012 | 0.00394 | 56.474 |
+| 8 | 0.00185 | -0.00359 | -0.00024 | 0.00405 | 56.503 |
+| 9 | -0.00003 | -0.00012 | -0.00025 | 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.
diff --git a/gap_reports/gap_6303d39d-f506-48a5-9f6d-8b8a4b994206.md b/gap_reports/gap_6303d39d-f506-48a5-9f6d-8b8a4b994206.md
new file mode 100644
index 0000000000000000000000000000000000000000..f892ee4aa6c94d158acdf1e6130301f69ee80a41
--- /dev/null
+++ b/gap_reports/gap_6303d39d-f506-48a5-9f6d-8b8a4b994206.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:28 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/6303d39d-f506-48a5-9f6d-8b8a4b994206.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/6303d39d-f506-48a5-9f6d-8b8a4b994206.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2717 |
+| Sim rows | 240 |
+| Real episode_id | `6303d39d-f506-48a5-9f6d-8b8a4b994206` |
+| Sim episode_id | `6303d39d-f506-48a5-9f6d-8b8a4b994206` |
+
+## 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 | 2.025 | 9.55 | 16.54 | 1827.70 | 0.5843 |
+| 1 | descend | 401 | 35 | 1.317 | 8.52 | 14.76 | 3625.39 | 0.7762 |
+| 2 | settle | 370 | 32 | 0.024 | 0.75 | 1.29 | 3625.23 | 0.6538 |
+| 3 | close | 159 | 14 | 0.831 | 5.34 | 9.26 | 3235.22 | 0.9770 |
+| 4 | lift | 351 | 31 | 2.581 | 12.49 | 21.64 | 2370.23 | 1.1107 |
+| 5 | move_xy | 341 | 30 | 4.921 | 26.45 | 45.81 | 2708.65 | 0.9337 |
+| 6 | lower | 405 | 35 | 0.086 | 1.32 | 2.29 | 3625.62 | 1.0683 |
+| 7 | open | 158 | 14 | 0.840 | 5.33 | 9.24 | 3625.49 | 0.6963 |
+| 8 | retract | 351 | 31 | 2.659 | 12.82 | 22.21 | 2393.62 | 0.7356 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.241 |
+| TCP position RMSE (mm, per-axis) | 11.75 |
+| EE position RMS L2 (mm) | 21.19 |
+| TCP rotvec (mrad) | 3074.38 |
+| W1 effort mean (A) | 0.8356 |
+| W1 effort per joint (A) | j0=0.2367, j1=1.4495, j2=1.6445, j3=0.7403, j4=0.3649, j5=0.5776 |
+
+## 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 | -0.00029 | -0.00064 | 0.00080 | 0.042 |
+| 1 | 0.00041 | -0.00069 | -0.00098 | 0.00127 | 0.041 |
+| 2 | 0.00042 | -0.00072 | -0.00097 | 0.00128 | 0.046 |
+| 3 | 0.00091 | -0.00056 | -0.00151 | 0.00185 | 0.130 |
+| 4 | 0.00018 | -0.00011 | -0.00002 | 0.00021 | 0.083 |
+| 5 | 0.00120 | -0.00111 | -0.00175 | 0.00240 | 0.128 |
+| 6 | 0.00117 | -0.00099 | -0.00127 | 0.00199 | 0.105 |
+| 7 | 0.00023 | -0.00047 | -0.00075 | 0.00091 | 0.051 |
+| 8 | -0.00009 | -0.00014 | -0.00016 | 0.00023 | 0.026 |
+
+## 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.
