diff --git a/gap_reports/gap_04bcea4a-870c-4bb8-bf84-58cf6e0d92de.md b/gap_reports/gap_04bcea4a-870c-4bb8-bf84-58cf6e0d92de.md
new file mode 100644
index 0000000000000000000000000000000000000000..8ae4431e665f5bc24d4621e935bf3c3d471f13dd
--- /dev/null
+++ b/gap_reports/gap_04bcea4a-870c-4bb8-bf84-58cf6e0d92de.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/04bcea4a-870c-4bb8-bf84-58cf6e0d92de.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/04bcea4a-870c-4bb8-bf84-58cf6e0d92de.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2853 |
+| Sim rows | 252 |
+| Real episode_id | `04bcea4a-870c-4bb8-bf84-58cf6e0d92de` |
+| Sim episode_id | `04bcea4a-870c-4bb8-bf84-58cf6e0d92de` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.137 | 8.62 | 14.93 | 2.45 | 0.5604 |
+| 1 | descend | 366 | 32 | 1.276 | 7.70 | 13.33 | 3.53 | 0.7525 |
+| 2 | settle | 383 | 33 | 0.022 | 0.73 | 1.26 | 3.73 | 0.6972 |
+| 3 | close | 133 | 12 | 1.173 | 7.10 | 12.30 | 5.27 | 0.8861 |
+| 4 | lift | 411 | 36 | 2.531 | 10.19 | 17.65 | 3.90 | 1.0765 |
+| 5 | move_xy | 412 | 36 | 5.454 | 25.44 | 44.07 | 4.83 | 0.9304 |
+| 6 | lower | 396 | 34 | 0.094 | 1.34 | 2.32 | 6.49 | 0.9606 |
+| 7 | open | 134 | 12 | 1.013 | 5.78 | 10.01 | 3.75 | 0.6242 |
+| 8 | retract | 410 | 36 | 2.622 | 10.74 | 18.61 | 2.67 | 0.6826 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.395 |
+| TCP position RMSE (mm, per-axis) | 10.99 |
+| EE position RMS L2 (mm) | 20.66 |
+| TCP rotvec (mrad) | 4.25 |
+| W1 effort mean (A) | 0.7914 |
+| W1 effort per joint (A) | j0=0.2944, j1=1.1273, j2=1.5532, j3=0.6942, j4=0.5103, j5=0.5692 |
+
+## Phase-end anchor (sim - 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 | -0.00062 | -0.00049 | 0.00090 | 0.028 |
+| 1 | 0.00046 | -0.00086 | -0.00084 | 0.00129 | 0.039 |
+| 2 | 0.00045 | -0.00085 | -0.00078 | 0.00123 | 0.036 |
+| 3 | 0.00111 | -0.00069 | -0.00060 | 0.00144 | 0.182 |
+| 4 | 0.00034 | -0.00002 | -0.00016 | 0.00038 | 0.076 |
+| 5 | 0.00131 | -0.00106 | -0.00156 | 0.00230 | 0.149 |
+| 6 | 0.00117 | -0.00117 | -0.00134 | 0.00213 | 0.115 |
+| 7 | 0.00017 | -0.00063 | -0.00057 | 0.00087 | 0.039 |
+| 8 | -0.00005 | -0.00005 | -0.00010 | 0.00012 | 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_04df20dc-bf20-4cfe-aee6-cfd0d78a601a.md b/gap_reports/gap_04df20dc-bf20-4cfe-aee6-cfd0d78a601a.md
new file mode 100644
index 0000000000000000000000000000000000000000..19aebb86b17053c4db945e2cb158266ac39611be
--- /dev/null
+++ b/gap_reports/gap_04df20dc-bf20-4cfe-aee6-cfd0d78a601a.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/04df20dc-bf20-4cfe-aee6-cfd0d78a601a.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/04df20dc-bf20-4cfe-aee6-cfd0d78a601a.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2335 |
+| Sim rows | 233 |
+| Real episode_id | `04df20dc-bf20-4cfe-aee6-cfd0d78a601a` |
+| Sim episode_id | `04df20dc-bf20-4cfe-aee6-cfd0d78a601a` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.305 | 9.02 | 15.62 | 1921.50 | 0.5717 |
+| 1 | descend | 349 | 34 | 1.307 | 7.72 | 13.36 | 3626.05 | 0.7380 |
+| 2 | settle | 322 | 32 | 0.022 | 0.57 | 0.98 | 3625.94 | 0.7165 |
+| 3 | close | 151 | 15 | 1.036 | 5.89 | 10.20 | 1382.03 | 0.8894 |
+| 4 | lift | 291 | 29 | 2.664 | 10.79 | 18.70 | 1798.55 | 1.0664 |
+| 5 | move_xy | 284 | 28 | 5.430 | 25.41 | 44.01 | 2221.80 | 0.8885 |
+| 6 | lower | 348 | 34 | 0.081 | 1.04 | 1.80 | 1783.01 | 1.0022 |
+| 7 | open | 151 | 15 | 1.008 | 5.76 | 9.98 | 3626.17 | 0.6213 |
+| 8 | retract | 293 | 29 | 2.832 | 11.52 | 19.95 | 2330.11 | 0.6932 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.443 |
+| TCP position RMSE (mm, per-axis) | 11.08 |
+| EE position RMS L2 (mm) | 19.62 |
+| TCP rotvec (mrad) | 2621.00 |
+| W1 effort mean (A) | 0.7975 |
+| W1 effort per joint (A) | j0=0.2545, j1=1.1878, j2=1.6246, j3=0.7498, j4=0.3484, j5=0.6200 |
+
+## Phase-end anchor (sim - 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 | -0.00031 | -0.00045 | 0.00056 | 0.033 |
+| 1 | 0.00015 | -0.00058 | -0.00077 | 0.00097 | 0.034 |
+| 2 | 0.00017 | -0.00057 | -0.00080 | 0.00100 | 0.038 |
+| 3 | 0.00067 | -0.00065 | -0.00140 | 0.00168 | 0.162 |
+| 4 | 0.00014 | -0.00024 | -0.00026 | 0.00038 | 0.103 |
+| 5 | 0.00137 | -0.00087 | -0.00116 | 0.00200 | 0.180 |
+| 6 | 0.00111 | -0.00087 | -0.00123 | 0.00187 | 0.146 |
+| 7 | 0.00000 | -0.00044 | -0.00051 | 0.00068 | 0.040 |
+| 8 | -0.00006 | -0.00009 | -0.00014 | 0.00018 | 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_04df979d-620a-40f0-a0f6-f82907959e34.md b/gap_reports/gap_04df979d-620a-40f0-a0f6-f82907959e34.md
new file mode 100644
index 0000000000000000000000000000000000000000..d36f7033a6b07ada5d2e7c9d8422e72515336dcc
--- /dev/null
+++ b/gap_reports/gap_04df979d-620a-40f0-a0f6-f82907959e34.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/04df979d-620a-40f0-a0f6-f82907959e34.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/04df979d-620a-40f0-a0f6-f82907959e34.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2763 |
+| Sim rows | 245 |
+| Real episode_id | `04df979d-620a-40f0-a0f6-f82907959e34` |
+| Sim episode_id | `04df979d-620a-40f0-a0f6-f82907959e34` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.930 | 11.79 | 20.42 | 1885.94 | 0.5692 |
+| 1 | descend | 476 | 41 | 0.659 | 4.09 | 7.08 | 3626.02 | 0.6949 |
+| 2 | settle | 378 | 33 | 0.022 | 0.60 | 1.03 | 3625.96 | 0.7131 |
+| 3 | close | 122 | 11 | 0.753 | 4.47 | 7.75 | 1991.04 | 0.9602 |
+| 4 | lift | 366 | 32 | 3.115 | 12.94 | 22.42 | 1952.98 | 1.0775 |
+| 5 | move_xy | 350 | 31 | 5.675 | 25.76 | 44.62 | 2140.10 | 0.9005 |
+| 6 | lower | 378 | 33 | 0.085 | 1.14 | 1.98 | 1389.43 | 0.9535 |
+| 7 | open | 123 | 11 | 0.724 | 4.22 | 7.30 | 3626.22 | 0.5893 |
+| 8 | retract | 363 | 32 | 3.204 | 13.32 | 23.08 | 2251.72 | 0.6935 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.631 |
+| TCP position RMSE (mm, per-axis) | 11.57 |
+| EE position RMS L2 (mm) | 20.84 |
+| TCP rotvec (mrad) | 2632.30 |
+| W1 effort mean (A) | 0.7710 |
+| W1 effort per joint (A) | j0=0.2545, j1=1.1642, j2=1.5532, j3=0.6614, j4=0.4136, j5=0.5793 |
+
+## Phase-end anchor (sim - 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 | -0.00029 | -0.00055 | 0.00076 | 0.038 |
+| 1 | 0.00040 | -0.00054 | -0.00076 | 0.00102 | 0.038 |
+| 2 | 0.00042 | -0.00055 | -0.00074 | 0.00102 | 0.035 |
+| 3 | 0.00071 | -0.00038 | -0.00114 | 0.00139 | 0.084 |
+| 4 | 0.00015 | -0.00025 | -0.00022 | 0.00036 | 0.097 |
+| 5 | 0.00120 | -0.00090 | -0.00132 | 0.00200 | 0.121 |
+| 6 | 0.00135 | -0.00069 | -0.00078 | 0.00171 | 0.139 |
+| 7 | 0.00018 | -0.00032 | -0.00058 | 0.00069 | 0.038 |
+| 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_04ec10f0-a787-4200-97c5-20e61e8dab20.md b/gap_reports/gap_04ec10f0-a787-4200-97c5-20e61e8dab20.md
new file mode 100644
index 0000000000000000000000000000000000000000..c6b0138a6b9b1ecc981ea24f466f3a2678c181a3
--- /dev/null
+++ b/gap_reports/gap_04ec10f0-a787-4200-97c5-20e61e8dab20.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/04ec10f0-a787-4200-97c5-20e61e8dab20.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/04ec10f0-a787-4200-97c5-20e61e8dab20.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2621 |
+| Sim rows | 261 |
+| Real episode_id | `04ec10f0-a787-4200-97c5-20e61e8dab20` |
+| Sim episode_id | `04ec10f0-a787-4200-97c5-20e61e8dab20` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 20 | 3.572 | 17.17 | 29.74 | 2060.85 | 0.6404 |
+| 1 | descend | 489 | 48 | 0.995 | 7.08 | 12.26 | 3624.76 | 0.8138 |
+| 2 | settle | 346 | 34 | 0.026 | 1.01 | 1.75 | 3624.59 | 0.7314 |
+| 3 | close | 118 | 12 | 1.029 | 7.18 | 12.44 | 3625.28 | 1.0017 |
+| 4 | lift | 326 | 32 | 3.238 | 16.84 | 29.17 | 2475.59 | 1.1433 |
+| 5 | move_xy | 344 | 34 | 7.874 | 42.96 | 74.41 | 2852.39 | 0.9474 |
+| 6 | lower | 353 | 35 | 0.092 | 1.76 | 3.05 | 3625.06 | 1.0360 |
+| 7 | open | 120 | 12 | 0.963 | 6.56 | 11.36 | 3624.77 | 0.7393 |
+| 8 | retract | 327 | 32 | 3.098 | 16.11 | 27.91 | 2471.44 | 0.7661 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.297 |
+| TCP position RMSE (mm, per-axis) | 17.74 |
+| EE position RMS L2 (mm) | 32.23 |
+| TCP rotvec (mrad) | 3167.88 |
+| W1 effort mean (A) | 0.8552 |
+| W1 effort per joint (A) | j0=0.2631, j1=1.6043, j2=1.6095, j3=0.7558, j4=0.2829, j5=0.6156 |
+
+## Phase-end anchor (sim - 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 | -0.00016 | -0.00067 | 0.00125 | 0.025 |
+| 1 | 0.00113 | -0.00063 | -0.00121 | 0.00177 | 0.058 |
+| 2 | 0.00113 | -0.00065 | -0.00116 | 0.00175 | 0.053 |
+| 3 | 0.00141 | -0.00033 | -0.00044 | 0.00151 | 0.083 |
+| 4 | 0.00010 | -0.00028 | -0.00016 | 0.00034 | 0.086 |
+| 5 | 0.00220 | -0.00090 | -0.00150 | 0.00281 | 0.128 |
+| 6 | 0.00256 | -0.00085 | -0.00198 | 0.00334 | 0.184 |
+| 7 | 0.00083 | -0.00023 | -0.00095 | 0.00128 | 0.061 |
+| 8 | -0.00010 | -0.00016 | -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_0507d971-eb0b-41e2-88dd-a34b1e9da26b.md b/gap_reports/gap_0507d971-eb0b-41e2-88dd-a34b1e9da26b.md
new file mode 100644
index 0000000000000000000000000000000000000000..678cab4f68310269433643ed36f7a7613acb46e9
--- /dev/null
+++ b/gap_reports/gap_0507d971-eb0b-41e2-88dd-a34b1e9da26b.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0507d971-eb0b-41e2-88dd-a34b1e9da26b.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0507d971-eb0b-41e2-88dd-a34b1e9da26b.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2732 |
+| Sim rows | 242 |
+| Real episode_id | `0507d971-eb0b-41e2-88dd-a34b1e9da26b` |
+| Sim episode_id | `0507d971-eb0b-41e2-88dd-a34b1e9da26b` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.626 | 10.52 | 18.22 | 1935.82 | 0.5814 |
+| 1 | descend | 257 | 23 | 1.015 | 6.02 | 10.43 | 3625.99 | 0.7007 |
+| 2 | settle | 381 | 33 | 0.024 | 0.61 | 1.05 | 3625.99 | 0.6511 |
+| 3 | close | 158 | 14 | 0.810 | 4.74 | 8.20 | 1930.28 | 0.9510 |
+| 4 | lift | 403 | 35 | 3.379 | 13.86 | 24.00 | 1823.30 | 1.0817 |
+| 5 | move_xy | 362 | 32 | 6.271 | 27.96 | 48.43 | 1882.33 | 0.8765 |
+| 6 | lower | 408 | 36 | 0.079 | 1.10 | 1.91 | 1699.78 | 0.9903 |
+| 7 | open | 157 | 14 | 0.873 | 5.07 | 8.79 | 3626.21 | 0.6095 |
+| 8 | retract | 399 | 35 | 3.174 | 12.96 | 22.45 | 2281.66 | 0.7044 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.792 |
+| TCP position RMSE (mm, per-axis) | 12.20 |
+| EE position RMS L2 (mm) | 22.67 |
+| TCP rotvec (mrad) | 2622.15 |
+| W1 effort mean (A) | 0.7867 |
+| W1 effort per joint (A) | j0=0.2446, j1=1.2154, j2=1.5744, j3=0.6872, j4=0.3908, j5=0.6076 |
+
+## Phase-end anchor (sim - 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 | -0.00031 | -0.00046 | 0.00067 | 0.030 |
+| 1 | 0.00041 | -0.00052 | -0.00083 | 0.00106 | 0.045 |
+| 2 | 0.00043 | -0.00058 | -0.00075 | 0.00104 | 0.034 |
+| 3 | 0.00104 | -0.00023 | -0.00076 | 0.00131 | 0.109 |
+| 4 | 0.00041 | -0.00027 | -0.00049 | 0.00070 | 0.111 |
+| 5 | 0.00140 | -0.00071 | -0.00100 | 0.00186 | 0.159 |
+| 6 | 0.00142 | -0.00072 | -0.00131 | 0.00206 | 0.146 |
+| 7 | 0.00024 | -0.00030 | -0.00054 | 0.00067 | 0.037 |
+| 8 | -0.00004 | -0.00006 | -0.00012 | 0.00014 | 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_052d4281-8398-471d-87d7-665df7cd8f92.md b/gap_reports/gap_052d4281-8398-471d-87d7-665df7cd8f92.md
new file mode 100644
index 0000000000000000000000000000000000000000..47d6912d95270dc0db8c8fc88f80aff80b75191b
--- /dev/null
+++ b/gap_reports/gap_052d4281-8398-471d-87d7-665df7cd8f92.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/052d4281-8398-471d-87d7-665df7cd8f92.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/052d4281-8398-471d-87d7-665df7cd8f92.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1538 |
+| Sim rows | 158 |
+| Real episode_id | `052d4281-8398-471d-87d7-665df7cd8f92` |
+| Sim episode_id | `052d4281-8398-471d-87d7-665df7cd8f92` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 3.922 | 23.62 | 40.91 | 833.00 | 0.7607 |
+| 1 | descend | 73 | 8 | 1.033 | 4.88 | 8.46 | 6.84 | 0.8756 |
+| 2 | settle | 27 | 4 | 0.033 | 3.51 | 6.07 | 7.15 | 0.8674 |
+| 3 | close | 366 | 36 | 0.157 | 4.38 | 7.58 | 12.58 | 1.3094 |
+| 4 | lift | 72 | 8 | 0.851 | 4.91 | 8.50 | 12.22 | 1.2854 |
+| 5 | move_xy | 168 | 17 | 4.879 | 31.15 | 53.96 | 221.09 | 1.3407 |
+| 6 | lower | 73 | 8 | 0.752 | 4.22 | 7.30 | 7.67 | 1.1257 |
+| 7 | open | 386 | 38 | 0.026 | 2.16 | 3.74 | 5.51 | 0.7649 |
+| 8 | retract | 72 | 8 | 0.756 | 4.18 | 7.25 | 4.83 | 0.7682 |
+| 9 | return | 164 | 17 | 2.638 | 14.40 | 24.94 | 336.36 | 0.8090 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.216 |
+| TCP position RMSE (mm, per-axis) | 13.62 |
+| EE position RMS L2 (mm) | 23.73 |
+| TCP rotvec (mrad) | 292.65 |
+| W1 effort mean (A) | 0.9735 |
+| W1 effort per joint (A) | j0=0.2001, j1=2.0519, j2=1.7866, j3=0.7747, j4=0.4788, 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 | 0.00266 | -0.00518 | -0.00146 | 0.00601 | 0.150 |
+| 1 | 0.00293 | -0.00509 | -0.00122 | 0.00600 | 0.055 |
+| 2 | 0.00297 | -0.00510 | -0.00149 | 0.00609 | 0.070 |
+| 3 | 0.00369 | -0.00503 | -0.00443 | 0.00765 | 0.268 |
+| 4 | 0.00306 | -0.00574 | -0.00482 | 0.00810 | 0.351 |
+| 5 | 0.00123 | -0.00304 | -0.00230 | 0.00400 | 0.221 |
+| 6 | 0.00202 | -0.00220 | -0.00219 | 0.00370 | 0.198 |
+| 7 | 0.00221 | -0.00299 | -0.00039 | 0.00374 | 0.058 |
+| 8 | 0.00185 | -0.00324 | -0.00065 | 0.00379 | 0.073 |
+| 9 | -0.00007 | -0.00023 | -0.00034 | 0.00042 | 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_0535f83b-7b52-48a4-970c-86d42b2aefe5.md b/gap_reports/gap_0535f83b-7b52-48a4-970c-86d42b2aefe5.md
new file mode 100644
index 0000000000000000000000000000000000000000..b72864ac42b93ae73182813817f0f08edc862451
--- /dev/null
+++ b/gap_reports/gap_0535f83b-7b52-48a4-970c-86d42b2aefe5.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0535f83b-7b52-48a4-970c-86d42b2aefe5.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0535f83b-7b52-48a4-970c-86d42b2aefe5.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2367 |
+| Sim rows | 236 |
+| Real episode_id | `0535f83b-7b52-48a4-970c-86d42b2aefe5` |
+| Sim episode_id | `0535f83b-7b52-48a4-970c-86d42b2aefe5` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.908 | 12.79 | 22.16 | 1965.19 | 0.5823 |
+| 1 | descend | 332 | 33 | 1.219 | 7.97 | 13.80 | 3625.38 | 0.7204 |
+| 2 | settle | 347 | 34 | 0.024 | 0.77 | 1.33 | 3625.24 | 0.7302 |
+| 3 | close | 122 | 13 | 0.964 | 6.22 | 10.77 | 3077.18 | 0.9712 |
+| 4 | lift | 253 | 25 | 2.920 | 13.65 | 23.64 | 2210.03 | 1.1205 |
+| 5 | move_xy | 382 | 37 | 6.180 | 31.31 | 54.24 | 2641.45 | 0.8856 |
+| 6 | lower | 346 | 34 | 0.085 | 1.34 | 2.32 | 3280.85 | 0.9807 |
+| 7 | open | 121 | 12 | 0.942 | 5.84 | 10.12 | 3625.49 | 0.6574 |
+| 8 | retract | 253 | 25 | 3.070 | 14.41 | 24.96 | 2368.73 | 0.7338 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.747 |
+| TCP position RMSE (mm, per-axis) | 13.65 |
+| EE position RMS L2 (mm) | 26.15 |
+| TCP rotvec (mrad) | 2999.95 |
+| W1 effort mean (A) | 0.8043 |
+| W1 effort per joint (A) | j0=0.2295, j1=1.3309, j2=1.6244, j3=0.7561, j4=0.2793, j5=0.6059 |
+
+## Phase-end anchor (sim - 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 | -0.00072 | 0.00098 | 0.041 |
+| 1 | 0.00062 | -0.00061 | -0.00103 | 0.00134 | 0.048 |
+| 2 | 0.00065 | -0.00063 | -0.00099 | 0.00134 | 0.045 |
+| 3 | 0.00103 | -0.00033 | -0.00052 | 0.00120 | 0.076 |
+| 4 | 0.00028 | -0.00020 | -0.00046 | 0.00057 | 0.090 |
+| 5 | 0.00198 | -0.00093 | -0.00146 | 0.00263 | 0.185 |
+| 6 | 0.00179 | -0.00102 | -0.00147 | 0.00253 | 0.167 |
+| 7 | 0.00037 | -0.00037 | -0.00076 | 0.00093 | 0.053 |
+| 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_0539f2e5-13b6-472e-b266-f9f5348a10f8.md b/gap_reports/gap_0539f2e5-13b6-472e-b266-f9f5348a10f8.md
new file mode 100644
index 0000000000000000000000000000000000000000..e9d567365663d868a339e922d4c2adadfd2aa60a
--- /dev/null
+++ b/gap_reports/gap_0539f2e5-13b6-472e-b266-f9f5348a10f8.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0539f2e5-13b6-472e-b266-f9f5348a10f8.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0539f2e5-13b6-472e-b266-f9f5348a10f8.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2867 |
+| Sim rows | 254 |
+| Real episode_id | `0539f2e5-13b6-472e-b266-f9f5348a10f8` |
+| Sim episode_id | `0539f2e5-13b6-472e-b266-f9f5348a10f8` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.957 | 13.44 | 23.28 | 1969.07 | 0.5822 |
+| 1 | descend | 328 | 29 | 1.472 | 9.63 | 16.68 | 3625.35 | 0.7288 |
+| 2 | settle | 386 | 34 | 0.022 | 0.76 | 1.32 | 3625.24 | 0.7006 |
+| 3 | close | 140 | 13 | 0.848 | 5.47 | 9.48 | 2965.17 | 0.9714 |
+| 4 | lift | 450 | 39 | 2.917 | 13.57 | 23.51 | 2318.39 | 1.0928 |
+| 5 | move_xy | 364 | 32 | 7.021 | 36.01 | 62.37 | 2591.14 | 0.8932 |
+| 6 | lower | 405 | 35 | 0.085 | 1.37 | 2.37 | 3554.23 | 1.0043 |
+| 7 | open | 142 | 13 | 0.847 | 5.42 | 9.39 | 3625.48 | 0.6456 |
+| 8 | retract | 452 | 39 | 3.258 | 15.16 | 26.25 | 2313.05 | 0.7180 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.996 |
+| TCP position RMSE (mm, per-axis) | 15.08 |
+| EE position RMS L2 (mm) | 27.73 |
+| TCP rotvec (mrad) | 3021.60 |
+| W1 effort mean (A) | 0.8188 |
+| W1 effort per joint (A) | j0=0.2355, j1=1.3400, j2=1.6419, j3=0.7475, j4=0.3279, j5=0.6200 |
+
+## Phase-end anchor (sim - 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 | -0.00028 | -0.00065 | 0.00093 | 0.037 |
+| 1 | 0.00061 | -0.00064 | -0.00099 | 0.00132 | 0.046 |
+| 2 | 0.00064 | -0.00064 | -0.00094 | 0.00131 | 0.042 |
+| 3 | 0.00159 | -0.00028 | -0.00120 | 0.00201 | 0.143 |
+| 4 | 0.00011 | -0.00030 | -0.00032 | 0.00046 | 0.112 |
+| 5 | 0.00147 | -0.00088 | -0.00157 | 0.00233 | 0.111 |
+| 6 | 0.00129 | -0.00094 | -0.00240 | 0.00289 | 0.199 |
+| 7 | 0.00048 | -0.00035 | -0.00072 | 0.00093 | 0.039 |
+| 8 | -0.00006 | -0.00008 | -0.00012 | 0.00016 | 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_057c4b06-a7ce-439c-bc72-80ecd9283328.md b/gap_reports/gap_057c4b06-a7ce-439c-bc72-80ecd9283328.md
new file mode 100644
index 0000000000000000000000000000000000000000..2b0af902aee8f36fef852b33df5933aed2a3142c
--- /dev/null
+++ b/gap_reports/gap_057c4b06-a7ce-439c-bc72-80ecd9283328.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/057c4b06-a7ce-439c-bc72-80ecd9283328.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/057c4b06-a7ce-439c-bc72-80ecd9283328.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1514 |
+| Sim rows | 154 |
+| Real episode_id | `057c4b06-a7ce-439c-bc72-80ecd9283328` |
+| Sim episode_id | `057c4b06-a7ce-439c-bc72-80ecd9283328` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.712 | 12.66 | 21.92 | 354.17 | 0.6810 |
+| 1 | descend | 78 | 9 | 0.902 | 4.20 | 7.28 | 3.91 | 0.6040 |
+| 2 | settle | 19 | 3 | 0.020 | 1.96 | 3.40 | 4.62 | 0.5571 |
+| 3 | close | 370 | 36 | 0.162 | 1.68 | 2.91 | 7.12 | 1.0498 |
+| 4 | lift | 82 | 9 | 0.876 | 3.83 | 6.64 | 6.70 | 1.1963 |
+| 5 | move_xy | 186 | 19 | 6.466 | 29.45 | 51.00 | 81.33 | 1.0594 |
+| 6 | lower | 79 | 8 | 0.893 | 3.89 | 6.75 | 5.25 | 0.9641 |
+| 7 | open | 184 | 18 | 0.018 | 2.74 | 4.75 | 4.88 | 0.5687 |
+| 8 | retract | 78 | 8 | 0.870 | 4.10 | 7.10 | 4.15 | 0.6674 |
+| 9 | return | 282 | 28 | 4.409 | 19.87 | 34.41 | 997.50 | 0.6739 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.679 |
+| TCP position RMSE (mm, per-axis) | 12.25 |
+| EE position RMS L2 (mm) | 24.59 |
+| TCP rotvec (mrad) | 335.75 |
+| W1 effort mean (A) | 0.8038 |
+| W1 effort per joint (A) | j0=0.2106, j1=1.3198, j2=1.5270, j3=0.7585, j4=0.5599, j5=0.4467 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00116 | -0.00316 | 0.00007 | 0.00337 | 0.041 |
+| 1 | 0.00180 | -0.00285 | 0.00020 | 0.00338 | 0.056 |
+| 2 | 0.00182 | -0.00290 | 0.00005 | 0.00343 | 0.034 |
+| 3 | 0.00048 | -0.00285 | -0.00065 | 0.00296 | 0.198 |
+| 4 | -0.00019 | -0.00323 | -0.00079 | 0.00333 | 0.464 |
+| 5 | 0.00151 | -0.00229 | -0.00120 | 0.00299 | 0.405 |
+| 6 | 0.00138 | -0.00274 | -0.00067 | 0.00314 | 0.233 |
+| 7 | 0.00191 | -0.00428 | -0.00092 | 0.00477 | 0.031 |
+| 8 | 0.00155 | -0.00371 | -0.00111 | 0.00417 | 0.058 |
+| 9 | -0.00012 | -0.00004 | -0.00022 | 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_058550ce-628a-415c-a144-8a37f56c32c3.md b/gap_reports/gap_058550ce-628a-415c-a144-8a37f56c32c3.md
new file mode 100644
