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gap_reports/gap_2d7c4b3a-9642-4a7d-b296-857115f93e53.md

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+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2d7c4b3a-9642-4a7d-b296-857115f93e53.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2d7c4b3a-9642-4a7d-b296-857115f93e53.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1568 |
+| Sim rows | 160 |
+| Real episode_id | `2d7c4b3a-9642-4a7d-b296-857115f93e53` |
+| Sim episode_id | `2d7c4b3a-9642-4a7d-b296-857115f93e53` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 135 | 14 | 2.188 | 10.30 | 17.84 | 323.65 | 0.6939 |
+| 1 | descend | 89 | 9 | 0.787 | 4.23 | 7.34 | 4.60 | 0.6377 |
+| 2 | settle | 28 | 4 | 0.019 | 2.74 | 4.74 | 5.11 | 0.6890 |
+| 3 | close | 382 | 38 | 0.094 | 3.44 | 5.95 | 7.35 | 1.1491 |
+| 4 | lift | 91 | 10 | 0.874 | 4.93 | 8.53 | 6.53 | 1.1776 |
+| 5 | move_xy | 131 | 13 | 1.581 | 9.72 | 16.84 | 16.70 | 1.0584 |
+| 6 | lower | 91 | 10 | 1.075 | 4.67 | 8.09 | 5.56 | 0.9758 |
+| 7 | open | 361 | 35 | 0.015 | 2.41 | 4.17 | 4.49 | 0.5179 |
+| 8 | retract | 90 | 10 | 1.012 | 4.27 | 7.39 | 3.79 | 0.6062 |
+| 9 | return | 170 | 17 | 1.996 | 7.56 | 13.10 | 653.98 | 0.6116 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.218 |
+| TCP position RMSE (mm, per-axis) | 6.04 |
+| EE position RMS L2 (mm) | 9.85 |
+| TCP rotvec (mrad) | 230.85 |
+| W1 effort mean (A) | 0.7954 |
+| W1 effort per joint (A) | j0=0.1602, j1=1.3155, j2=1.4474, j3=0.8469, j4=0.5072, j5=0.4950 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00185 | -0.00383 | -0.00061 | 0.00430 | 0.028 |
+| 1 | 0.00233 | -0.00406 | -0.00058 | 0.00472 | 0.036 |
+| 2 | 0.00235 | -0.00408 | -0.00069 | 0.00476 | 0.040 |
+| 3 | 0.00333 | -0.00490 | -0.00115 | 0.00604 | 0.185 |
+| 4 | 0.00264 | -0.00483 | -0.00151 | 0.00571 | 0.201 |
+| 5 | 0.00159 | -0.00357 | -0.00024 | 0.00392 | 0.084 |
+| 6 | 0.00271 | -0.00369 | -0.00001 | 0.00458 | 0.099 |
+| 7 | 0.00220 | -0.00354 | 0.00001 | 0.00417 | 0.029 |
+| 8 | 0.00145 | -0.00345 | -0.00005 | 0.00374 | 0.048 |
+| 9 | -0.00006 | -0.00012 | -0.00024 | 0.00028 | 0.036 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_2d920f93-b398-4bfe-932e-a072c174e759.md

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+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2d920f93-b398-4bfe-932e-a072c174e759.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2d920f93-b398-4bfe-932e-a072c174e759.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 431 |
+| Sim rows | 59 |
+| Real episode_id | `2d920f93-b398-4bfe-932e-a072c174e759` |
+| Sim episode_id | `2d920f93-b398-4bfe-932e-a072c174e759` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 222 | 22 | 3.663 | 15.79 | 27.34 | 1256.87 | 0.7758 |
+| 1 | descend | 209 | 21 | 0.024 | 5.88 | 10.18 | 1.74 | 0.7963 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.590 |
+| TCP position RMSE (mm, per-axis) | 11.91 |
+| EE position RMS L2 (mm) | 20.87 |
+| TCP rotvec (mrad) | 888.74 |
+| W1 effort mean (A) | 0.7858 |
+| W1 effort per joint (A) | j0=0.1667, j1=1.7779, j2=1.7485, j3=0.6833, j4=0.1583, j5=0.1800 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | -0.00670 | -0.00789 | -0.00032 | 0.01036 | 0.041 |
+| 1 | -0.00648 | -0.00783 | -0.00037 | 0.01017 | 0.048 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_2d9c70cf-0cd9-4074-a797-a4666c5a3a5c.md

@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2d9c70cf-0cd9-4074-a797-a4666c5a3a5c.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2d9c70cf-0cd9-4074-a797-a4666c5a3a5c.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 510 |
+| Sim rows | 67 |
+| Real episode_id | `2d9c70cf-0cd9-4074-a797-a4666c5a3a5c` |
+| Sim episode_id | `2d9c70cf-0cd9-4074-a797-a4666c5a3a5c` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 300 | 30 | 5.082 | 22.64 | 39.21 | 578.18 | 0.7839 |
+| 1 | descend | 210 | 21 | 0.025 | 0.38 | 0.67 | 2.08 | 0.7173 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.593 |
+| TCP position RMSE (mm, per-axis) | 16.01 |
+| EE position RMS L2 (mm) | 30.08 |
+| TCP rotvec (mrad) | 408.84 |
+| W1 effort mean (A) | 0.7564 |
+| W1 effort per joint (A) | j0=0.1908, j1=1.5184, j2=1.8250, j3=0.7435, j4=0.1087, j5=0.1522 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | -0.00031 | -0.00028 | 0.00061 | 0.00074 | 0.048 |
+| 1 | -0.00002 | -0.00026 | 0.00062 | 0.00067 | 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.

gap_reports/gap_2d9d0c2e-63c2-4710-a450-cc3a7cfd56e4.md

@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2d9d0c2e-63c2-4710-a450-cc3a7cfd56e4.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2d9d0c2e-63c2-4710-a450-cc3a7cfd56e4.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 712 |
+| Sim rows | 86 |
+| Real episode_id | `2d9d0c2e-63c2-4710-a450-cc3a7cfd56e4` |
+| Sim episode_id | `2d9d0c2e-63c2-4710-a450-cc3a7cfd56e4` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 500 | 49 | 5.903 | 27.99 | 48.48 | 16.47 | 0.7757 |
+| 1 | descend | 212 | 21 | 0.023 | 6.12 | 10.60 | 2.28 | 0.8639 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 4.174 |
+| TCP position RMSE (mm, per-axis) | 20.26 |
+| EE position RMS L2 (mm) | 41.04 |
+| TCP rotvec (mrad) | 11.76 |
+| W1 effort mean (A) | 0.8005 |
+| W1 effort per joint (A) | j0=0.1988, j1=1.6500, j2=1.6979, j3=0.8510, j4=0.2514, j5=0.1537 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.01048 | 0.00043 | -0.00011 | 0.01049 | 0.037 |
+| 1 | 0.01062 | 0.00036 | -0.00026 | 0.01063 | 0.044 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_2db23e33-0d96-4b78-b78b-011d978e2371.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2db23e33-0d96-4b78-b78b-011d978e2371.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2db23e33-0d96-4b78-b78b-011d978e2371.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2822 |
+| Sim rows | 252 |
+| Real episode_id | `2db23e33-0d96-4b78-b78b-011d978e2371` |
+| Sim episode_id | `2db23e33-0d96-4b78-b78b-011d978e2371` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 255 | 23 | 2.855 | 13.50 | 23.37 | 1815.98 | 0.6159 |
+| 1 | descend | 290 | 26 | 0.832 | 6.09 | 10.54 | 3624.71 | 0.7167 |
+| 2 | settle | 430 | 38 | 0.027 | 1.00 | 1.73 | 3624.56 | 0.7104 |
+| 3 | close | 110 | 10 | 0.464 | 3.63 | 6.29 | 3625.23 | 0.9953 |
+| 4 | lift | 386 | 34 | 3.483 | 18.83 | 32.62 | 2412.96 | 1.0909 |
+| 5 | move_xy | 412 | 36 | 7.375 | 40.44 | 70.04 | 2660.83 | 0.8986 |
+| 6 | lower | 442 | 39 | 0.093 | 1.76 | 3.05 | 3625.14 | 1.0375 |
+| 7 | open | 110 | 10 | 0.560 | 3.97 | 6.87 | 3624.68 | 0.7406 |
+| 8 | retract | 387 | 34 | 3.521 | 19.16 | 33.18 | 2437.47 | 0.7365 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.132 |
+| TCP position RMSE (mm, per-axis) | 17.03 |
+| EE position RMS L2 (mm) | 32.84 |
+| TCP rotvec (mrad) | 3124.09 |
+| W1 effort mean (A) | 0.8289 |
+| W1 effort per joint (A) | j0=0.2083, j1=1.5493, j2=1.5555, j3=0.7636, j4=0.2817, j5=0.6148 |
+
+## Phase-end anchor (sim - 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 | -0.00071 | 0.00139 | 0.035 |
+| 1 | 0.00110 | -0.00067 | -0.00115 | 0.00172 | 0.056 |
+| 2 | 0.00111 | -0.00065 | -0.00116 | 0.00173 | 0.056 |
+| 3 | 0.00213 | -0.00041 | -0.00176 | 0.00279 | 0.148 |
+| 4 | 0.00018 | -0.00021 | -0.00022 | 0.00035 | 0.101 |
+| 5 | 0.00235 | -0.00089 | -0.00207 | 0.00325 | 0.145 |
+| 6 | 0.00215 | -0.00099 | -0.00125 | 0.00268 | 0.128 |
+| 7 | 0.00089 | -0.00036 | -0.00099 | 0.00138 | 0.048 |
+| 8 | -0.00015 | -0.00020 | -0.00020 | 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.