diff --git a/pick_configs/002c2969-c559-4f02-85a2-f2403051e800.json b/pick_configs/002c2969-c559-4f02-85a2-f2403051e800.json
new file mode 100644
index 0000000000000000000000000000000000000000..2305a741528c352117d00914da12beca31143c5d
--- /dev/null
+++ b/pick_configs/002c2969-c559-4f02-85a2-f2403051e800.json
@@ -0,0 +1,282 @@
+{
+  "EPISODE_ID": "002c2969-c559-4f02-85a2-f2403051e800",
+  "REF_T0_MS": 1776085910732,
+  "Q_START_DEG": [
+    40.368641221350195,
+    -71.17949502105458,
+    58.541032281802366,
+    -77.70421081062767,
+    -90.56991030110053,
+    304.9462264395087
+  ],
+  "Q_PHASE9_GOAL_DEG": [
+    40.368641221350195,
+    -71.17949502105458,
+    58.541032281802366,
+    -77.70421081062767,
+    -90.56991030110053,
+    304.9462264395087
+  ],
+  "PHASE_DUR_REF": [
+    2.739,
+    1.999,
+    0.1,
+    0.1,
+    0.1,
+    0.1,
+    0.1,
+    0.1,
+    0.1,
+    0.1
+  ],
+  "PHASE_ROW_COUNTS_REF": [
+    28,
+    21,
+    2,
+    2,
+    2,
+    2,
+    2,
+    2,
+    2,
+    2
+  ],
+  "PHASE_TARGET_WAYPOINTS_DEG": [
+    [
+      [
+        40.37720542606252,
+        -71.19968340348679,
+        58.56113398865508,
+        -77.720815776892,
+        -90.57514133386537,
+        304.9605518078164
+      ],
+      [
+        40.82218772937203,
+        -71.6992741495654,
+        59.69040675891315,
+        -78.34369289795436,
+        -90.57198004425541,
+        305.4903964385235
+      ],
+      [
+        54.41824789073866,
+        -79.46626167330143,
+        81.34979529835202,
+        -92.06438866419388,
+        -90.4812660287355,
+        321.3525633984637
+      ],
+      [
+        65.27509635716729,
+        -79.81530264680596,
+        90.18113138694892,
+        -100.45368056483491,
+        -90.40741519667685,
+        333.7811831258235
+      ],
+      [
+        51.343399480946836,
+        -83.35139977607876,
+        87.06052595922385,
+        -93.90575818331952,
+        -90.49052864241095,
+        318.06790332211057
+      ],
+      [
+        51.49925081029572,
+        -84.27232463598807,
+        86.26533807906452,
+        -92.19468938018912,
+        -90.49475687771721,
+        318.18711929532435
+      ],
+      [
+        65.4862495450785,
+        -82.48737605818472,
+        89.44802633640923,
+        -97.74979760686303,
+        -92.06041102911189,
+        334.88619770918484
+      ],
+      [
+        78.18740773504722,
+        -75.71729557199603,
+        87.87784860915166,
+        -102.8939898299304,
+        -95.16531997932766,
+        350.975699159069
+      ]
+    ],
+    [
+      [
+        78.18740773504722,
+        -75.71729557199603,
+        87.87784860915166,
+        -102.8939898299304,
+        -95.16531997932766,
+        350.975699159069
+      ],
+      [
+        78.21502791736398,
+        -75.69539220238808,
+        87.86500998860258,
+        -102.89965453481645,
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diff --git a/pick_configs/005fafad-b695-4798-95e6-7e14c341d328.json b/pick_configs/005fafad-b695-4798-95e6-7e14c341d328.json
new file mode 100644
index 0000000000000000000000000000000000000000..24e34602d8a96b09ebcaf5f32f1adbff944cf00d
--- /dev/null
+++ b/pick_configs/005fafad-b695-4798-95e6-7e14c341d328.json
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\ No newline at end of file
diff --git a/pick_configs/00641232-01ea-4880-8b29-4331d65fef4a.json b/pick_configs/00641232-01ea-4880-8b29-4331d65fef4a.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5ba817586a08a8f0ef1bc9cad0f843451157590