index 0000000000000000000000000000000000000000..19192c5cd4968ca6ed1201320a0cc546312c2309
--- /dev/null
+++ b/gap_reports/gap_058550ce-628a-415c-a144-8a37f56c32c3.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/058550ce-628a-415c-a144-8a37f56c32c3.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/058550ce-628a-415c-a144-8a37f56c32c3.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2633 |
+| Sim rows | 235 |
+| Real episode_id | `058550ce-628a-415c-a144-8a37f56c32c3` |
+| Sim episode_id | `058550ce-628a-415c-a144-8a37f56c32c3` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.210 | 11.63 | 20.15 | 1849.11 | 0.6188 |
+| 1 | descend | 413 | 36 | 0.687 | 4.77 | 8.25 | 3624.73 | 0.8189 |
+| 2 | settle | 355 | 31 | 0.029 | 0.99 | 1.72 | 3624.50 | 0.7787 |
+| 3 | close | 187 | 17 | 1.021 | 7.17 | 12.42 | 3624.91 | 1.0986 |
+| 4 | lift | 273 | 24 | 2.372 | 13.53 | 23.44 | 2443.46 | 1.1454 |
+| 5 | move_xy | 364 | 32 | 5.475 | 32.79 | 56.80 | 2837.09 | 0.9700 |
+| 6 | lower | 385 | 34 | 0.090 | 1.65 | 2.86 | 3625.01 | 1.0971 |
+| 7 | open | 187 | 17 | 1.037 | 7.12 | 12.33 | 3624.77 | 0.7558 |
+| 8 | retract | 273 | 24 | 2.398 | 13.67 | 23.67 | 2433.21 | 0.7590 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.329 |
+| TCP position RMSE (mm, per-axis) | 13.78 |
+| EE position RMS L2 (mm) | 25.00 |
+| TCP rotvec (mrad) | 3145.62 |
+| W1 effort mean (A) | 0.8782 |
+| W1 effort per joint (A) | j0=0.2421, j1=1.6293, j2=1.7256, j3=0.7825, j4=0.2893, j5=0.6001 |
+
+## Phase-end anchor (sim - 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 | -0.00038 | -0.00061 | 0.00102 | 0.026 |
+| 1 | 0.00077 | -0.00087 | -0.00122 | 0.00169 | 0.056 |
+| 2 | 0.00078 | -0.00088 | -0.00126 | 0.00172 | 0.061 |
+| 3 | 0.00151 | -0.00056 | -0.00091 | 0.00185 | 0.101 |
+| 4 | 0.00046 | 0.00010 | -0.00017 | 0.00050 | 0.107 |
+| 5 | 0.00149 | -0.00111 | -0.00142 | 0.00234 | 0.111 |
+| 6 | 0.00175 | -0.00129 | -0.00239 | 0.00323 | 0.153 |
+| 7 | 0.00064 | -0.00051 | -0.00103 | 0.00131 | 0.063 |
+| 8 | -0.00012 | -0.00023 | -0.00023 | 0.00035 | 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_05939596-1b30-467f-8121-c134a6821a7f.md b/gap_reports/gap_05939596-1b30-467f-8121-c134a6821a7f.md
new file mode 100644
index 0000000000000000000000000000000000000000..f9ef88f9ff49dea34ff36675a78da262f2fe7992
--- /dev/null
+++ b/gap_reports/gap_05939596-1b30-467f-8121-c134a6821a7f.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/05939596-1b30-467f-8121-c134a6821a7f.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/05939596-1b30-467f-8121-c134a6821a7f.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2597 |
+| Sim rows | 230 |
+| Real episode_id | `05939596-1b30-467f-8121-c134a6821a7f` |
+| Sim episode_id | `05939596-1b30-467f-8121-c134a6821a7f` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.125 | 9.51 | 16.46 | 1969.40 | 0.5801 |
+| 1 | descend | 459 | 40 | 1.009 | 6.53 | 11.30 | 3625.37 | 0.7470 |
+| 2 | settle | 363 | 32 | 0.023 | 0.73 | 1.26 | 3625.24 | 0.6814 |
+| 3 | close | 123 | 11 | 0.897 | 5.83 | 10.10 | 3377.38 | 1.0099 |
+| 4 | lift | 296 | 26 | 2.088 | 10.07 | 17.44 | 2151.86 | 1.1179 |
+| 5 | move_xy | 362 | 32 | 5.572 | 30.43 | 52.70 | 2803.57 | 0.9509 |
+| 6 | lower | 391 | 34 | 0.086 | 1.29 | 2.24 | 3260.25 | 1.0309 |
+| 7 | open | 124 | 11 | 0.903 | 5.77 | 10.00 | 3625.50 | 0.6693 |
+| 8 | retract | 296 | 26 | 2.207 | 10.67 | 18.49 | 2240.01 | 0.7326 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.296 |
+| TCP position RMSE (mm, per-axis) | 12.22 |
+| EE position RMS L2 (mm) | 22.65 |
+| TCP rotvec (mrad) | 3034.11 |
+| W1 effort mean (A) | 0.8246 |
+| W1 effort per joint (A) | j0=0.2299, j1=1.4110, j2=1.6380, j3=0.7354, j4=0.3452, j5=0.5881 |
+
+## Phase-end anchor (sim - 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 | -0.00037 | -0.00068 | 0.00088 | 0.038 |
+| 1 | 0.00038 | -0.00070 | -0.00096 | 0.00125 | 0.045 |
+| 2 | 0.00042 | -0.00070 | -0.00096 | 0.00126 | 0.041 |
+| 3 | 0.00082 | -0.00057 | -0.00094 | 0.00137 | 0.087 |
+| 4 | 0.00056 | -0.00014 | -0.00037 | 0.00069 | 0.155 |
+| 5 | 0.00117 | -0.00102 | -0.00136 | 0.00206 | 0.107 |
+| 6 | 0.00120 | -0.00105 | -0.00152 | 0.00220 | 0.112 |
+| 7 | 0.00022 | -0.00043 | -0.00077 | 0.00091 | 0.038 |
+| 8 | -0.00011 | -0.00019 | -0.00021 | 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_05d7ef23-ad32-4595-85b6-4cb75f716cd4.md b/gap_reports/gap_05d7ef23-ad32-4595-85b6-4cb75f716cd4.md
new file mode 100644
index 0000000000000000000000000000000000000000..5bcc14c2929e12b148f0b50e9fe21947aa84cb06
--- /dev/null
+++ b/gap_reports/gap_05d7ef23-ad32-4595-85b6-4cb75f716cd4.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/05d7ef23-ad32-4595-85b6-4cb75f716cd4.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/05d7ef23-ad32-4595-85b6-4cb75f716cd4.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2696 |
+| Sim rows | 240 |
+| Real episode_id | `05d7ef23-ad32-4595-85b6-4cb75f716cd4` |
+| Sim episode_id | `05d7ef23-ad32-4595-85b6-4cb75f716cd4` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.701 | 9.87 | 17.10 | 1897.18 | 0.5855 |
+| 1 | descend | 376 | 33 | 1.325 | 7.96 | 13.79 | 3626.03 | 0.7107 |
+| 2 | settle | 365 | 32 | 0.021 | 0.60 | 1.03 | 3625.95 | 0.7221 |
+| 3 | close | 151 | 14 | 0.936 | 5.48 | 9.50 | 1156.66 | 0.9352 |
+| 4 | lift | 357 | 31 | 3.155 | 12.80 | 22.17 | 1841.47 | 1.0952 |
+| 5 | move_xy | 351 | 31 | 7.043 | 32.29 | 55.93 | 1949.25 | 0.8867 |
+| 6 | lower | 410 | 36 | 0.079 | 1.10 | 1.90 | 1418.98 | 0.9540 |
+| 7 | open | 150 | 14 | 0.758 | 4.37 | 7.57 | 3626.22 | 0.6060 |
+| 8 | retract | 357 | 31 | 3.130 | 12.81 | 22.19 | 2286.79 | 0.7023 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.979 |
+| TCP position RMSE (mm, per-axis) | 13.26 |
+| EE position RMS L2 (mm) | 24.34 |
+| TCP rotvec (mrad) | 2556.38 |
+| W1 effort mean (A) | 0.7903 |
+| W1 effort per joint (A) | j0=0.2513, j1=1.2154, j2=1.5723, j3=0.6831, j4=0.4086, j5=0.6114 |
+
+## Phase-end anchor (sim - 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 | -0.00029 | -0.00038 | 0.00059 | 0.037 |
+| 1 | 0.00041 | -0.00055 | -0.00078 | 0.00104 | 0.036 |
+| 2 | 0.00042 | -0.00055 | -0.00077 | 0.00103 | 0.035 |
+| 3 | 0.00106 | -0.00021 | -0.00054 | 0.00121 | 0.117 |
+| 4 | 0.00029 | -0.00023 | -0.00045 | 0.00058 | 0.092 |
+| 5 | 0.00128 | -0.00084 | -0.00147 | 0.00212 | 0.139 |
+| 6 | 0.00124 | -0.00073 | -0.00114 | 0.00184 | 0.130 |
+| 7 | 0.00019 | -0.00029 | -0.00055 | 0.00065 | 0.037 |
+| 8 | -0.00008 | -0.00011 | -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_05ffca40-49b5-4fc8-b1b1-0c5a463eafc8.md b/gap_reports/gap_05ffca40-49b5-4fc8-b1b1-0c5a463eafc8.md
new file mode 100644
index 0000000000000000000000000000000000000000..f1ea440067517815b356a291d298c8f82db429ad
--- /dev/null
+++ b/gap_reports/gap_05ffca40-49b5-4fc8-b1b1-0c5a463eafc8.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/05ffca40-49b5-4fc8-b1b1-0c5a463eafc8.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/05ffca40-49b5-4fc8-b1b1-0c5a463eafc8.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1214 |
+| Sim rows | 126 |
+| Real episode_id | `05ffca40-49b5-4fc8-b1b1-0c5a463eafc8` |
+| Sim episode_id | `05ffca40-49b5-4fc8-b1b1-0c5a463eafc8` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 16 | 4.954 | 15.49 | 26.83 | 1604.51 | 0.8240 |
+| 1 | descend | 65 | 7 | 0.492 | 3.53 | 6.12 | 4.65 | 0.6470 |
+| 2 | settle | 28 | 4 | 0.022 | 2.65 | 4.59 | 5.14 | 0.7281 |
+| 3 | close | 381 | 38 | 0.118 | 2.18 | 3.78 | 6.60 | 1.2207 |
+| 4 | lift | 85 | 9 | 0.773 | 4.13 | 7.14 | 6.09 | 1.2337 |
+| 5 | move_xy | 162 | 16 | 4.691 | 15.99 | 27.69 | 71.46 | 1.0462 |
+| 6 | lower | 56 | 6 | 0.253 | 2.14 | 3.70 | 8.03 | 1.0507 |
+| 7 | open | 260 | 26 | 0.735 | 4.49 | 7.77 | 11.99 | 0.5635 |
+| 8 | retract | 6 | 2 | 0.014 | 2.09 | 3.62 | 4.20 | 0.6049 |
+| 9 | return | 8 | 2 | 0.015 | 2.09 | 3.62 | 4.21 | 0.5974 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.191 |
+| TCP position RMSE (mm, per-axis) | 7.55 |
+| EE position RMS L2 (mm) | 14.94 |
+| TCP rotvec (mrad) | 507.93 |
+| W1 effort mean (A) | 0.9278 |
+| W1 effort per joint (A) | j0=0.1809, j1=1.5226, j2=1.5886, j3=1.1452, j4=0.5052, j5=0.6244 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00156 | -0.00390 | -0.00102 | 0.00433 | 0.039 |
+| 1 | 0.00177 | -0.00408 | -0.00099 | 0.00456 | 0.045 |
+| 2 | 0.00180 | -0.00409 | -0.00117 | 0.00462 | 0.047 |
+| 3 | 0.00056 | -0.00367 | -0.00032 | 0.00372 | 0.202 |
+| 4 | 0.00043 | -0.00342 | -0.00098 | 0.00358 | 0.180 |
+| 5 | 0.00096 | -0.00273 | -0.00058 | 0.00295 | 0.298 |
+| 6 | 0.00316 | -0.00027 | -0.00396 | 0.00508 | 0.624 |
+| 7 | 0.00292 | -0.00212 | 0.00004 | 0.00361 | 0.027 |
+| 8 | 0.00294 | -0.00212 | 0.00005 | 0.00362 | 0.026 |
+| 9 | 0.00293 | -0.00211 | 0.00004 | 0.00362 | 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_06019aff-361e-43fb-b5ee-044cb825b89c.md b/gap_reports/gap_06019aff-361e-43fb-b5ee-044cb825b89c.md
new file mode 100644
index 0000000000000000000000000000000000000000..d088d407f4b7c77d67d4b1b01c098d1be60a9e9d
--- /dev/null
+++ b/gap_reports/gap_06019aff-361e-43fb-b5ee-044cb825b89c.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/06019aff-361e-43fb-b5ee-044cb825b89c.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/06019aff-361e-43fb-b5ee-044cb825b89c.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1046 |
+| Sim rows | 110 |
+| Real episode_id | `06019aff-361e-43fb-b5ee-044cb825b89c` |
+| Sim episode_id | `06019aff-361e-43fb-b5ee-044cb825b89c` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 127 | 13 | 2.257 | 11.16 | 19.32 | 645.57 | 0.7205 |
+| 1 | descend | 79 | 8 | 0.689 | 3.83 | 6.64 | 4.80 | 0.6502 |
+| 2 | settle | 22 | 3 | 0.034 | 2.75 | 4.76 | 5.28 | 0.6903 |
+| 3 | close | 48 | 6 | 0.103 | 3.56 | 6.16 | 7.69 | 1.1510 |
+| 4 | lift | 100 | 10 | 1.146 | 6.20 | 10.74 | 6.62 | 1.0782 |
+| 5 | move_xy | 153 | 16 | 3.269 | 17.70 | 30.66 | 17.93 | 1.0326 |
+| 6 | lower | 71 | 8 | 0.886 | 4.29 | 7.43 | 4.13 | 0.9791 |
+| 7 | open | 99 | 10 | 0.017 | 2.14 | 3.71 | 4.61 | 0.6078 |
+| 8 | retract | 67 | 8 | 0.746 | 3.69 | 6.40 | 3.93 | 0.6699 |
+| 9 | return | 280 | 28 | 3.397 | 18.89 | 32.71 | 1125.45 | 0.7554 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.745 |
+| TCP position RMSE (mm, per-axis) | 9.51 |
+| EE position RMS L2 (mm) | 22.22 |
+| TCP rotvec (mrad) | 410.36 |
+| W1 effort mean (A) | 0.8061 |
+| W1 effort per joint (A) | j0=0.2381, j1=1.3596, j2=1.5627, j3=0.7934, j4=0.3197, j5=0.5631 |
+
+## Phase-end anchor (sim - 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 | -0.00386 | -0.00067 | 0.00437 | 0.036 |
+| 1 | 0.00232 | -0.00410 | -0.00062 | 0.00475 | 0.041 |
+| 2 | 0.00237 | -0.00407 | -0.00085 | 0.00479 | 0.050 |
+| 3 | 0.00339 | -0.00497 | -0.00138 | 0.00617 | 0.176 |
+| 4 | 0.00273 | -0.00467 | -0.00140 | 0.00559 | 0.147 |
+| 5 | 0.00145 | -0.00352 | -0.00020 | 0.00381 | 0.076 |
+| 6 | 0.00220 | -0.00310 | 0.00019 | 0.00381 | 0.049 |
+| 7 | 0.00204 | -0.00309 | 0.00008 | 0.00371 | 0.035 |
+| 8 | 0.00167 | -0.00332 | -0.00010 | 0.00372 | 0.054 |
+| 9 | 0.00002 | -0.00009 | -0.00022 | 0.00023 | 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_06037134-6a16-4b85-82a3-91c67718b75b.md b/gap_reports/gap_06037134-6a16-4b85-82a3-91c67718b75b.md
new file mode 100644
index 0000000000000000000000000000000000000000..c2346bc5d249f196a014a4435730ea5b1d5deb53
--- /dev/null
+++ b/gap_reports/gap_06037134-6a16-4b85-82a3-91c67718b75b.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/06037134-6a16-4b85-82a3-91c67718b75b.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/06037134-6a16-4b85-82a3-91c67718b75b.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 439 |
+| Sim rows | 60 |
+| Real episode_id | `06037134-6a16-4b85-82a3-91c67718b75b` |
+| Sim episode_id | `06037134-6a16-4b85-82a3-91c67718b75b` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.378 | 10.45 | 18.10 | 935.23 | 0.7993 |
+| 1 | descend | 210 | 21 | 0.022 | 0.49 | 0.84 | 2.08 | 0.7535 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.682 |
+| TCP position RMSE (mm, per-axis) | 7.40 |
+| EE position RMS L2 (mm) | 13.08 |
+| TCP rotvec (mrad) | 661.31 |
+| W1 effort mean (A) | 0.7771 |
+| W1 effort per joint (A) | j0=0.1431, j1=1.6698, j2=1.6783, j3=0.9325, j4=0.0951, j5=0.1438 |
+
+## Phase-end anchor (sim - 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 | -0.00054 | 0.00068 | 0.00089 | 0.040 |
+| 1 | -0.00004 | -0.00051 | 0.00066 | 0.00083 | 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_0620e44a-0a06-45a7-89da-3b9474e1fea9.md b/gap_reports/gap_0620e44a-0a06-45a7-89da-3b9474e1fea9.md
new file mode 100644
index 0000000000000000000000000000000000000000..99380f2748aaaaa8dd7fbd770afa438c14f04f10
--- /dev/null
+++ b/gap_reports/gap_0620e44a-0a06-45a7-89da-3b9474e1fea9.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0620e44a-0a06-45a7-89da-3b9474e1fea9.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0620e44a-0a06-45a7-89da-3b9474e1fea9.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2741 |
+| Sim rows | 245 |
+| Real episode_id | `0620e44a-0a06-45a7-89da-3b9474e1fea9` |
+| Sim episode_id | `0620e44a-0a06-45a7-89da-3b9474e1fea9` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 3.311 | 12.15 | 21.04 | 1962.63 | 0.5675 |
+| 1 | descend | 297 | 26 | 0.707 | 4.33 | 7.49 | 3625.92 | 0.7269 |
+| 2 | settle | 350 | 31 | 0.025 | 0.68 | 1.18 | 3552.70 | 0.6473 |
+| 3 | close | 109 | 10 | 0.551 | 3.44 | 5.96 | 1411.24 | 0.9340 |
+| 4 | lift | 417 | 37 | 4.027 | 16.78 | 29.07 | 1831.54 | 1.0633 |
+| 5 | move_xy | 398 | 35 | 7.301 | 31.46 | 54.48 | 2199.35 | 0.9013 |
+| 6 | lower | 388 | 34 | 0.087 | 1.28 | 2.23 | 1925.84 | 0.9048 |
+| 7 | open | 109 | 10 | 0.553 | 3.29 | 5.69 | 3626.21 | 0.5715 |
+| 8 | retract | 417 | 37 | 3.864 | 16.03 | 27.77 | 2252.81 | 0.6815 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.275 |
+| TCP position RMSE (mm, per-axis) | 13.82 |
+| EE position RMS L2 (mm) | 26.98 |
+| TCP rotvec (mrad) | 2619.11 |
+| W1 effort mean (A) | 0.7803 |
+| W1 effort per joint (A) | j0=0.2579, j1=1.1443, j2=1.4869, j3=0.7262, j4=0.4514, j5=0.6151 |
+
+## Phase-end anchor (sim - 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 | -0.00032 | -0.00061 | 0.00098 | 0.041 |
+| 1 | 0.00066 | -0.00056 | -0.00071 | 0.00112 | 0.030 |
+| 2 | 0.00067 | -0.00057 | -0.00075 | 0.00116 | 0.038 |
+| 3 | 0.00099 | -0.00047 | -0.00048 | 0.00120 | 0.111 |
+| 4 | 0.00019 | -0.00013 | -0.00005 | 0.00023 | 0.090 |
+| 5 | 0.00136 | -0.00070 | -0.00097 | 0.00181 | 0.106 |
+| 6 | 0.00139 | -0.00069 | -0.00214 | 0.00264 | 0.198 |
+| 7 | 0.00047 | -0.00030 | -0.00064 | 0.00085 | 0.044 |
+| 8 | -0.00004 | -0.00008 | -0.00013 | 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_0634b817-1453-43c6-ac02-f844dc07efd3.md b/gap_reports/gap_0634b817-1453-43c6-ac02-f844dc07efd3.md
new file mode 100644
index 0000000000000000000000000000000000000000..b833154d695ba77672ba83b20045df14ea1fcba9
--- /dev/null
+++ b/gap_reports/gap_0634b817-1453-43c6-ac02-f844dc07efd3.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0634b817-1453-43c6-ac02-f844dc07efd3.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0634b817-1453-43c6-ac02-f844dc07efd3.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2815 |
+| Sim rows | 250 |
+| Real episode_id | `0634b817-1453-43c6-ac02-f844dc07efd3` |
+| Sim episode_id | `0634b817-1453-43c6-ac02-f844dc07efd3` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.843 | 12.88 | 22.31 | 1932.93 | 0.5831 |
+| 1 | descend | 338 | 30 | 1.228 | 7.88 | 13.65 | 3625.37 | 0.7525 |
+| 2 | settle | 360 | 32 | 0.023 | 0.76 | 1.32 | 3625.26 | 0.7305 |
+| 3 | close | 169 | 15 | 0.943 | 6.08 | 10.52 | 3450.35 | 0.9412 |
+| 4 | lift | 421 | 37 | 3.132 | 14.23 | 24.65 | 2231.28 | 1.1010 |
+| 5 | move_xy | 358 | 31 | 6.162 | 31.58 | 54.71 | 2607.91 | 0.8892 |
+| 6 | lower | 380 | 33 | 0.088 | 1.39 | 2.40 | 3549.72 | 1.0208 |
+| 7 | open | 168 | 15 | 0.926 | 5.89 | 10.20 | 3625.50 | 0.6505 |
+| 8 | retract | 424 | 37 | 3.193 | 14.76 | 25.57 | 2335.75 | 0.7246 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.775 |
+| TCP position RMSE (mm, per-axis) | 13.83 |
+| EE position RMS L2 (mm) | 25.32 |
+| TCP rotvec (mrad) | 3071.51 |
+| W1 effort mean (A) | 0.8244 |
+| W1 effort per joint (A) | j0=0.2423, j1=1.3681, j2=1.6284, j3=0.7673, j4=0.3239, j5=0.6166 |
+
+## Phase-end anchor (sim - 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 | -0.00064 | 0.00090 | 0.038 |
+| 1 | 0.00060 | -0.00064 | -0.00097 | 0.00131 | 0.045 |
+| 2 | 0.00063 | -0.00068 | -0.00094 | 0.00132 | 0.045 |
+| 3 | 0.00128 | -0.00047 | -0.00139 | 0.00194 | 0.136 |
+| 4 | 0.00009 | -0.00026 | -0.00030 | 0.00041 | 0.057 |
+| 5 | 0.00192 | -0.00100 | -0.00244 | 0.00327 | 0.179 |
+| 6 | 0.00154 | -0.00087 | -0.00185 | 0.00256 | 0.118 |
+| 7 | 0.00047 | -0.00038 | -0.00076 | 0.00097 | 0.048 |
+| 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_0639c663-4f35-4a9c-9e04-11d696b46aa4.md b/gap_reports/gap_0639c663-4f35-4a9c-9e04-11d696b46aa4.md
new file mode 100644
index 0000000000000000000000000000000000000000..6f13a5d4fe086afc84f9d066613803d6ec6d63ef
--- /dev/null
+++ b/gap_reports/gap_0639c663-4f35-4a9c-9e04-11d696b46aa4.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0639c663-4f35-4a9c-9e04-11d696b46aa4.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0639c663-4f35-4a9c-9e04-11d696b46aa4.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1430 |
+| Sim rows | 149 |
+| Real episode_id | `0639c663-4f35-4a9c-9e04-11d696b46aa4` |
+| Sim episode_id | `0639c663-4f35-4a9c-9e04-11d696b46aa4` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 122 | 13 | 3.229 | 14.28 | 24.74 | 895.66 | 0.6675 |
+| 1 | descend | 59 | 7 | 0.181 | 2.77 | 4.80 | 4.58 | 0.6785 |
+| 2 | settle | 38 | 5 | 0.023 | 2.69 | 4.66 | 4.88 | 0.7314 |
+| 3 | close | 381 | 37 | 0.124 | 3.00 | 5.20 | 9.06 | 1.1208 |
+| 4 | lift | 60 | 7 | 0.342 | 3.30 | 5.72 | 8.72 | 1.1451 |
+| 5 | move_xy | 111 | 12 | 1.913 | 9.21 | 15.96 | 16.00 | 1.3047 |
+| 6 | lower | 60 | 7 | 0.236 | 3.23 | 5.59 | 8.80 | 1.0949 |
+| 7 | open | 350 | 35 | 0.020 | 2.79 | 4.83 | 4.90 | 0.6509 |
+| 8 | retract | 59 | 7 | 0.455 | 3.19 | 5.53 | 4.50 | 0.6891 |
+| 9 | return | 190 | 19 | 2.356 | 11.84 | 20.50 | 283.52 | 0.6857 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.417 |
+| TCP position RMSE (mm, per-axis) | 7.01 |
+| EE position RMS L2 (mm) | 12.09 |
+| TCP rotvec (mrad) | 297.18 |
+| W1 effort mean (A) | 0.8512 |
+| W1 effort per joint (A) | j0=0.1086, j1=1.6178, j2=1.5709, j3=0.8247, j4=0.4523, j5=0.5331 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00207 | -0.00386 | -0.00017 | 0.00439 | 0.028 |
+| 1 | 0.00252 | -0.00390 | -0.00028 | 0.00465 | 0.050 |
+| 2 | 0.00248 | -0.00393 | -0.00045 | 0.00467 | 0.051 |
+| 3 | 0.00314 | -0.00338 | -0.00218 | 0.00510 | 0.187 |
+| 4 | 0.00273 | -0.00371 | -0.00243 | 0.00521 | 0.204 |
+| 5 | 0.00269 | -0.00374 | -0.00254 | 0.00526 | 0.268 |
+| 6 | 0.00346 | -0.00352 | -0.00297 | 0.00576 | 0.283 |
+| 7 | 0.00231 | -0.00421 | -0.00061 | 0.00484 | 0.039 |
+| 8 | 0.00194 | -0.00405 | -0.00083 | 0.00457 | 0.061 |
+| 9 | -0.00014 | -0.00015 | -0.00027 | 0.00034 | 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_0654c723-5a8c-4812-a51b-0e3362eb809b.md b/gap_reports/gap_0654c723-5a8c-4812-a51b-0e3362eb809b.md
new file mode 100644
index 0000000000000000000000000000000000000000..b04d52d4e12e72040f67b977a79261caaa372962
--- /dev/null
+++ b/gap_reports/gap_0654c723-5a8c-4812-a51b-0e3362eb809b.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0654c723-5a8c-4812-a51b-0e3362eb809b.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0654c723-5a8c-4812-a51b-0e3362eb809b.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2820 |
+| Sim rows | 250 |
+| Real episode_id | `0654c723-5a8c-4812-a51b-0e3362eb809b` |
+| Sim episode_id | `0654c723-5a8c-4812-a51b-0e3362eb809b` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.287 | 12.41 | 21.50 | 1944.95 | 0.6192 |
+| 1 | descend | 449 | 39 | 1.226 | 8.42 | 14.59 | 3624.71 | 0.8021 |
+| 2 | settle | 368 | 32 | 0.027 | 0.97 | 1.67 | 3624.53 | 0.7575 |
+| 3 | close | 183 | 16 | 0.846 | 5.88 | 10.19 | 3625.31 | 1.0324 |
+| 4 | lift | 327 | 29 | 2.377 | 13.62 | 23.59 | 2254.77 | 1.1765 |