gap_reports/gap_2dd37629-0309-435a-be67-6036e48efa32.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2dd37629-0309-435a-be67-6036e48efa32.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2dd37629-0309-435a-be67-6036e48efa32.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2767 |
+| Sim rows | 245 |
+| Real episode_id | `2dd37629-0309-435a-be67-6036e48efa32` |
+| Sim episode_id | `2dd37629-0309-435a-be67-6036e48efa32` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 219 | 19 | 3.242 | 12.69 | 21.98 | 1975.39 | 0.5835 |
+| 1 | descend | 435 | 38 | 1.342 | 7.97 | 13.81 | 3626.06 | 0.7055 |
+| 2 | settle | 354 | 31 | 0.023 | 0.60 | 1.04 | 3626.00 | 0.6660 |
+| 3 | close | 131 | 12 | 1.150 | 6.54 | 11.33 | 2189.22 | 0.9807 |
+| 4 | lift | 331 | 29 | 3.269 | 13.26 | 22.96 | 1916.12 | 1.0744 |
+| 5 | move_xy | 434 | 38 | 7.160 | 32.26 | 55.88 | 2094.60 | 0.9086 |
+| 6 | lower | 402 | 35 | 0.080 | 1.10 | 1.91 | 1719.43 | 1.0099 |
+| 7 | open | 131 | 12 | 1.160 | 6.53 | 11.31 | 3626.25 | 0.6358 |
+| 8 | retract | 330 | 29 | 3.338 | 13.50 | 23.39 | 2370.13 | 0.7159 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.128 |
+| TCP position RMSE (mm, per-axis) | 13.79 |
+| EE position RMS L2 (mm) | 26.44 |
+| TCP rotvec (mrad) | 2682.73 |
+| W1 effort mean (A) | 0.7940 |
+| W1 effort per joint (A) | j0=0.2719, j1=1.1979, j2=1.5861, j3=0.6815, j4=0.4240, j5=0.6026 |
+
+## Phase-end anchor (sim - 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 | -0.00024 | -0.00046 | 0.00064 | 0.030 |
+| 1 | 0.00042 | -0.00054 | -0.00075 | 0.00101 | 0.035 |
+| 2 | 0.00040 | -0.00057 | -0.00073 | 0.00101 | 0.034 |
+| 3 | 0.00092 | -0.00020 | -0.00093 | 0.00132 | 0.100 |
+| 4 | 0.00013 | -0.00043 | -0.00059 | 0.00074 | 0.091 |
+| 5 | 0.00164 | -0.00079 | -0.00129 | 0.00224 | 0.180 |
+| 6 | 0.00107 | -0.00078 | -0.00094 | 0.00163 | 0.103 |
+| 7 | 0.00018 | -0.00032 | -0.00050 | 0.00062 | 0.035 |
+| 8 | -0.00006 | -0.00010 | -0.00015 | 0.00019 | 0.030 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_2df7d28e-6b27-45a5-9584-0caf773e0988.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2df7d28e-6b27-45a5-9584-0caf773e0988.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2df7d28e-6b27-45a5-9584-0caf773e0988.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2493 |
+| Sim rows | 253 |
+| Real episode_id | `2df7d28e-6b27-45a5-9584-0caf773e0988` |
+| Sim episode_id | `2df7d28e-6b27-45a5-9584-0caf773e0988` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 187 | 17 | 2.290 | 12.41 | 21.50 | 1947.92 | 0.6246 |
+| 1 | descend | 311 | 27 | 0.618 | 4.28 | 7.41 | 3624.62 | 0.7657 |
+| 2 | settle | 376 | 33 | 0.027 | 0.96 | 1.67 | 3624.53 | 0.8092 |
+| 3 | close | 126 | 12 | 0.554 | 4.02 | 6.96 | 3625.00 | 1.0060 |
+| 4 | lift | 375 | 33 | 2.382 | 14.52 | 25.15 | 2292.62 | 1.1213 |
+| 5 | move_xy | 326 | 28 | 5.164 | 31.90 | 55.25 | 2655.49 | 0.9512 |
+| 6 | lower | 292 | 56 | 0.097 | 1.72 | 2.98 | 3536.29 | 1.0996 |
+| 7 | open | 127 | 12 | 0.541 | 3.76 | 6.52 | 3624.73 | 0.7344 |
+| 8 | retract | 373 | 33 | 2.361 | 14.39 | 24.92 | 2313.91 | 0.7323 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.215 |
+| TCP position RMSE (mm, per-axis) | 13.51 |
+| EE position RMS L2 (mm) | 25.20 |
+| TCP rotvec (mrad) | 3100.47 |
+| W1 effort mean (A) | 0.8638 |
+| W1 effort per joint (A) | j0=0.2408, j1=1.6103, j2=1.7282, j3=0.7219, j4=0.2816, j5=0.6000 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00082 | -0.00053 | -0.00071 | 0.00120 | 0.027 |
+| 1 | 0.00073 | -0.00086 | -0.00122 | 0.00166 | 0.058 |
+| 2 | 0.00077 | -0.00085 | -0.00122 | 0.00167 | 0.055 |
+| 3 | 0.00125 | -0.00084 | -0.00139 | 0.00205 | 0.102 |
+| 4 | -0.00006 | -0.00059 | -0.00057 | 0.00083 | 0.103 |
+| 5 | 0.00180 | -0.00111 | -0.00115 | 0.00241 | 0.125 |
+| 6 | 0.00177 | -0.00125 | -0.00204 | 0.00298 | 0.130 |
+| 7 | 0.00056 | -0.00062 | -0.00101 | 0.00131 | 0.047 |
+| 8 | -0.00011 | -0.00014 | -0.00016 | 0.00024 | 0.026 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_2e27c5e8-a86c-4604-b38f-a8c889f0e981.md

@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2e27c5e8-a86c-4604-b38f-a8c889f0e981.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2e27c5e8-a86c-4604-b38f-a8c889f0e981.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1685 |
+| Sim rows | 172 |
+| Real episode_id | `2e27c5e8-a86c-4604-b38f-a8c889f0e981` |
+| Sim episode_id | `2e27c5e8-a86c-4604-b38f-a8c889f0e981` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 155 | 16 | 2.116 | 10.03 | 17.38 | 655.46 | 0.6805 |
+| 1 | descend | 77 | 9 | 0.601 | 3.75 | 6.49 | 4.56 | 0.6175 |
+| 2 | settle | 23 | 3 | 0.017 | 2.79 | 4.84 | 4.93 | 0.6314 |
+| 3 | close | 362 | 36 | 0.137 | 3.14 | 5.43 | 789.58 | 1.1042 |
+| 4 | lift | 79 | 9 | 0.510 | 3.40 | 5.89 | 8.60 | 1.2075 |
+| 5 | move_xy | 181 | 18 | 14.472 | 12.88 | 22.30 | 506.60 | 1.0902 |
+| 6 | lower | 79 | 8 | 27.767 | 3.38 | 5.85 | 1064.21 | 1.1720 |
+| 7 | open | 378 | 37 | 27.760 | 2.52 | 4.37 | 1063.51 | 0.7141 |
+| 8 | retract | 79 | 9 | 27.767 | 3.29 | 5.70 | 1063.02 | 0.8192 |
+| 9 | return | 272 | 27 | 16.031 | 13.40 | 23.21 | 1450.45 | 0.8332 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 16.686 |
+| TCP position RMSE (mm, per-axis) | 7.20 |
+| EE position RMS L2 (mm) | 13.63 |
+| TCP rotvec (mrad) | 825.06 |
+| W1 effort mean (A) | 0.8846 |
+| W1 effort per joint (A) | j0=0.1581, j1=1.3139, j2=1.4277, j3=0.7675, j4=0.5086, j5=1.1315 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00197 | -0.00398 | -0.00049 | 0.00447 | 0.034 |
+| 1 | 0.00232 | -0.00421 | -0.00047 | 0.00483 | 0.036 |
+| 2 | 0.00231 | -0.00421 | -0.00058 | 0.00484 | 0.035 |
+| 3 | 0.00306 | -0.00375 | -0.00254 | 0.00546 | 0.234 |
+| 4 | 0.00249 | -0.00378 | -0.00267 | 0.00525 | 0.251 |
+| 5 | 0.00172 | -0.00355 | -0.00142 | 0.00419 | 67.962 |
+| 6 | 0.00232 | -0.00320 | -0.00136 | 0.00418 | 67.995 |
+| 7 | 0.00181 | -0.00398 | 0.00005 | 0.00437 | 67.997 |
+| 8 | 0.00140 | -0.00404 | -0.00002 | 0.00427 | 67.999 |
+| 9 | -0.00001 | -0.00007 | -0.00018 | 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.

gap_reports/gap_2e2d9c8b-e585-47e9-adfc-d574f3426b64.md

@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2e2d9c8b-e585-47e9-adfc-d574f3426b64.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2e2d9c8b-e585-47e9-adfc-d574f3426b64.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 752 |
+| Sim rows | 90 |
+| Real episode_id | `2e2d9c8b-e585-47e9-adfc-d574f3426b64` |
+| Sim episode_id | `2e2d9c8b-e585-47e9-adfc-d574f3426b64` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 543 | 53 | 6.985 | 35.44 | 61.38 | 1084.35 | 0.7928 |
+| 1 | descend | 209 | 21 | 0.025 | 2.69 | 4.65 | 2.02 | 0.7474 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 4.940 |
+| TCP position RMSE (mm, per-axis) | 25.13 |
+| EE position RMS L2 (mm) | 52.22 |
+| TCP rotvec (mrad) | 766.75 |
+| W1 effort mean (A) | 0.7801 |
+| W1 effort per joint (A) | j0=0.2136, j1=1.7400, j2=1.5994, j3=0.7935, j4=0.1395, j5=0.1946 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00036 | -0.00464 | 0.00050 | 0.00468 | 0.043 |
+| 1 | 0.00038 | -0.00465 | 0.00043 | 0.00469 | 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.

gap_reports/gap_2e88c884-1be1-418f-8c81-a73bed05475c.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2e88c884-1be1-418f-8c81-a73bed05475c.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2e88c884-1be1-418f-8c81-a73bed05475c.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2465 |
+| Sim rows | 219 |
+| Real episode_id | `2e88c884-1be1-418f-8c81-a73bed05475c` |
+| Sim episode_id | `2e88c884-1be1-418f-8c81-a73bed05475c` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 182 | 16 | 2.819 | 10.64 | 18.43 | 1956.74 | 0.5722 |
+| 1 | descend | 286 | 25 | 1.367 | 8.27 | 14.32 | 3625.97 | 0.6831 |
+| 2 | settle | 379 | 33 | 0.021 | 0.59 | 1.03 | 3625.96 | 0.7072 |
+| 3 | close | 115 | 11 | 0.519 | 3.20 | 5.54 | 1317.66 | 0.9332 |
+| 4 | lift | 333 | 29 | 3.040 | 12.75 | 22.09 | 1831.27 | 1.0609 |
+| 5 | move_xy | 322 | 28 | 6.740 | 30.73 | 53.22 | 2004.23 | 0.8835 |
+| 6 | lower | 402 | 35 | 0.077 | 1.07 | 1.85 | 1930.81 | 0.9881 |
+| 7 | open | 116 | 11 | 0.537 | 3.20 | 5.54 | 3626.22 | 0.5831 |
+| 8 | retract | 330 | 29 | 3.294 | 13.83 | 23.96 | 2240.36 | 0.6712 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.904 |
+| TCP position RMSE (mm, per-axis) | 12.92 |
+| EE position RMS L2 (mm) | 23.78 |
+| TCP rotvec (mrad) | 2606.14 |
+| W1 effort mean (A) | 0.7798 |
+| W1 effort per joint (A) | j0=0.2256, j1=1.2048, j2=1.5665, j3=0.6368, j4=0.4318, j5=0.6132 |
+
+## Phase-end anchor (sim - 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 | -0.00036 | -0.00051 | 0.00076 | 0.038 |
+| 1 | 0.00043 | -0.00059 | -0.00067 | 0.00099 | 0.027 |
+| 2 | 0.00042 | -0.00056 | -0.00074 | 0.00102 | 0.035 |
+| 3 | 0.00081 | -0.00053 | -0.00070 | 0.00120 | 0.106 |
+| 4 | 0.00016 | -0.00014 | -0.00011 | 0.00023 | 0.072 |
+| 5 | 0.00109 | -0.00075 | -0.00142 | 0.00194 | 0.100 |
+| 6 | 0.00139 | -0.00075 | -0.00153 | 0.00220 | 0.143 |
+| 7 | 0.00024 | -0.00036 | -0.00059 | 0.00074 | 0.034 |
+| 8 | -0.00006 | -0.00010 | -0.00016 | 0.00019 | 0.033 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_2e8976c2-5f1e-416f-a336-70deceb68f5b.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2e8976c2-5f1e-416f-a336-70deceb68f5b.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2e8976c2-5f1e-416f-a336-70deceb68f5b.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2780 |
+| Sim rows | 247 |
+| Real episode_id | `2e8976c2-5f1e-416f-a336-70deceb68f5b` |
+| Sim episode_id | `2e8976c2-5f1e-416f-a336-70deceb68f5b` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 213 | 19 | 3.552 | 17.20 | 29.80 | 2033.05 | 0.6607 |
+| 1 | descend | 382 | 34 | 1.002 | 6.99 | 12.11 | 3624.75 | 1.0904 |
+| 2 | settle | 388 | 34 | 0.027 | 1.01 | 1.74 | 3624.58 | 1.1688 |
+| 3 | close | 192 | 17 | 1.030 | 7.21 | 12.50 | 3625.27 | 1.2305 |
+| 4 | lift | 318 | 28 | 3.489 | 18.16 | 31.46 | 2522.68 | 1.3195 |
+| 5 | move_xy | 385 | 34 | 8.092 | 44.75 | 77.51 | 2867.86 | 1.1408 |
+| 6 | lower | 393 | 34 | 0.091 | 1.74 | 3.01 | 3625.11 | 1.5263 |
+| 7 | open | 192 | 17 | 0.996 | 6.83 | 11.83 | 3624.77 | 0.9668 |
+| 8 | retract | 317 | 28 | 3.578 | 18.71 | 32.41 | 2526.55 | 0.9397 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.434 |
+| TCP position RMSE (mm, per-axis) | 18.65 |
+| EE position RMS L2 (mm) | 34.28 |
+| TCP rotvec (mrad) | 3176.38 |
+| W1 effort mean (A) | 1.1331 |
+| W1 effort per joint (A) | j0=0.6991, j1=1.7380, j2=1.9410, j3=1.1155, j4=0.7023, j5=0.6029 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00106 | -0.00014 | -0.00072 | 0.00129 | 0.033 |
+| 1 | 0.00108 | -0.00062 | -0.00121 | 0.00174 | 0.060 |
+| 2 | 0.00109 | -0.00062 | -0.00121 | 0.00174 | 0.060 |
+| 3 | 0.00219 | -0.00004 | -0.00117 | 0.00248 | 0.164 |
+| 4 | 0.00031 | -0.00016 | -0.00027 | 0.00044 | 0.082 |
+| 5 | 0.00256 | -0.00088 | -0.00137 | 0.00304 | 0.188 |
+| 6 | 0.00264 | -0.00095 | -0.00289 | 0.00403 | 0.226 |
+| 7 | 0.00091 | -0.00020 | -0.00098 | 0.00135 | 0.063 |
+| 8 | -0.00014 | -0.00025 | -0.00023 | 0.00036 | 0.045 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_2e8bc401-5101-4153-9ffb-beb875332655.md