--- /dev/null
+++ b/pick_configs/00641232-01ea-4880-8b29-4331d65fef4a.json
@@ -0,0 +1,674 @@
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+}
\ No newline at end of file
diff --git a/pick_configs/00829035-8dde-4994-9286-f62728d1f625.json b/pick_configs/00829035-8dde-4994-9286-f62728d1f625.json
new file mode 100644
index 0000000000000000000000000000000000000000..27ed30c681d8f40d4c8fa4abf9fcb046aa45926c
--- /dev/null
+++ b/pick_configs/00829035-8dde-4994-9286-f62728d1f625.json
@@ -0,0 +1,674 @@
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+  "PLACE_TCP_Z_RTDE": 0.2070003206152886
+}
\ No newline at end of file
diff --git a/pick_configs/00bcb455-97d1-44aa-9e90-3f54449bcb27.json b/pick_configs/00bcb455-97d1-44aa-9e90-3f54449bcb27.json
new file mode 100644
index 0000000000000000000000000000000000000000..d51de62d401866882000c266b73a3305fa0c04ba
--- /dev/null
+++ b/pick_configs/00bcb455-97d1-44aa-9e90-3f54449bcb27.json
@@ -0,0 +1,730 @@
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+  "PICK_TCP_Z_RTDE": 0.12100005159085689,
+  "PLACE_TCP_Z_RTDE": 0.12103134336249197
+}
\ No newline at end of file
diff --git a/pick_configs/00df8aa9-ddfe-4d56-ae5b-ca3f218e3481.json b/pick_configs/00df8aa9-ddfe-4d56-ae5b-ca3f218e3481.json
new file mode 100644
index 0000000000000000000000000000000000000000..b673949918517b232978432b2d3dfa7f2f5d014d
--- /dev/null
+++ b/pick_configs/00df8aa9-ddfe-4d56-ae5b-ca3f218e3481.json
@@ -0,0 +1,730 @@
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+  "TCP_RTDE_ROW0_POS": [
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+  "TCP_RTDE_ROW0_ROTVEC": [
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+  ],
+  "PICK_TCP_Z_RTDE": 0.1210000718918145,
+  "PLACE_TCP_Z_RTDE": 0.12100868766799433
+}
\ No newline at end of file
diff --git a/pick_configs/00e2f0af-cb17-4f7d-ae11-1516f4e917cb.json b/pick_configs/00e2f0af-cb17-4f7d-ae11-1516f4e917cb.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ac06b1667734958509cd8fccdd3cf51d62c364e
--- /dev/null
+++ b/pick_configs/00e2f0af-cb17-4f7d-ae11-1516f4e917cb.json
@@ -0,0 +1,730 @@
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+}
\ No newline at end of file
diff --git a/pick_configs/00f02419-dc45-4513-98b8-2eddf00de61e.json b/pick_configs/00f02419-dc45-4513-98b8-2eddf00de61e.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b6078f7d3245fbe441422870b75cf8e63cfd1c8
--- /dev/null
+++ b/pick_configs/00f02419-dc45-4513-98b8-2eddf00de61e.json
@@ -0,0 +1,674 @@
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+}
\ No newline at end of file
diff --git a/pick_configs/0108089a-b67d-4aa9-a390-3b3098bdd0dd.json b/pick_configs/0108089a-b67d-4aa9-a390-3b3098bdd0dd.json
new file mode 100644
index 0000000000000000000000000000000000000000..63d9378fabafe7fee014645f239d515c467a8179
--- /dev/null
+++ b/pick_configs/0108089a-b67d-4aa9-a390-3b3098bdd0dd.json
@@ -0,0 +1,674 @@
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+}
\ No newline at end of file
diff --git a/pick_configs/010e37a2-ec8c-4fe5-b08c-9651811e0f90.json b/pick_configs/010e37a2-ec8c-4fe5-b08c-9651811e0f90.json
new file mode 100644
index 0000000000000000000000000000000000000000..7fc6861683e2033080b794c5be8ddc7890438e31
--- /dev/null
+++ b/pick_configs/010e37a2-ec8c-4fe5-b08c-9651811e0f90.json
@@ -0,0 +1,282 @@
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\ No newline at end of file