+| 5 | move_xy | 380 | 33 | 5.752 | 34.87 | 60.39 | 2862.61 | 0.9793 |
+| 6 | lower | 408 | 36 | 0.099 | 1.74 | 3.01 | 3555.36 | 1.1384 |
+| 7 | open | 182 | 16 | 0.842 | 5.80 | 10.04 | 3624.76 | 0.7402 |
+| 8 | retract | 325 | 29 | 2.470 | 14.19 | 24.57 | 2429.54 | 0.7489 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.427 |
+| TCP position RMSE (mm, per-axis) | 14.53 |
+| EE position RMS L2 (mm) | 26.59 |
+| TCP rotvec (mrad) | 3129.82 |
+| W1 effort mean (A) | 0.8792 |
+| W1 effort per joint (A) | j0=0.2481, j1=1.6247, j2=1.7080, j3=0.7680, j4=0.3234, j5=0.6033 |
+
+## Phase-end anchor (sim - 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 | -0.00042 | -0.00073 | 0.00111 | 0.029 |
+| 1 | 0.00076 | -0.00086 | -0.00119 | 0.00165 | 0.055 |
+| 2 | 0.00077 | -0.00086 | -0.00118 | 0.00165 | 0.054 |
+| 3 | 0.00182 | -0.00033 | -0.00063 | 0.00195 | 0.138 |
+| 4 | 0.00032 | 0.00019 | 0.00005 | 0.00038 | 0.072 |
+| 5 | 0.00205 | -0.00104 | -0.00075 | 0.00242 | 0.161 |
+| 6 | 0.00171 | -0.00107 | -0.00149 | 0.00250 | 0.112 |
+| 7 | 0.00062 | -0.00052 | -0.00103 | 0.00130 | 0.061 |
+| 8 | -0.00011 | -0.00017 | -0.00019 | 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_066d7cab-b45b-40f2-9f49-5ed8f010e2e1.md b/gap_reports/gap_066d7cab-b45b-40f2-9f49-5ed8f010e2e1.md
new file mode 100644
index 0000000000000000000000000000000000000000..a7c0ddfc868b26ce536936c0925e7f4a7fbed020
--- /dev/null
+++ b/gap_reports/gap_066d7cab-b45b-40f2-9f49-5ed8f010e2e1.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/066d7cab-b45b-40f2-9f49-5ed8f010e2e1.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/066d7cab-b45b-40f2-9f49-5ed8f010e2e1.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 463 |
+| Sim rows | 62 |
+| Real episode_id | `066d7cab-b45b-40f2-9f49-5ed8f010e2e1` |
+| Sim episode_id | `066d7cab-b45b-40f2-9f49-5ed8f010e2e1` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.582 | 11.07 | 19.17 | 6.93 | 0.8275 |
+| 1 | descend | 209 | 21 | 0.027 | 0.63 | 1.08 | 2.19 | 0.8232 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.826 |
+| TCP position RMSE (mm, per-axis) | 7.84 |
+| EE position RMS L2 (mm) | 14.22 |
+| TCP rotvec (mrad) | 5.14 |
+| W1 effort mean (A) | 0.8244 |
+| W1 effort per joint (A) | j0=0.1606, j1=1.8589, j2=1.8358, j3=0.8865, j4=0.0815, j5=0.1230 |
+
+## Phase-end anchor (sim - 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 | -0.00086 | 0.00077 | 0.00117 | 0.048 |
+| 1 | 0.00010 | -0.00089 | 0.00063 | 0.00109 | 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_067a6703-e46d-456a-8e47-428b917bec49.md b/gap_reports/gap_067a6703-e46d-456a-8e47-428b917bec49.md
new file mode 100644
index 0000000000000000000000000000000000000000..726a939e09a556b15080d229cc187cdcaf54ae67
--- /dev/null
+++ b/gap_reports/gap_067a6703-e46d-456a-8e47-428b917bec49.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/067a6703-e46d-456a-8e47-428b917bec49.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/067a6703-e46d-456a-8e47-428b917bec49.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 502 |
+| Sim rows | 66 |
+| Real episode_id | `067a6703-e46d-456a-8e47-428b917bec49` |
+| Sim episode_id | `067a6703-e46d-456a-8e47-428b917bec49` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 293 | 29 | 1.712 | 6.88 | 11.92 | 3.79 | 0.7684 |
+| 1 | descend | 209 | 21 | 0.024 | 0.45 | 0.77 | 2.19 | 0.7690 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.211 |
+| TCP position RMSE (mm, per-axis) | 4.88 |
+| EE position RMS L2 (mm) | 9.12 |
+| TCP rotvec (mrad) | 3.09 |
+| W1 effort mean (A) | 0.7685 |
+| W1 effort per joint (A) | j0=0.1262, j1=1.6405, j2=1.7561, j3=0.8523, j4=0.1318, j5=0.1042 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00016 | -0.00024 | 0.00071 | 0.00077 | 0.039 |
+| 1 | 0.00041 | -0.00025 | 0.00066 | 0.00082 | 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_068b4040-37c4-4448-b59d-e1a40a2b2c38.md b/gap_reports/gap_068b4040-37c4-4448-b59d-e1a40a2b2c38.md
new file mode 100644
index 0000000000000000000000000000000000000000..7f0fc5d46d5b359cbda180cd4218442f7e738700
--- /dev/null
+++ b/gap_reports/gap_068b4040-37c4-4448-b59d-e1a40a2b2c38.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/068b4040-37c4-4448-b59d-e1a40a2b2c38.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/068b4040-37c4-4448-b59d-e1a40a2b2c38.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2355 |
+| Sim rows | 210 |
+| Real episode_id | `068b4040-37c4-4448-b59d-e1a40a2b2c38` |
+| Sim episode_id | `068b4040-37c4-4448-b59d-e1a40a2b2c38` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 17 | 2.140 | 10.05 | 17.40 | 2.71 | 0.5639 |
+| 1 | descend | 258 | 23 | 0.733 | 4.95 | 8.57 | 3.87 | 0.7431 |
+| 2 | settle | 366 | 32 | 0.026 | 0.91 | 1.58 | 3.98 | 0.6759 |
+| 3 | close | 112 | 10 | 0.461 | 3.28 | 5.67 | 6.17 | 1.0185 |
+| 4 | lift | 305 | 27 | 2.385 | 12.37 | 21.43 | 4.16 | 1.0876 |
+| 5 | move_xy | 334 | 29 | 4.983 | 28.23 | 48.90 | 4.76 | 0.9142 |
+| 6 | lower | 379 | 33 | 0.091 | 1.55 | 2.69 | 6.31 | 0.9921 |
+| 7 | open | 112 | 10 | 0.470 | 3.18 | 5.51 | 3.92 | 0.6516 |
+| 8 | retract | 305 | 27 | 2.384 | 12.34 | 21.37 | 2.87 | 0.7070 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.154 |
+| TCP position RMSE (mm, per-axis) | 11.79 |
+| EE position RMS L2 (mm) | 22.23 |
+| TCP rotvec (mrad) | 4.47 |
+| W1 effort mean (A) | 0.7978 |
+| W1 effort per joint (A) | j0=0.2595, j1=1.3408, j2=1.4589, j3=0.6582, j4=0.4599, 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 | 0.00076 | -0.00077 | -0.00071 | 0.00129 | 0.032 |
+| 1 | 0.00071 | -0.00100 | -0.00103 | 0.00160 | 0.048 |
+| 2 | 0.00068 | -0.00099 | -0.00098 | 0.00155 | 0.043 |
+| 3 | 0.00108 | -0.00099 | -0.00165 | 0.00221 | 0.120 |
+| 4 | 0.00060 | -0.00003 | -0.00018 | 0.00062 | 0.173 |
+| 5 | 0.00186 | -0.00122 | -0.00147 | 0.00267 | 0.160 |
+| 6 | 0.00190 | -0.00106 | -0.00042 | 0.00221 | 0.151 |
+| 7 | 0.00050 | -0.00083 | -0.00084 | 0.00128 | 0.043 |
+| 8 | -0.00013 | -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_06bc3d49-3bb1-46a9-a160-d800ec20229c.md b/gap_reports/gap_06bc3d49-3bb1-46a9-a160-d800ec20229c.md
new file mode 100644
index 0000000000000000000000000000000000000000..c61fae720c26a95a9b03e5162f3d76575ad37831
--- /dev/null
+++ b/gap_reports/gap_06bc3d49-3bb1-46a9-a160-d800ec20229c.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/06bc3d49-3bb1-46a9-a160-d800ec20229c.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/06bc3d49-3bb1-46a9-a160-d800ec20229c.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2710 |
+| Sim rows | 241 |
+| Real episode_id | `06bc3d49-3bb1-46a9-a160-d800ec20229c` |
+| Sim episode_id | `06bc3d49-3bb1-46a9-a160-d800ec20229c` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.675 | 10.81 | 18.72 | 1851.98 | 0.5713 |
+| 1 | descend | 333 | 29 | 0.551 | 3.39 | 5.87 | 3625.99 | 0.6913 |
+| 2 | settle | 352 | 31 | 0.022 | 0.60 | 1.04 | 3625.97 | 0.6801 |
+| 3 | close | 121 | 11 | 0.720 | 4.32 | 7.48 | 1167.30 | 0.9199 |
+| 4 | lift | 414 | 36 | 3.313 | 13.61 | 23.58 | 2069.86 | 1.1079 |
+| 5 | move_xy | 366 | 32 | 6.636 | 29.99 | 51.94 | 2061.23 | 0.8686 |
+| 6 | lower | 386 | 34 | 0.077 | 1.06 | 1.84 | 1409.22 | 0.9606 |
+| 7 | open | 118 | 11 | 0.630 | 3.76 | 6.52 | 3626.23 | 0.5796 |
+| 8 | retract | 413 | 36 | 3.224 | 13.36 | 23.15 | 2228.37 | 0.6903 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.863 |
+| TCP position RMSE (mm, per-axis) | 12.59 |
+| EE position RMS L2 (mm) | 23.81 |
+| TCP rotvec (mrad) | 2576.00 |
+| W1 effort mean (A) | 0.7864 |
+| W1 effort per joint (A) | j0=0.2352, j1=1.1745, j2=1.5816, j3=0.7103, j4=0.3875, j5=0.6296 |
+
+## Phase-end anchor (sim - 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 | -0.00027 | -0.00045 | 0.00068 | 0.034 |
+| 1 | 0.00041 | -0.00053 | -0.00079 | 0.00104 | 0.042 |
+| 2 | 0.00040 | -0.00058 | -0.00076 | 0.00104 | 0.037 |
+| 3 | 0.00140 | -0.00037 | -0.00173 | 0.00226 | 0.165 |
+| 4 | 0.00029 | -0.00006 | -0.00015 | 0.00033 | 0.105 |
+| 5 | 0.00148 | -0.00076 | -0.00061 | 0.00177 | 0.149 |
+| 6 | 0.00101 | -0.00075 | -0.00164 | 0.00206 | 0.115 |
+| 7 | 0.00020 | -0.00030 | -0.00066 | 0.00075 | 0.049 |
+| 8 | -0.00009 | -0.00011 | -0.00013 | 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_06bec074-6c02-4183-8a66-9ccd9e20a5c1.md b/gap_reports/gap_06bec074-6c02-4183-8a66-9ccd9e20a5c1.md
new file mode 100644
index 0000000000000000000000000000000000000000..735c73a6a10490f32f62147babf1369def67655b
--- /dev/null
+++ b/gap_reports/gap_06bec074-6c02-4183-8a66-9ccd9e20a5c1.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/06bec074-6c02-4183-8a66-9ccd9e20a5c1.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/06bec074-6c02-4183-8a66-9ccd9e20a5c1.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2913 |
+| Sim rows | 260 |
+| Real episode_id | `06bec074-6c02-4183-8a66-9ccd9e20a5c1` |
+| Sim episode_id | `06bec074-6c02-4183-8a66-9ccd9e20a5c1` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 242 | 22 | 2.675 | 12.34 | 21.37 | 1977.45 | 0.5634 |
+| 1 | descend | 466 | 41 | 1.211 | 7.83 | 13.56 | 3625.38 | 0.7286 |
+| 2 | settle | 374 | 33 | 0.022 | 0.73 | 1.27 | 3625.25 | 0.6678 |
+| 3 | close | 155 | 14 | 1.204 | 7.45 | 12.90 | 3435.90 | 0.9746 |
+| 4 | lift | 338 | 30 | 2.658 | 12.69 | 21.97 | 2341.87 | 1.1228 |
+| 5 | move_xy | 463 | 40 | 5.669 | 30.75 | 53.26 | 2724.13 | 0.8943 |
+| 6 | lower | 384 | 34 | 0.085 | 1.30 | 2.24 | 3495.57 | 0.9769 |
+| 7 | open | 155 | 14 | 1.027 | 6.50 | 11.26 | 3625.46 | 0.6820 |
+| 8 | retract | 336 | 30 | 2.677 | 12.86 | 22.28 | 2381.66 | 0.7233 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.528 |
+| TCP position RMSE (mm, per-axis) | 13.27 |
+| EE position RMS L2 (mm) | 25.45 |
+| TCP rotvec (mrad) | 3090.17 |
+| W1 effort mean (A) | 0.7967 |
+| W1 effort per joint (A) | j0=0.2375, j1=1.3149, j2=1.5848, j3=0.7440, j4=0.3091, 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 | 0.00042 | -0.00037 | -0.00072 | 0.00091 | 0.037 |
+| 1 | 0.00040 | -0.00070 | -0.00096 | 0.00126 | 0.043 |
+| 2 | 0.00040 | -0.00071 | -0.00093 | 0.00124 | 0.042 |
+| 3 | 0.00129 | -0.00034 | -0.00079 | 0.00155 | 0.133 |
+| 4 | 0.00021 | -0.00005 | -0.00005 | 0.00022 | 0.051 |
+| 5 | 0.00155 | -0.00107 | -0.00134 | 0.00231 | 0.160 |
+| 6 | 0.00151 | -0.00095 | -0.00171 | 0.00247 | 0.147 |
+| 7 | 0.00028 | -0.00044 | -0.00076 | 0.00092 | 0.048 |
+| 8 | -0.00008 | -0.00012 | -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_06e41449-2a5b-47fe-81f3-7fdd5cdca626.md b/gap_reports/gap_06e41449-2a5b-47fe-81f3-7fdd5cdca626.md
new file mode 100644
index 0000000000000000000000000000000000000000..09767cb7f9ee3c26d87807b87681bef691bc0ebe
--- /dev/null
+++ b/gap_reports/gap_06e41449-2a5b-47fe-81f3-7fdd5cdca626.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/06e41449-2a5b-47fe-81f3-7fdd5cdca626.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/06e41449-2a5b-47fe-81f3-7fdd5cdca626.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2682 |
+| Sim rows | 240 |
+| Real episode_id | `06e41449-2a5b-47fe-81f3-7fdd5cdca626` |
+| Sim episode_id | `06e41449-2a5b-47fe-81f3-7fdd5cdca626` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.726 | 14.24 | 24.67 | 1826.51 | 0.6221 |
+| 1 | descend | 533 | 46 | 0.455 | 3.45 | 5.97 | 3624.68 | 0.8252 |
+| 2 | settle | 382 | 34 | 0.027 | 0.97 | 1.67 | 3624.56 | 0.6696 |
+| 3 | close | 113 | 11 | 0.638 | 4.65 | 8.06 | 3624.95 | 1.0273 |
+| 4 | lift | 304 | 27 | 2.870 | 16.04 | 27.79 | 2333.68 | 1.1123 |
+| 5 | move_xy | 343 | 30 | 6.465 | 37.54 | 65.02 | 2781.86 | 0.9372 |
+| 6 | lower | 394 | 35 | 0.094 | 1.71 | 2.97 | 3625.07 | 1.0656 |
+| 7 | open | 114 | 11 | 0.631 | 4.43 | 7.67 | 3624.68 | 0.7400 |
+| 8 | retract | 306 | 27 | 2.897 | 16.28 | 28.20 | 2362.64 | 0.7492 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.726 |
+| TCP position RMSE (mm, per-axis) | 15.60 |
+| EE position RMS L2 (mm) | 27.87 |
+| TCP rotvec (mrad) | 3123.36 |
+| W1 effort mean (A) | 0.8390 |
+| W1 effort per joint (A) | j0=0.2352, j1=1.4560, j2=1.7044, j3=0.8132, j4=0.2628, j5=0.5622 |
+
+## Phase-end anchor (sim - 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 | -0.00040 | -0.00068 | 0.00121 | 0.027 |
+| 1 | 0.00093 | -0.00073 | -0.00124 | 0.00171 | 0.057 |
+| 2 | 0.00092 | -0.00072 | -0.00120 | 0.00168 | 0.053 |
+| 3 | 0.00200 | -0.00044 | -0.00092 | 0.00224 | 0.159 |
+| 4 | 0.00014 | -0.00033 | -0.00044 | 0.00057 | 0.077 |
+| 5 | 0.00243 | -0.00110 | -0.00223 | 0.00348 | 0.206 |
+| 6 | 0.00186 | -0.00099 | -0.00072 | 0.00223 | 0.113 |
+| 7 | 0.00072 | -0.00045 | -0.00098 | 0.00130 | 0.043 |
+| 8 | -0.00015 | -0.00022 | -0.00021 | 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_06f0cddf-f066-4f7a-a953-13d15e7457cc.md b/gap_reports/gap_06f0cddf-f066-4f7a-a953-13d15e7457cc.md
new file mode 100644
index 0000000000000000000000000000000000000000..04b4f439744f1ad90c65b2eee59c64d1fbc65384
--- /dev/null
+++ b/gap_reports/gap_06f0cddf-f066-4f7a-a953-13d15e7457cc.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/06f0cddf-f066-4f7a-a953-13d15e7457cc.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/06f0cddf-f066-4f7a-a953-13d15e7457cc.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1476 |
+| Sim rows | 150 |
+| Real episode_id | `06f0cddf-f066-4f7a-a953-13d15e7457cc` |
+| Sim episode_id | `06f0cddf-f066-4f7a-a953-13d15e7457cc` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 3.471 | 17.26 | 29.90 | 802.37 | 0.7223 |
+| 1 | descend | 67 | 7 | 0.410 | 2.75 | 4.77 | 4.82 | 0.6681 |
+| 2 | settle | 28 | 4 | 0.023 | 1.91 | 3.31 | 5.20 | 0.6265 |
+| 3 | close | 380 | 37 | 0.129 | 1.77 | 3.07 | 7.72 | 1.1565 |
+| 4 | lift | 68 | 7 | 0.452 | 2.77 | 4.79 | 7.11 | 1.2286 |
+| 5 | move_xy | 195 | 20 | 6.006 | 28.97 | 50.17 | 5.70 | 1.2088 |
+| 6 | lower | 65 | 7 | 0.408 | 2.76 | 4.79 | 6.01 | 1.1083 |
+| 7 | open | 93 | 10 | 0.029 | 2.64 | 4.57 | 5.09 | 0.7242 |
+| 8 | retract | 65 | 7 | 0.393 | 3.09 | 5.36 | 4.66 | 0.7349 |
+| 9 | return | 354 | 35 | 3.665 | 12.69 | 21.98 | 673.93 | 0.7170 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.495 |
+| TCP position RMSE (mm, per-axis) | 11.59 |
+| EE position RMS L2 (mm) | 23.54 |
+| TCP rotvec (mrad) | 331.40 |
+| W1 effort mean (A) | 0.8887 |
+| W1 effort per joint (A) | j0=0.1459, j1=1.6525, j2=1.5689, j3=0.8238, j4=0.5469, j5=0.5941 |
+
+## Phase-end anchor (sim - 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 | -0.00288 | 0.00009 | 0.00325 | 0.048 |
+| 1 | 0.00191 | -0.00268 | -0.00004 | 0.00329 | 0.051 |
+| 2 | 0.00190 | -0.00274 | -0.00016 | 0.00333 | 0.052 |
+| 3 | 0.00057 | -0.00292 | -0.00088 | 0.00310 | 0.283 |
+| 4 | 0.00049 | -0.00321 | -0.00097 | 0.00339 | 0.265 |
+| 5 | 0.00062 | -0.00356 | -0.00101 | 0.00375 | 0.154 |
+| 6 | 0.00061 | -0.00368 | -0.00034 | 0.00375 | 0.200 |
+| 7 | 0.00178 | -0.00407 | -0.00117 | 0.00460 | 0.048 |
+| 8 | 0.00142 | -0.00381 | -0.00135 | 0.00428 | 0.063 |
+| 9 | -0.00013 | -0.00008 | -0.00025 | 0.00030 | 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_06f6c8d0-e983-4e74-95b5-9cd8808774d9.md b/gap_reports/gap_06f6c8d0-e983-4e74-95b5-9cd8808774d9.md
new file mode 100644
index 0000000000000000000000000000000000000000..673b21ce0ee6bf1d9ae604c59a86ba3ae624d36f
--- /dev/null
+++ b/gap_reports/gap_06f6c8d0-e983-4e74-95b5-9cd8808774d9.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/06f6c8d0-e983-4e74-95b5-9cd8808774d9.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/06f6c8d0-e983-4e74-95b5-9cd8808774d9.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2956 |
+| Sim rows | 262 |
+| Real episode_id | `06f6c8d0-e983-4e74-95b5-9cd8808774d9` |
+| Sim episode_id | `06f6c8d0-e983-4e74-95b5-9cd8808774d9` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.980 | 13.41 | 23.23 | 2025.63 | 0.5910 |
+| 1 | descend | 530 | 46 | 0.483 | 3.21 | 5.55 | 3625.39 | 0.6954 |
+| 2 | settle | 385 | 34 | 0.024 | 0.77 | 1.33 | 3625.26 | 0.7421 |
+| 3 | close | 188 | 17 | 0.930 | 5.94 | 10.29 | 3185.81 | 0.9810 |
+| 4 | lift | 342 | 30 | 3.242 | 15.00 | 25.98 | 2401.28 | 1.1268 |
+| 5 | move_xy | 369 | 33 | 6.555 | 33.46 | 57.95 | 2818.30 | 0.8996 |
+| 6 | lower | 404 | 35 | 0.081 | 1.28 | 2.22 | 3252.01 | 1.0012 |
+| 7 | open | 187 | 17 | 0.823 | 5.27 | 9.12 | 3625.48 | 0.6770 |
+| 8 | retract | 346 | 30 | 3.230 | 15.06 | 26.08 | 2314.33 | 0.7292 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.878 |
+| TCP position RMSE (mm, per-axis) | 14.25 |
+| EE position RMS L2 (mm) | 25.15 |
+| TCP rotvec (mrad) | 3042.72 |
+| W1 effort mean (A) | 0.8078 |
+| W1 effort per joint (A) | j0=0.2316, j1=1.3663, j2=1.6318, j3=0.7435, j4=0.3181, j5=0.5552 |
+
+## Phase-end anchor (sim - 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 | -0.00067 | 0.00096 | 0.040 |
+| 1 | 0.00058 | -0.00062 | -0.00099 | 0.00130 | 0.047 |
+| 2 | 0.00063 | -0.00063 | -0.00099 | 0.00133 | 0.045 |
+| 3 | 0.00127 | -0.00028 | -0.00162 | 0.00208 | 0.128 |
+| 4 | -0.00006 | -0.00056 | -0.00050 | 0.00076 | 0.094 |
+| 5 | 0.00141 | -0.00100 | -0.00265 | 0.00316 | 0.231 |
+| 6 | 0.00189 | -0.00079 | -0.00116 | 0.00236 | 0.169 |
+| 7 | 0.00050 | -0.00034 | -0.00073 | 0.00095 | 0.035 |
+| 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_0705dc62-3ae4-4f53-b875-72ce03bc2ad1.md b/gap_reports/gap_0705dc62-3ae4-4f53-b875-72ce03bc2ad1.md
new file mode 100644
index 0000000000000000000000000000000000000000..367092ab7b0e228e3994ea85b0501d57aa3a1e62
--- /dev/null
+++ b/gap_reports/gap_0705dc62-3ae4-4f53-b875-72ce03bc2ad1.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0705dc62-3ae4-4f53-b875-72ce03bc2ad1.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0705dc62-3ae4-4f53-b875-72ce03bc2ad1.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1104 |
+| Sim rows | 115 |
+| Real episode_id | `0705dc62-3ae4-4f53-b875-72ce03bc2ad1` |
+| Sim episode_id | `0705dc62-3ae4-4f53-b875-72ce03bc2ad1` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 1.725 | 10.58 | 18.32 | 345.22 | 0.7402 |
+| 1 | descend | 64 | 7 | 0.515 | 4.01 | 6.95 | 6.05 | 0.7382 |
+| 2 | settle | 26 | 3 | 0.025 | 3.10 | 5.38 | 6.44 | 0.7810 |
+| 3 | close | 51 | 6 | 0.158 | 3.73 | 6.46 | 11.28 | 1.2663 |
+| 4 | lift | 84 | 9 | 0.731 | 5.45 | 9.43 | 10.46 | 1.2519 |
+| 5 | move_xy | 234 | 23 | 4.894 | 23.35 | 40.45 | 42.39 | 1.0614 |
+| 6 | lower | 101 | 11 | 5.062 | 4.30 | 7.44 | 197.51 | 0.9687 |
+| 7 | open | 94 | 10 | 4.982 | 2.28 | 3.96 | 196.92 | 0.6696 |
+| 8 | retract | 101 | 11 | 5.084 | 4.56 | 7.91 | 196.33 | 0.6900 |
+| 9 | return | 211 | 21 | 4.200 | 17.51 | 30.34 | 1117.65 | 0.7922 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.488 |
+| TCP position RMSE (mm, per-axis) | 10.38 |
+| EE position RMS L2 (mm) | 24.27 |
+| TCP rotvec (mrad) | 385.59 |
+| W1 effort mean (A) | 0.8758 |
+| W1 effort per joint (A) | j0=0.2387, j1=1.5147, j2=1.5835, j3=0.7590, j4=0.4980, j5=0.6609 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00244 | -0.00439 | -0.00093 | 0.00511 | 0.068 |
+| 1 | 0.00263 | -0.00456 | -0.00103 | 0.00537 | 0.043 |
+| 2 | 0.00263 | -0.00457 | -0.00116 | 0.00540 | 0.055 |
+| 3 | 0.00306 | -0.00390 | -0.00374 | 0.00621 | 0.254 |
+| 4 | 0.00246 | -0.00395 | -0.00352 | 0.00584 | 0.264 |
+| 5 | 0.00177 | -0.00293 | -0.00165 | 0.00380 | 12.227 |
+| 6 | 0.00222 | -0.00245 | -0.00122 | 0.00352 | 12.202 |
+| 7 | 0.00207 | -0.00337 | 0.00010 | 0.00396 | 12.200 |
+| 8 | 0.00167 | -0.00359 | 0.00001 | 0.00396 | 12.227 |
+| 9 | 0.00006 | -0.00018 | -0.00024 | 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_0723407a-d7b0-4074-8257-47e742277e2a.md b/gap_reports/gap_0723407a-d7b0-4074-8257-47e742277e2a.md
new file mode 100644
index 0000000000000000000000000000000000000000..cf634ee5682ca0606d64c1dba8eff4c7edb0716f
--- /dev/null
+++ b/gap_reports/gap_0723407a-d7b0-4074-8257-47e742277e2a.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0723407a-d7b0-4074-8257-47e742277e2a.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0723407a-d7b0-4074-8257-47e742277e2a.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2524 |
+| Sim rows | 224 |
+| Real episode_id | `0723407a-d7b0-4074-8257-47e742277e2a` |
+| Sim episode_id | `0723407a-d7b0-4074-8257-47e742277e2a` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 17 | 2.863 | 14.45 | 25.03 | 1920.20 | 0.6220 |