@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2e8bc401-5101-4153-9ffb-beb875332655.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2e8bc401-5101-4153-9ffb-beb875332655.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1048 |
+| Sim rows | 109 |
+| Real episode_id | `2e8bc401-5101-4153-9ffb-beb875332655` |
+| Sim episode_id | `2e8bc401-5101-4153-9ffb-beb875332655` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 134 | 14 | 3.229 | 13.63 | 23.61 | 799.82 | 0.6429 |
+| 1 | descend | 86 | 9 | 1.472 | 4.44 | 7.68 | 48.18 | 0.6287 |
+| 2 | settle | 37 | 4 | 1.147 | 2.36 | 4.09 | 48.74 | 0.7138 |
+| 3 | close | 36 | 4 | 1.153 | 2.27 | 3.94 | 50.26 | 1.2040 |
+| 4 | lift | 89 | 9 | 1.552 | 4.80 | 8.32 | 49.40 | 1.0862 |
+| 5 | move_xy | 173 | 18 | 5.466 | 19.70 | 34.12 | 718.04 | 1.1297 |
+| 6 | lower | 87 | 9 | 0.879 | 4.83 | 8.37 | 1945.83 | 0.9825 |
+| 7 | open | 69 | 8 | 0.025 | 2.67 | 4.63 | 5.36 | 0.7287 |
+| 8 | retract | 89 | 9 | 0.788 | 4.33 | 7.50 | 4.60 | 0.7429 |
+| 9 | return | 248 | 25 | 3.638 | 13.83 | 23.95 | 1176.84 | 0.7087 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.493 |
+| TCP position RMSE (mm, per-axis) | 9.32 |
+| EE position RMS L2 (mm) | 20.57 |
+| TCP rotvec (mrad) | 796.00 |
+| W1 effort mean (A) | 0.7876 |
+| W1 effort per joint (A) | j0=0.1461, j1=1.4578, j2=1.6069, j3=0.7590, j4=0.2714, j5=0.4844 |
+
+## Phase-end anchor (sim - 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 | -0.00366 | 0.00015 | 0.00395 | 2.830 |
+| 1 | 0.00220 | -0.00345 | 0.00018 | 0.00410 | 2.809 |
+| 2 | 0.00221 | -0.00343 | -0.00003 | 0.00408 | 2.808 |
+| 3 | 0.00260 | -0.00261 | -0.00128 | 0.00390 | 2.806 |
+| 4 | 0.00202 | -0.00335 | -0.00170 | 0.00426 | 2.844 |
+| 5 | 0.00128 | -0.00301 | -0.00146 | 0.00358 | 0.120 |
+| 6 | 0.00187 | -0.00342 | -0.00143 | 0.00415 | 0.091 |
+| 7 | 0.00207 | -0.00402 | -0.00108 | 0.00465 | 0.050 |
+| 8 | 0.00149 | -0.00376 | -0.00114 | 0.00420 | 0.049 |
+| 9 | -0.00014 | -0.00009 | -0.00027 | 0.00032 | 0.033 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_2e8f8774-fd5e-41d7-997f-4689b5e6380e.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2e8f8774-fd5e-41d7-997f-4689b5e6380e.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2e8f8774-fd5e-41d7-997f-4689b5e6380e.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2681 |
+| Sim rows | 237 |
+| Real episode_id | `2e8f8774-fd5e-41d7-997f-4689b5e6380e` |
+| Sim episode_id | `2e8f8774-fd5e-41d7-997f-4689b5e6380e` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.421 | 13.40 | 23.21 | 3.09 | 0.6212 |
+| 1 | descend | 461 | 40 | 1.277 | 8.87 | 15.36 | 4.24 | 0.7768 |
+| 2 | settle | 360 | 31 | 0.030 | 1.17 | 2.03 | 4.45 | 0.7808 |
+| 3 | close | 160 | 14 | 0.987 | 6.75 | 11.70 | 5.85 | 1.0282 |
+| 4 | lift | 260 | 23 | 2.510 | 14.47 | 25.06 | 4.39 | 1.1466 |
+| 5 | move_xy | 413 | 36 | 6.033 | 36.75 | 63.66 | 5.16 | 1.0080 |
+| 6 | lower | 386 | 34 | 0.101 | 1.96 | 3.40 | 6.87 | 1.0198 |
+| 7 | open | 160 | 14 | 0.974 | 6.65 | 11.52 | 4.30 | 0.6905 |
+| 8 | retract | 261 | 23 | 2.436 | 14.02 | 24.28 | 3.10 | 0.7488 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.540 |
+| TCP position RMSE (mm, per-axis) | 15.31 |
+| EE position RMS L2 (mm) | 29.08 |
+| TCP rotvec (mrad) | 4.75 |
+| W1 effort mean (A) | 0.8454 |
+| W1 effort per joint (A) | j0=0.2934, j1=1.5515, j2=1.5485, j3=0.6243, j4=0.4869, j5=0.5678 |
+
+## Phase-end anchor (sim - 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 | -0.00071 | -0.00072 | 0.00147 | 0.031 |
+| 1 | 0.00106 | -0.00117 | -0.00121 | 0.00199 | 0.053 |
+| 2 | 0.00108 | -0.00118 | -0.00124 | 0.00202 | 0.059 |
+| 3 | 0.00203 | -0.00093 | -0.00188 | 0.00292 | 0.148 |
+| 4 | 0.00024 | -0.00016 | -0.00024 | 0.00038 | 0.080 |
+| 5 | 0.00239 | -0.00152 | -0.00160 | 0.00325 | 0.166 |
+| 6 | 0.00248 | -0.00159 | -0.00214 | 0.00364 | 0.200 |
+| 7 | 0.00088 | -0.00083 | -0.00101 | 0.00158 | 0.060 |
+| 8 | -0.00014 | -0.00024 | -0.00021 | 0.00035 | 0.042 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_2eb5b0f4-ec1c-4d61-a685-e4c1abd75926.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2eb5b0f4-ec1c-4d61-a685-e4c1abd75926.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2eb5b0f4-ec1c-4d61-a685-e4c1abd75926.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2475 |
+| Sim rows | 222 |
+| Real episode_id | `2eb5b0f4-ec1c-4d61-a685-e4c1abd75926` |
+| Sim episode_id | `2eb5b0f4-ec1c-4d61-a685-e4c1abd75926` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 227 | 20 | 2.500 | 10.18 | 17.63 | 1969.86 | 0.5529 |
+| 1 | descend | 233 | 21 | 1.119 | 6.66 | 11.53 | 3625.97 | 0.7190 |
+| 2 | settle | 371 | 32 | 0.022 | 0.56 | 0.97 | 3625.94 | 0.6923 |
+| 3 | close | 137 | 13 | 0.851 | 5.05 | 8.75 | 1203.34 | 0.9162 |
+| 4 | lift | 294 | 26 | 2.234 | 9.29 | 16.10 | 1810.07 | 1.1107 |
+| 5 | move_xy | 398 | 35 | 4.550 | 21.11 | 36.57 | 1968.80 | 0.9077 |
+| 6 | lower | 383 | 34 | 0.084 | 1.05 | 1.82 | 1461.54 | 0.9753 |
+| 7 | open | 138 | 13 | 0.871 | 5.13 | 8.89 | 3626.18 | 0.5925 |
+| 8 | retract | 294 | 26 | 2.036 | 8.55 | 14.80 | 2125.25 | 0.6898 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.077 |
+| TCP position RMSE (mm, per-axis) | 9.47 |
+| EE position RMS L2 (mm) | 17.95 |
+| TCP rotvec (mrad) | 2551.21 |
+| W1 effort mean (A) | 0.7844 |
+| W1 effort per joint (A) | j0=0.2113, j1=1.1551, j2=1.5806, j3=0.7496, j4=0.4179, j5=0.5922 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00017 | -0.00038 | -0.00053 | 0.00068 | 0.035 |
+| 1 | 0.00016 | -0.00055 | -0.00081 | 0.00099 | 0.040 |
+| 2 | 0.00016 | -0.00056 | -0.00078 | 0.00097 | 0.037 |
+| 3 | 0.00046 | -0.00047 | -0.00041 | 0.00078 | 0.095 |
+| 4 | -0.00001 | -0.00069 | -0.00068 | 0.00097 | 0.121 |
+| 5 | 0.00111 | -0.00075 | -0.00087 | 0.00159 | 0.141 |
+| 6 | 0.00079 | -0.00079 | -0.00057 | 0.00126 | 0.094 |
+| 7 | 0.00001 | -0.00034 | -0.00063 | 0.00071 | 0.051 |
+| 8 | -0.00009 | -0.00014 | -0.00016 | 0.00023 | 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.