diff --git a/pick_configs/013ae4f5-4155-4786-a1ef-fdbf13832b4a.json b/pick_configs/013ae4f5-4155-4786-a1ef-fdbf13832b4a.json
new file mode 100644
index 0000000000000000000000000000000000000000..3da6fe08145c16940f3cc62b18761655c264709f
--- /dev/null
+++ b/pick_configs/013ae4f5-4155-4786-a1ef-fdbf13832b4a.json
@@ -0,0 +1,674 @@
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\ No newline at end of file
diff --git a/pick_configs/015c42c2-08f8-4d7b-ab63-bcdf2a3fcca0.json b/pick_configs/015c42c2-08f8-4d7b-ab63-bcdf2a3fcca0.json
new file mode 100644
index 0000000000000000000000000000000000000000..414a4c653f657e6164dfc8e3f4265332aa30db31
--- /dev/null
+++ b/pick_configs/015c42c2-08f8-4d7b-ab63-bcdf2a3fcca0.json
@@ -0,0 +1,674 @@
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+}
\ No newline at end of file
diff --git a/pick_configs/015f0ba8-a67b-440f-8dcb-96268a36f4c8.json b/pick_configs/015f0ba8-a67b-440f-8dcb-96268a36f4c8.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a49b2aba300d98265c171e9e41bd6259c4f08fa
--- /dev/null
+++ b/pick_configs/015f0ba8-a67b-440f-8dcb-96268a36f4c8.json
@@ -0,0 +1,282 @@
+{
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+  "PLACE_TCP_Z_RTDE": 0.12
+}
\ No newline at end of file
diff --git a/pick_configs/01688ab7-409f-4036-b17d-fb7f64e840ed.json b/pick_configs/01688ab7-409f-4036-b17d-fb7f64e840ed.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ea3400ae57198674dacfb1999d632b593c6a0da
--- /dev/null
+++ b/pick_configs/01688ab7-409f-4036-b17d-fb7f64e840ed.json
@@ -0,0 +1,282 @@
+{
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+  "PICK_TCP_Z_RTDE": 0.12,
+  "PLACE_TCP_Z_RTDE": 0.12
+}
\ No newline at end of file
diff --git a/pick_configs/01696a73-727a-436e-bd10-37776ed23030.json b/pick_configs/01696a73-727a-436e-bd10-37776ed23030.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d97aa304d8f01ea05e2026b5b94666759fe6a38
--- /dev/null
+++ b/pick_configs/01696a73-727a-436e-bd10-37776ed23030.json
@@ -0,0 +1,730 @@
+{
+  "EPISODE_ID": "01696a73-727a-436e-bd10-37776ed23030",
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+}
\ No newline at end of file
diff --git a/pick_configs/019208ca-77d5-44f3-8df7-57c93b532ca2.json b/pick_configs/019208ca-77d5-44f3-8df7-57c93b532ca2.json
new file mode 100644
index 0000000000000000000000000000000000000000..084f6aad76a3f98bbef29b4264caf2f051de8400
--- /dev/null
+++ b/pick_configs/019208ca-77d5-44f3-8df7-57c93b532ca2.json
@@ -0,0 +1,282 @@
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+}
\ No newline at end of file
diff --git a/pick_configs/01c13645-ab8c-4824-93b0-1972c483850d.json b/pick_configs/01c13645-ab8c-4824-93b0-1972c483850d.json
new file mode 100644
index 0000000000000000000000000000000000000000..589076cfd1f827f54dbea910589ff0cdc820f2b3
--- /dev/null
+++ b/pick_configs/01c13645-ab8c-4824-93b0-1972c483850d.json
@@ -0,0 +1,674 @@
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\ No newline at end of file
diff --git a/pick_configs/01cf632c-00b0-42f1-ae81-ae5f822c05ab.json b/pick_configs/01cf632c-00b0-42f1-ae81-ae5f822c05ab.json
new file mode 100644
index 0000000000000000000000000000000000000000..2115d28a94d205ed0e19b43bfb2581ea6c15854f
--- /dev/null
+++ b/pick_configs/01cf632c-00b0-42f1-ae81-ae5f822c05ab.json
@@ -0,0 +1,674 @@
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+}
\ No newline at end of file
diff --git a/pick_configs/0220c9da-8010-484d-a3b5-260ef4efa0f4.json b/pick_configs/0220c9da-8010-484d-a3b5-260ef4efa0f4.json