+| 1 | descend | 327 | 29 | 0.893 | 6.30 | 10.91 | 3624.68 | 0.7275 |
+| 2 | settle | 377 | 33 | 0.027 | 0.99 | 1.71 | 3624.57 | 0.7022 |
+| 3 | close | 121 | 11 | 0.507 | 3.83 | 6.63 | 3625.20 | 1.0062 |
+| 4 | lift | 332 | 29 | 2.065 | 11.26 | 19.50 | 2098.55 | 1.1284 |
+| 5 | move_xy | 317 | 28 | 5.882 | 34.31 | 59.43 | 2708.70 | 0.9160 |
+| 6 | lower | 406 | 35 | 0.096 | 1.75 | 3.03 | 3624.97 | 1.0369 |
+| 7 | open | 119 | 11 | 0.519 | 3.66 | 6.33 | 3624.67 | 0.7586 |
+| 8 | retract | 329 | 29 | 2.299 | 12.64 | 21.89 | 2234.28 | 0.7587 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.442 |
+| TCP position RMSE (mm, per-axis) | 13.92 |
+| EE position RMS L2 (mm) | 25.02 |
+| TCP rotvec (mrad) | 3093.30 |
+| W1 effort mean (A) | 0.8417 |
+| W1 effort per joint (A) | j0=0.2076, j1=1.5282, j2=1.7166, j3=0.7518, j4=0.3179, j5=0.5283 |
+
+## Phase-end anchor (sim - 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 | -0.00046 | -0.00074 | 0.00127 | 0.025 |
+| 1 | 0.00099 | -0.00076 | -0.00118 | 0.00172 | 0.049 |
+| 2 | 0.00094 | -0.00075 | -0.00122 | 0.00172 | 0.055 |
+| 3 | 0.00149 | -0.00068 | -0.00182 | 0.00245 | 0.140 |
+| 4 | -0.00014 | -0.00068 | -0.00069 | 0.00098 | 0.112 |
+| 5 | 0.00252 | -0.00116 | -0.00168 | 0.00324 | 0.207 |
+| 6 | 0.00193 | -0.00112 | -0.00260 | 0.00343 | 0.192 |
+| 7 | 0.00070 | -0.00049 | -0.00099 | 0.00131 | 0.043 |
+| 8 | -0.00015 | -0.00023 | -0.00023 | 0.00035 | 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_0727e32a-a7d3-4849-8ec6-46bbbb560599.md b/gap_reports/gap_0727e32a-a7d3-4849-8ec6-46bbbb560599.md
new file mode 100644
index 0000000000000000000000000000000000000000..1d28e79c9851036c9bf365499712fc1ee880e772
--- /dev/null
+++ b/gap_reports/gap_0727e32a-a7d3-4849-8ec6-46bbbb560599.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0727e32a-a7d3-4849-8ec6-46bbbb560599.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0727e32a-a7d3-4849-8ec6-46bbbb560599.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2583 |
+| Sim rows | 231 |
+| Real episode_id | `0727e32a-a7d3-4849-8ec6-46bbbb560599` |
+| Sim episode_id | `0727e32a-a7d3-4849-8ec6-46bbbb560599` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 22 | 2.545 | 12.62 | 21.86 | 1923.92 | 0.5585 |
+| 1 | descend | 248 | 22 | 0.845 | 5.50 | 9.52 | 3625.29 | 0.7720 |
+| 2 | settle | 379 | 33 | 0.025 | 0.75 | 1.30 | 3625.24 | 0.6216 |
+| 3 | close | 112 | 11 | 0.580 | 4.00 | 6.92 | 3625.53 | 1.0094 |
+| 4 | lift | 331 | 29 | 2.552 | 12.81 | 22.19 | 2133.62 | 1.1099 |
+| 5 | move_xy | 439 | 38 | 5.161 | 28.89 | 50.04 | 2737.11 | 0.8909 |
+| 6 | lower | 384 | 34 | 0.080 | 1.25 | 2.16 | 3476.59 | 0.9673 |
+| 7 | open | 113 | 11 | 0.559 | 3.66 | 6.35 | 3625.46 | 0.6635 |
+| 8 | retract | 332 | 29 | 2.426 | 12.33 | 21.36 | 2250.98 | 0.7100 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.282 |
+| TCP position RMSE (mm, per-axis) | 12.35 |
+| EE position RMS L2 (mm) | 24.62 |
+| TCP rotvec (mrad) | 3081.71 |
+| W1 effort mean (A) | 0.7974 |
+| W1 effort per joint (A) | j0=0.2030, j1=1.2978, j2=1.5561, j3=0.7882, j4=0.3280, j5=0.6112 |
+
+## Phase-end anchor (sim - 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 | -0.00048 | -0.00080 | 0.00104 | 0.037 |
+| 1 | 0.00040 | -0.00069 | -0.00102 | 0.00129 | 0.049 |
+| 2 | 0.00040 | -0.00071 | -0.00099 | 0.00129 | 0.048 |
+| 3 | 0.00137 | -0.00055 | -0.00133 | 0.00198 | 0.168 |
+| 4 | 0.00029 | -0.00013 | -0.00021 | 0.00038 | 0.104 |
+| 5 | 0.00109 | -0.00091 | -0.00151 | 0.00208 | 0.096 |
+| 6 | 0.00116 | -0.00097 | -0.00166 | 0.00224 | 0.100 |
+| 7 | 0.00020 | -0.00050 | -0.00082 | 0.00099 | 0.039 |
+| 8 | -0.00010 | -0.00014 | -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_0733ceb5-8b90-4369-8103-3756237f4fec.md b/gap_reports/gap_0733ceb5-8b90-4369-8103-3756237f4fec.md
new file mode 100644
index 0000000000000000000000000000000000000000..cbbfec7e0dc64dac2b2ff0016017256b38ea3e79
--- /dev/null
+++ b/gap_reports/gap_0733ceb5-8b90-4369-8103-3756237f4fec.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0733ceb5-8b90-4369-8103-3756237f4fec.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0733ceb5-8b90-4369-8103-3756237f4fec.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2317 |
+| Sim rows | 236 |
+| Real episode_id | `0733ceb5-8b90-4369-8103-3756237f4fec` |
+| Sim episode_id | `0733ceb5-8b90-4369-8103-3756237f4fec` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.222 | 12.25 | 21.21 | 1970.35 | 0.6171 |
+| 1 | descend | 356 | 36 | 0.999 | 6.82 | 11.81 | 3624.68 | 0.7655 |
+| 2 | settle | 321 | 32 | 0.028 | 0.98 | 1.69 | 3624.53 | 0.7235 |
+| 3 | close | 105 | 11 | 0.618 | 4.55 | 7.87 | 3625.03 | 1.0213 |
+| 4 | lift | 297 | 30 | 2.511 | 14.62 | 25.33 | 2379.95 | 1.1795 |
+| 5 | move_xy | 331 | 33 | 5.386 | 32.99 | 57.14 | 2838.76 | 0.9620 |
+| 6 | lower | 332 | 33 | 0.093 | 1.67 | 2.88 | 3548.86 | 1.0922 |
+| 7 | open | 106 | 11 | 0.750 | 5.19 | 8.98 | 3624.67 | 0.7617 |
+| 8 | retract | 293 | 30 | 2.415 | 14.12 | 24.46 | 2358.11 | 0.7405 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.310 |
+| TCP position RMSE (mm, per-axis) | 13.94 |
+| EE position RMS L2 (mm) | 26.23 |
+| TCP rotvec (mrad) | 3132.53 |
+| W1 effort mean (A) | 0.8625 |
+| W1 effort per joint (A) | j0=0.2592, j1=1.5634, j2=1.7188, j3=0.7179, j4=0.3276, j5=0.5881 |
+
+## Phase-end anchor (sim - 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 | -0.00047 | -0.00075 | 0.00118 | 0.030 |
+| 1 | 0.00074 | -0.00088 | -0.00122 | 0.00168 | 0.057 |
+| 2 | 0.00076 | -0.00085 | -0.00123 | 0.00168 | 0.057 |
+| 3 | 0.00233 | -0.00071 | -0.00244 | 0.00345 | 0.238 |
+| 4 | 0.00008 | -0.00028 | -0.00018 | 0.00035 | 0.091 |
+| 5 | 0.00225 | -0.00135 | -0.00215 | 0.00339 | 0.189 |
+| 6 | 0.00175 | -0.00109 | -0.00134 | 0.00246 | 0.121 |
+| 7 | 0.00057 | -0.00053 | -0.00098 | 0.00125 | 0.043 |
+| 8 | -0.00013 | -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_073b83cb-c1d4-42d2-bba6-95b168ad47cd.md b/gap_reports/gap_073b83cb-c1d4-42d2-bba6-95b168ad47cd.md
new file mode 100644
index 0000000000000000000000000000000000000000..4562a2ff4ac26af8c6481fbdeab36d54557ae60f
--- /dev/null
+++ b/gap_reports/gap_073b83cb-c1d4-42d2-bba6-95b168ad47cd.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/073b83cb-c1d4-42d2-bba6-95b168ad47cd.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/073b83cb-c1d4-42d2-bba6-95b168ad47cd.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1861 |
+| Sim rows | 188 |
+| Real episode_id | `073b83cb-c1d4-42d2-bba6-95b168ad47cd` |
+| Sim episode_id | `073b83cb-c1d4-42d2-bba6-95b168ad47cd` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 21 | 3.115 | 17.11 | 29.63 | 533.69 | 0.7405 |
+| 1 | descend | 84 | 9 | 0.457 | 4.10 | 7.10 | 6.60 | 0.8139 |
+| 2 | settle | 37 | 4 | 0.033 | 3.47 | 6.01 | 6.96 | 0.8306 |
+| 3 | close | 368 | 36 | 0.148 | 4.37 | 7.57 | 12.08 | 1.2475 |
+| 4 | lift | 85 | 9 | 0.427 | 4.77 | 8.26 | 11.66 | 1.3969 |
+| 5 | move_xy | 230 | 23 | 10.812 | 27.10 | 46.93 | 305.88 | 1.1836 |
+| 6 | lower | 85 | 9 | 18.747 | 2.98 | 5.17 | 725.26 | 1.1670 |
+| 7 | open | 379 | 38 | 18.736 | 2.50 | 4.34 | 724.21 | 0.8121 |
+| 8 | retract | 82 | 9 | 18.749 | 3.52 | 6.09 | 723.91 | 0.8161 |
+| 9 | return | 305 | 30 | 10.640 | 16.26 | 28.16 | 1213.18 | 0.8314 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 11.376 |
+| TCP position RMSE (mm, per-axis) | 11.79 |
+| EE position RMS L2 (mm) | 22.88 |
+| TCP rotvec (mrad) | 585.24 |
+| W1 effort mean (A) | 0.9617 |
+| W1 effort per joint (A) | j0=0.2497, j1=1.8389, j2=1.5651, j3=0.7474, j4=0.4426, j5=0.9267 |
+
+## Phase-end anchor (sim - 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 | -0.00501 | -0.00148 | 0.00578 | 0.085 |
+| 1 | 0.00275 | -0.00512 | -0.00142 | 0.00598 | 0.062 |
+| 2 | 0.00273 | -0.00515 | -0.00150 | 0.00602 | 0.072 |
+| 3 | 0.00362 | -0.00526 | -0.00431 | 0.00770 | 0.269 |
+| 4 | 0.00316 | -0.00555 | -0.00430 | 0.00770 | 0.254 |
+| 5 | 0.00222 | -0.00338 | -0.00216 | 0.00459 | 45.929 |
+| 6 | 0.00272 | -0.00267 | -0.00193 | 0.00428 | 45.895 |
+| 7 | 0.00211 | -0.00377 | -0.00019 | 0.00433 | 45.891 |
+| 8 | 0.00183 | -0.00390 | -0.00032 | 0.00432 | 45.921 |
+| 9 | -0.00005 | -0.00010 | -0.00020 | 0.00023 | 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_073c5eca-a4c7-425d-a249-58a9d18e9be5.md b/gap_reports/gap_073c5eca-a4c7-425d-a249-58a9d18e9be5.md
new file mode 100644
index 0000000000000000000000000000000000000000..186c6c30bea6ecfec9171d4b359c33b052636669
--- /dev/null
+++ b/gap_reports/gap_073c5eca-a4c7-425d-a249-58a9d18e9be5.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/073c5eca-a4c7-425d-a249-58a9d18e9be5.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/073c5eca-a4c7-425d-a249-58a9d18e9be5.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2779 |
+| Sim rows | 277 |
+| Real episode_id | `073c5eca-a4c7-425d-a249-58a9d18e9be5` |
+| Sim episode_id | `073c5eca-a4c7-425d-a249-58a9d18e9be5` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 51 | 2.372 | 11.43 | 19.80 | 1904.68 | 0.5473 |
+| 1 | descend | 391 | 34 | 0.918 | 5.98 | 10.36 | 3625.30 | 0.6839 |
+| 2 | settle | 363 | 32 | 0.023 | 0.73 | 1.27 | 3625.24 | 0.7208 |
+| 3 | close | 143 | 13 | 0.498 | 3.30 | 5.72 | 3625.57 | 1.0259 |
+| 4 | lift | 368 | 32 | 2.434 | 12.71 | 22.01 | 2204.17 | 1.0838 |
+| 5 | move_xy | 398 | 35 | 5.283 | 29.77 | 51.56 | 2560.63 | 0.8800 |
+| 6 | lower | 381 | 33 | 0.083 | 1.26 | 2.18 | 3331.34 | 0.9604 |
+| 7 | open | 144 | 13 | 0.569 | 3.73 | 6.47 | 3625.46 | 0.6504 |
+| 8 | retract | 370 | 32 | 2.376 | 12.32 | 21.34 | 2213.98 | 0.7041 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.274 |
+| TCP position RMSE (mm, per-axis) | 12.44 |
+| EE position RMS L2 (mm) | 23.59 |
+| TCP rotvec (mrad) | 3048.07 |
+| W1 effort mean (A) | 0.7881 |
+| W1 effort per joint (A) | j0=0.2200, j1=1.3386, j2=1.5658, j3=0.7007, j4=0.3597, j5=0.5440 |
+
+## Phase-end anchor (sim - 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 | -0.00055 | -0.00080 | 0.00103 | 0.039 |
+| 1 | 0.00041 | -0.00071 | -0.00096 | 0.00126 | 0.041 |
+| 2 | 0.00042 | -0.00070 | -0.00097 | 0.00127 | 0.042 |
+| 3 | 0.00115 | -0.00095 | -0.00243 | 0.00285 | 0.221 |
+| 4 | 0.00008 | -0.00046 | -0.00063 | 0.00078 | 0.098 |
+| 5 | 0.00125 | -0.00094 | -0.00108 | 0.00190 | 0.143 |
+| 6 | 0.00106 | -0.00103 | -0.00119 | 0.00189 | 0.107 |
+| 7 | 0.00030 | -0.00052 | -0.00081 | 0.00101 | 0.039 |
+| 8 | -0.00010 | -0.00014 | -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_079de6e7-eb07-48ad-9619-4563109ba46d.md b/gap_reports/gap_079de6e7-eb07-48ad-9619-4563109ba46d.md
new file mode 100644
index 0000000000000000000000000000000000000000..3daf454bfc626c0ed05258676d472fa2813bbc0d
--- /dev/null
+++ b/gap_reports/gap_079de6e7-eb07-48ad-9619-4563109ba46d.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/079de6e7-eb07-48ad-9619-4563109ba46d.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/079de6e7-eb07-48ad-9619-4563109ba46d.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2756 |
+| Sim rows | 244 |
+| Real episode_id | `079de6e7-eb07-48ad-9619-4563109ba46d` |
+| Sim episode_id | `079de6e7-eb07-48ad-9619-4563109ba46d` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 3.054 | 11.81 | 20.45 | 1935.70 | 0.5789 |
+| 1 | descend | 479 | 42 | 0.889 | 5.30 | 9.18 | 3626.09 | 0.6937 |
+| 2 | settle | 370 | 32 | 0.021 | 0.59 | 1.03 | 3625.97 | 0.6880 |
+| 3 | close | 142 | 13 | 1.409 | 8.37 | 14.50 | 2331.72 | 0.9586 |
+| 4 | lift | 319 | 28 | 3.426 | 13.77 | 23.85 | 1671.13 | 1.0888 |
+| 5 | move_xy | 394 | 34 | 7.258 | 32.45 | 56.21 | 2078.05 | 0.8735 |
+| 6 | lower | 389 | 34 | 0.079 | 1.09 | 1.89 | 1455.22 | 0.9846 |
+| 7 | open | 143 | 13 | 1.386 | 8.08 | 14.00 | 3626.24 | 0.6127 |
+| 8 | retract | 320 | 28 | 3.199 | 12.92 | 22.37 | 2372.51 | 0.7087 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.139 |
+| TCP position RMSE (mm, per-axis) | 13.80 |
+| EE position RMS L2 (mm) | 25.34 |
+| TCP rotvec (mrad) | 2655.96 |
+| W1 effort mean (A) | 0.7773 |
+| W1 effort per joint (A) | j0=0.2623, j1=1.1998, j2=1.5701, j3=0.6965, j4=0.3320, j5=0.6032 |
+
+## Phase-end anchor (sim - 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 | -0.00018 | -0.00048 | 0.00063 | 0.037 |
+| 1 | 0.00037 | -0.00054 | -0.00076 | 0.00100 | 0.035 |
+| 2 | 0.00042 | -0.00056 | -0.00073 | 0.00101 | 0.035 |
+| 3 | 0.00079 | -0.00025 | -0.00101 | 0.00131 | 0.096 |
+| 4 | 0.00029 | -0.00016 | -0.00026 | 0.00042 | 0.104 |
+| 5 | 0.00099 | -0.00088 | -0.00147 | 0.00198 | 0.123 |
+| 6 | 0.00101 | -0.00083 | -0.00141 | 0.00192 | 0.110 |
+| 7 | 0.00016 | -0.00030 | -0.00050 | 0.00060 | 0.030 |
+| 8 | -0.00007 | -0.00010 | -0.00013 | 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_07ac79e9-7a42-4ee3-ba1b-39dec7d3afd3.md b/gap_reports/gap_07ac79e9-7a42-4ee3-ba1b-39dec7d3afd3.md
new file mode 100644
index 0000000000000000000000000000000000000000..20d77b25271076d0feb93c9e17abb31d0dd99ead
--- /dev/null
+++ b/gap_reports/gap_07ac79e9-7a42-4ee3-ba1b-39dec7d3afd3.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/07ac79e9-7a42-4ee3-ba1b-39dec7d3afd3.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/07ac79e9-7a42-4ee3-ba1b-39dec7d3afd3.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2509 |
+| Sim rows | 254 |
+| Real episode_id | `07ac79e9-7a42-4ee3-ba1b-39dec7d3afd3` |
+| Sim episode_id | `07ac79e9-7a42-4ee3-ba1b-39dec7d3afd3` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 19 | 2.372 | 11.55 | 20.01 | 1960.04 | 0.5660 |
+| 1 | descend | 303 | 31 | 0.577 | 3.81 | 6.60 | 3625.32 | 0.7543 |
+| 2 | settle | 318 | 32 | 0.022 | 0.74 | 1.29 | 3625.20 | 0.6721 |
+| 3 | close | 143 | 15 | 0.754 | 4.92 | 8.52 | 3532.48 | 0.9843 |
+| 4 | lift | 350 | 35 | 2.478 | 12.20 | 21.14 | 2301.43 | 1.1099 |
+| 5 | move_xy | 364 | 36 | 5.167 | 28.46 | 49.29 | 2767.78 | 0.8988 |
+| 6 | lower | 346 | 34 | 0.086 | 1.33 | 2.30 | 3625.81 | 0.9635 |
+| 7 | open | 143 | 15 | 0.735 | 4.71 | 8.17 | 3625.39 | 0.6999 |
+| 8 | retract | 347 | 35 | 2.563 | 12.75 | 22.08 | 2286.24 | 0.7119 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.273 |
+| TCP position RMSE (mm, per-axis) | 12.10 |
+| EE position RMS L2 (mm) | 22.97 |
+| TCP rotvec (mrad) | 3110.54 |
+| W1 effort mean (A) | 0.8070 |
+| W1 effort per joint (A) | j0=0.2311, j1=1.3541, j2=1.5917, j3=0.7725, j4=0.2882, j5=0.6043 |
+
+## Phase-end anchor (sim - 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 | -0.00077 | 0.00098 | 0.037 |
+| 1 | 0.00040 | -0.00069 | -0.00103 | 0.00130 | 0.044 |
+| 2 | 0.00041 | -0.00071 | -0.00100 | 0.00129 | 0.043 |
+| 3 | 0.00099 | -0.00041 | -0.00038 | 0.00114 | 0.113 |
+| 4 | -0.00015 | -0.00067 | -0.00066 | 0.00096 | 0.111 |
+| 5 | 0.00129 | -0.00107 | -0.00171 | 0.00239 | 0.137 |
+| 6 | 0.00155 | -0.00088 | -0.00097 | 0.00203 | 0.169 |
+| 7 | 0.00030 | -0.00045 | -0.00081 | 0.00098 | 0.041 |
+| 8 | -0.00008 | -0.00012 | -0.00015 | 0.00020 | 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_07e6aeb7-79c0-4abd-bfd8-f63980ef9c90.md b/gap_reports/gap_07e6aeb7-79c0-4abd-bfd8-f63980ef9c90.md
new file mode 100644
index 0000000000000000000000000000000000000000..756a9216710ad2a97ed79ef59b974f6db720c551
--- /dev/null
+++ b/gap_reports/gap_07e6aeb7-79c0-4abd-bfd8-f63980ef9c90.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/07e6aeb7-79c0-4abd-bfd8-f63980ef9c90.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/07e6aeb7-79c0-4abd-bfd8-f63980ef9c90.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2472 |
+| Sim rows | 221 |
+| Real episode_id | `07e6aeb7-79c0-4abd-bfd8-f63980ef9c90` |
+| Sim episode_id | `07e6aeb7-79c0-4abd-bfd8-f63980ef9c90` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.287 | 10.66 | 18.46 | 1925.41 | 0.5719 |
+| 1 | descend | 318 | 28 | 0.709 | 4.58 | 7.93 | 3625.34 | 0.9474 |
+| 2 | settle | 361 | 32 | 0.024 | 0.75 | 1.29 | 3625.22 | 0.9962 |
+| 3 | close | 119 | 11 | 0.860 | 5.52 | 9.56 | 3109.73 | 1.1739 |
+| 4 | lift | 308 | 27 | 2.013 | 9.80 | 16.98 | 2089.04 | 1.2385 |
+| 5 | move_xy | 365 | 32 | 4.496 | 24.70 | 42.78 | 2660.67 | 1.0318 |
+| 6 | lower | 380 | 33 | 0.089 | 1.37 | 2.37 | 3549.50 | 1.4060 |
+| 7 | open | 119 | 11 | 0.846 | 5.36 | 9.28 | 3625.50 | 0.8040 |
+| 8 | retract | 307 | 27 | 2.100 | 10.43 | 18.07 | 2209.23 | 0.8521 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.996 |
+| TCP position RMSE (mm, per-axis) | 10.60 |
+| EE position RMS L2 (mm) | 19.78 |
+| TCP rotvec (mrad) | 3013.49 |
+| W1 effort mean (A) | 1.0249 |
+| W1 effort per joint (A) | j0=0.6425, j1=1.2957, j2=1.8127, j3=1.0748, j4=0.7218, j5=0.6020 |
+
+## Phase-end anchor (sim - 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 | -0.00040 | -0.00075 | 0.00093 | 0.041 |
+| 1 | 0.00037 | -0.00070 | -0.00097 | 0.00125 | 0.042 |
+| 2 | 0.00041 | -0.00071 | -0.00099 | 0.00129 | 0.047 |
+| 3 | 0.00099 | -0.00062 | -0.00142 | 0.00184 | 0.109 |
+| 4 | 0.00034 | -0.00005 | -0.00007 | 0.00035 | 0.078 |
+| 5 | 0.00189 | -0.00097 | -0.00096 | 0.00233 | 0.191 |
+| 6 | 0.00092 | -0.00109 | -0.00234 | 0.00274 | 0.187 |
+| 7 | 0.00022 | -0.00045 | -0.00076 | 0.00091 | 0.043 |
+| 8 | -0.00011 | -0.00016 | -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_07fb111e-cb88-4562-b38b-52d6f81256f1.md b/gap_reports/gap_07fb111e-cb88-4562-b38b-52d6f81256f1.md
new file mode 100644
index 0000000000000000000000000000000000000000..b4410bdd082a0656cc6e939143b3a482fedfed1a
--- /dev/null
+++ b/gap_reports/gap_07fb111e-cb88-4562-b38b-52d6f81256f1.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/07fb111e-cb88-4562-b38b-52d6f81256f1.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/07fb111e-cb88-4562-b38b-52d6f81256f1.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 478 |
+| Sim rows | 64 |
+| Real episode_id | `07fb111e-cb88-4562-b38b-52d6f81256f1` |
+| Sim episode_id | `07fb111e-cb88-4562-b38b-52d6f81256f1` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 27 | 2.763 | 13.78 | 23.87 | 4.73 | 0.7777 |
+| 1 | descend | 209 | 21 | 0.029 | 0.45 | 0.77 | 2.17 | 0.7160 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.954 |
+| TCP position RMSE (mm, per-axis) | 9.75 |
+| EE position RMS L2 (mm) | 17.91 |
+| TCP rotvec (mrad) | 3.68 |
+| W1 effort mean (A) | 0.7506 |
+| W1 effort per joint (A) | j0=0.1416, j1=1.6154, j2=1.5894, j3=0.9086, j4=0.1203, j5=0.1285 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00004 | 0.00001 | 0.00088 | 0.00088 | 0.060 |
+| 1 | 0.00001 | -0.00031 | 0.00066 | 0.00073 | 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_081a16b0-ddc3-4a5d-8d24-84957a5b15d6.md b/gap_reports/gap_081a16b0-ddc3-4a5d-8d24-84957a5b15d6.md
new file mode 100644
index 0000000000000000000000000000000000000000..c29a8225c1908eb43996273ed14f58093dcd5eb3
--- /dev/null
+++ b/gap_reports/gap_081a16b0-ddc3-4a5d-8d24-84957a5b15d6.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/081a16b0-ddc3-4a5d-8d24-84957a5b15d6.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/081a16b0-ddc3-4a5d-8d24-84957a5b15d6.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1627 |
+| Sim rows | 164 |
+| Real episode_id | `081a16b0-ddc3-4a5d-8d24-84957a5b15d6` |
+| Sim episode_id | `081a16b0-ddc3-4a5d-8d24-84957a5b15d6` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.855 | 10.33 | 17.89 | 385.13 | 0.6555 |
+| 1 | descend | 76 | 8 | 0.571 | 2.92 | 5.05 | 3.79 | 0.5586 |
+| 2 | settle | 43 | 5 | 0.017 | 2.11 | 3.65 | 4.46 | 0.5421 |
+| 3 | close | 381 | 37 | 0.159 | 1.72 | 2.98 | 5.72 | 0.9658 |
+| 4 | lift | 76 | 8 | 0.814 | 3.34 | 5.79 | 5.48 | 1.0874 |
+| 5 | move_xy | 155 | 16 | 3.707 | 23.56 | 40.80 | 141.68 | 1.1982 |
+| 6 | lower | 78 | 8 | 0.646 | 3.92 | 6.79 | 10.46 | 1.2252 |
+| 7 | open | 376 | 37 | 0.029 | 2.94 | 5.10 | 6.11 | 0.6768 |
+| 8 | retract | 75 | 8 | 0.563 | 3.90 | 6.75 | 5.54 | 0.7761 |
+| 9 | return | 205 | 20 | 2.063 | 13.68 | 23.69 | 1178.44 | 0.7411 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.670 |
+| TCP position RMSE (mm, per-axis) | 9.57 |
+| EE position RMS L2 (mm) | 16.63 |
+| TCP rotvec (mrad) | 394.64 |
+| W1 effort mean (A) | 0.8136 |
+| W1 effort per joint (A) | j0=0.0968, j1=1.4895, j2=1.5546, j3=0.7849, j4=0.5858, j5=0.3703 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00124 | -0.00313 | 0.00017 | 0.00337 | 0.037 |
+| 1 | 0.00190 | -0.00309 | 0.00025 | 0.00363 | 0.063 |