gap_reports/gap_2eb953ec-e908-4cd1-afdf-4750ad99e4ed.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2eb953ec-e908-4cd1-afdf-4750ad99e4ed.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2eb953ec-e908-4cd1-afdf-4750ad99e4ed.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2990 |
+| Sim rows | 267 |
+| Real episode_id | `2eb953ec-e908-4cd1-afdf-4750ad99e4ed` |
+| Sim episode_id | `2eb953ec-e908-4cd1-afdf-4750ad99e4ed` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 20 | 3.181 | 13.54 | 23.46 | 1948.60 | 0.5897 |
+| 1 | descend | 397 | 35 | 0.715 | 4.92 | 8.53 | 3625.32 | 0.6531 |
+| 2 | settle | 374 | 33 | 0.024 | 0.82 | 1.43 | 3625.24 | 0.6456 |
+| 3 | close | 148 | 13 | 0.651 | 4.59 | 7.96 | 3625.81 | 1.0125 |
+| 4 | lift | 464 | 41 | 3.513 | 16.31 | 28.25 | 2249.17 | 1.1034 |
+| 5 | move_xy | 363 | 32 | 7.526 | 36.55 | 63.30 | 2711.02 | 0.8839 |
+| 6 | lower | 407 | 36 | 0.087 | 1.46 | 2.53 | 3446.90 | 0.8959 |
+| 7 | open | 146 | 14 | 0.671 | 4.33 | 7.49 | 3625.48 | 0.6434 |
+| 8 | retract | 466 | 41 | 3.474 | 16.28 | 28.20 | 2345.10 | 0.7170 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.207 |
+| TCP position RMSE (mm, per-axis) | 15.34 |
+| EE position RMS L2 (mm) | 28.15 |
+| TCP rotvec (mrad) | 3094.12 |
+| W1 effort mean (A) | 0.7776 |
+| W1 effort per joint (A) | j0=0.2478, j1=1.3441, j2=1.5094, j3=0.6392, j4=0.3563, j5=0.5685 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00087 | -0.00034 | -0.00061 | 0.00112 | 0.032 |
+| 1 | 0.00086 | -0.00057 | -0.00098 | 0.00142 | 0.048 |
+| 2 | 0.00087 | -0.00059 | -0.00095 | 0.00141 | 0.044 |
+| 3 | 0.00176 | -0.00035 | -0.00182 | 0.00256 | 0.155 |
+| 4 | 0.00010 | -0.00036 | -0.00035 | 0.00052 | 0.103 |
+| 5 | 0.00187 | -0.00089 | -0.00124 | 0.00241 | 0.137 |
+| 6 | 0.00168 | -0.00081 | -0.00187 | 0.00264 | 0.148 |
+| 7 | 0.00070 | -0.00032 | -0.00073 | 0.00106 | 0.036 |
+| 8 | -0.00007 | -0.00010 | -0.00013 | 0.00018 | 0.024 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_2efbd038-5ed7-4f69-8f6b-d4ffa1646b04.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2efbd038-5ed7-4f69-8f6b-d4ffa1646b04.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2efbd038-5ed7-4f69-8f6b-d4ffa1646b04.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2458 |
+| Sim rows | 219 |
+| Real episode_id | `2efbd038-5ed7-4f69-8f6b-d4ffa1646b04` |
+| Sim episode_id | `2efbd038-5ed7-4f69-8f6b-d4ffa1646b04` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 199 | 18 | 3.306 | 16.54 | 28.65 | 1888.26 | 0.6526 |
+| 1 | descend | 243 | 22 | 0.681 | 4.90 | 8.48 | 3624.61 | 0.8511 |
+| 2 | settle | 373 | 33 | 0.029 | 1.03 | 1.79 | 3624.59 | 0.7022 |
+| 3 | close | 112 | 10 | 0.427 | 3.30 | 5.71 | 3625.32 | 1.0034 |
+| 4 | lift | 341 | 30 | 3.456 | 18.80 | 32.56 | 2347.71 | 1.1323 |
+| 5 | move_xy | 333 | 29 | 7.879 | 43.64 | 75.59 | 2759.54 | 0.9569 |
+| 6 | lower | 405 | 35 | 0.090 | 1.74 | 3.01 | 3625.18 | 1.0656 |
+| 7 | open | 111 | 10 | 0.470 | 3.44 | 5.96 | 3624.75 | 0.7586 |
+| 8 | retract | 341 | 30 | 3.468 | 18.78 | 32.52 | 2347.24 | 0.7702 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.297 |
+| TCP position RMSE (mm, per-axis) | 18.06 |
+| EE position RMS L2 (mm) | 33.86 |
+| TCP rotvec (mrad) | 3125.19 |
+| W1 effort mean (A) | 0.8680 |
+| W1 effort per joint (A) | j0=0.2299, j1=1.6378, j2=1.6260, j3=0.7910, j4=0.3120, j5=0.6115 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00111 | -0.00038 | -0.00068 | 0.00136 | 0.033 |
+| 1 | 0.00118 | -0.00062 | -0.00127 | 0.00185 | 0.064 |
+| 2 | 0.00115 | -0.00064 | -0.00120 | 0.00178 | 0.057 |
+| 3 | 0.00168 | -0.00062 | -0.00091 | 0.00201 | 0.094 |
+| 4 | 0.00027 | -0.00019 | -0.00057 | 0.00066 | 0.104 |
+| 5 | 0.00208 | -0.00096 | -0.00180 | 0.00291 | 0.129 |
+| 6 | 0.00222 | -0.00098 | -0.00239 | 0.00340 | 0.191 |
+| 7 | 0.00088 | -0.00041 | -0.00098 | 0.00138 | 0.046 |
+| 8 | -0.00016 | -0.00023 | -0.00022 | 0.00035 | 0.039 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_2f0ca01a-f78a-4961-a755-8b8ca058e1fe.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2f0ca01a-f78a-4961-a755-8b8ca058e1fe.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2f0ca01a-f78a-4961-a755-8b8ca058e1fe.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 3215 |
+| Sim rows | 285 |
+| Real episode_id | `2f0ca01a-f78a-4961-a755-8b8ca058e1fe` |
+| Sim episode_id | `2f0ca01a-f78a-4961-a755-8b8ca058e1fe` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 271 | 24 | 4.047 | 17.21 | 29.82 | 1969.73 | 0.5944 |
+| 1 | descend | 493 | 43 | 1.074 | 6.89 | 11.93 | 3625.42 | 0.8236 |
+| 2 | settle | 378 | 33 | 0.027 | 0.84 | 1.46 | 3625.16 | 0.6684 |
+| 3 | close | 151 | 14 | 0.940 | 6.08 | 10.52 | 3021.38 | 1.0029 |
+| 4 | lift | 439 | 39 | 3.338 | 15.28 | 26.47 | 2319.47 | 1.1389 |
+| 5 | move_xy | 487 | 42 | 8.272 | 40.67 | 70.45 | 2686.31 | 0.8858 |
+| 6 | lower | 403 | 35 | 0.090 | 1.53 | 2.64 | 3625.64 | 1.0653 |
+| 7 | open | 151 | 14 | 1.199 | 7.39 | 12.79 | 3625.31 | 0.7861 |
+| 8 | retract | 442 | 39 | 3.206 | 14.62 | 25.33 | 2420.34 | 0.7382 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.492 |
+| TCP position RMSE (mm, per-axis) | 16.80 |
+| EE position RMS L2 (mm) | 32.35 |
+| TCP rotvec (mrad) | 3055.71 |
+| W1 effort mean (A) | 0.8345 |
+| W1 effort per joint (A) | j0=0.2653, j1=1.4038, j2=1.5982, j3=0.8313, j4=0.2848, j5=0.6237 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00082 | -0.00019 | -0.00067 | 0.00108 | 0.030 |
+| 1 | 0.00145 | -0.00059 | -0.00104 | 0.00188 | 0.066 |
+| 2 | 0.00088 | -0.00060 | -0.00101 | 0.00147 | 0.051 |
+| 3 | 0.00116 | -0.00037 | -0.00076 | 0.00144 | 0.082 |
+| 4 | 0.00038 | 0.00001 | -0.00012 | 0.00040 | 0.088 |
+| 5 | 0.00171 | -0.00083 | -0.00122 | 0.00226 | 0.118 |
+| 6 | 0.00192 | -0.00085 | -0.00132 | 0.00248 | 0.154 |
+| 7 | 0.00067 | -0.00024 | -0.00073 | 0.00102 | 0.049 |
+| 8 | -0.00007 | -0.00012 | -0.00015 | 0.00020 | 0.023 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_2f1b63b1-7e9a-4188-a439-9dd3f75f5533.md

@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2f1b63b1-7e9a-4188-a439-9dd3f75f5533.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2f1b63b1-7e9a-4188-a439-9dd3f75f5533.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1381 |
+| Sim rows | 143 |
+| Real episode_id | `2f1b63b1-7e9a-4188-a439-9dd3f75f5533` |
+| Sim episode_id | `2f1b63b1-7e9a-4188-a439-9dd3f75f5533` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 3.144 | 10.84 | 18.78 | 306.00 | 0.7429 |
+| 1 | descend | 72 | 8 | 0.681 | 4.09 | 7.08 | 4.90 | 0.6705 |
+| 2 | settle | 32 | 4 | 0.021 | 2.56 | 4.44 | 5.40 | 0.7107 |
+| 3 | close | 314 | 31 | 0.218 | 1.63 | 2.83 | 10.46 | 1.1085 |
+| 4 | lift | 71 | 8 | 0.745 | 3.73 | 6.46 | 10.26 | 1.2484 |
+| 5 | move_xy | 143 | 15 | 5.939 | 21.26 | 36.83 | 122.75 | 1.2289 |
+| 6 | lower | 70 | 8 | 1.889 | 4.34 | 7.51 | 72.65 | 1.3320 |
+| 7 | open | 264 | 26 | 1.715 | 2.53 | 4.38 | 70.87 | 0.7643 |
+| 8 | retract | 71 | 8 | 1.836 | 3.90 | 6.76 | 70.65 | 0.7951 |
+| 9 | return | 206 | 21 | 3.187 | 17.74 | 30.72 | 825.11 | 0.7511 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.574 |
+| TCP position RMSE (mm, per-axis) | 9.82 |
+| EE position RMS L2 (mm) | 18.23 |
+| TCP rotvec (mrad) | 283.74 |
+| W1 effort mean (A) | 0.9208 |
+| W1 effort per joint (A) | j0=0.2076, j1=1.8300, j2=1.6091, j3=0.8402, j4=0.5084, j5=0.5295 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00177 | -0.00353 | -0.00063 | 0.00399 | 0.047 |
+| 1 | 0.00227 | -0.00377 | -0.00056 | 0.00444 | 0.045 |
+| 2 | 0.00228 | -0.00375 | -0.00078 | 0.00446 | 0.048 |
+| 3 | 0.00039 | -0.00289 | -0.00025 | 0.00293 | 0.312 |
+| 4 | -0.00012 | -0.00263 | -0.00056 | 0.00269 | 0.549 |
+| 5 | 0.00293 | -0.00252 | -0.00056 | 0.00391 | 4.309 |
+| 6 | 0.00344 | -0.00195 | -0.00149 | 0.00423 | 4.202 |
+| 7 | 0.00273 | -0.00339 | -0.00050 | 0.00438 | 4.201 |
+| 8 | 0.00246 | -0.00369 | -0.00068 | 0.00448 | 4.271 |
+| 9 | -0.00006 | -0.00018 | -0.00037 | 0.00042 | 0.043 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_2f1deea3-06a7-4142-b067-dbe938d4c04f.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2f1deea3-06a7-4142-b067-dbe938d4c04f.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2f1deea3-06a7-4142-b067-dbe938d4c04f.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2792 |
+| Sim rows | 245 |
+| Real episode_id | `2f1deea3-06a7-4142-b067-dbe938d4c04f` |
+| Sim episode_id | `2f1deea3-06a7-4142-b067-dbe938d4c04f` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 174 | 16 | 2.460 | 8.73 | 15.11 | 2.95 | 0.5881 |
+| 1 | descend | 331 | 29 | 1.600 | 9.62 | 16.66 | 4.19 | 0.7730 |
+| 2 | settle | 378 | 33 | 0.024 | 0.79 | 1.37 | 4.45 | 0.6710 |
+| 3 | close | 184 | 16 | 1.046 | 6.02 | 10.42 | 5.81 | 0.8887 |
+| 4 | lift | 407 | 35 | 3.401 | 13.80 | 23.90 | 4.52 | 1.0998 |
+| 5 | move_xy | 324 | 28 | 6.257 | 28.44 | 49.26 | 4.55 | 0.9032 |
+| 6 | lower | 406 | 35 | 0.091 | 1.40 | 2.43 | 6.97 | 0.9739 |
+| 7 | open | 181 | 16 | 1.097 | 6.23 | 10.78 | 4.48 | 0.6043 |
+| 8 | retract | 407 | 35 | 3.234 | 13.08 | 22.65 | 3.04 | 0.7011 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.830 |
+| TCP position RMSE (mm, per-axis) | 12.55 |
+| EE position RMS L2 (mm) | 22.42 |
+| TCP rotvec (mrad) | 4.70 |
+| W1 effort mean (A) | 0.7898 |
+| W1 effort per joint (A) | j0=0.3003, j1=1.2000, j2=1.4375, j3=0.6709, j4=0.5475, j5=0.5825 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00065 | -0.00051 | -0.00041 | 0.00093 | 0.035 |
+| 1 | 0.00070 | -0.00087 | -0.00076 | 0.00135 | 0.037 |
+| 2 | 0.00070 | -0.00088 | -0.00075 | 0.00135 | 0.039 |
+| 3 | 0.00094 | -0.00073 | -0.00058 | 0.00132 | 0.093 |
+| 4 | 0.00047 | 0.00018 | -0.00023 | 0.00056 | 0.104 |
+| 5 | 0.00136 | -0.00110 | -0.00135 | 0.00221 | 0.108 |
+| 6 | 0.00133 | -0.00105 | -0.00093 | 0.00194 | 0.089 |
+| 7 | 0.00055 | -0.00063 | -0.00052 | 0.00098 | 0.041 |
+| 8 | -0.00004 | -0.00005 | -0.00012 | 0.00014 | 0.025 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_2f3f6799-ada6-4551-89d7-a163725c9b79.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2f3f6799-ada6-4551-89d7-a163725c9b79.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2f3f6799-ada6-4551-89d7-a163725c9b79.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2684 |
+| Sim rows | 237 |
+| Real episode_id | `2f3f6799-ada6-4551-89d7-a163725c9b79` |
+| Sim episode_id | `2f3f6799-ada6-4551-89d7-a163725c9b79` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 255 | 23 | 3.440 | 12.64 | 21.89 | 2030.97 | 0.5672 |
+| 1 | descend | 199 | 18 | 0.664 | 4.08 | 7.06 | 3626.07 | 0.6369 |
+| 2 | settle | 394 | 34 | 0.019 | 0.63 | 1.08 | 3626.06 | 0.7256 |
+| 3 | close | 86 | 8 | 0.353 | 2.45 | 4.24 | 1112.11 | 0.8727 |
+| 4 | lift | 443 | 38 | 3.377 | 13.94 | 24.14 | 2042.78 | 1.0751 |
+| 5 | move_xy | 403 | 35 | 7.909 | 33.77 | 58.49 | 2034.67 | 0.8354 |
+| 6 | lower | 377 | 33 | 0.080 | 1.14 | 1.98 | 1280.56 | 0.9832 |
+| 7 | open | 86 | 8 | 0.361 | 2.32 | 4.01 | 3626.14 | 0.6286 |
+| 8 | retract | 441 | 38 | 3.400 | 14.19 | 24.58 | 2211.02 | 0.6881 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.301 |
+| TCP position RMSE (mm, per-axis) | 13.85 |
+| EE position RMS L2 (mm) | 27.57 |
+| TCP rotvec (mrad) | 2574.41 |
+| W1 effort mean (A) | 0.7923 |
+| W1 effort per joint (A) | j0=0.2213, j1=1.2019, j2=1.5892, j3=0.8199, j4=0.2683, j5=0.6534 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00068 | -0.00032 | -0.00055 | 0.00093 | 0.031 |
+| 1 | 0.00065 | -0.00050 | -0.00069 | 0.00107 | 0.038 |
+| 2 | 0.00068 | -0.00048 | -0.00070 | 0.00109 | 0.034 |
+| 3 | 0.00105 | -0.00049 | -0.00022 | 0.00118 | 0.108 |
+| 4 | 0.00021 | -0.00020 | -0.00018 | 0.00034 | 0.110 |
+| 5 | 0.00141 | -0.00070 | -0.00087 | 0.00180 | 0.122 |
+| 6 | 0.00132 | -0.00057 | -0.00137 | 0.00199 | 0.101 |
+| 7 | 0.00049 | -0.00033 | -0.00056 | 0.00082 | 0.032 |
+| 8 | -0.00004 | -0.00007 | -0.00011 | 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.