new file mode 100644
index 0000000000000000000000000000000000000000..5372ef6aaab99d7c60f5ac9ffca13c3cf178f6e4
--- /dev/null
+++ b/pick_configs/0220c9da-8010-484d-a3b5-260ef4efa0f4.json
@@ -0,0 +1,674 @@
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\ No newline at end of file
diff --git a/pick_configs/023268ba-3fa2-4896-bb86-c3ea66526ebc.json b/pick_configs/023268ba-3fa2-4896-bb86-c3ea66526ebc.json
new file mode 100644
index 0000000000000000000000000000000000000000..991971a27de175279f371053b0918027cec8fba7
--- /dev/null
+++ b/pick_configs/023268ba-3fa2-4896-bb86-c3ea66526ebc.json
@@ -0,0 +1,674 @@
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+  "PLACE_TCP_Z_RTDE": 0.25213399603674136
+}
\ No newline at end of file
diff --git a/pick_configs/02349457-c13c-4016-bb06-02e59b05d874.json b/pick_configs/02349457-c13c-4016-bb06-02e59b05d874.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b10f6e3eddddc3bee38ee355843d4007b68c437
--- /dev/null
+++ b/pick_configs/02349457-c13c-4016-bb06-02e59b05d874.json
@@ -0,0 +1,282 @@
+{
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+  "PLACE_TCP_Z_RTDE": 0.12
+}
\ No newline at end of file
diff --git a/pick_configs/02373338-bb70-4534-8ae9-68eb4c74c6b8.json b/pick_configs/02373338-bb70-4534-8ae9-68eb4c74c6b8.json
new file mode 100644
index 0000000000000000000000000000000000000000..8bf6a2481aabeb233afb2e6bbe6767656c0efdb5
--- /dev/null
+++ b/pick_configs/02373338-bb70-4534-8ae9-68eb4c74c6b8.json
@@ -0,0 +1,282 @@
+{
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+  "PICK_TCP_Z_RTDE": 0.12,
+  "PLACE_TCP_Z_RTDE": 0.12
+}
\ No newline at end of file
diff --git a/pick_configs/02524a57-6312-4ace-9db8-0e5836549fa0.json b/pick_configs/02524a57-6312-4ace-9db8-0e5836549fa0.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc74160eb1cd5e04f0ef04638c7f462c0836cd6f
--- /dev/null
+++ b/pick_configs/02524a57-6312-4ace-9db8-0e5836549fa0.json
@@ -0,0 +1,674 @@
+{
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+}
\ No newline at end of file
diff --git a/pick_configs/025ed09a-aba4-4c59-b95f-049dd78d925d.json b/pick_configs/025ed09a-aba4-4c59-b95f-049dd78d925d.json
new file mode 100644
index 0000000000000000000000000000000000000000..123a2f57d35a5e86915927b5e5284d55dbeebafa
--- /dev/null
+++ b/pick_configs/025ed09a-aba4-4c59-b95f-049dd78d925d.json
@@ -0,0 +1,674 @@
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+}
\ No newline at end of file
diff --git a/pick_configs/026cf4cd-0aeb-410b-ac07-b8f205e607dc.json b/pick_configs/026cf4cd-0aeb-410b-ac07-b8f205e607dc.json
new file mode 100644
index 0000000000000000000000000000000000000000..143f91b5dcb5c6aeb8aac26e9f3049c29dd981cf
--- /dev/null
+++ b/pick_configs/026cf4cd-0aeb-410b-ac07-b8f205e607dc.json
@@ -0,0 +1,730 @@
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\ No newline at end of file
diff --git a/pick_configs/02f6d390-0192-4689-9cd0-0b2d0620ea9b.json b/pick_configs/02f6d390-0192-4689-9cd0-0b2d0620ea9b.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f0c194507d152da0d3d807adabf4d8c02d1b903
--- /dev/null
+++ b/pick_configs/02f6d390-0192-4689-9cd0-0b2d0620ea9b.json
@@ -0,0 +1,282 @@
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\ No newline at end of file
diff --git a/pick_configs/0316d403-e441-418e-8579-b1aa1ed53dfd.json b/pick_configs/0316d403-e441-418e-8579-b1aa1ed53dfd.json
new file mode 100644