+| 2 | 0.00187 | -0.00313 | 0.00012 | 0.00365 | 0.025 |
+| 3 | 0.00051 | -0.00293 | -0.00026 | 0.00298 | 0.255 |
+| 4 | 0.00004 | -0.00308 | -0.00053 | 0.00312 | 0.284 |
+| 5 | 0.00170 | -0.00292 | -0.00207 | 0.00397 | 0.252 |
+| 6 | 0.00196 | -0.00268 | -0.00230 | 0.00404 | 0.383 |
+| 7 | 0.00261 | -0.00424 | -0.00107 | 0.00509 | 0.061 |
+| 8 | 0.00218 | -0.00424 | -0.00127 | 0.00493 | 0.074 |
+| 9 | -0.00009 | -0.00018 | -0.00026 | 0.00033 | 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_081c7bb1-3b90-4e28-9aa2-d7ac00e66381.md b/gap_reports/gap_081c7bb1-3b90-4e28-9aa2-d7ac00e66381.md
new file mode 100644
index 0000000000000000000000000000000000000000..d79a64bb23b1f29e431b5e34a5c58c435bc3cb5c
--- /dev/null
+++ b/gap_reports/gap_081c7bb1-3b90-4e28-9aa2-d7ac00e66381.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/081c7bb1-3b90-4e28-9aa2-d7ac00e66381.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/081c7bb1-3b90-4e28-9aa2-d7ac00e66381.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1516 |
+| Sim rows | 155 |
+| Real episode_id | `081c7bb1-3b90-4e28-9aa2-d7ac00e66381` |
+| Sim episode_id | `081c7bb1-3b90-4e28-9aa2-d7ac00e66381` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 20 | 1.887 | 12.19 | 21.11 | 397.92 | 0.7355 |
+| 1 | descend | 103 | 11 | 0.826 | 4.97 | 8.61 | 6.13 | 0.7291 |
+| 2 | settle | 31 | 4 | 0.027 | 3.23 | 5.59 | 6.55 | 0.7994 |
+| 3 | close | 291 | 29 | 0.151 | 3.94 | 6.82 | 2880.66 | 1.3251 |
+| 4 | lift | 126 | 13 | 1.152 | 6.96 | 12.06 | 2631.43 | 1.4111 |
+| 5 | move_xy | 204 | 20 | 4.006 | 14.59 | 25.28 | 80.13 | 1.1313 |
+| 6 | lower | 94 | 10 | 6.461 | 3.70 | 6.41 | 253.29 | 0.9608 |
+| 7 | open | 83 | 9 | 6.421 | 2.69 | 4.66 | 252.66 | 0.5993 |
+| 8 | retract | 94 | 10 | 6.466 | 3.82 | 6.62 | 252.12 | 0.6746 |
+| 9 | return | 290 | 29 | 4.507 | 11.18 | 19.37 | 1111.67 | 0.7385 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 4.083 |
+| TCP position RMSE (mm, per-axis) | 7.88 |
+| EE position RMS L2 (mm) | 15.80 |
+| TCP rotvec (mrad) | 1296.72 |
+| W1 effort mean (A) | 0.9431 |
+| W1 effort per joint (A) | j0=0.2319, j1=1.6802, j2=1.6274, j3=0.8599, j4=0.5599, j5=0.6991 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00189 | -0.00472 | -0.00110 | 0.00520 | 0.046 |
+| 1 | 0.00230 | -0.00495 | -0.00128 | 0.00561 | 0.045 |
+| 2 | 0.00227 | -0.00491 | -0.00138 | 0.00559 | 0.059 |
+| 3 | 0.00307 | -0.00473 | -0.00399 | 0.00691 | 0.245 |
+| 4 | 0.00222 | -0.00474 | -0.00397 | 0.00657 | 0.270 |
+| 5 | 0.00222 | -0.00382 | -0.00144 | 0.00465 | 15.735 |
+| 6 | 0.00302 | -0.00369 | -0.00147 | 0.00498 | 15.727 |
+| 7 | 0.00201 | -0.00419 | -0.00015 | 0.00465 | 15.730 |
+| 8 | 0.00157 | -0.00412 | -0.00022 | 0.00441 | 15.729 |
+| 9 | -0.00011 | -0.00007 | -0.00020 | 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_08206409-9aa5-4eee-94c7-1a2b637f89ab.md b/gap_reports/gap_08206409-9aa5-4eee-94c7-1a2b637f89ab.md
new file mode 100644
index 0000000000000000000000000000000000000000..bbb7adfc547bf65fc4ddf1a5baf17a033c37ea54
--- /dev/null
+++ b/gap_reports/gap_08206409-9aa5-4eee-94c7-1a2b637f89ab.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/08206409-9aa5-4eee-94c7-1a2b637f89ab.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/08206409-9aa5-4eee-94c7-1a2b637f89ab.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2887 |
+| Sim rows | 257 |
+| Real episode_id | `08206409-9aa5-4eee-94c7-1a2b637f89ab` |
+| Sim episode_id | `08206409-9aa5-4eee-94c7-1a2b637f89ab` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 3.337 | 13.02 | 22.55 | 1971.17 | 0.5648 |
+| 1 | descend | 343 | 30 | 1.427 | 8.45 | 14.63 | 3626.12 | 0.6907 |
+| 2 | settle | 428 | 37 | 0.020 | 0.59 | 1.02 | 3625.90 | 0.6466 |
+| 3 | close | 150 | 14 | 1.259 | 7.39 | 12.81 | 1530.64 | 0.9051 |
+| 4 | lift | 336 | 30 | 3.463 | 13.95 | 24.17 | 1942.58 | 1.0603 |
+| 5 | move_xy | 470 | 41 | 7.050 | 31.78 | 55.05 | 2211.40 | 0.9103 |
+| 6 | lower | 425 | 37 | 0.079 | 1.10 | 1.91 | 1707.42 | 0.9707 |
+| 7 | open | 152 | 14 | 1.159 | 6.58 | 11.40 | 3626.10 | 0.6538 |
+| 8 | retract | 336 | 30 | 3.247 | 13.12 | 22.72 | 2446.80 | 0.6919 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.133 |
+| TCP position RMSE (mm, per-axis) | 13.81 |
+| EE position RMS L2 (mm) | 26.58 |
+| TCP rotvec (mrad) | 2650.76 |
+| W1 effort mean (A) | 0.7821 |
+| W1 effort per joint (A) | j0=0.2117, j1=1.1880, j2=1.5983, j3=0.7750, j4=0.2917, j5=0.6278 |
+
+## Phase-end anchor (sim - 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 | -0.00051 | 0.00067 | 0.039 |
+| 1 | 0.00041 | -0.00055 | -0.00079 | 0.00105 | 0.040 |
+| 2 | 0.00039 | -0.00056 | -0.00073 | 0.00100 | 0.035 |
+| 3 | 0.00055 | -0.00043 | -0.00028 | 0.00075 | 0.097 |
+| 4 | 0.00048 | 0.00017 | -0.00023 | 0.00056 | 0.103 |
+| 5 | 0.00153 | -0.00073 | -0.00021 | 0.00170 | 0.165 |
+| 6 | 0.00131 | -0.00081 | -0.00209 | 0.00260 | 0.155 |
+| 7 | 0.00021 | -0.00030 | -0.00050 | 0.00062 | 0.033 |
+| 8 | -0.00006 | -0.00009 | -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_08521a2b-abd0-4d75-9531-e3def2c6eb81.md b/gap_reports/gap_08521a2b-abd0-4d75-9531-e3def2c6eb81.md
new file mode 100644
index 0000000000000000000000000000000000000000..eb527f4d2a3de83ef0a8cbbe8a2d00d12fc78f43
--- /dev/null
+++ b/gap_reports/gap_08521a2b-abd0-4d75-9531-e3def2c6eb81.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/08521a2b-abd0-4d75-9531-e3def2c6eb81.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/08521a2b-abd0-4d75-9531-e3def2c6eb81.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2540 |
+| Sim rows | 228 |
+| Real episode_id | `08521a2b-abd0-4d75-9531-e3def2c6eb81` |
+| Sim episode_id | `08521a2b-abd0-4d75-9531-e3def2c6eb81` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.191 | 8.31 | 14.39 | 1986.06 | 0.5631 |
+| 1 | descend | 292 | 26 | 1.171 | 6.80 | 11.77 | 3626.02 | 0.7595 |
+| 2 | settle | 382 | 33 | 0.022 | 0.58 | 1.00 | 3625.97 | 0.6627 |
+| 3 | close | 183 | 17 | 0.904 | 5.19 | 9.00 | 1043.57 | 0.8897 |
+| 4 | lift | 268 | 24 | 2.724 | 11.06 | 19.16 | 2079.72 | 1.0688 |
+| 5 | move_xy | 377 | 33 | 5.341 | 24.88 | 43.10 | 1871.73 | 0.8822 |
+| 6 | lower | 399 | 35 | 0.081 | 1.05 | 1.82 | 1863.13 | 1.0123 |
+| 7 | open | 181 | 17 | 0.879 | 5.07 | 8.77 | 3626.15 | 0.6143 |
+| 8 | retract | 268 | 24 | 2.482 | 10.18 | 17.64 | 2333.54 | 0.6955 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.354 |
+| TCP position RMSE (mm, per-axis) | 10.62 |
+| EE position RMS L2 (mm) | 19.77 |
+| TCP rotvec (mrad) | 2608.18 |
+| W1 effort mean (A) | 0.7904 |
+| W1 effort per joint (A) | j0=0.2154, j1=1.1737, j2=1.6013, j3=0.8002, j4=0.3602, j5=0.5916 |
+
+## Phase-end anchor (sim - 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 | -0.00035 | -0.00051 | 0.00063 | 0.034 |
+| 1 | 0.00013 | -0.00058 | -0.00077 | 0.00097 | 0.037 |
+| 2 | 0.00019 | -0.00058 | -0.00076 | 0.00098 | 0.035 |
+| 3 | 0.00054 | -0.00036 | -0.00022 | 0.00069 | 0.099 |
+| 4 | 0.00063 | -0.00003 | -0.00036 | 0.00073 | 0.137 |
+| 5 | 0.00070 | -0.00079 | -0.00063 | 0.00123 | 0.108 |
+| 6 | 0.00094 | -0.00074 | -0.00046 | 0.00128 | 0.117 |
+| 7 | -0.00000 | -0.00037 | -0.00057 | 0.00068 | 0.038 |
+| 8 | -0.00006 | -0.00010 | -0.00013 | 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_085b8a6d-94ad-4194-8839-e48cbbcc59e9.md b/gap_reports/gap_085b8a6d-94ad-4194-8839-e48cbbcc59e9.md
new file mode 100644
index 0000000000000000000000000000000000000000..33629eb27ae73ec876e263795a6ee94b73356e51
--- /dev/null
+++ b/gap_reports/gap_085b8a6d-94ad-4194-8839-e48cbbcc59e9.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/085b8a6d-94ad-4194-8839-e48cbbcc59e9.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/085b8a6d-94ad-4194-8839-e48cbbcc59e9.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2462 |
+| Sim rows | 222 |
+| Real episode_id | `085b8a6d-94ad-4194-8839-e48cbbcc59e9` |
+| Sim episode_id | `085b8a6d-94ad-4194-8839-e48cbbcc59e9` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.060 | 7.78 | 13.48 | 1965.35 | 0.5587 |
+| 1 | descend | 315 | 28 | 1.036 | 6.01 | 10.42 | 3626.09 | 0.7069 |
+| 2 | settle | 398 | 35 | 0.020 | 0.56 | 0.98 | 3625.89 | 0.6480 |
+| 3 | close | 118 | 11 | 0.897 | 5.22 | 9.04 | 1631.35 | 0.9158 |
+| 4 | lift | 270 | 24 | 2.428 | 10.02 | 17.36 | 1929.03 | 1.0335 |
+| 5 | move_xy | 357 | 32 | 5.458 | 25.85 | 44.78 | 2086.25 | 0.8958 |
+| 6 | lower | 438 | 39 | 0.078 | 1.02 | 1.76 | 1700.45 | 1.0288 |
+| 7 | open | 118 | 11 | 0.932 | 5.41 | 9.38 | 3626.02 | 0.6357 |
+| 8 | retract | 271 | 24 | 2.391 | 9.80 | 16.97 | 2299.60 | 0.6801 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.319 |
+| TCP position RMSE (mm, per-axis) | 10.64 |
+| EE position RMS L2 (mm) | 19.78 |
+| TCP rotvec (mrad) | 2629.34 |
+| W1 effort mean (A) | 0.7880 |
+| W1 effort per joint (A) | j0=0.2004, j1=1.1854, j2=1.6466, j3=0.8240, j4=0.2433, j5=0.6283 |
+
+## Phase-end anchor (sim - 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 | -0.00034 | -0.00048 | 0.00060 | 0.030 |
+| 1 | 0.00015 | -0.00058 | -0.00074 | 0.00095 | 0.033 |
+| 2 | 0.00015 | -0.00057 | -0.00078 | 0.00098 | 0.035 |
+| 3 | 0.00055 | -0.00040 | -0.00023 | 0.00072 | 0.089 |
+| 4 | 0.00033 | -0.00024 | -0.00047 | 0.00062 | 0.097 |
+| 5 | 0.00098 | -0.00077 | -0.00080 | 0.00148 | 0.140 |
+| 6 | 0.00114 | -0.00098 | -0.00136 | 0.00203 | 0.164 |
+| 7 | -0.00011 | -0.00036 | -0.00054 | 0.00066 | 0.038 |
+| 8 | -0.00008 | -0.00012 | -0.00015 | 0.00021 | 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_08c773e2-b22c-4dcb-9407-089395e30ecf.md b/gap_reports/gap_08c773e2-b22c-4dcb-9407-089395e30ecf.md
new file mode 100644
index 0000000000000000000000000000000000000000..4f7ee4a46f3c490f5827024a51d14cfd42bf3e79
--- /dev/null
+++ b/gap_reports/gap_08c773e2-b22c-4dcb-9407-089395e30ecf.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/08c773e2-b22c-4dcb-9407-089395e30ecf.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/08c773e2-b22c-4dcb-9407-089395e30ecf.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2596 |
+| Sim rows | 231 |
+| Real episode_id | `08c773e2-b22c-4dcb-9407-089395e30ecf` |
+| Sim episode_id | `08c773e2-b22c-4dcb-9407-089395e30ecf` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 159 | 14 | 2.326 | 9.59 | 16.60 | 1950.28 | 0.5754 |
+| 1 | descend | 390 | 34 | 1.614 | 9.53 | 16.51 | 3626.00 | 0.7939 |
+| 2 | settle | 352 | 31 | 0.023 | 0.57 | 0.98 | 3615.68 | 0.7534 |
+| 3 | close | 128 | 12 | 1.020 | 5.82 | 10.08 | 1256.98 | 0.9172 |
+| 4 | lift | 368 | 32 | 2.677 | 10.90 | 18.88 | 1982.21 | 1.0514 |
+| 5 | move_xy | 308 | 27 | 5.671 | 26.10 | 45.21 | 2405.05 | 0.9056 |
+| 6 | lower | 397 | 35 | 0.075 | 0.98 | 1.70 | 1681.71 | 1.0165 |
+| 7 | open | 127 | 12 | 0.982 | 5.65 | 9.79 | 3626.16 | 0.6124 |
+| 8 | retract | 367 | 32 | 2.608 | 10.75 | 18.61 | 2302.62 | 0.6880 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.498 |
+| TCP position RMSE (mm, per-axis) | 11.38 |
+| EE position RMS L2 (mm) | 20.25 |
+| TCP rotvec (mrad) | 2637.28 |
+| W1 effort mean (A) | 0.8223 |
+| W1 effort per joint (A) | j0=0.3005, j1=1.1874, j2=1.6130, j3=0.7523, j4=0.4767, j5=0.6040 |
+
+## Phase-end anchor (sim - 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 | -0.00035 | -0.00043 | 0.00056 | 0.034 |
+| 1 | 0.00014 | -0.00059 | -0.00078 | 0.00099 | 0.037 |
+| 2 | 0.00017 | -0.00060 | -0.00076 | 0.00098 | 0.033 |
+| 3 | 0.00041 | -0.00045 | -0.00085 | 0.00105 | 0.107 |
+| 4 | 0.00018 | -0.00015 | -0.00013 | 0.00027 | 0.093 |
+| 5 | 0.00104 | -0.00081 | -0.00153 | 0.00202 | 0.131 |
+| 6 | 0.00132 | -0.00089 | -0.00145 | 0.00215 | 0.175 |
+| 7 | -0.00010 | -0.00037 | -0.00054 | 0.00066 | 0.037 |
+| 8 | -0.00007 | -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_08cf2416-3eaf-471a-8c19-c704c0224675.md b/gap_reports/gap_08cf2416-3eaf-471a-8c19-c704c0224675.md
new file mode 100644
index 0000000000000000000000000000000000000000..21f7d8481631d4a68e610713947447e99f0d19ea
--- /dev/null
+++ b/gap_reports/gap_08cf2416-3eaf-471a-8c19-c704c0224675.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/08cf2416-3eaf-471a-8c19-c704c0224675.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/08cf2416-3eaf-471a-8c19-c704c0224675.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2885 |
+| Sim rows | 286 |
+| Real episode_id | `08cf2416-3eaf-471a-8c19-c704c0224675` |
+| Sim episode_id | `08cf2416-3eaf-471a-8c19-c704c0224675` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 225 | 22 | 3.848 | 18.54 | 32.11 | 1963.26 | 0.6348 |
+| 1 | descend | 475 | 46 | 0.725 | 5.26 | 9.11 | 3624.74 | 0.8285 |
+| 2 | settle | 334 | 33 | 0.027 | 1.02 | 1.77 | 3624.57 | 0.7087 |
+| 3 | close | 139 | 14 | 0.947 | 6.42 | 11.12 | 3625.01 | 1.0089 |
+| 4 | lift | 405 | 40 | 3.617 | 18.82 | 32.59 | 2522.22 | 1.1174 |
+| 5 | move_xy | 406 | 40 | 8.785 | 47.94 | 83.03 | 2838.87 | 0.9357 |
+| 6 | lower | 353 | 35 | 0.091 | 1.75 | 3.03 | 3625.05 | 1.0309 |
+| 7 | open | 140 | 14 | 1.112 | 7.58 | 13.13 | 3624.74 | 0.7497 |
+| 8 | retract | 408 | 40 | 3.386 | 17.78 | 30.79 | 2473.72 | 0.7575 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.639 |
+| TCP position RMSE (mm, per-axis) | 19.56 |
+| EE position RMS L2 (mm) | 36.92 |
+| TCP rotvec (mrad) | 3163.88 |
+| W1 effort mean (A) | 0.8504 |
+| W1 effort per joint (A) | j0=0.2527, j1=1.5761, j2=1.6267, j3=0.7516, j4=0.2827, j5=0.6126 |
+
+## Phase-end anchor (sim - 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 | -0.00020 | -0.00074 | 0.00132 | 0.025 |
+| 1 | 0.00109 | -0.00064 | -0.00119 | 0.00174 | 0.058 |
+| 2 | 0.00112 | -0.00064 | -0.00119 | 0.00175 | 0.056 |
+| 3 | 0.00187 | -0.00017 | -0.00248 | 0.00311 | 0.232 |
+| 4 | 0.00013 | -0.00016 | -0.00009 | 0.00022 | 0.084 |
+| 5 | 0.00278 | -0.00098 | -0.00219 | 0.00368 | 0.204 |
+| 6 | 0.00211 | -0.00086 | -0.00122 | 0.00258 | 0.114 |
+| 7 | 0.00088 | -0.00023 | -0.00099 | 0.00134 | 0.062 |
+| 8 | -0.00007 | -0.00011 | -0.00013 | 0.00019 | 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_08e0b8ad-276a-42af-aba6-d11aad87cbff.md b/gap_reports/gap_08e0b8ad-276a-42af-aba6-d11aad87cbff.md
new file mode 100644
index 0000000000000000000000000000000000000000..f6863ed6610e15f8eafc085b6f94be69097e00b1
--- /dev/null
+++ b/gap_reports/gap_08e0b8ad-276a-42af-aba6-d11aad87cbff.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/08e0b8ad-276a-42af-aba6-d11aad87cbff.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/08e0b8ad-276a-42af-aba6-d11aad87cbff.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2703 |
+| Sim rows | 241 |
+| Real episode_id | `08e0b8ad-276a-42af-aba6-d11aad87cbff` |
+| Sim episode_id | `08e0b8ad-276a-42af-aba6-d11aad87cbff` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 17 | 2.397 | 12.61 | 21.85 | 1976.49 | 0.6189 |
+| 1 | descend | 382 | 33 | 1.011 | 6.97 | 12.08 | 3624.67 | 0.8088 |
+| 2 | settle | 391 | 34 | 0.027 | 0.97 | 1.69 | 3624.53 | 0.7932 |
+| 3 | close | 157 | 14 | 0.672 | 4.74 | 8.21 | 3625.25 | 1.0365 |
+| 4 | lift | 350 | 31 | 2.447 | 14.36 | 24.87 | 2317.14 | 1.1240 |
+| 5 | move_xy | 352 | 31 | 5.784 | 35.50 | 61.48 | 2885.04 | 0.9392 |
+| 6 | lower | 386 | 34 | 0.094 | 1.70 | 2.95 | 3624.80 | 1.1384 |
+| 7 | open | 153 | 14 | 0.905 | 6.20 | 10.74 | 3624.70 | 0.7525 |
+| 8 | retract | 347 | 31 | 2.472 | 14.56 | 25.22 | 2302.42 | 0.7422 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.440 |
+| TCP position RMSE (mm, per-axis) | 14.72 |
+| EE position RMS L2 (mm) | 26.82 |
+| TCP rotvec (mrad) | 3137.51 |
+| W1 effort mean (A) | 0.8746 |
+| W1 effort per joint (A) | j0=0.2312, j1=1.6229, j2=1.7210, j3=0.7762, j4=0.2996, j5=0.5966 |
+
+## Phase-end anchor (sim - 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 | -0.00049 | -0.00071 | 0.00117 | 0.031 |
+| 1 | 0.00074 | -0.00087 | -0.00122 | 0.00167 | 0.056 |
+| 2 | 0.00077 | -0.00088 | -0.00125 | 0.00171 | 0.058 |
+| 3 | 0.00149 | -0.00065 | -0.00127 | 0.00207 | 0.098 |
+| 4 | 0.00012 | -0.00039 | -0.00045 | 0.00061 | 0.099 |
+| 5 | 0.00154 | -0.00118 | -0.00203 | 0.00280 | 0.116 |
+| 6 | 0.00215 | -0.00104 | -0.00124 | 0.00269 | 0.193 |
+| 7 | 0.00063 | -0.00055 | -0.00101 | 0.00131 | 0.044 |
+| 8 | -0.00012 | -0.00018 | -0.00016 | 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_08e71191-42d1-4243-bc5e-97068a3a60ea.md b/gap_reports/gap_08e71191-42d1-4243-bc5e-97068a3a60ea.md
new file mode 100644
index 0000000000000000000000000000000000000000..7adeea4fa0e83338fec13f6fb2cac37d03a4c9c8
--- /dev/null
+++ b/gap_reports/gap_08e71191-42d1-4243-bc5e-97068a3a60ea.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/08e71191-42d1-4243-bc5e-97068a3a60ea.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/08e71191-42d1-4243-bc5e-97068a3a60ea.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2517 |
+| Sim rows | 223 |
+| Real episode_id | `08e71191-42d1-4243-bc5e-97068a3a60ea` |
+| Sim episode_id | `08e71191-42d1-4243-bc5e-97068a3a60ea` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.371 | 12.44 | 21.54 | 1881.56 | 0.6281 |
+| 1 | descend | 328 | 29 | 0.898 | 6.33 | 10.96 | 3624.68 | 0.8365 |
+| 2 | settle | 370 | 32 | 0.027 | 0.97 | 1.69 | 3624.54 | 0.7113 |
+| 3 | close | 119 | 11 | 0.555 | 4.12 | 7.14 | 3625.12 | 1.0627 |
+| 4 | lift | 332 | 29 | 1.790 | 9.75 | 16.89 | 2242.28 | 1.1589 |
+| 5 | move_xy | 316 | 28 | 6.385 | 37.35 | 64.69 | 2705.33 | 0.9286 |
+| 6 | lower | 405 | 35 | 0.088 | 1.65 | 2.86 | 3625.19 | 1.0054 |
+| 7 | open | 121 | 11 | 0.502 | 3.59 | 6.22 | 3624.69 | 0.7432 |
+| 8 | retract | 333 | 29 | 2.195 | 12.07 | 20.91 | 2247.28 | 0.7528 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.490 |
+| TCP position RMSE (mm, per-axis) | 14.39 |
+| EE position RMS L2 (mm) | 26.04 |
+| TCP rotvec (mrad) | 3102.59 |
+| W1 effort mean (A) | 0.8571 |
+| W1 effort per joint (A) | j0=0.2364, j1=1.5364, j2=1.7050, j3=0.7709, j4=0.3235, j5=0.5705 |
+
+## Phase-end anchor (sim - 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 | -0.00045 | -0.00074 | 0.00127 | 0.025 |
+| 1 | 0.00090 | -0.00073 | -0.00118 | 0.00165 | 0.050 |
+| 2 | 0.00095 | -0.00077 | -0.00120 | 0.00171 | 0.060 |
+| 3 | 0.00144 | -0.00064 | -0.00068 | 0.00172 | 0.104 |
+| 4 | 0.00020 | -0.00018 | -0.00016 | 0.00031 | 0.092 |
+| 5 | 0.00200 | -0.00101 | -0.00130 | 0.00259 | 0.134 |
+| 6 | 0.00163 | -0.00103 | -0.00216 | 0.00289 | 0.149 |
+| 7 | 0.00072 | -0.00046 | -0.00103 | 0.00134 | 0.044 |
+| 8 | -0.00014 | -0.00019 | -0.00018 | 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_0921ada1-e4e7-45e1-a8a1-343adc9b3d02.md b/gap_reports/gap_0921ada1-e4e7-45e1-a8a1-343adc9b3d02.md
new file mode 100644
index 0000000000000000000000000000000000000000..e56ab95ba557a479bd1a50561ed9a19c62fb790e
--- /dev/null
+++ b/gap_reports/gap_0921ada1-e4e7-45e1-a8a1-343adc9b3d02.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0921ada1-e4e7-45e1-a8a1-343adc9b3d02.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0921ada1-e4e7-45e1-a8a1-343adc9b3d02.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2654 |
+| Sim rows | 235 |
+| Real episode_id | `0921ada1-e4e7-45e1-a8a1-343adc9b3d02` |
+| Sim episode_id | `0921ada1-e4e7-45e1-a8a1-343adc9b3d02` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 3.615 | 17.66 | 30.59 | 3.62 | 0.6469 |
+| 1 | descend | 375 | 33 | 1.002 | 7.02 | 12.15 | 5.55 | 0.7714 |
+| 2 | settle | 382 | 33 | 0.026 | 1.16 | 2.00 | 5.68 | 0.6427 |
+| 3 | close | 121 | 11 | 0.751 | 5.45 | 9.45 | 7.85 | 1.0201 |
+| 4 | lift | 356 | 31 | 3.146 | 16.87 | 29.22 | 5.39 | 1.1254 |
+| 5 | move_xy | 351 | 31 | 8.051 | 44.34 | 76.80 | 5.97 | 0.9317 |
+| 6 | lower | 392 | 34 | 0.102 | 2.03 | 3.51 | 8.04 | 0.9669 |
+| 7 | open | 120 | 11 | 0.804 | 5.59 | 9.67 | 5.65 | 0.6495 |
+| 8 | retract | 355 | 31 | 3.215 | 17.22 | 29.83 | 3.79 | 0.7481 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.339 |
+| TCP position RMSE (mm, per-axis) | 18.18 |
+| EE position RMS L2 (mm) | 33.41 |
+| TCP rotvec (mrad) | 5.90 |
+| W1 effort mean (A) | 0.8156 |
+| W1 effort per joint (A) | j0=0.2925, j1=1.5025, j2=1.4870, j3=0.6313, j4=0.4285, j5=0.5514 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00135 | -0.00051 | -0.00068 | 0.00160 | 0.038 |
+| 1 | 0.00151 | -0.00094 | -0.00118 | 0.00214 | 0.057 |
+| 2 | 0.00136 | -0.00097 | -0.00104 | 0.00197 | 0.053 |