gap_reports/gap_2f4e8417-1ce8-4fb9-8c01-d50adb114aef.md

@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2f4e8417-1ce8-4fb9-8c01-d50adb114aef.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2f4e8417-1ce8-4fb9-8c01-d50adb114aef.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1498 |
+| Sim rows | 152 |
+| Real episode_id | `2f4e8417-1ce8-4fb9-8c01-d50adb114aef` |
+| Sim episode_id | `2f4e8417-1ce8-4fb9-8c01-d50adb114aef` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 169 | 17 | 10.051 | 7.96 | 13.79 | 531.15 | 0.6166 |
+| 1 | descend | 88 | 9 | 19.086 | 4.26 | 7.37 | 736.58 | 0.7724 |
+| 2 | settle | 42 | 5 | 19.061 | 2.67 | 4.63 | 736.98 | 0.8105 |
+| 3 | close | 317 | 32 | 19.061 | 2.83 | 4.90 | 738.18 | 1.1834 |
+| 4 | lift | 87 | 9 | 19.083 | 4.33 | 7.50 | 737.79 | 1.3779 |
+| 5 | move_xy | 166 | 17 | 10.358 | 18.64 | 32.29 | 981.35 | 1.3735 |
+| 6 | lower | 88 | 9 | 0.795 | 5.76 | 9.97 | 3622.41 | 1.3254 |
+| 7 | open | 291 | 29 | 0.031 | 3.21 | 5.56 | 6.73 | 0.7697 |
+| 8 | retract | 88 | 9 | 0.718 | 4.42 | 7.66 | 6.30 | 0.8088 |
+| 9 | return | 162 | 16 | 1.995 | 15.87 | 27.49 | 1109.08 | 0.6633 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 12.917 |
+| TCP position RMSE (mm, per-axis) | 8.82 |
+| EE position RMS L2 (mm) | 15.69 |
+| TCP rotvec (mrad) | 1333.12 |
+| W1 effort mean (A) | 0.9413 |
+| W1 effort per joint (A) | j0=0.1518, j1=1.7495, j2=1.5920, j3=0.8174, j4=0.4059, j5=0.9311 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00146 | -0.00409 | -0.00028 | 0.00435 | 46.739 |
+| 1 | 0.00201 | -0.00418 | -0.00007 | 0.00464 | 46.689 |
+| 2 | 0.00200 | -0.00417 | -0.00030 | 0.00464 | 46.689 |
+| 3 | 0.00297 | -0.00354 | -0.00194 | 0.00501 | 46.688 |
+| 4 | 0.00207 | -0.00393 | -0.00177 | 0.00478 | 46.723 |
+| 5 | 0.00226 | -0.00444 | -0.00372 | 0.00622 | 0.280 |
+| 6 | 0.00324 | -0.00399 | -0.00456 | 0.00688 | 0.307 |
+| 7 | 0.00243 | -0.00480 | -0.00149 | 0.00558 | 0.066 |
+| 8 | 0.00189 | -0.00465 | -0.00156 | 0.00526 | 0.067 |
+| 9 | -0.00024 | -0.00015 | -0.00036 | 0.00046 | 0.052 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_2f6921fd-e8ed-4b49-9700-2e824e19c1e7.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2f6921fd-e8ed-4b49-9700-2e824e19c1e7.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2f6921fd-e8ed-4b49-9700-2e824e19c1e7.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2590 |
+| Sim rows | 231 |
+| Real episode_id | `2f6921fd-e8ed-4b49-9700-2e824e19c1e7` |
+| Sim episode_id | `2f6921fd-e8ed-4b49-9700-2e824e19c1e7` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 16 | 2.210 | 9.69 | 16.78 | 2069.51 | 0.5773 |
+| 1 | descend | 453 | 40 | 1.125 | 7.11 | 12.32 | 3625.40 | 0.7171 |
+| 2 | settle | 359 | 31 | 0.023 | 0.73 | 1.27 | 3625.25 | 0.7208 |
+| 3 | close | 159 | 14 | 1.012 | 6.37 | 11.03 | 3435.99 | 0.9720 |
+| 4 | lift | 272 | 24 | 2.384 | 11.36 | 19.67 | 2301.98 | 1.0738 |
+| 5 | move_xy | 348 | 31 | 5.515 | 29.70 | 51.45 | 2908.77 | 0.9201 |
+| 6 | lower | 396 | 35 | 0.089 | 1.36 | 2.36 | 3553.97 | 1.0443 |
+| 7 | open | 157 | 14 | 0.965 | 6.01 | 10.40 | 3625.46 | 0.6814 |
+| 8 | retract | 268 | 24 | 2.443 | 11.76 | 20.36 | 2395.50 | 0.7292 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.361 |
+| TCP position RMSE (mm, per-axis) | 12.35 |
+| EE position RMS L2 (mm) | 22.37 |
+| TCP rotvec (mrad) | 3120.68 |
+| W1 effort mean (A) | 0.8140 |
+| W1 effort per joint (A) | j0=0.2503, j1=1.4096, j2=1.5885, j3=0.7412, j4=0.3391, j5=0.5553 |
+
+## Phase-end anchor (sim - 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 | -0.00033 | -0.00070 | 0.00086 | 0.039 |
+| 1 | 0.00039 | -0.00070 | -0.00099 | 0.00128 | 0.047 |
+| 2 | 0.00043 | -0.00071 | -0.00096 | 0.00127 | 0.042 |
+| 3 | 0.00076 | -0.00057 | -0.00098 | 0.00136 | 0.094 |
+| 4 | 0.00040 | -0.00006 | -0.00026 | 0.00048 | 0.104 |
+| 5 | 0.00157 | -0.00092 | -0.00121 | 0.00218 | 0.160 |
+| 6 | 0.00124 | -0.00099 | -0.00097 | 0.00186 | 0.114 |
+| 7 | 0.00025 | -0.00046 | -0.00073 | 0.00090 | 0.049 |
+| 8 | -0.00009 | -0.00018 | -0.00021 | 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.

gap_reports/gap_2f746f77-45c9-4919-85e2-190dfd212260.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2f746f77-45c9-4919-85e2-190dfd212260.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2f746f77-45c9-4919-85e2-190dfd212260.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2687 |
+| Sim rows | 238 |
+| Real episode_id | `2f746f77-45c9-4919-85e2-190dfd212260` |
+| Sim episode_id | `2f746f77-45c9-4919-85e2-190dfd212260` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 238 | 21 | 3.737 | 14.09 | 24.41 | 1966.44 | 0.5789 |
+| 1 | descend | 335 | 29 | 0.827 | 5.10 | 8.84 | 3626.02 | 0.6619 |
+| 2 | settle | 358 | 31 | 0.021 | 0.67 | 1.17 | 3625.95 | 0.6557 |
+| 3 | close | 152 | 14 | 0.829 | 5.10 | 8.84 | 1310.15 | 0.9317 |
+| 4 | lift | 310 | 27 | 3.820 | 15.86 | 27.47 | 1818.13 | 1.0728 |
+| 5 | move_xy | 424 | 37 | 7.939 | 34.46 | 59.69 | 1880.09 | 0.8645 |
+| 6 | lower | 408 | 36 | 0.082 | 1.23 | 2.13 | 1280.99 | 0.8828 |
+| 7 | open | 152 | 14 | 0.771 | 4.49 | 7.77 | 3626.17 | 0.5948 |
+| 8 | retract | 310 | 27 | 3.712 | 15.59 | 26.99 | 2348.00 | 0.7076 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.454 |
+| TCP position RMSE (mm, per-axis) | 14.74 |
+| EE position RMS L2 (mm) | 28.37 |
+| TCP rotvec (mrad) | 2560.87 |
+| W1 effort mean (A) | 0.7569 |
+| W1 effort per joint (A) | j0=0.2206, j1=1.1757, j2=1.4601, j3=0.7175, j4=0.3612, j5=0.6062 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00068 | -0.00027 | -0.00047 | 0.00087 | 0.031 |
+| 1 | 0.00069 | -0.00055 | -0.00076 | 0.00116 | 0.035 |
+| 2 | 0.00068 | -0.00057 | -0.00075 | 0.00116 | 0.037 |
+| 3 | 0.00132 | -0.00010 | -0.00093 | 0.00162 | 0.127 |
+| 4 | 0.00014 | -0.00022 | -0.00018 | 0.00032 | 0.100 |
+| 5 | 0.00174 | -0.00062 | -0.00172 | 0.00252 | 0.145 |
+| 6 | 0.00140 | -0.00066 | -0.00096 | 0.00182 | 0.110 |
+| 7 | 0.00051 | -0.00024 | -0.00058 | 0.00081 | 0.044 |
+| 8 | -0.00010 | -0.00014 | -0.00017 | 0.00024 | 0.033 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_2f7df488-f11f-4a68-8d1e-09304e7e4b84.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2f7df488-f11f-4a68-8d1e-09304e7e4b84.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2f7df488-f11f-4a68-8d1e-09304e7e4b84.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2690 |
+| Sim rows | 239 |
+| Real episode_id | `2f7df488-f11f-4a68-8d1e-09304e7e4b84` |
+| Sim episode_id | `2f7df488-f11f-4a68-8d1e-09304e7e4b84` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 227 | 20 | 3.000 | 11.96 | 20.71 | 1955.14 | 0.5615 |
+| 1 | descend | 241 | 22 | 0.871 | 5.24 | 9.08 | 3625.95 | 0.6815 |
+| 2 | settle | 361 | 32 | 0.022 | 0.60 | 1.04 | 3625.96 | 0.7235 |
+| 3 | close | 108 | 10 | 0.463 | 2.81 | 4.87 | 738.23 | 0.9267 |
+| 4 | lift | 438 | 38 | 2.999 | 12.55 | 21.74 | 1843.79 | 1.0839 |
+| 5 | move_xy | 380 | 33 | 6.169 | 28.12 | 48.71 | 2093.56 | 0.8826 |
+| 6 | lower | 393 | 34 | 0.075 | 1.05 | 1.81 | 1500.28 | 1.0076 |
+| 7 | open | 107 | 10 | 0.526 | 3.11 | 5.39 | 3626.23 | 0.5942 |
+| 8 | retract | 435 | 38 | 3.241 | 13.47 | 23.34 | 2205.74 | 0.6750 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.745 |
+| TCP position RMSE (mm, per-axis) | 12.11 |
+| EE position RMS L2 (mm) | 23.38 |
+| TCP rotvec (mrad) | 2554.10 |
+| W1 effort mean (A) | 0.7948 |
+| W1 effort per joint (A) | j0=0.2256, j1=1.2012, j2=1.5905, j3=0.7028, j4=0.4135, j5=0.6351 |
+
+## Phase-end anchor (sim - 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 | -0.00038 | -0.00055 | 0.00078 | 0.030 |
+| 1 | 0.00040 | -0.00054 | -0.00078 | 0.00103 | 0.037 |
+| 2 | 0.00043 | -0.00057 | -0.00076 | 0.00104 | 0.037 |
+| 3 | 0.00117 | -0.00034 | -0.00172 | 0.00211 | 0.151 |
+| 4 | 0.00017 | -0.00026 | -0.00023 | 0.00039 | 0.103 |
+| 5 | 0.00129 | -0.00078 | -0.00138 | 0.00205 | 0.131 |
+| 6 | 0.00164 | -0.00085 | -0.00133 | 0.00228 | 0.187 |
+| 7 | 0.00022 | -0.00037 | -0.00061 | 0.00075 | 0.034 |
+| 8 | -0.00003 | -0.00006 | -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.