index 0000000000000000000000000000000000000000..1570e8f9ddce18e17c62d7c2388792aaeb30fdcb
--- /dev/null
+++ b/pick_configs/0316d403-e441-418e-8579-b1aa1ed53dfd.json
@@ -0,0 +1,674 @@
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diff --git a/pick_configs/0325a77a-79e4-4fbd-9976-bb05eb017819.json b/pick_configs/0325a77a-79e4-4fbd-9976-bb05eb017819.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5ba62c1524f621aa8ec7d72e44fcd3437e66adf
--- /dev/null
+++ b/pick_configs/0325a77a-79e4-4fbd-9976-bb05eb017819.json
@@ -0,0 +1,674 @@
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\ No newline at end of file
diff --git a/pick_configs/0371e70f-2eb9-4796-ba24-eb39e4bafff5.json b/pick_configs/0371e70f-2eb9-4796-ba24-eb39e4bafff5.json
new file mode 100644
index 0000000000000000000000000000000000000000..07a703d192fdce20bc9221624e47e19c98ee3d29
--- /dev/null
+++ b/pick_configs/0371e70f-2eb9-4796-ba24-eb39e4bafff5.json
@@ -0,0 +1,674 @@
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+}
\ No newline at end of file
diff --git a/pick_configs/037b1f1a-05ea-4b34-9aba-b73a1abb6c44.json b/pick_configs/037b1f1a-05ea-4b34-9aba-b73a1abb6c44.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd25feb6107abc585d1e6b629fc244791fabfe50
--- /dev/null
+++ b/pick_configs/037b1f1a-05ea-4b34-9aba-b73a1abb6c44.json
@@ -0,0 +1,674 @@
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+}
\ No newline at end of file
diff --git a/pick_configs/03891c54-8cf8-4ce1-963d-93bc885b1ddf.json b/pick_configs/03891c54-8cf8-4ce1-963d-93bc885b1ddf.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e6b6ce35e44a4a1becf0b6341d78d9ac7b5d5c0
--- /dev/null
+++ b/pick_configs/03891c54-8cf8-4ce1-963d-93bc885b1ddf.json
@@ -0,0 +1,674 @@
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+}
\ No newline at end of file
diff --git a/pick_configs/039d1d01-2694-4a44-bd68-754989bdbb63.json b/pick_configs/039d1d01-2694-4a44-bd68-754989bdbb63.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2da202620023d3b6c12a55696db849834f615cb
--- /dev/null
+++ b/pick_configs/039d1d01-2694-4a44-bd68-754989bdbb63.json
@@ -0,0 +1,674 @@
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\ No newline at end of file
diff --git a/pick_configs/03a2869e-7b18-4a63-a2ca-66e6eb71fea4.json b/pick_configs/03a2869e-7b18-4a63-a2ca-66e6eb71fea4.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9921ea99eff7c44f423e380d470af4a69fc8449
--- /dev/null
+++ b/pick_configs/03a2869e-7b18-4a63-a2ca-66e6eb71fea4.json
@@ -0,0 +1,282 @@
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+}
\ No newline at end of file
diff --git a/pick_configs/03b3b5b3-0939-441b-8e2a-25d888d29285.json b/pick_configs/03b3b5b3-0939-441b-8e2a-25d888d29285.json
new file mode 100644
index 0000000000000000000000000000000000000000..2199182843db198d61ff673503b76754657a59fc
--- /dev/null
+++ b/pick_configs/03b3b5b3-0939-441b-8e2a-25d888d29285.json
@@ -0,0 +1,674 @@
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+}
\ No newline at end of file
diff --git a/pick_configs/03bdc976-d3ce-4e89-97a0-5bf660ece9ff.json b/pick_configs/03bdc976-d3ce-4e89-97a0-5bf660ece9ff.json
new file mode 100644
index 0000000000000000000000000000000000000000..2401c2b58d7f37c1dbabd76b63965a1336ba2ce2
--- /dev/null
+++ b/pick_configs/03bdc976-d3ce-4e89-97a0-5bf660ece9ff.json
@@ -0,0 +1,674 @@
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+}
\ No newline at end of file