+| 3 | 0.00209 | -0.00055 | -0.00095 | 0.00236 | 0.096 |
+| 4 | 0.00055 | -0.00015 | -0.00032 | 0.00065 | 0.165 |
+| 5 | 0.00231 | -0.00112 | -0.00112 | 0.00280 | 0.113 |
+| 6 | 0.00242 | -0.00106 | -0.00214 | 0.00340 | 0.133 |
+| 7 | 0.00118 | -0.00054 | -0.00093 | 0.00160 | 0.046 |
+| 8 | -0.00012 | -0.00016 | -0.00017 | 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_0925f330-33c7-4d82-b65b-119ad9e06876.md b/gap_reports/gap_0925f330-33c7-4d82-b65b-119ad9e06876.md
new file mode 100644
index 0000000000000000000000000000000000000000..2fdda56b3baf38eb2d784927f9df96122e066d0f
--- /dev/null
+++ b/gap_reports/gap_0925f330-33c7-4d82-b65b-119ad9e06876.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0925f330-33c7-4d82-b65b-119ad9e06876.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0925f330-33c7-4d82-b65b-119ad9e06876.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 395 |
+| Sim rows | 56 |
+| Real episode_id | `0925f330-33c7-4d82-b65b-119ad9e06876` |
+| Sim episode_id | `0925f330-33c7-4d82-b65b-119ad9e06876` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 1.637 | 5.99 | 10.37 | 1005.90 | 0.7954 |
+| 1 | descend | 210 | 21 | 0.024 | 0.66 | 1.14 | 2.14 | 0.8724 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.158 |
+| TCP position RMSE (mm, per-axis) | 4.26 |
+| EE position RMS L2 (mm) | 7.15 |
+| TCP rotvec (mrad) | 711.28 |
+| W1 effort mean (A) | 0.8363 |
+| W1 effort per joint (A) | j0=0.1390, j1=1.8427, j2=1.9195, j3=0.8861, j4=0.1171, j5=0.1135 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | -0.00116 | 0.00031 | 0.00078 | 0.00144 | 0.049 |
+| 1 | -0.00087 | 0.00035 | 0.00061 | 0.00112 | 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_092bb95e-76f6-4f54-8f5e-d7e54c17e522.md b/gap_reports/gap_092bb95e-76f6-4f54-8f5e-d7e54c17e522.md
new file mode 100644
index 0000000000000000000000000000000000000000..d578e790a61e1722e436f5a943e25c165685e0b2
--- /dev/null
+++ b/gap_reports/gap_092bb95e-76f6-4f54-8f5e-d7e54c17e522.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/092bb95e-76f6-4f54-8f5e-d7e54c17e522.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/092bb95e-76f6-4f54-8f5e-d7e54c17e522.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 3406 |
+| Sim rows | 297 |
+| Real episode_id | `092bb95e-76f6-4f54-8f5e-d7e54c17e522` |
+| Sim episode_id | `092bb95e-76f6-4f54-8f5e-d7e54c17e522` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 4.067 | 17.96 | 31.11 | 3.45 | 0.5871 |
+| 1 | descend | 669 | 57 | 0.454 | 3.30 | 5.71 | 5.20 | 0.6938 |
+| 2 | settle | 361 | 31 | 0.025 | 1.01 | 1.76 | 5.36 | 0.6200 |
+| 3 | close | 155 | 14 | 0.837 | 5.40 | 9.35 | 7.06 | 0.9393 |
+| 4 | lift | 454 | 39 | 3.752 | 17.07 | 29.56 | 4.91 | 1.0940 |
+| 5 | move_xy | 476 | 41 | 7.992 | 39.23 | 67.95 | 5.42 | 0.9061 |
+| 6 | lower | 410 | 36 | 0.093 | 1.72 | 2.98 | 7.72 | 0.9144 |
+| 7 | open | 156 | 14 | 0.935 | 6.19 | 10.72 | 5.18 | 0.6141 |
+| 8 | retract | 451 | 39 | 3.753 | 17.17 | 29.74 | 3.59 | 0.7193 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.502 |
+| TCP position RMSE (mm, per-axis) | 16.77 |
+| EE position RMS L2 (mm) | 31.21 |
+| TCP rotvec (mrad) | 5.48 |
+| W1 effort mean (A) | 0.7675 |
+| W1 effort per joint (A) | j0=0.2638, j1=1.2824, j2=1.4413, j3=0.6363, j4=0.3971, j5=0.5838 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00117 | -0.00051 | -0.00068 | 0.00145 | 0.031 |
+| 1 | 0.00118 | -0.00086 | -0.00100 | 0.00177 | 0.050 |
+| 2 | 0.00116 | -0.00090 | -0.00096 | 0.00175 | 0.049 |
+| 3 | 0.00176 | -0.00047 | -0.00134 | 0.00226 | 0.114 |
+| 4 | 0.00029 | -0.00021 | -0.00040 | 0.00054 | 0.085 |
+| 5 | 0.00218 | -0.00103 | -0.00115 | 0.00267 | 0.126 |
+| 6 | 0.00190 | -0.00107 | -0.00144 | 0.00261 | 0.108 |
+| 7 | 0.00101 | -0.00054 | -0.00071 | 0.00135 | 0.035 |
+| 8 | -0.00008 | -0.00011 | -0.00013 | 0.00019 | 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_095bd04d-b8a9-4ef4-8e65-f2e73d166a3c.md b/gap_reports/gap_095bd04d-b8a9-4ef4-8e65-f2e73d166a3c.md
new file mode 100644
index 0000000000000000000000000000000000000000..97f0cf9a9284aa40198256bd28aa653b996e82b2
--- /dev/null
+++ b/gap_reports/gap_095bd04d-b8a9-4ef4-8e65-f2e73d166a3c.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/095bd04d-b8a9-4ef4-8e65-f2e73d166a3c.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/095bd04d-b8a9-4ef4-8e65-f2e73d166a3c.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2748 |
+| Sim rows | 245 |
+| Real episode_id | `095bd04d-b8a9-4ef4-8e65-f2e73d166a3c` |
+| Sim episode_id | `095bd04d-b8a9-4ef4-8e65-f2e73d166a3c` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 3.495 | 12.81 | 22.18 | 1922.99 | 0.6087 |
+| 1 | descend | 275 | 24 | 1.074 | 6.47 | 11.20 | 3625.99 | 0.8516 |
+| 2 | settle | 385 | 34 | 0.021 | 0.68 | 1.17 | 3625.98 | 0.9886 |
+| 3 | close | 164 | 15 | 0.789 | 4.63 | 8.03 | 1365.01 | 1.1072 |
+| 4 | lift | 420 | 37 | 2.797 | 11.40 | 19.74 | 1888.78 | 1.2571 |
+| 5 | move_xy | 324 | 29 | 7.711 | 33.04 | 57.23 | 1869.66 | 1.0188 |
+| 6 | lower | 398 | 35 | 0.081 | 1.21 | 2.09 | 1348.16 | 1.2614 |
+| 7 | open | 164 | 15 | 0.736 | 4.30 | 7.45 | 3626.21 | 0.7153 |
+| 8 | retract | 426 | 37 | 3.150 | 12.75 | 22.09 | 2283.67 | 0.8627 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.193 |
+| TCP position RMSE (mm, per-axis) | 13.47 |
+| EE position RMS L2 (mm) | 24.01 |
+| TCP rotvec (mrad) | 2562.59 |
+| W1 effort mean (A) | 0.9928 |
+| W1 effort per joint (A) | j0=0.6127, j1=1.1875, j2=1.7555, j3=0.9907, j4=0.7783, j5=0.6320 |
+
+## Phase-end anchor (sim - 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 | -0.00023 | -0.00045 | 0.00084 | 0.039 |
+| 1 | 0.00071 | -0.00053 | -0.00080 | 0.00119 | 0.038 |
+| 2 | 0.00070 | -0.00055 | -0.00076 | 0.00117 | 0.037 |
+| 3 | 0.00155 | -0.00022 | -0.00184 | 0.00241 | 0.183 |
+| 4 | 0.00037 | 0.00018 | 0.00009 | 0.00042 | 0.061 |
+| 5 | 0.00216 | -0.00064 | -0.00165 | 0.00279 | 0.208 |
+| 6 | 0.00130 | -0.00075 | -0.00084 | 0.00172 | 0.104 |
+| 7 | 0.00057 | -0.00024 | -0.00055 | 0.00082 | 0.042 |
+| 8 | -0.00007 | -0.00008 | -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_098fa876-92cc-4ffc-8730-67e1f0b607b3.md b/gap_reports/gap_098fa876-92cc-4ffc-8730-67e1f0b607b3.md
new file mode 100644
index 0000000000000000000000000000000000000000..db28bdcf86bf3902e7d140b5a94560bcff6048de
--- /dev/null
+++ b/gap_reports/gap_098fa876-92cc-4ffc-8730-67e1f0b607b3.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/098fa876-92cc-4ffc-8730-67e1f0b607b3.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/098fa876-92cc-4ffc-8730-67e1f0b607b3.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2624 |
+| Sim rows | 233 |
+| Real episode_id | `098fa876-92cc-4ffc-8730-67e1f0b607b3` |
+| Sim episode_id | `098fa876-92cc-4ffc-8730-67e1f0b607b3` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.543 | 12.31 | 21.31 | 1974.56 | 0.6232 |
+| 1 | descend | 393 | 34 | 0.821 | 5.38 | 9.32 | 3625.30 | 0.9819 |
+| 2 | settle | 388 | 34 | 0.022 | 0.73 | 1.27 | 3625.24 | 1.0337 |
+| 3 | close | 111 | 10 | 0.532 | 3.60 | 6.23 | 3047.26 | 1.2298 |
+| 4 | lift | 317 | 28 | 2.411 | 12.29 | 21.28 | 2132.75 | 1.2840 |
+| 5 | move_xy | 365 | 32 | 4.551 | 25.39 | 43.97 | 2599.78 | 1.0696 |
+| 6 | lower | 414 | 36 | 0.090 | 1.37 | 2.37 | 3556.18 | 1.3806 |
+| 7 | open | 108 | 10 | 0.566 | 3.65 | 6.32 | 3625.47 | 0.8892 |
+| 8 | retract | 319 | 28 | 2.292 | 11.65 | 20.19 | 2204.85 | 0.8663 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.096 |
+| TCP position RMSE (mm, per-axis) | 11.26 |
+| EE position RMS L2 (mm) | 20.66 |
+| TCP rotvec (mrad) | 3007.94 |
+| W1 effort mean (A) | 1.0577 |
+| W1 effort per joint (A) | j0=0.7287, j1=1.3016, j2=1.8650, j3=1.1266, j4=0.7390, j5=0.5852 |
+
+## Phase-end anchor (sim - 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 | -0.00049 | -0.00077 | 0.00102 | 0.034 |
+| 1 | 0.00040 | -0.00071 | -0.00097 | 0.00127 | 0.043 |
+| 2 | 0.00043 | -0.00071 | -0.00097 | 0.00128 | 0.041 |
+| 3 | 0.00089 | -0.00077 | -0.00141 | 0.00183 | 0.111 |
+| 4 | -0.00014 | -0.00058 | -0.00062 | 0.00086 | 0.099 |
+| 5 | 0.00173 | -0.00103 | -0.00114 | 0.00232 | 0.184 |
+| 6 | 0.00158 | -0.00096 | -0.00106 | 0.00213 | 0.168 |
+| 7 | 0.00021 | -0.00053 | -0.00084 | 0.00102 | 0.042 |
+| 8 | -0.00010 | -0.00015 | -0.00014 | 0.00024 | 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_09926687-0c3f-4b36-9f2a-79e83d33f3d8.md b/gap_reports/gap_09926687-0c3f-4b36-9f2a-79e83d33f3d8.md
new file mode 100644
index 0000000000000000000000000000000000000000..8e223178d5b2fe2cdd0f171b5f549928875c47a7
--- /dev/null
+++ b/gap_reports/gap_09926687-0c3f-4b36-9f2a-79e83d33f3d8.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/09926687-0c3f-4b36-9f2a-79e83d33f3d8.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/09926687-0c3f-4b36-9f2a-79e83d33f3d8.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1885 |
+| Sim rows | 191 |
+| Real episode_id | `09926687-0c3f-4b36-9f2a-79e83d33f3d8` |
+| Sim episode_id | `09926687-0c3f-4b36-9f2a-79e83d33f3d8` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 21 | 3.814 | 13.59 | 23.54 | 1321.00 | 0.7661 |
+| 1 | descend | 112 | 12 | 1.058 | 5.48 | 9.50 | 5.28 | 0.7211 |
+| 2 | settle | 28 | 4 | 0.027 | 2.76 | 4.77 | 5.99 | 0.7280 |
+| 3 | close | 395 | 39 | 0.153 | 1.77 | 3.07 | 7.58 | 1.0963 |
+| 4 | lift | 115 | 12 | 0.888 | 4.31 | 7.46 | 7.37 | 1.2307 |
+| 5 | move_xy | 243 | 24 | 4.701 | 20.73 | 35.91 | 61.60 | 1.1357 |
+| 6 | lower | 113 | 12 | 0.935 | 4.79 | 8.30 | 8.56 | 1.1462 |
+| 7 | open | 381 | 37 | 0.027 | 2.28 | 3.95 | 5.14 | 0.6161 |
+| 8 | retract | 113 | 12 | 0.889 | 4.73 | 8.19 | 4.45 | 0.7669 |
+| 9 | return | 177 | 18 | 2.837 | 17.75 | 30.74 | 621.41 | 0.8325 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.198 |
+| TCP position RMSE (mm, per-axis) | 10.20 |
+| EE position RMS L2 (mm) | 18.40 |
+| TCP rotvec (mrad) | 462.09 |
+| W1 effort mean (A) | 0.8966 |
+| W1 effort per joint (A) | j0=0.2185, j1=1.7568, j2=1.5595, j3=0.8159, j4=0.4986, j5=0.5303 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00169 | -0.00386 | -0.00092 | 0.00432 | 0.035 |
+| 1 | 0.00225 | -0.00405 | -0.00111 | 0.00476 | 0.053 |
+| 2 | 0.00226 | -0.00404 | -0.00116 | 0.00477 | 0.055 |
+| 3 | 0.00060 | -0.00277 | -0.00123 | 0.00309 | 0.221 |
+| 4 | -0.00004 | -0.00270 | -0.00210 | 0.00342 | 0.310 |
+| 5 | 0.00170 | -0.00257 | -0.00141 | 0.00339 | 0.290 |
+| 6 | 0.00225 | -0.00212 | -0.00169 | 0.00352 | 0.248 |
+| 7 | 0.00241 | -0.00313 | -0.00031 | 0.00397 | 0.060 |
+| 8 | 0.00217 | -0.00336 | -0.00038 | 0.00402 | 0.052 |
+| 9 | -0.00004 | -0.00021 | -0.00029 | 0.00036 | 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_09afa12f-92b5-4cbf-b4d8-3279a0a54c70.md b/gap_reports/gap_09afa12f-92b5-4cbf-b4d8-3279a0a54c70.md
new file mode 100644
index 0000000000000000000000000000000000000000..958a8206b3fa5fe5350858cb44affd5d4731defb
--- /dev/null
+++ b/gap_reports/gap_09afa12f-92b5-4cbf-b4d8-3279a0a54c70.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/09afa12f-92b5-4cbf-b4d8-3279a0a54c70.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/09afa12f-92b5-4cbf-b4d8-3279a0a54c70.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2686 |
+| Sim rows | 237 |
+| Real episode_id | `09afa12f-92b5-4cbf-b4d8-3279a0a54c70` |
+| Sim episode_id | `09afa12f-92b5-4cbf-b4d8-3279a0a54c70` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 3.355 | 12.41 | 21.49 | 2044.20 | 0.5623 |
+| 1 | descend | 199 | 18 | 0.658 | 4.02 | 6.96 | 3626.06 | 0.6389 |
+| 2 | settle | 393 | 34 | 0.019 | 0.62 | 1.07 | 3626.05 | 0.7369 |
+| 3 | close | 85 | 8 | 0.379 | 2.57 | 4.45 | 1947.91 | 0.9486 |
+| 4 | lift | 441 | 38 | 3.428 | 14.28 | 24.73 | 1727.38 | 1.0477 |
+| 5 | move_xy | 401 | 35 | 7.929 | 33.84 | 58.61 | 2202.50 | 0.8695 |
+| 6 | lower | 379 | 33 | 0.078 | 1.11 | 1.92 | 1738.69 | 1.0128 |
+| 7 | open | 87 | 8 | 0.337 | 2.24 | 3.87 | 3626.12 | 0.6367 |
+| 8 | retract | 443 | 38 | 3.380 | 14.10 | 24.42 | 2165.32 | 0.6870 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.300 |
+| TCP position RMSE (mm, per-axis) | 13.87 |
+| EE position RMS L2 (mm) | 27.59 |
+| TCP rotvec (mrad) | 2645.01 |
+| W1 effort mean (A) | 0.7999 |
+| W1 effort per joint (A) | j0=0.2159, j1=1.2084, j2=1.6050, j3=0.8176, j4=0.3198, j5=0.6326 |
+
+## Phase-end anchor (sim - 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 | -0.00054 | 0.00092 | 0.029 |
+| 1 | 0.00065 | -0.00049 | -0.00068 | 0.00106 | 0.035 |
+| 2 | 0.00068 | -0.00049 | -0.00069 | 0.00108 | 0.035 |
+| 3 | 0.00103 | -0.00034 | -0.00086 | 0.00139 | 0.093 |
+| 4 | 0.00032 | -0.00013 | -0.00021 | 0.00041 | 0.107 |
+| 5 | 0.00200 | -0.00062 | -0.00138 | 0.00251 | 0.200 |
+| 6 | 0.00159 | -0.00058 | -0.00116 | 0.00206 | 0.147 |
+| 7 | 0.00049 | -0.00034 | -0.00057 | 0.00082 | 0.032 |
+| 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_09dc4e6a-797b-441d-981d-5142e0936325.md b/gap_reports/gap_09dc4e6a-797b-441d-981d-5142e0936325.md
new file mode 100644
index 0000000000000000000000000000000000000000..c7d1b7daee167194bb3e18746a0d112898984c46
--- /dev/null
+++ b/gap_reports/gap_09dc4e6a-797b-441d-981d-5142e0936325.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/09dc4e6a-797b-441d-981d-5142e0936325.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/09dc4e6a-797b-441d-981d-5142e0936325.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1683 |
+| Sim rows | 170 |
+| Real episode_id | `09dc4e6a-797b-441d-981d-5142e0936325` |
+| Sim episode_id | `09dc4e6a-797b-441d-981d-5142e0936325` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 3.171 | 20.74 | 35.93 | 928.81 | 0.7464 |
+| 1 | descend | 88 | 9 | 0.789 | 4.53 | 7.85 | 6.95 | 0.8450 |
+| 2 | settle | 29 | 4 | 0.033 | 3.50 | 6.06 | 7.30 | 0.7722 |
+| 3 | close | 370 | 36 | 0.162 | 4.31 | 7.46 | 12.64 | 1.2157 |
+| 4 | lift | 88 | 9 | 0.783 | 4.81 | 8.34 | 11.91 | 1.3348 |
+| 5 | move_xy | 164 | 17 | 9.967 | 13.44 | 23.28 | 340.35 | 1.2420 |
+| 6 | lower | 87 | 9 | 19.098 | 5.61 | 9.71 | 738.02 | 1.1760 |
+| 7 | open | 368 | 37 | 19.059 | 2.68 | 4.65 | 736.87 | 0.8322 |
+| 8 | retract | 87 | 9 | 19.073 | 3.53 | 6.11 | 736.49 | 0.8349 |
+| 9 | return | 224 | 22 | 10.514 | 8.95 | 15.50 | 1213.71 | 0.8305 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 11.459 |
+| TCP position RMSE (mm, per-axis) | 9.04 |
+| EE position RMS L2 (mm) | 15.89 |
+| TCP rotvec (mrad) | 638.91 |
+| W1 effort mean (A) | 0.9759 |
+| W1 effort per joint (A) | j0=0.2069, j1=1.8255, j2=1.6113, j3=0.7449, j4=0.5029, j5=0.9637 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00261 | -0.00506 | -0.00108 | 0.00579 | 0.081 |
+| 1 | 0.00296 | -0.00506 | -0.00141 | 0.00603 | 0.058 |
+| 2 | 0.00291 | -0.00511 | -0.00150 | 0.00606 | 0.071 |
+| 3 | 0.00357 | -0.00477 | -0.00482 | 0.00766 | 0.292 |
+| 4 | 0.00271 | -0.00515 | -0.00485 | 0.00758 | 0.337 |
+| 5 | 0.00201 | -0.00397 | -0.00191 | 0.00485 | 46.751 |
+| 6 | 0.00292 | -0.00342 | -0.00197 | 0.00491 | 46.689 |
+| 7 | 0.00203 | -0.00417 | -0.00032 | 0.00465 | 46.683 |
+| 8 | 0.00147 | -0.00420 | -0.00038 | 0.00446 | 46.723 |
+| 9 | -0.00006 | -0.00013 | -0.00026 | 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_09e18936-9509-42b5-8bab-eb58cf483fe3.md b/gap_reports/gap_09e18936-9509-42b5-8bab-eb58cf483fe3.md
new file mode 100644
index 0000000000000000000000000000000000000000..dd7066c8a1e2696a3599804ef3a4dccf9d117fd0
--- /dev/null
+++ b/gap_reports/gap_09e18936-9509-42b5-8bab-eb58cf483fe3.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/09e18936-9509-42b5-8bab-eb58cf483fe3.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/09e18936-9509-42b5-8bab-eb58cf483fe3.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2757 |
+| Sim rows | 275 |
+| Real episode_id | `09e18936-9509-42b5-8bab-eb58cf483fe3` |
+| Sim episode_id | `09e18936-9509-42b5-8bab-eb58cf483fe3` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 17 | 2.848 | 10.31 | 17.86 | 1974.46 | 0.5833 |
+| 1 | descend | 493 | 48 | 0.737 | 4.47 | 7.75 | 3626.06 | 0.6882 |
+| 2 | settle | 340 | 34 | 0.023 | 0.60 | 1.04 | 3626.01 | 0.7121 |
+| 3 | close | 152 | 16 | 1.048 | 6.00 | 10.38 | 1523.59 | 0.9678 |
+| 4 | lift | 387 | 38 | 3.296 | 13.16 | 22.79 | 1855.89 | 1.1002 |
+| 5 | move_xy | 328 | 32 | 7.879 | 35.23 | 61.02 | 2252.78 | 0.8755 |
+| 6 | lower | 349 | 34 | 0.079 | 1.10 | 1.90 | 1585.58 | 0.9918 |
+| 7 | open | 153 | 16 | 1.200 | 6.97 | 12.07 | 3626.24 | 0.6124 |
+| 8 | retract | 383 | 38 | 3.489 | 14.02 | 24.28 | 2350.84 | 0.7031 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.271 |
+| TCP position RMSE (mm, per-axis) | 14.23 |
+| EE position RMS L2 (mm) | 25.36 |
+| TCP rotvec (mrad) | 2629.44 |
+| W1 effort mean (A) | 0.7851 |
+| W1 effort per joint (A) | j0=0.2808, j1=1.1622, j2=1.5689, j3=0.6840, j4=0.4402, j5=0.5746 |
+
+## Phase-end anchor (sim - 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 | -0.00023 | -0.00046 | 0.00064 | 0.035 |
+| 1 | 0.00042 | -0.00056 | -0.00075 | 0.00103 | 0.033 |
+| 2 | 0.00042 | -0.00056 | -0.00078 | 0.00104 | 0.036 |
+| 3 | 0.00072 | -0.00042 | -0.00024 | 0.00087 | 0.104 |
+| 4 | 0.00009 | -0.00030 | -0.00022 | 0.00038 | 0.105 |
+| 5 | 0.00097 | -0.00083 | -0.00086 | 0.00154 | 0.099 |
+| 6 | 0.00103 | -0.00077 | -0.00174 | 0.00217 | 0.130 |
+| 7 | 0.00026 | -0.00035 | -0.00049 | 0.00066 | 0.037 |
+| 8 | -0.00003 | -0.00005 | -0.00011 | 0.00012 | 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_09e22e8b-bb20-4240-bfe8-b7bfe468822a.md b/gap_reports/gap_09e22e8b-bb20-4240-bfe8-b7bfe468822a.md
new file mode 100644
index 0000000000000000000000000000000000000000..41bc1d69b5f4d6d9d56ff1db22e692c124c3f374
--- /dev/null
+++ b/gap_reports/gap_09e22e8b-bb20-4240-bfe8-b7bfe468822a.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/09e22e8b-bb20-4240-bfe8-b7bfe468822a.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/09e22e8b-bb20-4240-bfe8-b7bfe468822a.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 3321 |
+| Sim rows | 291 |
+| Real episode_id | `09e22e8b-bb20-4240-bfe8-b7bfe468822a` |
+| Sim episode_id | `09e22e8b-bb20-4240-bfe8-b7bfe468822a` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 3.492 | 17.45 | 30.23 | 3.58 | 0.6360 |
+| 1 | descend | 787 | 68 | 0.410 | 2.77 | 4.79 | 5.52 | 0.7815 |
+| 2 | settle | 375 | 33 | 0.030 | 1.20 | 2.08 | 5.70 | 0.6799 |
+| 3 | close | 132 | 12 | 0.877 | 6.13 | 10.61 | 7.73 | 0.9662 |
+| 4 | lift | 420 | 36 | 3.301 | 17.19 | 29.78 | 5.26 | 1.1092 |
+| 5 | move_xy | 417 | 36 | 7.852 | 43.11 | 74.66 | 6.24 | 0.9961 |
+| 6 | lower | 408 | 35 | 0.100 | 2.03 | 3.52 | 8.04 | 0.9800 |
+| 7 | open | 130 | 12 | 0.825 | 5.76 | 9.98 | 5.64 | 0.6474 |
+| 8 | retract | 417 | 36 | 3.379 | 17.78 | 30.80 | 3.71 | 0.7523 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.296 |
+| TCP position RMSE (mm, per-axis) | 17.82 |
+| EE position RMS L2 (mm) | 31.81 |
+| TCP rotvec (mrad) | 5.89 |
+| W1 effort mean (A) | 0.8283 |
+| W1 effort per joint (A) | j0=0.3308, j1=1.4651, j2=1.5181, j3=0.6545, j4=0.4387, 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 | 0.00134 | -0.00049 | -0.00068 | 0.00158 | 0.031 |
+| 1 | 0.00138 | -0.00091 | -0.00116 | 0.00202 | 0.053 |
+| 2 | 0.00143 | -0.00095 | -0.00116 | 0.00207 | 0.055 |
+| 3 | 0.00245 | -0.00055 | -0.00133 | 0.00284 | 0.161 |
+| 4 | 0.00044 | -0.00017 | -0.00040 | 0.00062 | 0.149 |
+| 5 | 0.00289 | -0.00118 | -0.00170 | 0.00355 | 0.195 |
+| 6 | 0.00273 | -0.00124 | -0.00258 | 0.00396 | 0.192 |
+| 7 | 0.00119 | -0.00056 | -0.00097 | 0.00163 | 0.060 |
+| 8 | -0.00008 | -0.00012 | -0.00012 | 0.00019 | 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_09e8008a-44b7-402e-a127-0632bb567d9d.md b/gap_reports/gap_09e8008a-44b7-402e-a127-0632bb567d9d.md
new file mode 100644
index 0000000000000000000000000000000000000000..94eb1a508278c917cfedb2e234a32ad951da57ba
--- /dev/null
+++ b/gap_reports/gap_09e8008a-44b7-402e-a127-0632bb567d9d.md
@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/09e8008a-44b7-402e-a127-0632bb567d9d.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/09e8008a-44b7-402e-a127-0632bb567d9d.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 570 |
+| Sim rows | 72 |
+| Real episode_id | `09e8008a-44b7-402e-a127-0632bb567d9d` |
+| Sim episode_id | `09e8008a-44b7-402e-a127-0632bb567d9d` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 361 | 35 | 5.007 | 22.04 | 38.18 | 14.13 | 0.8210 |