gap_reports/gap_2f84641b-9f77-46bc-a502-c5d285e1d135.md

@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2f84641b-9f77-46bc-a502-c5d285e1d135.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2f84641b-9f77-46bc-a502-c5d285e1d135.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1431 |
+| Sim rows | 146 |
+| Real episode_id | `2f84641b-9f77-46bc-a502-c5d285e1d135` |
+| Sim episode_id | `2f84641b-9f77-46bc-a502-c5d285e1d135` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 129 | 13 | 2.312 | 11.42 | 19.77 | 1543.92 | 0.7020 |
+| 1 | descend | 63 | 7 | 0.538 | 3.43 | 5.94 | 4.67 | 0.5720 |
+| 2 | settle | 30 | 4 | 0.022 | 2.91 | 5.04 | 4.91 | 0.5793 |
+| 3 | close | 322 | 32 | 0.133 | 3.44 | 5.96 | 3622.60 | 0.9917 |
+| 4 | lift | 67 | 7 | 0.517 | 3.76 | 6.52 | 3623.00 | 1.2019 |
+| 5 | move_xy | 177 | 18 | 8.580 | 37.15 | 64.35 | 1359.81 | 1.1391 |
+| 6 | lower | 64 | 7 | 8.196 | 3.44 | 5.97 | 320.47 | 1.1382 |
+| 7 | open | 285 | 28 | 8.168 | 2.21 | 3.82 | 319.66 | 0.6461 |
+| 8 | retract | 64 | 7 | 8.193 | 3.30 | 5.72 | 319.44 | 0.7334 |
+| 9 | return | 230 | 23 | 5.221 | 19.31 | 33.44 | 760.75 | 0.8285 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 5.548 |
+| TCP position RMSE (mm, per-axis) | 13.99 |
+| EE position RMS L2 (mm) | 27.30 |
+| TCP rotvec (mrad) | 1771.10 |
+| W1 effort mean (A) | 0.8419 |
+| W1 effort per joint (A) | j0=0.2133, j1=1.3855, j2=1.4735, j3=0.7866, j4=0.4874, j5=0.7053 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00181 | -0.00437 | -0.00064 | 0.00477 | 0.045 |
+| 1 | 0.00193 | -0.00461 | -0.00048 | 0.00502 | 0.054 |
+| 2 | 0.00196 | -0.00462 | -0.00063 | 0.00506 | 0.026 |
+| 3 | 0.00302 | -0.00456 | -0.00242 | 0.00599 | 0.253 |
+| 4 | 0.00240 | -0.00413 | -0.00271 | 0.00549 | 0.304 |
+| 5 | 0.00173 | -0.00279 | -0.00163 | 0.00367 | 20.030 |
+| 6 | 0.00194 | -0.00154 | -0.00264 | 0.00361 | 20.017 |
+| 7 | 0.00208 | -0.00317 | -0.00005 | 0.00379 | 20.010 |
+| 8 | 0.00187 | -0.00338 | -0.00028 | 0.00387 | 20.041 |
+| 9 | 0.00003 | -0.00014 | -0.00026 | 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.

gap_reports/gap_2fb88ec0-6fa4-4a13-b4ad-a5e1a64c41ec.md

@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2fb88ec0-6fa4-4a13-b4ad-a5e1a64c41ec.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2fb88ec0-6fa4-4a13-b4ad-a5e1a64c41ec.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 498 |
+| Sim rows | 66 |
+| Real episode_id | `2fb88ec0-6fa4-4a13-b4ad-a5e1a64c41ec` |
+| Sim episode_id | `2fb88ec0-6fa4-4a13-b4ad-a5e1a64c41ec` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 288 | 29 | 2.683 | 11.87 | 20.56 | 797.23 | 0.8251 |
+| 1 | descend | 210 | 21 | 0.021 | 0.99 | 1.72 | 2.18 | 0.8560 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.897 |
+| TCP position RMSE (mm, per-axis) | 8.42 |
+| EE position RMS L2 (mm) | 15.68 |
+| TCP rotvec (mrad) | 563.73 |
+| W1 effort mean (A) | 0.8381 |
+| W1 effort per joint (A) | j0=0.1793, j1=1.8473, j2=1.8481, j3=0.8193, j4=0.1302, j5=0.2044 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | -0.00176 | 0.00040 | 0.00078 | 0.00197 | 0.033 |
+| 1 | -0.00153 | 0.00036 | 0.00065 | 0.00170 | 0.042 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_2fc338e1-36df-4ebd-ab89-e4728b425c1e.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2fc338e1-36df-4ebd-ab89-e4728b425c1e.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2fc338e1-36df-4ebd-ab89-e4728b425c1e.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 3042 |
+| Sim rows | 267 |
+| Real episode_id | `2fc338e1-36df-4ebd-ab89-e4728b425c1e` |
+| Sim episode_id | `2fc338e1-36df-4ebd-ab89-e4728b425c1e` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 26 | 3.758 | 16.18 | 28.03 | 3.49 | 0.5899 |
+| 1 | descend | 453 | 39 | 1.016 | 6.62 | 11.47 | 5.18 | 0.7326 |
+| 2 | settle | 387 | 34 | 0.029 | 1.03 | 1.79 | 5.38 | 0.6344 |
+| 3 | close | 138 | 13 | 1.011 | 6.33 | 10.96 | 7.14 | 0.9119 |
+| 4 | lift | 360 | 31 | 3.910 | 17.97 | 31.13 | 4.80 | 1.1253 |
+| 5 | move_xy | 523 | 45 | 8.742 | 42.58 | 73.74 | 5.54 | 0.8799 |
+| 6 | lower | 394 | 34 | 0.095 | 1.74 | 3.01 | 7.81 | 0.9141 |
+| 7 | open | 135 | 12 | 0.923 | 6.09 | 10.55 | 5.41 | 0.6003 |
+| 8 | retract | 359 | 31 | 3.461 | 16.18 | 28.02 | 3.57 | 0.7323 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.663 |
+| TCP position RMSE (mm, per-axis) | 17.59 |
+| EE position RMS L2 (mm) | 35.35 |
+| TCP rotvec (mrad) | 5.54 |
+| W1 effort mean (A) | 0.7746 |
+| W1 effort per joint (A) | j0=0.3134, j1=1.2362, j2=1.3767, j3=0.6719, j4=0.4495, j5=0.5997 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00111 | -0.00048 | -0.00067 | 0.00138 | 0.032 |
+| 1 | 0.00114 | -0.00085 | -0.00086 | 0.00167 | 0.032 |
+| 2 | 0.00115 | -0.00087 | -0.00097 | 0.00174 | 0.048 |
+| 3 | 0.00171 | -0.00058 | -0.00072 | 0.00194 | 0.106 |
+| 4 | 0.00040 | 0.00003 | -0.00005 | 0.00041 | 0.099 |
+| 5 | 0.00193 | -0.00104 | -0.00206 | 0.00301 | 0.160 |
+| 6 | 0.00244 | -0.00110 | -0.00138 | 0.00301 | 0.182 |
+| 7 | 0.00094 | -0.00054 | -0.00073 | 0.00130 | 0.042 |
+| 8 | -0.00014 | -0.00019 | -0.00021 | 0.00031 | 0.033 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_2fe1d568-e39e-469b-97d7-022d62517e84.md

@@ -0,0 +1,63 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/2fe1d568-e39e-469b-97d7-022d62517e84.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/2fe1d568-e39e-469b-97d7-022d62517e84.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 883 |
+| Sim rows | 266 |
+| Real episode_id | `2fe1d568-e39e-469b-97d7-022d62517e84` |
+| Sim episode_id | `2fe1d568-e39e-469b-97d7-022d62517e84` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 263 | 198 | 7.364 | 32.93 | 57.04 | 2407.39 | 0.7214 |
+| 6 | lower | 54 | 6 | 0.163 | 1.77 | 3.06 | 10.51 | 1.2328 |
+| 7 | open | 132 | 12 | 0.820 | 4.77 | 8.26 | 3626.22 | 0.7496 |
+| 8 | retract | 434 | 38 | 3.700 | 15.05 | 26.07 | 2308.91 | 0.8567 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 4.142 |
+| TCP position RMSE (mm, per-axis) | 18.28 |
+| EE position RMS L2 (mm) | 36.24 |
+| TCP rotvec (mrad) | 2463.54 |
+| W1 effort mean (A) | 0.8098 |
+| W1 effort per joint (A) | j0=0.5299, j1=1.1663, j2=1.5827, j3=0.7220, j4=0.6264, j5=0.2312 |
+
+## Phase-end anchor (sim - 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 | -0.00053 | -0.00082 | 0.00119 | 0.046 |
+| 6 | 0.00261 | -0.00061 | -0.00197 | 0.00333 | 0.236 |
+| 7 | 0.00051 | -0.00024 | -0.00051 | 0.00076 | 0.036 |
+| 8 | -0.00007 | -0.00008 | -0.00012 | 0.00016 | 0.025 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_3006da44-fd84-4b06-97ca-d2757256eff3.md