diff --git a/pick_configs/03c9348c-2dd9-4fd9-96cd-f413612ca0a5.json b/pick_configs/03c9348c-2dd9-4fd9-96cd-f413612ca0a5.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1a8fdf9d389e81fcab3ec5e56ce3f697ac45340
--- /dev/null
+++ b/pick_configs/03c9348c-2dd9-4fd9-96cd-f413612ca0a5.json
@@ -0,0 +1,674 @@
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+}
\ No newline at end of file
diff --git a/pick_configs/03d95d20-00b1-468f-a7e4-d24ec493f99b.json b/pick_configs/03d95d20-00b1-468f-a7e4-d24ec493f99b.json
new file mode 100644
index 0000000000000000000000000000000000000000..a787314b29c7bae0f5d78e61ca4692af56b33056
--- /dev/null
+++ b/pick_configs/03d95d20-00b1-468f-a7e4-d24ec493f99b.json
@@ -0,0 +1,730 @@
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+}
\ No newline at end of file
diff --git a/pick_configs/03ea651d-6e78-4021-8a8d-7240cc156c7a.json b/pick_configs/03ea651d-6e78-4021-8a8d-7240cc156c7a.json
new file mode 100644
index 0000000000000000000000000000000000000000..d31f9b7fda97b11babfd3e4e144ac42d9e50fc6f
--- /dev/null
+++ b/pick_configs/03ea651d-6e78-4021-8a8d-7240cc156c7a.json
@@ -0,0 +1,674 @@
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+}
\ No newline at end of file
diff --git a/pick_configs/03f0e4c7-6160-4b18-88bb-0f701cc94496.json b/pick_configs/03f0e4c7-6160-4b18-88bb-0f701cc94496.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d15cfa05b974b4a1f66fc14cc2e1170cc00e8a3
--- /dev/null
+++ b/pick_configs/03f0e4c7-6160-4b18-88bb-0f701cc94496.json
@@ -0,0 +1,674 @@
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+}
\ No newline at end of file
diff --git a/pick_configs/03f53e5f-7515-414c-b4c6-d035fff69236.json b/pick_configs/03f53e5f-7515-414c-b4c6-d035fff69236.json
new file mode 100644
index 0000000000000000000000000000000000000000..9eb2ed2d3fa6fdddbc57fb5f7a04f8b4adeff70b
--- /dev/null
+++ b/pick_configs/03f53e5f-7515-414c-b4c6-d035fff69236.json
@@ -0,0 +1,674 @@
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+}
\ No newline at end of file
diff --git a/pick_configs/0404ebc4-40f8-487d-844e-e6ce8b63cf87.json b/pick_configs/0404ebc4-40f8-487d-844e-e6ce8b63cf87.json
new file mode 100644
index 0000000000000000000000000000000000000000..547a633dfe690c5c4f4824f4ed2837b4edc5e809
--- /dev/null
+++ b/pick_configs/0404ebc4-40f8-487d-844e-e6ce8b63cf87.json
@@ -0,0 +1,674 @@
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+}
\ No newline at end of file
diff --git a/pick_configs/04386e95-cdf3-4829-a46d-b614f14313b3.json b/pick_configs/04386e95-cdf3-4829-a46d-b614f14313b3.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4b173068e23d69134d31eab72ef824da81a5560
--- /dev/null
+++ b/pick_configs/04386e95-cdf3-4829-a46d-b614f14313b3.json
@@ -0,0 +1,674 @@
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\ No newline at end of file
diff --git a/pick_configs/0445770a-4172-4299-9021-ac7f41699453.json b/pick_configs/0445770a-4172-4299-9021-ac7f41699453.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5833d7573fef303a40d963147c9eef04862ace0
--- /dev/null
+++ b/pick_configs/0445770a-4172-4299-9021-ac7f41699453.json
@@ -0,0 +1,674 @@
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+}
\ No newline at end of file
diff --git a/pick_configs/0450320f-0d26-43f5-b7d2-749e7cf1ac8b.json b/pick_configs/0450320f-0d26-43f5-b7d2-749e7cf1ac8b.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac1c21acac39a134b51f86fa3f8d03dd2c1304a3
--- /dev/null
+++ b/pick_configs/0450320f-0d26-43f5-b7d2-749e7cf1ac8b.json
@@ -0,0 +1,674 @@
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