+| 1 | descend | 209 | 21 | 0.021 | 4.28 | 7.42 | 2.37 | 0.9376 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.541 |
+| TCP position RMSE (mm, per-axis) | 15.88 |
+| EE position RMS L2 (mm) | 30.71 |
+| TCP rotvec (mrad) | 10.13 |
+| W1 effort mean (A) | 0.8637 |
+| W1 effort per joint (A) | j0=0.2074, j1=1.7208, j2=1.9161, j3=0.9191, j4=0.2288, j5=0.1898 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00261 | 0.00687 | 0.00038 | 0.00736 | 0.038 |
+| 1 | 0.00287 | 0.00684 | 0.00019 | 0.00742 | 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_09f4a724-f6ba-427d-97e0-e0a50ad15178.md b/gap_reports/gap_09f4a724-f6ba-427d-97e0-e0a50ad15178.md
new file mode 100644
index 0000000000000000000000000000000000000000..103f84b3c7d53b17102616e659fab69425b1b10c
--- /dev/null
+++ b/gap_reports/gap_09f4a724-f6ba-427d-97e0-e0a50ad15178.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/09f4a724-f6ba-427d-97e0-e0a50ad15178.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/09f4a724-f6ba-427d-97e0-e0a50ad15178.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1571 |
+| Sim rows | 159 |
+| Real episode_id | `09f4a724-f6ba-427d-97e0-e0a50ad15178` |
+| Sim episode_id | `09f4a724-f6ba-427d-97e0-e0a50ad15178` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.401 | 10.82 | 18.74 | 1229.33 | 0.7266 |
+| 1 | descend | 95 | 10 | 0.972 | 4.75 | 8.22 | 4.24 | 0.6056 |
+| 2 | settle | 33 | 4 | 0.023 | 2.79 | 4.83 | 4.86 | 0.6400 |
+| 3 | close | 324 | 32 | 0.075 | 2.72 | 4.70 | 4.84 | 1.1311 |
+| 4 | lift | 93 | 10 | 1.043 | 4.68 | 8.10 | 4.32 | 1.2356 |
+| 5 | move_xy | 211 | 21 | 9.262 | 29.51 | 51.12 | 205.63 | 1.1373 |
+| 6 | lower | 95 | 10 | 13.811 | 5.70 | 9.88 | 534.23 | 1.2325 |
+| 7 | open | 266 | 26 | 13.750 | 2.39 | 4.14 | 533.98 | 0.7076 |
+| 8 | retract | 96 | 10 | 13.790 | 4.53 | 7.84 | 533.72 | 0.8250 |
+| 9 | return | 204 | 20 | 7.821 | 16.61 | 28.77 | 979.92 | 0.8655 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 8.513 |
+| TCP position RMSE (mm, per-axis) | 11.76 |
+| EE position RMS L2 (mm) | 22.77 |
+| TCP rotvec (mrad) | 580.45 |
+| W1 effort mean (A) | 0.9216 |
+| W1 effort per joint (A) | j0=0.2053, j1=1.4956, j2=1.5714, j3=0.8327, j4=0.5394, j5=0.8853 |
+
+## Phase-end anchor (sim - 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 | -0.00382 | -0.00081 | 0.00427 | 0.041 |
+| 1 | 0.00210 | -0.00428 | -0.00065 | 0.00481 | 0.039 |
+| 2 | 0.00208 | -0.00430 | -0.00074 | 0.00483 | 0.032 |
+| 3 | 0.00231 | -0.00385 | -0.00167 | 0.00479 | 0.120 |
+| 4 | 0.00153 | -0.00339 | -0.00191 | 0.00418 | 0.156 |
+| 5 | 0.00182 | -0.00349 | -0.00120 | 0.00412 | 33.736 |
+| 6 | 0.00240 | -0.00243 | -0.00163 | 0.00378 | 33.692 |
+| 7 | 0.00225 | -0.00347 | -0.00018 | 0.00414 | 33.683 |
+| 8 | 0.00193 | -0.00374 | -0.00030 | 0.00422 | 33.755 |
+| 9 | -0.00000 | -0.00017 | -0.00027 | 0.00032 | 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_0a1c66a6-128f-4338-9ec5-35f2bdad937a.md b/gap_reports/gap_0a1c66a6-128f-4338-9ec5-35f2bdad937a.md
new file mode 100644
index 0000000000000000000000000000000000000000..702c2154b4f633f4179fbe098a0d078cc94a16b2
--- /dev/null
+++ b/gap_reports/gap_0a1c66a6-128f-4338-9ec5-35f2bdad937a.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0a1c66a6-128f-4338-9ec5-35f2bdad937a.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0a1c66a6-128f-4338-9ec5-35f2bdad937a.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2514 |
+| Sim rows | 225 |
+| Real episode_id | `0a1c66a6-128f-4338-9ec5-35f2bdad937a` |
+| Sim episode_id | `0a1c66a6-128f-4338-9ec5-35f2bdad937a` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 17 | 2.957 | 11.16 | 19.33 | 1975.10 | 0.5665 |
+| 1 | descend | 329 | 29 | 0.866 | 5.20 | 9.01 | 3626.00 | 0.6605 |
+| 2 | settle | 400 | 35 | 0.020 | 0.61 | 1.05 | 3625.90 | 0.6406 |
+| 3 | close | 140 | 13 | 0.653 | 3.96 | 6.87 | 1065.59 | 0.9580 |
+| 4 | lift | 311 | 27 | 2.786 | 11.70 | 20.27 | 1603.67 | 1.1028 |
+| 5 | move_xy | 320 | 28 | 5.595 | 25.60 | 44.34 | 2305.65 | 0.9035 |
+| 6 | lower | 379 | 33 | 0.085 | 1.19 | 2.05 | 1815.43 | 0.9663 |
+| 7 | open | 140 | 13 | 0.619 | 3.77 | 6.53 | 3626.01 | 0.6639 |
+| 8 | retract | 313 | 28 | 2.820 | 11.92 | 20.64 | 2226.24 | 0.6894 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.524 |
+| TCP position RMSE (mm, per-axis) | 11.14 |
+| EE position RMS L2 (mm) | 19.94 |
+| TCP rotvec (mrad) | 2595.28 |
+| W1 effort mean (A) | 0.7843 |
+| W1 effort per joint (A) | j0=0.2186, j1=1.2030, j2=1.5746, j3=0.8092, j4=0.3476, j5=0.5528 |
+
+## Phase-end anchor (sim - 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 | -0.00034 | -0.00053 | 0.00076 | 0.031 |
+| 1 | 0.00040 | -0.00058 | -0.00078 | 0.00105 | 0.039 |
+| 2 | 0.00043 | -0.00056 | -0.00077 | 0.00105 | 0.035 |
+| 3 | 0.00088 | -0.00045 | -0.00092 | 0.00135 | 0.107 |
+| 4 | 0.00027 | -0.00011 | -0.00026 | 0.00040 | 0.075 |
+| 5 | 0.00088 | -0.00081 | -0.00136 | 0.00181 | 0.103 |
+| 6 | 0.00141 | -0.00089 | -0.00193 | 0.00255 | 0.154 |
+| 7 | 0.00028 | -0.00035 | -0.00061 | 0.00075 | 0.038 |
+| 8 | -0.00010 | -0.00012 | -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_0a1f2f80-a6e4-4ac5-9bbe-afa7f23dd9c8.md b/gap_reports/gap_0a1f2f80-a6e4-4ac5-9bbe-afa7f23dd9c8.md
new file mode 100644
index 0000000000000000000000000000000000000000..c6d663a695a98d3ea00e44485cf5b4b0720e5141
--- /dev/null
+++ b/gap_reports/gap_0a1f2f80-a6e4-4ac5-9bbe-afa7f23dd9c8.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0a1f2f80-a6e4-4ac5-9bbe-afa7f23dd9c8.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0a1f2f80-a6e4-4ac5-9bbe-afa7f23dd9c8.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1616 |
+| Sim rows | 165 |
+| Real episode_id | `0a1f2f80-a6e4-4ac5-9bbe-afa7f23dd9c8` |
+| Sim episode_id | `0a1f2f80-a6e4-4ac5-9bbe-afa7f23dd9c8` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 15 | 6.930 | 12.56 | 21.75 | 1145.69 | 0.7177 |
+| 1 | descend | 81 | 9 | 13.110 | 4.67 | 8.09 | 508.34 | 0.9276 |
+| 2 | settle | 31 | 4 | 13.065 | 3.28 | 5.67 | 508.41 | 0.9884 |
+| 3 | close | 377 | 37 | 13.063 | 4.07 | 7.05 | 510.02 | 1.4280 |
+| 4 | lift | 80 | 9 | 13.103 | 5.02 | 8.70 | 509.92 | 1.4622 |
+| 5 | move_xy | 186 | 19 | 7.401 | 17.99 | 31.15 | 311.66 | 1.3440 |
+| 6 | lower | 79 | 9 | 0.779 | 4.90 | 8.50 | 10.27 | 1.1756 |
+| 7 | open | 358 | 35 | 0.028 | 2.36 | 4.09 | 5.48 | 0.7913 |
+| 8 | retract | 81 | 9 | 0.762 | 4.26 | 7.38 | 4.96 | 0.7937 |
+| 9 | return | 189 | 19 | 2.401 | 15.47 | 26.80 | 609.62 | 0.7308 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 8.914 |
+| TCP position RMSE (mm, per-axis) | 9.18 |
+| EE position RMS L2 (mm) | 16.43 |
+| TCP rotvec (mrad) | 530.90 |
+| W1 effort mean (A) | 1.0299 |
+| W1 effort per joint (A) | j0=0.1732, j1=2.1193, j2=1.7081, j3=0.8257, j4=0.4630, j5=0.8898 |
+
+## Phase-end anchor (sim - 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 | -0.00488 | -0.00114 | 0.00543 | 32.112 |
+| 1 | 0.00251 | -0.00496 | -0.00103 | 0.00565 | 32.005 |
+| 2 | 0.00250 | -0.00496 | -0.00127 | 0.00570 | 31.998 |
+| 3 | 0.00354 | -0.00498 | -0.00339 | 0.00698 | 31.995 |
+| 4 | 0.00268 | -0.00548 | -0.00366 | 0.00711 | 32.104 |
+| 5 | 0.00233 | -0.00316 | -0.00254 | 0.00467 | 0.235 |
+| 6 | 0.00270 | -0.00217 | -0.00350 | 0.00492 | 0.278 |
+| 7 | 0.00260 | -0.00313 | -0.00048 | 0.00410 | 0.061 |
+| 8 | 0.00232 | -0.00340 | -0.00069 | 0.00417 | 0.072 |
+| 9 | -0.00007 | -0.00020 | -0.00036 | 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_0a23c611-5cd6-4637-b13f-192a22cb9147.md b/gap_reports/gap_0a23c611-5cd6-4637-b13f-192a22cb9147.md
new file mode 100644
index 0000000000000000000000000000000000000000..8e6a41b0d6f1bb99910e2168277d9c7764ceb948
--- /dev/null
+++ b/gap_reports/gap_0a23c611-5cd6-4637-b13f-192a22cb9147.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0a23c611-5cd6-4637-b13f-192a22cb9147.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0a23c611-5cd6-4637-b13f-192a22cb9147.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2657 |
+| Sim rows | 237 |
+| Real episode_id | `0a23c611-5cd6-4637-b13f-192a22cb9147` |
+| Sim episode_id | `0a23c611-5cd6-4637-b13f-192a22cb9147` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.434 | 11.96 | 20.72 | 1958.48 | 0.5642 |
+| 1 | descend | 344 | 30 | 0.818 | 5.36 | 9.29 | 3625.32 | 0.7244 |
+| 2 | settle | 357 | 31 | 0.024 | 0.75 | 1.30 | 3625.25 | 0.6724 |
+| 3 | close | 142 | 13 | 0.667 | 4.46 | 7.73 | 3419.81 | 0.9893 |
+| 4 | lift | 310 | 27 | 2.504 | 12.72 | 22.03 | 2255.97 | 1.0921 |
+| 5 | move_xy | 423 | 37 | 5.340 | 29.61 | 51.29 | 2660.05 | 0.8965 |
+| 6 | lower | 397 | 35 | 0.087 | 1.32 | 2.29 | 3554.19 | 1.0216 |
+| 7 | open | 142 | 13 | 0.669 | 4.24 | 7.34 | 3625.41 | 0.6831 |
+| 8 | retract | 309 | 28 | 2.575 | 13.05 | 22.61 | 2230.77 | 0.7173 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.331 |
+| TCP position RMSE (mm, per-axis) | 12.57 |
+| EE position RMS L2 (mm) | 24.30 |
+| TCP rotvec (mrad) | 3068.36 |
+| W1 effort mean (A) | 0.8044 |
+| W1 effort per joint (A) | j0=0.2124, j1=1.3193, j2=1.6000, j3=0.7665, j4=0.3318, 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 | 0.00043 | -0.00047 | -0.00077 | 0.00100 | 0.036 |
+| 1 | 0.00040 | -0.00071 | -0.00099 | 0.00128 | 0.046 |
+| 2 | 0.00043 | -0.00072 | -0.00100 | 0.00130 | 0.046 |
+| 3 | 0.00094 | -0.00079 | -0.00150 | 0.00194 | 0.129 |
+| 4 | 0.00021 | -0.00023 | -0.00033 | 0.00045 | 0.088 |
+| 5 | 0.00112 | -0.00120 | -0.00193 | 0.00253 | 0.153 |
+| 6 | 0.00130 | -0.00106 | -0.00208 | 0.00268 | 0.138 |
+| 7 | 0.00027 | -0.00048 | -0.00077 | 0.00095 | 0.041 |
+| 8 | -0.00010 | -0.00015 | -0.00017 | 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_0a39c869-c1c5-41b4-b9e6-9017121f1a7f.md b/gap_reports/gap_0a39c869-c1c5-41b4-b9e6-9017121f1a7f.md
new file mode 100644
index 0000000000000000000000000000000000000000..368141cd4810ecd27dd49503478d213e95ba1904
--- /dev/null
+++ b/gap_reports/gap_0a39c869-c1c5-41b4-b9e6-9017121f1a7f.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0a39c869-c1c5-41b4-b9e6-9017121f1a7f.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0a39c869-c1c5-41b4-b9e6-9017121f1a7f.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2820 |
+| Sim rows | 250 |
+| Real episode_id | `0a39c869-c1c5-41b4-b9e6-9017121f1a7f` |
+| Sim episode_id | `0a39c869-c1c5-41b4-b9e6-9017121f1a7f` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.466 | 11.48 | 19.89 | 1970.60 | 0.5534 |
+| 1 | descend | 375 | 33 | 1.335 | 8.51 | 14.74 | 3625.41 | 0.6860 |
+| 2 | settle | 426 | 37 | 0.022 | 0.73 | 1.26 | 3625.23 | 0.6163 |
+| 3 | close | 156 | 14 | 0.968 | 6.08 | 10.53 | 3235.34 | 0.9550 |
+| 4 | lift | 321 | 28 | 2.549 | 12.32 | 21.35 | 2385.90 | 1.0872 |
+| 5 | move_xy | 410 | 36 | 4.939 | 26.82 | 46.46 | 2848.00 | 0.8799 |
+| 6 | lower | 437 | 38 | 0.086 | 1.33 | 2.31 | 3625.76 | 0.9905 |
+| 7 | open | 153 | 14 | 1.083 | 6.89 | 11.93 | 3625.38 | 0.6884 |
+| 8 | retract | 322 | 28 | 2.670 | 13.07 | 22.64 | 2347.46 | 0.7030 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.309 |
+| TCP position RMSE (mm, per-axis) | 12.17 |
+| EE position RMS L2 (mm) | 22.34 |
+| TCP rotvec (mrad) | 3095.52 |
+| W1 effort mean (A) | 0.7824 |
+| W1 effort per joint (A) | j0=0.2356, j1=1.3292, j2=1.5705, j3=0.7235, j4=0.2534, j5=0.5824 |
+
+## Phase-end anchor (sim - 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 | -0.00075 | 0.00094 | 0.040 |
+| 1 | 0.00041 | -0.00071 | -0.00097 | 0.00127 | 0.041 |
+| 2 | 0.00042 | -0.00071 | -0.00095 | 0.00126 | 0.039 |
+| 3 | 0.00088 | -0.00054 | -0.00115 | 0.00155 | 0.108 |
+| 4 | 0.00015 | -0.00021 | -0.00034 | 0.00043 | 0.066 |
+| 5 | 0.00120 | -0.00086 | -0.00122 | 0.00192 | 0.116 |
+| 6 | 0.00152 | -0.00113 | -0.00171 | 0.00255 | 0.160 |
+| 7 | 0.00025 | -0.00049 | -0.00076 | 0.00094 | 0.048 |
+| 8 | -0.00011 | -0.00017 | -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_0a6d0369-4280-4ec9-8770-181a0916c258.md b/gap_reports/gap_0a6d0369-4280-4ec9-8770-181a0916c258.md
new file mode 100644
index 0000000000000000000000000000000000000000..709643daa2c38ef70f8341c6776f41d3fb99d681
--- /dev/null
+++ b/gap_reports/gap_0a6d0369-4280-4ec9-8770-181a0916c258.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0a6d0369-4280-4ec9-8770-181a0916c258.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0a6d0369-4280-4ec9-8770-181a0916c258.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2511 |
+| Sim rows | 248 |
+| Real episode_id | `0a6d0369-4280-4ec9-8770-181a0916c258` |
+| Sim episode_id | `0a6d0369-4280-4ec9-8770-181a0916c258` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 3.137 | 14.75 | 25.55 | 1915.55 | 0.5805 |
+| 1 | descend | 264 | 26 | 1.340 | 8.81 | 15.25 | 3625.33 | 0.7419 |
+| 2 | settle | 330 | 32 | 0.023 | 0.76 | 1.32 | 3625.25 | 0.7356 |
+| 3 | close | 129 | 13 | 0.537 | 3.76 | 6.51 | 3201.60 | 1.0117 |
+| 4 | lift | 383 | 37 | 3.101 | 14.40 | 24.94 | 2106.17 | 1.1189 |
+| 5 | move_xy | 349 | 34 | 6.462 | 33.63 | 58.25 | 2737.07 | 0.8816 |
+| 6 | lower | 349 | 34 | 0.089 | 1.40 | 2.43 | 3511.66 | 1.0327 |
+| 7 | open | 129 | 13 | 0.602 | 4.04 | 7.00 | 3625.45 | 0.6896 |
+| 8 | retract | 381 | 37 | 3.165 | 14.90 | 25.81 | 2267.07 | 0.7171 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.861 |
+| TCP position RMSE (mm, per-axis) | 14.49 |
+| EE position RMS L2 (mm) | 27.37 |
+| TCP rotvec (mrad) | 3032.19 |
+| W1 effort mean (A) | 0.8295 |
+| W1 effort per joint (A) | j0=0.2148, j1=1.3571, j2=1.6900, j3=0.7704, j4=0.3346, j5=0.6102 |
+
+## Phase-end anchor (sim - 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 | -0.00038 | -0.00073 | 0.00105 | 0.035 |
+| 1 | 0.00062 | -0.00063 | -0.00099 | 0.00133 | 0.045 |
+| 2 | 0.00061 | -0.00066 | -0.00097 | 0.00132 | 0.047 |
+| 3 | 0.00126 | -0.00056 | -0.00163 | 0.00213 | 0.132 |
+| 4 | 0.00029 | -0.00006 | -0.00027 | 0.00039 | 0.073 |
+| 5 | 0.00132 | -0.00086 | -0.00106 | 0.00190 | 0.123 |
+| 6 | 0.00193 | -0.00100 | -0.00089 | 0.00235 | 0.223 |
+| 7 | 0.00046 | -0.00039 | -0.00078 | 0.00099 | 0.041 |
+| 8 | -0.00008 | -0.00010 | -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_0a7b6eb4-361c-42f5-9976-c3f3dbeafeb9.md b/gap_reports/gap_0a7b6eb4-361c-42f5-9976-c3f3dbeafeb9.md
new file mode 100644
index 0000000000000000000000000000000000000000..ed539ef6d5a5dd50b7baf82cf060c5533fdf9a76
--- /dev/null
+++ b/gap_reports/gap_0a7b6eb4-361c-42f5-9976-c3f3dbeafeb9.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0a7b6eb4-361c-42f5-9976-c3f3dbeafeb9.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0a7b6eb4-361c-42f5-9976-c3f3dbeafeb9.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2816 |
+| Sim rows | 248 |
+| Real episode_id | `0a7b6eb4-361c-42f5-9976-c3f3dbeafeb9` |
+| Sim episode_id | `0a7b6eb4-361c-42f5-9976-c3f3dbeafeb9` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 3.508 | 14.88 | 25.77 | 1994.41 | 0.6101 |
+| 1 | descend | 380 | 33 | 1.058 | 6.67 | 11.55 | 3625.36 | 0.7042 |
+| 2 | settle | 380 | 33 | 0.024 | 0.83 | 1.43 | 3625.24 | 0.6822 |
+| 3 | close | 129 | 12 | 1.089 | 6.95 | 12.04 | 3400.81 | 0.9613 |
+| 4 | lift | 373 | 32 | 3.608 | 16.65 | 28.85 | 2330.00 | 1.0819 |
+| 5 | move_xy | 417 | 36 | 8.105 | 39.68 | 68.73 | 2550.85 | 0.9180 |
+| 6 | lower | 410 | 36 | 0.086 | 1.45 | 2.51 | 3485.32 | 0.9235 |
+| 7 | open | 130 | 12 | 0.964 | 6.13 | 10.63 | 3625.55 | 0.6444 |
+| 8 | retract | 369 | 32 | 3.602 | 16.66 | 28.86 | 2453.48 | 0.7280 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.452 |
+| TCP position RMSE (mm, per-axis) | 16.61 |
+| EE position RMS L2 (mm) | 31.68 |
+| TCP rotvec (mrad) | 3074.56 |
+| W1 effort mean (A) | 0.7958 |
+| W1 effort per joint (A) | j0=0.2579, j1=1.3601, j2=1.5208, j3=0.7089, j4=0.3136, j5=0.6135 |
+
+## Phase-end anchor (sim - 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 | -0.00018 | -0.00059 | 0.00104 | 0.031 |
+| 1 | 0.00085 | -0.00054 | -0.00101 | 0.00143 | 0.048 |
+| 2 | 0.00090 | -0.00059 | -0.00098 | 0.00145 | 0.048 |
+| 3 | 0.00161 | -0.00025 | -0.00035 | 0.00167 | 0.130 |
+| 4 | 0.00010 | -0.00026 | -0.00018 | 0.00033 | 0.088 |
+| 5 | 0.00220 | -0.00073 | -0.00231 | 0.00327 | 0.169 |
+| 6 | 0.00231 | -0.00083 | -0.00240 | 0.00343 | 0.196 |
+| 7 | 0.00062 | -0.00028 | -0.00070 | 0.00098 | 0.048 |
+| 8 | -0.00012 | -0.00016 | -0.00019 | 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_0a85cf21-bae3-411b-988b-142843657468.md b/gap_reports/gap_0a85cf21-bae3-411b-988b-142843657468.md
new file mode 100644
index 0000000000000000000000000000000000000000..189ec6d94e827aeb2d51659d304975aa0e5a76fd
--- /dev/null
+++ b/gap_reports/gap_0a85cf21-bae3-411b-988b-142843657468.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0a85cf21-bae3-411b-988b-142843657468.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0a85cf21-bae3-411b-988b-142843657468.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2604 |
+| Sim rows | 230 |
+| Real episode_id | `0a85cf21-bae3-411b-988b-142843657468` |
+| Sim episode_id | `0a85cf21-bae3-411b-988b-142843657468` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.597 | 10.66 | 18.47 | 1938.11 | 0.5661 |
+| 1 | descend | 357 | 31 | 0.901 | 5.37 | 9.31 | 3626.04 | 0.7714 |
+| 2 | settle | 381 | 33 | 0.022 | 0.58 | 1.01 | 3625.97 | 0.7361 |
+| 3 | close | 120 | 11 | 0.942 | 5.48 | 9.49 | 932.85 | 0.9386 |
+| 4 | lift | 299 | 26 | 2.579 | 10.57 | 18.30 | 1539.50 | 1.0372 |
+| 5 | move_xy | 416 | 36 | 4.971 | 23.23 | 40.24 | 1924.22 | 0.9316 |
+| 6 | lower | 388 | 34 | 0.085 | 1.07 | 1.86 | 1744.86 | 1.0110 |
+| 7 | open | 120 | 11 | 0.716 | 4.13 | 7.15 | 3626.17 | 0.6361 |
+| 8 | retract | 299 | 26 | 2.665 | 10.97 | 19.00 | 2306.63 | 0.6950 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.296 |
+| TCP position RMSE (mm, per-axis) | 10.34 |
+| EE position RMS L2 (mm) | 19.67 |
+| TCP rotvec (mrad) | 2549.71 |
+| W1 effort mean (A) | 0.8107 |
+| W1 effort per joint (A) | j0=0.2345, j1=1.2047, j2=1.6640, j3=0.7706, j4=0.3726, j5=0.6178 |
+
+## Phase-end anchor (sim - 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 | -0.00037 | -0.00056 | 0.00068 | 0.035 |
+| 1 | 0.00017 | -0.00058 | -0.00075 | 0.00096 | 0.032 |
+| 2 | 0.00017 | -0.00058 | -0.00077 | 0.00098 | 0.037 |
+| 3 | 0.00080 | -0.00029 | -0.00025 | 0.00088 | 0.114 |
+| 4 | 0.00019 | -0.00018 | -0.00030 | 0.00039 | 0.062 |
+| 5 | 0.00081 | -0.00081 | -0.00118 | 0.00164 | 0.098 |
+| 6 | 0.00075 | -0.00098 | -0.00181 | 0.00219 | 0.152 |
+| 7 | -0.00009 | -0.00035 | -0.00058 | 0.00068 | 0.043 |
+| 8 | -0.00006 | -0.00009 | -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_0a9a0944-968a-4ebc-a875-780d0bf4afb7.md b/gap_reports/gap_0a9a0944-968a-4ebc-a875-780d0bf4afb7.md
new file mode 100644
index 0000000000000000000000000000000000000000..f7879110f11bbc2756acc0bd176dc1e78054c607
--- /dev/null
+++ b/gap_reports/gap_0a9a0944-968a-4ebc-a875-780d0bf4afb7.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0a9a0944-968a-4ebc-a875-780d0bf4afb7.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0a9a0944-968a-4ebc-a875-780d0bf4afb7.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1454 |
+| Sim rows | 177 |
+| Real episode_id | `0a9a0944-968a-4ebc-a875-780d0bf4afb7` |
+| Sim episode_id | `0a9a0944-968a-4ebc-a875-780d0bf4afb7` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 10.309 | 9.59 | 16.62 | 528.46 | 0.6222 |
+| 1 | descend | 78 | 8 | 18.943 | 3.63 | 6.28 | 731.70 | 0.6879 |
+| 2 | settle | 29 | 4 | 18.931 | 2.63 | 4.55 | 732.22 | 0.7040 |
+| 3 | close | 221 | 53 | 18.931 | 2.67 | 4.62 | 733.43 | 1.1057 |
+| 4 | lift | 79 | 8 | 18.948 | 3.84 | 6.64 | 732.95 | 1.2816 |
+| 5 | move_xy | 164 | 16 | 9.982 | 11.76 | 20.37 | 669.78 | 1.2855 |
+| 6 | lower | 77 | 8 | 0.516 | 3.89 | 6.73 | 2517.53 | 1.1528 |
+| 7 | open | 361 | 35 | 0.026 | 3.05 | 5.28 | 5.98 | 0.6532 |
+| 8 | retract | 75 | 8 | 0.550 | 3.81 | 6.59 | 5.62 | 0.7535 |
+| 9 | return | 194 | 19 | 2.262 | 16.40 | 28.41 | 891.94 | 0.7345 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 12.831 |
+| TCP position RMSE (mm, per-axis) | 7.62 |
+| EE position RMS L2 (mm) | 14.41 |
+| TCP rotvec (mrad) | 1000.41 |
+| W1 effort mean (A) | 0.8440 |
+| W1 effort per joint (A) | j0=0.1162, j1=1.4448, j2=1.5683, j3=0.7924, j4=0.3760, j5=0.7662 |