@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3006da44-fd84-4b06-97ca-d2757256eff3.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3006da44-fd84-4b06-97ca-d2757256eff3.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1353 |
+| Sim rows | 138 |
+| Real episode_id | `3006da44-fd84-4b06-97ca-d2757256eff3` |
+| Sim episode_id | `3006da44-fd84-4b06-97ca-d2757256eff3` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 248 | 25 | 3.725 | 18.99 | 32.90 | 708.56 | 0.7046 |
+| 1 | descend | 116 | 12 | 0.772 | 4.01 | 6.95 | 4.81 | 0.6642 |
+| 2 | settle | 13 | 2 | 0.023 | 1.86 | 3.23 | 5.43 | 0.7222 |
+| 3 | close | 54 | 6 | 0.141 | 1.81 | 3.13 | 8.12 | 1.2402 |
+| 4 | lift | 120 | 12 | 0.969 | 4.75 | 8.23 | 8.03 | 1.1686 |
+| 5 | move_xy | 302 | 30 | 3.620 | 19.49 | 33.75 | 160.37 | 1.1992 |
+| 6 | lower | 116 | 12 | 2.435 | 5.32 | 9.21 | 93.87 | 1.1953 |
+| 7 | open | 98 | 10 | 2.258 | 3.06 | 5.30 | 91.90 | 0.7159 |
+| 8 | retract | 118 | 12 | 2.483 | 5.41 | 9.37 | 91.69 | 0.8049 |
+| 9 | return | 168 | 17 | 2.627 | 12.18 | 21.10 | 616.15 | 0.6944 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.294 |
+| TCP position RMSE (mm, per-axis) | 10.01 |
+| EE position RMS L2 (mm) | 23.14 |
+| TCP rotvec (mrad) | 305.49 |
+| W1 effort mean (A) | 0.9087 |
+| W1 effort per joint (A) | j0=0.1974, j1=1.7103, j2=1.5302, j3=0.9934, j4=0.4970, j5=0.5238 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00159 | -0.00289 | 0.00001 | 0.00330 | 0.039 |
+| 1 | 0.00188 | -0.00264 | -0.00010 | 0.00324 | 0.042 |
+| 2 | 0.00186 | -0.00264 | -0.00019 | 0.00323 | 0.052 |
+| 3 | 0.00030 | -0.00305 | -0.00083 | 0.00317 | 0.348 |
+| 4 | 0.00024 | -0.00336 | -0.00093 | 0.00349 | 0.226 |
+| 5 | 0.00328 | -0.00466 | -0.00132 | 0.00585 | 5.622 |
+| 6 | 0.00394 | -0.00444 | -0.00190 | 0.00623 | 5.538 |
+| 7 | 0.00246 | -0.00458 | -0.00102 | 0.00530 | 5.533 |
+| 8 | 0.00195 | -0.00461 | -0.00110 | 0.00513 | 5.619 |
+| 9 | -0.00017 | -0.00018 | -0.00039 | 0.00046 | 0.051 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_3008793d-f0ee-4641-a005-057636765a79.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3008793d-f0ee-4641-a005-057636765a79.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3008793d-f0ee-4641-a005-057636765a79.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2811 |
+| Sim rows | 249 |
+| Real episode_id | `3008793d-f0ee-4641-a005-057636765a79` |
+| Sim episode_id | `3008793d-f0ee-4641-a005-057636765a79` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 211 | 19 | 3.368 | 12.53 | 21.70 | 1917.43 | 0.5906 |
+| 1 | descend | 489 | 42 | 0.715 | 4.35 | 7.53 | 3626.07 | 0.6541 |
+| 2 | settle | 366 | 32 | 0.023 | 0.68 | 1.17 | 3625.96 | 0.6494 |
+| 3 | close | 139 | 13 | 1.321 | 7.72 | 13.37 | 2170.84 | 0.9644 |
+| 4 | lift | 349 | 30 | 3.998 | 16.34 | 28.30 | 2174.92 | 1.0947 |
+| 5 | move_xy | 389 | 34 | 8.283 | 36.00 | 62.36 | 2163.63 | 0.8804 |
+| 6 | lower | 379 | 33 | 0.086 | 1.28 | 2.21 | 1820.17 | 0.8946 |
+| 7 | open | 138 | 13 | 1.323 | 7.60 | 13.16 | 3626.23 | 0.5937 |
+| 8 | retract | 351 | 31 | 3.839 | 15.82 | 27.40 | 2478.47 | 0.7216 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.570 |
+| TCP position RMSE (mm, per-axis) | 15.31 |
+| EE position RMS L2 (mm) | 28.19 |
+| TCP rotvec (mrad) | 2722.38 |
+| W1 effort mean (A) | 0.7549 |
+| W1 effort per joint (A) | j0=0.2667, j1=1.1601, j2=1.4432, j3=0.6601, j4=0.3944, j5=0.6049 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00062 | -0.00012 | -0.00045 | 0.00077 | 0.038 |
+| 1 | 0.00070 | -0.00053 | -0.00080 | 0.00118 | 0.038 |
+| 2 | 0.00070 | -0.00055 | -0.00076 | 0.00117 | 0.037 |
+| 3 | 0.00069 | -0.00042 | -0.00017 | 0.00082 | 0.077 |
+| 4 | 0.00047 | -0.00002 | -0.00020 | 0.00051 | 0.116 |
+| 5 | 0.00151 | -0.00074 | -0.00117 | 0.00205 | 0.116 |
+| 6 | 0.00177 | -0.00065 | -0.00178 | 0.00259 | 0.149 |
+| 7 | 0.00042 | -0.00021 | -0.00052 | 0.00070 | 0.037 |
+| 8 | -0.00008 | -0.00013 | -0.00013 | 0.00020 | 0.025 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_300adad7-fd20-4108-b78f-789adc205dc9.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/300adad7-fd20-4108-b78f-789adc205dc9.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/300adad7-fd20-4108-b78f-789adc205dc9.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2325 |
+| Sim rows | 207 |
+| Real episode_id | `300adad7-fd20-4108-b78f-789adc205dc9` |
+| Sim episode_id | `300adad7-fd20-4108-b78f-789adc205dc9` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 214 | 19 | 2.523 | 10.63 | 18.42 | 2028.80 | 0.5595 |
+| 1 | descend | 253 | 22 | 0.695 | 4.12 | 7.14 | 3626.08 | 0.7466 |
+| 2 | settle | 369 | 32 | 0.018 | 0.50 | 0.87 | 3626.03 | 0.6868 |
+| 3 | close | 108 | 10 | 0.393 | 2.42 | 4.19 | 1572.53 | 0.8929 |
+| 4 | lift | 261 | 23 | 2.769 | 11.54 | 19.99 | 2047.76 | 1.0939 |
+| 5 | move_xy | 374 | 33 | 5.363 | 25.26 | 43.75 | 2260.56 | 0.9204 |
+| 6 | lower | 378 | 33 | 0.070 | 0.86 | 1.48 | 1176.25 | 1.0526 |
+| 7 | open | 108 | 10 | 0.457 | 2.69 | 4.65 | 3626.10 | 0.6254 |
+| 8 | retract | 260 | 23 | 2.727 | 11.47 | 19.86 | 2226.00 | 0.6860 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.382 |
+| TCP position RMSE (mm, per-axis) | 10.78 |
+| EE position RMS L2 (mm) | 20.88 |
+| TCP rotvec (mrad) | 2617.80 |
+| W1 effort mean (A) | 0.8117 |
+| W1 effort per joint (A) | j0=0.1920, j1=1.1795, j2=1.6488, j3=0.9098, j4=0.3042, j5=0.6357 |
+
+## Phase-end anchor (sim - 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 | -0.00041 | -0.00057 | 0.00072 | 0.036 |
+| 1 | 0.00017 | -0.00051 | -0.00073 | 0.00091 | 0.042 |
+| 2 | 0.00014 | -0.00053 | -0.00067 | 0.00087 | 0.030 |
+| 3 | 0.00098 | -0.00045 | -0.00150 | 0.00185 | 0.144 |
+| 4 | 0.00032 | 0.00015 | 0.00005 | 0.00035 | 0.060 |
+| 5 | 0.00101 | -0.00066 | -0.00175 | 0.00213 | 0.163 |
+| 6 | 0.00075 | -0.00059 | -0.00088 | 0.00130 | 0.081 |
+| 7 | -0.00000 | -0.00039 | -0.00060 | 0.00072 | 0.039 |
+| 8 | -0.00010 | -0.00012 | -0.00014 | 0.00021 | 0.027 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_3057d399-114c-4358-a3b0-b3b6c69867cb.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3057d399-114c-4358-a3b0-b3b6c69867cb.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3057d399-114c-4358-a3b0-b3b6c69867cb.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 3052 |
+| Sim rows | 268 |
+| Real episode_id | `3057d399-114c-4358-a3b0-b3b6c69867cb` |
+| Sim episode_id | `3057d399-114c-4358-a3b0-b3b6c69867cb` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 219 | 19 | 3.754 | 16.09 | 27.87 | 2005.27 | 0.5957 |
+| 1 | descend | 379 | 33 | 1.086 | 7.17 | 12.41 | 3625.40 | 0.6599 |
+| 2 | settle | 366 | 32 | 0.025 | 0.82 | 1.42 | 3625.26 | 0.6211 |
+| 3 | close | 172 | 15 | 1.065 | 6.88 | 11.91 | 2911.53 | 0.9383 |
+| 4 | lift | 482 | 42 | 3.655 | 16.76 | 29.04 | 2395.39 | 1.1160 |
+| 5 | move_xy | 391 | 34 | 7.900 | 38.54 | 66.75 | 2733.10 | 0.9088 |
+| 6 | lower | 391 | 34 | 0.091 | 1.51 | 2.62 | 3476.46 | 0.9369 |
+| 7 | open | 171 | 15 | 1.000 | 6.28 | 10.88 | 3625.51 | 0.6279 |
+| 8 | retract | 481 | 42 | 3.637 | 16.70 | 28.92 | 2474.08 | 0.7331 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.439 |
+| TCP position RMSE (mm, per-axis) | 16.48 |
+| EE position RMS L2 (mm) | 30.44 |
+| TCP rotvec (mrad) | 3043.08 |
+| W1 effort mean (A) | 0.7888 |
+| W1 effort per joint (A) | j0=0.2713, j1=1.3330, j2=1.4664, j3=0.6617, j4=0.3867, 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 | 0.00080 | -0.00013 | -0.00059 | 0.00100 | 0.035 |
+| 1 | 0.00093 | -0.00060 | -0.00097 | 0.00147 | 0.045 |
+| 2 | 0.00085 | -0.00061 | -0.00095 | 0.00141 | 0.050 |
+| 3 | 0.00120 | -0.00022 | -0.00090 | 0.00151 | 0.081 |
+| 4 | 0.00018 | -0.00025 | -0.00028 | 0.00042 | 0.108 |
+| 5 | 0.00213 | -0.00070 | -0.00153 | 0.00271 | 0.166 |
+| 6 | 0.00163 | -0.00080 | -0.00119 | 0.00217 | 0.110 |
+| 7 | 0.00064 | -0.00021 | -0.00072 | 0.00099 | 0.049 |
+| 8 | -0.00007 | -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.

gap_reports/gap_3065a4a9-4495-429b-ba73-3e3531e68231.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3065a4a9-4495-429b-ba73-3e3531e68231.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3065a4a9-4495-429b-ba73-3e3531e68231.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2673 |
+| Sim rows | 268 |
+| Real episode_id | `3065a4a9-4495-429b-ba73-3e3531e68231` |
+| Sim episode_id | `3065a4a9-4495-429b-ba73-3e3531e68231` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 215 | 22 | 3.268 | 14.66 | 25.39 | 1962.45 | 0.5767 |
+| 1 | descend | 601 | 59 | 0.669 | 4.43 | 7.68 | 3625.38 | 0.7034 |
+| 2 | settle | 322 | 32 | 0.024 | 0.76 | 1.32 | 3625.26 | 0.6400 |
+| 3 | close | 118 | 12 | 0.872 | 5.71 | 9.89 | 2820.39 | 1.0165 |
+| 4 | lift | 278 | 28 | 2.709 | 12.55 | 21.74 | 2134.11 | 1.1243 |
+| 5 | move_xy | 402 | 40 | 6.781 | 34.49 | 59.74 | 2691.68 | 0.8567 |
+| 6 | lower | 341 | 33 | 0.091 | 1.42 | 2.46 | 3508.25 | 1.0116 |
+| 7 | open | 118 | 12 | 0.969 | 6.27 | 10.86 | 3625.46 | 0.6805 |
+| 8 | retract | 278 | 28 | 2.803 | 12.87 | 22.29 | 2249.17 | 0.7316 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.868 |
+| TCP position RMSE (mm, per-axis) | 14.23 |
+| EE position RMS L2 (mm) | 26.70 |
+| TCP rotvec (mrad) | 2988.90 |
+| W1 effort mean (A) | 0.7838 |
+| W1 effort per joint (A) | j0=0.2565, j1=1.2763, j2=1.6333, j3=0.6867, j4=0.3232, j5=0.5269 |
+
+## Phase-end anchor (sim - 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 | -0.00027 | -0.00073 | 0.00100 | 0.041 |
+| 1 | 0.00061 | -0.00065 | -0.00097 | 0.00132 | 0.045 |
+| 2 | 0.00062 | -0.00064 | -0.00094 | 0.00129 | 0.042 |
+| 3 | 0.00113 | -0.00034 | -0.00090 | 0.00149 | 0.119 |
+| 4 | 0.00052 | -0.00007 | -0.00023 | 0.00057 | 0.140 |
+| 5 | 0.00215 | -0.00103 | -0.00177 | 0.00297 | 0.212 |
+| 6 | 0.00191 | -0.00100 | -0.00251 | 0.00330 | 0.184 |
+| 7 | 0.00044 | -0.00033 | -0.00075 | 0.00093 | 0.038 |
+| 8 | -0.00009 | -0.00015 | -0.00018 | 0.00025 | 0.029 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_306b5013-7cbb-4ef4-b013-b83952f6a140.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/306b5013-7cbb-4ef4-b013-b83952f6a140.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/306b5013-7cbb-4ef4-b013-b83952f6a140.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2633 |
+| Sim rows | 234 |
+| Real episode_id | `306b5013-7cbb-4ef4-b013-b83952f6a140` |
+| Sim episode_id | `306b5013-7cbb-4ef4-b013-b83952f6a140` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 240 | 21 | 3.272 | 17.28 | 29.93 | 1886.41 | 0.6212 |
+| 1 | descend | 359 | 31 | 0.778 | 5.56 | 9.63 | 3624.69 | 0.8276 |
+| 2 | settle | 369 | 32 | 0.027 | 0.98 | 1.70 | 3624.59 | 0.6832 |
+| 3 | close | 150 | 14 | 0.807 | 5.51 | 9.54 | 3624.98 | 1.0455 |
+| 4 | lift | 286 | 25 | 2.855 | 16.03 | 27.76 | 2377.45 | 1.1017 |
+| 5 | move_xy | 411 | 36 | 5.964 | 34.85 | 60.37 | 2752.61 | 0.9045 |
+| 6 | lower | 384 | 34 | 0.105 | 1.86 | 3.22 | 3624.87 | 1.0750 |
+| 7 | open | 149 | 14 | 0.714 | 4.91 | 8.50 | 3624.71 | 0.7607 |
+| 8 | retract | 285 | 25 | 2.808 | 15.81 | 27.38 | 2371.61 | 0.7528 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.668 |
+| TCP position RMSE (mm, per-axis) | 15.31 |
+| EE position RMS L2 (mm) | 28.97 |
+| TCP rotvec (mrad) | 3128.84 |
+| W1 effort mean (A) | 0.8400 |
+| W1 effort per joint (A) | j0=0.2178, j1=1.5274, j2=1.6933, j3=0.7653, j4=0.2691, j5=0.5669 |
+
+## Phase-end anchor (sim - 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 | -0.00044 | -0.00081 | 0.00130 | 0.026 |
+| 1 | 0.00093 | -0.00072 | -0.00118 | 0.00167 | 0.049 |
+| 2 | 0.00095 | -0.00074 | -0.00119 | 0.00170 | 0.053 |
+| 3 | 0.00158 | -0.00063 | -0.00192 | 0.00257 | 0.155 |
+| 4 | 0.00051 | -0.00005 | -0.00021 | 0.00055 | 0.134 |
+| 5 | 0.00193 | -0.00103 | -0.00181 | 0.00284 | 0.125 |
+| 6 | 0.00194 | -0.00099 | -0.00172 | 0.00277 | 0.124 |
+| 7 | 0.00075 | -0.00043 | -0.00099 | 0.00131 | 0.046 |
+| 8 | -0.00014 | -0.00020 | -0.00022 | 0.00033 | 0.037 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_30a510ec-385d-4265-aa9f-c358f78ebd9b.md