+
+## Phase-end anchor (sim - 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 | -0.00405 | -0.00008 | 0.00431 | 46.378 |
+| 1 | 0.00191 | -0.00415 | 0.00003 | 0.00457 | 46.371 |
+| 2 | 0.00190 | -0.00414 | -0.00007 | 0.00456 | 46.372 |
+| 3 | 0.00293 | -0.00331 | -0.00167 | 0.00472 | 46.370 |
+| 4 | 0.00208 | -0.00368 | -0.00180 | 0.00459 | 46.373 |
+| 5 | 0.00255 | -0.00423 | -0.00337 | 0.00598 | 0.275 |
+| 6 | 0.00315 | -0.00389 | -0.00381 | 0.00629 | 0.278 |
+| 7 | 0.00236 | -0.00457 | -0.00115 | 0.00527 | 0.053 |
+| 8 | 0.00198 | -0.00446 | -0.00134 | 0.00506 | 0.070 |
+| 9 | -0.00018 | -0.00013 | -0.00032 | 0.00039 | 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_0aa43d4f-bdcc-4427-93c9-d015f4cf4b39.md b/gap_reports/gap_0aa43d4f-bdcc-4427-93c9-d015f4cf4b39.md
new file mode 100644
index 0000000000000000000000000000000000000000..fd164b345e22b17075cadfca3bfae283edd3817d
--- /dev/null
+++ b/gap_reports/gap_0aa43d4f-bdcc-4427-93c9-d015f4cf4b39.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0aa43d4f-bdcc-4427-93c9-d015f4cf4b39.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0aa43d4f-bdcc-4427-93c9-d015f4cf4b39.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2595 |
+| Sim rows | 233 |
+| Real episode_id | `0aa43d4f-bdcc-4427-93c9-d015f4cf4b39` |
+| Sim episode_id | `0aa43d4f-bdcc-4427-93c9-d015f4cf4b39` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.123 | 8.19 | 14.19 | 2015.31 | 0.5653 |
+| 1 | descend | 369 | 33 | 1.203 | 7.17 | 12.43 | 3625.99 | 0.7499 |
+| 2 | settle | 380 | 33 | 0.022 | 0.57 | 0.98 | 3625.94 | 0.7004 |
+| 3 | close | 144 | 13 | 0.701 | 4.29 | 7.43 | 1607.84 | 0.9546 |
+| 4 | lift | 323 | 29 | 2.569 | 10.67 | 18.47 | 1775.93 | 1.0939 |
+| 5 | move_xy | 336 | 30 | 4.380 | 20.78 | 36.00 | 2128.43 | 0.9445 |
+| 6 | lower | 385 | 34 | 0.079 | 1.02 | 1.76 | 1499.95 | 0.9619 |
+| 7 | open | 144 | 13 | 0.775 | 4.63 | 8.03 | 3626.18 | 0.6050 |
+| 8 | retract | 323 | 29 | 2.601 | 10.91 | 18.90 | 2210.00 | 0.6793 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.098 |
+| TCP position RMSE (mm, per-axis) | 9.57 |
+| EE position RMS L2 (mm) | 17.28 |
+| TCP rotvec (mrad) | 2601.48 |
+| W1 effort mean (A) | 0.7925 |
+| W1 effort per joint (A) | j0=0.2407, j1=1.1578, j2=1.6034, j3=0.6974, j4=0.4589, j5=0.5966 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00016 | -0.00040 | -0.00050 | 0.00066 | 0.032 |
+| 1 | 0.00017 | -0.00058 | -0.00079 | 0.00099 | 0.037 |
+| 2 | 0.00017 | -0.00057 | -0.00077 | 0.00098 | 0.035 |
+| 3 | 0.00072 | -0.00051 | -0.00156 | 0.00179 | 0.127 |
+| 4 | 0.00032 | 0.00007 | -0.00007 | 0.00034 | 0.069 |
+| 5 | 0.00075 | -0.00083 | -0.00057 | 0.00125 | 0.096 |
+| 6 | 0.00084 | -0.00078 | -0.00087 | 0.00144 | 0.107 |
+| 7 | -0.00002 | -0.00037 | -0.00058 | 0.00069 | 0.040 |
+| 8 | -0.00009 | -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_0aa63687-695a-4921-87d4-6e45fe300b16.md b/gap_reports/gap_0aa63687-695a-4921-87d4-6e45fe300b16.md
new file mode 100644
index 0000000000000000000000000000000000000000..3c9501c63dba65a24e6b48a104c7e6a9055b1c6b
--- /dev/null
+++ b/gap_reports/gap_0aa63687-695a-4921-87d4-6e45fe300b16.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0aa63687-695a-4921-87d4-6e45fe300b16.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0aa63687-695a-4921-87d4-6e45fe300b16.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 3027 |
+| Sim rows | 269 |
+| Real episode_id | `0aa63687-695a-4921-87d4-6e45fe300b16` |
+| Sim episode_id | `0aa63687-695a-4921-87d4-6e45fe300b16` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.585 | 10.04 | 17.39 | 2016.16 | 0.5698 |
+| 1 | descend | 608 | 53 | 0.808 | 4.81 | 8.33 | 3626.05 | 0.7373 |
+| 2 | settle | 362 | 32 | 0.022 | 0.56 | 0.98 | 3625.93 | 0.6686 |
+| 3 | close | 176 | 16 | 0.879 | 5.14 | 8.90 | 1335.03 | 0.9056 |
+| 4 | lift | 342 | 30 | 2.749 | 11.18 | 19.37 | 1962.81 | 1.0613 |
+| 5 | move_xy | 416 | 36 | 5.650 | 26.12 | 45.25 | 2521.93 | 0.9118 |
+| 6 | lower | 395 | 35 | 0.079 | 1.02 | 1.77 | 1083.64 | 0.9746 |
+| 7 | open | 177 | 16 | 0.837 | 4.80 | 8.32 | 3626.15 | 0.6148 |
+| 8 | retract | 344 | 30 | 2.569 | 10.57 | 18.30 | 2271.46 | 0.6912 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.470 |
+| TCP position RMSE (mm, per-axis) | 11.02 |
+| EE position RMS L2 (mm) | 20.14 |
+| TCP rotvec (mrad) | 2621.24 |
+| W1 effort mean (A) | 0.7773 |
+| W1 effort per joint (A) | j0=0.2502, j1=1.1475, j2=1.6129, j3=0.7295, j4=0.3638, j5=0.5599 |
+
+## Phase-end anchor (sim - 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 | -0.00036 | -0.00051 | 0.00064 | 0.029 |
+| 1 | 0.00015 | -0.00058 | -0.00079 | 0.00099 | 0.037 |
+| 2 | 0.00019 | -0.00056 | -0.00077 | 0.00097 | 0.035 |
+| 3 | 0.00065 | -0.00029 | -0.00051 | 0.00088 | 0.103 |
+| 4 | 0.00013 | -0.00015 | -0.00009 | 0.00022 | 0.092 |
+| 5 | 0.00059 | -0.00098 | -0.00172 | 0.00207 | 0.154 |
+| 6 | 0.00109 | -0.00076 | -0.00138 | 0.00192 | 0.147 |
+| 7 | -0.00000 | -0.00038 | -0.00055 | 0.00067 | 0.036 |
+| 8 | -0.00006 | -0.00007 | -0.00012 | 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_0ac68381-a33b-4966-922c-b63dd8577c2e.md b/gap_reports/gap_0ac68381-a33b-4966-922c-b63dd8577c2e.md
new file mode 100644
index 0000000000000000000000000000000000000000..322559771b90d0e9032c83505b3ebbb8a8302816
--- /dev/null
+++ b/gap_reports/gap_0ac68381-a33b-4966-922c-b63dd8577c2e.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0ac68381-a33b-4966-922c-b63dd8577c2e.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0ac68381-a33b-4966-922c-b63dd8577c2e.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 3294 |
+| Sim rows | 290 |
+| Real episode_id | `0ac68381-a33b-4966-922c-b63dd8577c2e` |
+| Sim episode_id | `0ac68381-a33b-4966-922c-b63dd8577c2e` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 3.172 | 11.86 | 20.55 | 3.27 | 0.5874 |
+| 1 | descend | 672 | 58 | 0.576 | 3.78 | 6.55 | 4.98 | 0.6842 |
+| 2 | settle | 378 | 33 | 0.023 | 0.87 | 1.51 | 5.14 | 0.6336 |
+| 3 | close | 158 | 14 | 1.101 | 6.13 | 10.61 | 7.14 | 0.9046 |
+| 4 | lift | 479 | 42 | 3.311 | 13.60 | 23.56 | 4.91 | 1.0659 |
+| 5 | move_xy | 363 | 32 | 7.976 | 34.93 | 60.50 | 5.54 | 0.8810 |
+| 6 | lower | 405 | 35 | 0.091 | 1.50 | 2.59 | 7.49 | 0.9017 |
+| 7 | open | 156 | 14 | 0.965 | 5.42 | 9.39 | 5.14 | 0.5914 |
+| 8 | retract | 479 | 42 | 3.668 | 14.91 | 25.82 | 3.33 | 0.6986 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.343 |
+| TCP position RMSE (mm, per-axis) | 14.35 |
+| EE position RMS L2 (mm) | 25.03 |
+| TCP rotvec (mrad) | 5.39 |
+| W1 effort mean (A) | 0.7528 |
+| W1 effort per joint (A) | j0=0.3009, j1=1.1306, j2=1.4569, j3=0.6072, j4=0.4442, 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 | 0.00093 | -0.00051 | -0.00039 | 0.00114 | 0.032 |
+| 1 | 0.00098 | -0.00083 | -0.00078 | 0.00150 | 0.039 |
+| 2 | 0.00097 | -0.00086 | -0.00075 | 0.00150 | 0.035 |
+| 3 | 0.00163 | -0.00035 | -0.00131 | 0.00212 | 0.121 |
+| 4 | 0.00036 | 0.00008 | -0.00005 | 0.00038 | 0.108 |
+| 5 | 0.00171 | -0.00090 | -0.00173 | 0.00259 | 0.126 |
+| 6 | 0.00197 | -0.00098 | -0.00116 | 0.00248 | 0.132 |
+| 7 | 0.00079 | -0.00050 | -0.00054 | 0.00107 | 0.033 |
+| 8 | -0.00005 | -0.00008 | -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_0ac72404-c28e-42e3-934d-b9438825df6f.md b/gap_reports/gap_0ac72404-c28e-42e3-934d-b9438825df6f.md
new file mode 100644
index 0000000000000000000000000000000000000000..3c962781e0968769cb7512d7d2d947e1bf952a5d
--- /dev/null
+++ b/gap_reports/gap_0ac72404-c28e-42e3-934d-b9438825df6f.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0ac72404-c28e-42e3-934d-b9438825df6f.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0ac72404-c28e-42e3-934d-b9438825df6f.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2963 |
+| Sim rows | 261 |
+| Real episode_id | `0ac72404-c28e-42e3-934d-b9438825df6f` |
+| Sim episode_id | `0ac72404-c28e-42e3-934d-b9438825df6f` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 3.575 | 15.45 | 26.77 | 1964.34 | 0.5967 |
+| 1 | descend | 337 | 29 | 0.968 | 6.45 | 11.18 | 3625.48 | 0.7275 |
+| 2 | settle | 363 | 32 | 0.022 | 0.76 | 1.32 | 3625.33 | 0.6644 |
+| 3 | close | 158 | 14 | 0.890 | 5.55 | 9.60 | 2667.69 | 0.9948 |
+| 4 | lift | 479 | 42 | 3.712 | 17.02 | 29.47 | 2295.01 | 1.1178 |
+| 5 | move_xy | 376 | 33 | 8.250 | 39.82 | 68.96 | 2525.31 | 0.9046 |
+| 6 | lower | 394 | 34 | 0.086 | 1.39 | 2.40 | 3178.10 | 0.9701 |
+| 7 | open | 157 | 14 | 0.746 | 4.68 | 8.11 | 3625.45 | 0.6635 |
+| 8 | retract | 481 | 42 | 3.805 | 17.44 | 30.20 | 2474.04 | 0.7317 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.518 |
+| TCP position RMSE (mm, per-axis) | 16.72 |
+| EE position RMS L2 (mm) | 31.12 |
+| TCP rotvec (mrad) | 2949.04 |
+| W1 effort mean (A) | 0.8173 |
+| W1 effort per joint (A) | j0=0.2488, j1=1.3392, j2=1.5693, j3=0.7556, j4=0.3225, j5=0.6681 |
+
+## Phase-end anchor (sim - 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 | -0.00014 | -0.00058 | 0.00100 | 0.029 |
+| 1 | 0.00083 | -0.00052 | -0.00087 | 0.00131 | 0.044 |
+| 2 | 0.00085 | -0.00051 | -0.00090 | 0.00134 | 0.045 |
+| 3 | 0.00171 | -0.00019 | -0.00129 | 0.00215 | 0.136 |
+| 4 | 0.00041 | -0.00019 | -0.00046 | 0.00064 | 0.104 |
+| 5 | 0.00165 | -0.00065 | -0.00078 | 0.00194 | 0.116 |
+| 6 | 0.00160 | -0.00077 | -0.00083 | 0.00196 | 0.105 |
+| 7 | 0.00064 | -0.00022 | -0.00073 | 0.00099 | 0.053 |
+| 8 | -0.00006 | -0.00007 | -0.00010 | 0.00014 | 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_0acf50be-0872-4bdf-8544-5d14c4d99f5f.md b/gap_reports/gap_0acf50be-0872-4bdf-8544-5d14c4d99f5f.md
new file mode 100644
index 0000000000000000000000000000000000000000..a45fd4c9e183ccc35f93cb3aa1174d96d6fddb35
--- /dev/null
+++ b/gap_reports/gap_0acf50be-0872-4bdf-8544-5d14c4d99f5f.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0acf50be-0872-4bdf-8544-5d14c4d99f5f.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0acf50be-0872-4bdf-8544-5d14c4d99f5f.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2846 |
+| Sim rows | 253 |
+| Real episode_id | `0acf50be-0872-4bdf-8544-5d14c4d99f5f` |
+| Sim episode_id | `0acf50be-0872-4bdf-8544-5d14c4d99f5f` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.471 | 12.88 | 22.31 | 1897.88 | 0.6149 |
+| 1 | descend | 469 | 41 | 1.188 | 8.17 | 14.15 | 3624.69 | 0.7451 |
+| 2 | settle | 366 | 32 | 0.028 | 0.98 | 1.70 | 3624.55 | 0.7172 |
+| 3 | close | 146 | 13 | 0.842 | 5.77 | 9.99 | 3624.94 | 1.0701 |
+| 4 | lift | 393 | 35 | 2.490 | 14.43 | 24.99 | 2341.92 | 1.1174 |
+| 5 | move_xy | 353 | 31 | 5.244 | 32.05 | 55.51 | 2802.30 | 0.9781 |
+| 6 | lower | 383 | 34 | 0.102 | 1.78 | 3.08 | 3625.06 | 1.1029 |
+| 7 | open | 146 | 13 | 0.931 | 6.38 | 11.05 | 3624.76 | 0.7339 |
+| 8 | retract | 393 | 34 | 2.394 | 13.86 | 24.00 | 2384.10 | 0.7422 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.322 |
+| TCP position RMSE (mm, per-axis) | 13.90 |
+| EE position RMS L2 (mm) | 25.07 |
+| TCP rotvec (mrad) | 3132.61 |
+| W1 effort mean (A) | 0.8523 |
+| W1 effort per joint (A) | j0=0.2602, j1=1.5642, j2=1.6509, j3=0.7375, j4=0.2906, j5=0.6102 |
+
+## Phase-end anchor (sim - 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 | -0.00043 | -0.00077 | 0.00118 | 0.033 |
+| 1 | 0.00078 | -0.00086 | -0.00121 | 0.00168 | 0.052 |
+| 2 | 0.00077 | -0.00088 | -0.00123 | 0.00170 | 0.060 |
+| 3 | 0.00178 | -0.00046 | -0.00104 | 0.00211 | 0.151 |
+| 4 | 0.00031 | -0.00026 | -0.00061 | 0.00073 | 0.124 |
+| 5 | 0.00191 | -0.00118 | -0.00148 | 0.00269 | 0.153 |
+| 6 | 0.00190 | -0.00127 | -0.00215 | 0.00314 | 0.150 |
+| 7 | 0.00062 | -0.00051 | -0.00099 | 0.00128 | 0.048 |
+| 8 | -0.00008 | -0.00014 | -0.00014 | 0.00021 | 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_0aeb1522-118f-4635-b56e-ef3383469fa0.md b/gap_reports/gap_0aeb1522-118f-4635-b56e-ef3383469fa0.md
new file mode 100644
index 0000000000000000000000000000000000000000..6e30bf6b56f9f32c1d02a66d6e0463dc8b44e68f
--- /dev/null
+++ b/gap_reports/gap_0aeb1522-118f-4635-b56e-ef3383469fa0.md
@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0aeb1522-118f-4635-b56e-ef3383469fa0.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0aeb1522-118f-4635-b56e-ef3383469fa0.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1203 |
+| Sim rows | 125 |
+| Real episode_id | `0aeb1522-118f-4635-b56e-ef3383469fa0` |
+| Sim episode_id | `0aeb1522-118f-4635-b56e-ef3383469fa0` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 3.533 | 21.65 | 37.50 | 1767.38 | 0.7596 |
+| 1 | descend | 69 | 7 | 0.732 | 4.34 | 7.52 | 5.52 | 0.6412 |
+| 2 | settle | 32 | 4 | 0.019 | 3.09 | 5.34 | 5.87 | 0.6331 |
+| 3 | close | 30 | 4 | 0.140 | 3.84 | 6.65 | 3621.04 | 1.1433 |
+| 4 | lift | 88 | 9 | 0.956 | 5.73 | 9.92 | 3621.08 | 1.1196 |
+| 5 | move_xy | 290 | 29 | 6.016 | 31.25 | 54.13 | 2589.51 | 1.0313 |
+| 6 | lower | 110 | 12 | 0.864 | 4.16 | 7.21 | 8.06 | 1.0468 |
+| 7 | open | 87 | 9 | 0.020 | 2.21 | 3.82 | 4.56 | 0.5539 |
+| 8 | retract | 111 | 12 | 0.817 | 4.09 | 7.08 | 3.92 | 0.7071 |
+| 9 | return | 231 | 23 | 2.923 | 16.29 | 28.21 | 1175.57 | 0.7497 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.451 |
+| TCP position RMSE (mm, per-axis) | 13.51 |
+| EE position RMS L2 (mm) | 32.61 |
+| TCP rotvec (mrad) | 1934.82 |
+| W1 effort mean (A) | 0.8230 |
+| W1 effort per joint (A) | j0=0.2586, j1=1.3518, j2=1.5553, j3=0.7715, j4=0.5020, j5=0.4987 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00148 | -0.00466 | -0.00104 | 0.00500 | 0.038 |
+| 1 | 0.00166 | -0.00496 | -0.00117 | 0.00536 | 0.055 |
+| 2 | 0.00162 | -0.00494 | -0.00126 | 0.00534 | 0.041 |
+| 3 | 0.00245 | -0.00514 | -0.00326 | 0.00657 | 0.232 |
+| 4 | 0.00191 | -0.00430 | -0.00321 | 0.00570 | 0.245 |
+| 5 | 0.00174 | -0.00275 | -0.00204 | 0.00384 | 0.263 |
+| 6 | 0.00221 | -0.00226 | -0.00167 | 0.00358 | 0.225 |
+| 7 | 0.00217 | -0.00317 | -0.00009 | 0.00384 | 0.040 |
+| 8 | 0.00178 | -0.00334 | -0.00015 | 0.00379 | 0.041 |
+| 9 | -0.00002 | -0.00013 | -0.00023 | 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_0af1cf8c-8fc6-49ad-ad1b-2b1dc607dcb4.md b/gap_reports/gap_0af1cf8c-8fc6-49ad-ad1b-2b1dc607dcb4.md
new file mode 100644
index 0000000000000000000000000000000000000000..242fbdfa6b26b98bca50eac66fd2a620a525059c
--- /dev/null
+++ b/gap_reports/gap_0af1cf8c-8fc6-49ad-ad1b-2b1dc607dcb4.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0af1cf8c-8fc6-49ad-ad1b-2b1dc607dcb4.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0af1cf8c-8fc6-49ad-ad1b-2b1dc607dcb4.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2548 |
+| Sim rows | 228 |
+| Real episode_id | `0af1cf8c-8fc6-49ad-ad1b-2b1dc607dcb4` |
+| Sim episode_id | `0af1cf8c-8fc6-49ad-ad1b-2b1dc607dcb4` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.652 | 12.02 | 20.83 | 1971.67 | 0.6074 |
+| 1 | descend | 310 | 27 | 0.879 | 5.72 | 9.90 | 3625.30 | 1.0099 |
+| 2 | settle | 371 | 33 | 0.026 | 0.78 | 1.34 | 3625.26 | 1.0458 |
+| 3 | close | 129 | 12 | 0.704 | 4.86 | 8.42 | 3088.03 | 1.1617 |
+| 4 | lift | 314 | 28 | 3.097 | 14.83 | 25.69 | 2170.61 | 1.2348 |
+| 5 | move_xy | 367 | 32 | 6.305 | 32.57 | 56.42 | 2794.14 | 1.0641 |
+| 6 | lower | 404 | 35 | 0.082 | 1.32 | 2.28 | 3481.08 | 1.3662 |
+| 7 | open | 128 | 12 | 0.651 | 4.21 | 7.29 | 3625.51 | 0.8421 |
+| 8 | retract | 312 | 28 | 3.003 | 14.21 | 24.61 | 2331.06 | 0.8627 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.730 |
+| TCP position RMSE (mm, per-axis) | 13.76 |
+| EE position RMS L2 (mm) | 25.87 |
+| TCP rotvec (mrad) | 3035.41 |
+| W1 effort mean (A) | 1.0436 |
+| W1 effort per joint (A) | j0=0.6928, j1=1.2614, j2=1.8715, j3=1.0996, j4=0.7228, j5=0.6135 |
+
+## Phase-end anchor (sim - 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 | -0.00034 | -0.00068 | 0.00099 | 0.037 |
+| 1 | 0.00065 | -0.00063 | -0.00101 | 0.00135 | 0.044 |
+| 2 | 0.00064 | -0.00065 | -0.00102 | 0.00137 | 0.049 |
+| 3 | 0.00106 | -0.00054 | -0.00050 | 0.00129 | 0.103 |
+| 4 | 0.00014 | -0.00017 | -0.00009 | 0.00024 | 0.090 |
+| 5 | 0.00192 | -0.00076 | -0.00061 | 0.00215 | 0.186 |
+| 6 | 0.00145 | -0.00095 | -0.00163 | 0.00238 | 0.114 |
+| 7 | 0.00047 | -0.00038 | -0.00076 | 0.00097 | 0.040 |
+| 8 | -0.00014 | -0.00021 | -0.00022 | 0.00034 | 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_0afd9b10-c3db-417c-850f-ed9b9854dd07.md b/gap_reports/gap_0afd9b10-c3db-417c-850f-ed9b9854dd07.md
new file mode 100644
index 0000000000000000000000000000000000000000..39b9e044c1c5d3b6d3bb458e26a844cfe47d6561
--- /dev/null
+++ b/gap_reports/gap_0afd9b10-c3db-417c-850f-ed9b9854dd07.md
@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0afd9b10-c3db-417c-850f-ed9b9854dd07.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0afd9b10-c3db-417c-850f-ed9b9854dd07.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2890 |
+| Sim rows | 258 |
+| Real episode_id | `0afd9b10-c3db-417c-850f-ed9b9854dd07` |
+| Sim episode_id | `0afd9b10-c3db-417c-850f-ed9b9854dd07` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.739 | 12.19 | 21.11 | 1915.63 | 0.6057 |
+| 1 | descend | 578 | 50 | 0.859 | 5.65 | 9.79 | 3625.40 | 0.9972 |
+| 2 | settle | 384 | 34 | 0.023 | 0.76 | 1.31 | 3625.26 | 1.1138 |
+| 3 | close | 163 | 15 | 0.920 | 5.92 | 10.25 | 3264.45 | 1.1800 |
+| 4 | lift | 319 | 28 | 3.119 | 14.44 | 25.02 | 2272.51 | 1.2600 |
+| 5 | move_xy | 359 | 32 | 7.051 | 35.90 | 62.18 | 2422.07 | 1.0544 |
+| 6 | lower | 407 | 36 | 0.087 | 1.37 | 2.37 | 3446.86 | 1.4312 |
+| 7 | open | 163 | 15 | 0.926 | 5.88 | 10.18 | 3625.50 | 0.8604 |
+| 8 | retract | 320 | 28 | 3.163 | 14.72 | 25.50 | 2380.79 | 0.8874 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.970 |
+| TCP position RMSE (mm, per-axis) | 14.78 |
+| EE position RMS L2 (mm) | 26.15 |
+| TCP rotvec (mrad) | 3024.64 |
+| W1 effort mean (A) | 1.0610 |
+| W1 effort per joint (A) | j0=0.6711, j1=1.3914, j2=1.9655, j3=1.1067, j4=0.6424, 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 | 0.00060 | -0.00023 | -0.00068 | 0.00093 | 0.041 |
+| 1 | 0.00064 | -0.00063 | -0.00099 | 0.00133 | 0.044 |
+| 2 | 0.00061 | -0.00063 | -0.00097 | 0.00131 | 0.045 |
+| 3 | 0.00088 | -0.00047 | -0.00072 | 0.00123 | 0.073 |
+| 4 | 0.00015 | -0.00040 | -0.00042 | 0.00060 | 0.108 |
+| 5 | 0.00139 | -0.00096 | -0.00079 | 0.00187 | 0.107 |
+| 6 | 0.00130 | -0.00091 | -0.00067 | 0.00172 | 0.118 |
+| 7 | 0.00047 | -0.00035 | -0.00077 | 0.00097 | 0.051 |
+| 8 | -0.00011 | -0.00019 | -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_0b0a4a2a-8c65-44c8-9659-10ba0da5e26d.md b/gap_reports/gap_0b0a4a2a-8c65-44c8-9659-10ba0da5e26d.md
new file mode 100644
index 0000000000000000000000000000000000000000..527a37f92e68dc17a6a6372095e220a691c8728a
--- /dev/null
+++ b/gap_reports/gap_0b0a4a2a-8c65-44c8-9659-10ba0da5e26d.md
@@ -0,0 +1,65 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:25 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/0b0a4a2a-8c65-44c8-9659-10ba0da5e26d.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/0b0a4a2a-8c65-44c8-9659-10ba0da5e26d.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1399 |
+| Sim rows | 515 |
+| Real episode_id | `0b0a4a2a-8c65-44c8-9659-10ba0da5e26d` |
+| Sim episode_id | `0b0a4a2a-8c65-44c8-9659-10ba0da5e26d` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 401 | 3.731 | 17.14 | 29.68 | 2099.12 | 0.6104 |
+| 5 | move_xy | 200 | 18 | 1.441 | 9.20 | 15.94 | 7.08 | 1.4106 |
+| 6 | lower | 390 | 34 | 0.095 | 1.17 | 2.02 | 972.03 | 1.5025 |
+| 7 | open | 135 | 12 | 1.027 | 6.45 | 11.17 | 3625.55 | 0.8196 |
+| 8 | retract | 460 | 40 | 3.579 | 16.43 | 28.46 | 2455.38 | 0.8922 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.444 |
+| TCP position RMSE (mm, per-axis) | 11.76 |
+| EE position RMS L2 (mm) | 22.39 |
+| TCP rotvec (mrad) | 2214.71 |
+| W1 effort mean (A) | 1.0036 |
+| W1 effort per joint (A) | j0=0.6370, j1=1.3116, j2=1.8008, j3=0.9635, j4=0.8429, j5=0.4656 |
+
+## Phase-end anchor (sim - 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 | -0.00013 | -0.00059 | 0.00101 | 0.034 |
+| 5 | 0.00149 | -0.00072 | -0.00117 | 0.00202 | 0.136 |
+| 6 | 0.00165 | -0.00071 | -0.00094 | 0.00203 | 0.117 |
+| 7 | 0.00060 | -0.00019 | -0.00078 | 0.00100 | 0.050 |
+| 8 | -0.00007 | -0.00010 | -0.00013 | 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.