@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/30a510ec-385d-4265-aa9f-c358f78ebd9b.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/30a510ec-385d-4265-aa9f-c358f78ebd9b.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1580 |
+| Sim rows | 160 |
+| Real episode_id | `30a510ec-385d-4265-aa9f-c358f78ebd9b` |
+| Sim episode_id | `30a510ec-385d-4265-aa9f-c358f78ebd9b` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 3.679 | 16.74 | 29.00 | 1264.15 | 0.7769 |
+| 1 | descend | 82 | 9 | 0.519 | 3.90 | 6.76 | 5.67 | 0.6851 |
+| 2 | settle | 15 | 2 | 0.027 | 2.92 | 5.05 | 6.11 | 0.6492 |
+| 3 | close | 370 | 37 | 0.116 | 3.42 | 5.92 | 11.05 | 1.1442 |
+| 4 | lift | 108 | 11 | 0.707 | 4.79 | 8.30 | 11.65 | 1.2852 |
+| 5 | move_xy | 294 | 29 | 8.194 | 52.65 | 91.19 | 83.58 | 1.1404 |
+| 6 | lower | 109 | 11 | 1.182 | 4.49 | 7.78 | 10.17 | 1.3547 |
+| 7 | open | 73 | 8 | 0.036 | 2.12 | 3.68 | 6.73 | 0.8137 |
+| 8 | retract | 106 | 11 | 1.806 | 6.36 | 11.02 | 6.24 | 0.8155 |
+| 9 | return | 228 | 23 | 4.458 | 29.09 | 50.39 | 415.38 | 0.7832 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.256 |
+| TCP position RMSE (mm, per-axis) | 20.05 |
+| EE position RMS L2 (mm) | 45.23 |
+| TCP rotvec (mrad) | 421.68 |
+| W1 effort mean (A) | 0.9824 |
+| W1 effort per joint (A) | j0=0.2529, j1=1.9530, j2=1.4633, j3=0.7952, j4=0.7113, j5=0.7186 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00202 | -0.00410 | -0.00099 | 0.00467 | 0.038 |
+| 1 | 0.00234 | -0.00429 | -0.00122 | 0.00504 | 0.046 |
+| 2 | 0.00235 | -0.00429 | -0.00130 | 0.00506 | 0.054 |
+| 3 | 0.00269 | -0.00473 | -0.00163 | 0.00568 | 0.205 |
+| 4 | 0.00229 | -0.00464 | -0.00174 | 0.00547 | 0.327 |
+| 5 | 0.00385 | -0.00202 | -0.00130 | 0.00454 | 0.183 |
+| 6 | 0.00396 | -0.00163 | -0.00102 | 0.00440 | 0.149 |
+| 7 | 0.00283 | -0.00228 | -0.00065 | 0.00369 | 0.082 |
+| 8 | 0.00316 | -0.00233 | -0.00034 | 0.00394 | 0.082 |
+| 9 | -0.00006 | -0.00021 | -0.00032 | 0.00039 | 0.057 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_30d134aa-3b36-4039-9cb7-6205af8e394f.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/30d134aa-3b36-4039-9cb7-6205af8e394f.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/30d134aa-3b36-4039-9cb7-6205af8e394f.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1949 |
+| Sim rows | 693 |
+| Real episode_id | `30d134aa-3b36-4039-9cb7-6205af8e394f` |
+| Sim episode_id | `30d134aa-3b36-4039-9cb7-6205af8e394f` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 174 | 18 | 3.423 | 14.23 | 24.65 | 2019.67 | 0.5991 |
+| 1 | descend | 327 | 33 | 0.426 | 3.01 | 5.21 | 3625.34 | 0.7005 |
+| 2 | settle | 338 | 33 | 0.023 | 0.82 | 1.41 | 3625.24 | 0.6654 |
+| 3 | close | 97 | 10 | 0.645 | 4.35 | 7.53 | 3349.57 | 0.9982 |
+| 4 | lift | 319 | 32 | 3.474 | 16.40 | 28.41 | 2254.36 | 1.0892 |
+| 5 | move_xy | 285 | 28 | 7.817 | 38.01 | 65.83 | 2655.85 | 0.8718 |
+| 6 | lower | 63 | 502 | 1.692 | 6.99 | 12.11 | 3530.65 | 0.8970 |
+| 7 | open | 96 | 10 | 0.550 | 3.73 | 6.46 | 3625.50 | 0.6348 |
+| 8 | retract | 250 | 25 | 2.989 | 14.48 | 25.07 | 2315.64 | 0.7272 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.293 |
+| TCP position RMSE (mm, per-axis) | 15.70 |
+| EE position RMS L2 (mm) | 27.82 |
+| TCP rotvec (mrad) | 3067.60 |
+| W1 effort mean (A) | 0.7916 |
+| W1 effort per joint (A) | j0=0.2408, j1=1.3352, j2=1.5340, j3=0.7064, j4=0.3019, j5=0.6316 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00085 | -0.00032 | -0.00056 | 0.00107 | 0.031 |
+| 1 | 0.00084 | -0.00056 | -0.00101 | 0.00143 | 0.052 |
+| 2 | 0.00088 | -0.00059 | -0.00094 | 0.00142 | 0.043 |
+| 3 | 0.00133 | -0.00038 | -0.00064 | 0.00152 | 0.075 |
+| 4 | 0.00034 | 0.00004 | -0.00012 | 0.00036 | 0.076 |
+| 5 | 0.00193 | -0.00073 | -0.00292 | 0.00357 | 0.250 |
+| 6 | 0.00145 | -0.00090 | -0.00063 | 0.00182 | 0.109 |
+| 7 | 0.00038 | -0.00042 | -0.00080 | 0.00098 | 0.041 |
+| 8 | -0.00015 | -0.00020 | -0.00020 | 0.00032 | 0.032 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_30e0865e-2d6b-4445-a543-57060e36c4f4.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/30e0865e-2d6b-4445-a543-57060e36c4f4.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/30e0865e-2d6b-4445-a543-57060e36c4f4.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 3450 |
+| Sim rows | 306 |
+| Real episode_id | `30e0865e-2d6b-4445-a543-57060e36c4f4` |
+| Sim episode_id | `30e0865e-2d6b-4445-a543-57060e36c4f4` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 276 | 25 | 3.253 | 13.50 | 23.38 | 2023.70 | 0.5868 |
+| 1 | descend | 782 | 68 | 0.517 | 3.56 | 6.16 | 3625.39 | 0.7400 |
+| 2 | settle | 367 | 32 | 0.022 | 0.82 | 1.42 | 3625.26 | 0.6820 |
+| 3 | close | 146 | 13 | 1.006 | 6.48 | 11.22 | 3419.60 | 0.9715 |
+| 4 | lift | 428 | 38 | 3.719 | 16.88 | 29.24 | 2403.03 | 1.0750 |
+| 5 | move_xy | 470 | 41 | 8.461 | 41.03 | 71.06 | 2512.06 | 0.8579 |
+| 6 | lower | 407 | 36 | 0.088 | 1.48 | 2.57 | 3485.25 | 0.9331 |
+| 7 | open | 147 | 13 | 0.908 | 5.64 | 9.77 | 3625.50 | 0.6446 |
+| 8 | retract | 427 | 38 | 3.660 | 16.65 | 28.84 | 2405.53 | 0.7287 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.520 |
+| TCP position RMSE (mm, per-axis) | 16.72 |
+| EE position RMS L2 (mm) | 30.98 |
+| TCP rotvec (mrad) | 3077.48 |
+| W1 effort mean (A) | 0.7776 |
+| W1 effort per joint (A) | j0=0.2548, j1=1.3137, j2=1.5609, j3=0.7224, j4=0.2537, j5=0.5601 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00087 | -0.00022 | -0.00063 | 0.00109 | 0.035 |
+| 1 | 0.00089 | -0.00059 | -0.00093 | 0.00142 | 0.042 |
+| 2 | 0.00090 | -0.00060 | -0.00095 | 0.00144 | 0.045 |
+| 3 | 0.00137 | -0.00031 | -0.00091 | 0.00167 | 0.081 |
+| 4 | 0.00050 | 0.00031 | 0.00011 | 0.00060 | 0.074 |
+| 5 | 0.00262 | -0.00089 | -0.00188 | 0.00335 | 0.235 |
+| 6 | 0.00200 | -0.00089 | -0.00119 | 0.00249 | 0.165 |
+| 7 | 0.00071 | -0.00023 | -0.00071 | 0.00103 | 0.037 |
+| 8 | -0.00006 | -0.00009 | -0.00012 | 0.00016 | 0.022 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_30e3780a-8102-495c-8b96-3ae366713401.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/30e3780a-8102-495c-8b96-3ae366713401.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/30e3780a-8102-495c-8b96-3ae366713401.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2656 |
+| Sim rows | 236 |
+| Real episode_id | `30e3780a-8102-495c-8b96-3ae366713401` |
+| Sim episode_id | `30e3780a-8102-495c-8b96-3ae366713401` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 234 | 21 | 2.804 | 15.51 | 26.86 | 1982.56 | 0.6095 |
+| 1 | descend | 366 | 32 | 0.944 | 6.48 | 11.22 | 3624.71 | 0.8141 |
+| 2 | settle | 362 | 32 | 0.028 | 0.96 | 1.67 | 3624.54 | 0.6774 |
+| 3 | close | 135 | 12 | 0.807 | 5.52 | 9.56 | 3625.04 | 1.0206 |
+| 4 | lift | 307 | 27 | 2.414 | 14.03 | 24.31 | 2322.42 | 1.1554 |
+| 5 | move_xy | 418 | 36 | 5.397 | 32.97 | 57.10 | 2831.14 | 0.9393 |
+| 6 | lower | 393 | 35 | 0.097 | 1.72 | 2.98 | 3625.00 | 1.0731 |
+| 7 | open | 134 | 12 | 0.819 | 5.66 | 9.81 | 3624.72 | 0.7684 |
+| 8 | retract | 307 | 27 | 2.444 | 14.32 | 24.80 | 2303.75 | 0.7441 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.381 |
+| TCP position RMSE (mm, per-axis) | 14.29 |
+| EE position RMS L2 (mm) | 27.29 |
+| TCP rotvec (mrad) | 3133.03 |
+| W1 effort mean (A) | 0.8527 |
+| W1 effort per joint (A) | j0=0.2332, j1=1.5468, j2=1.6794, j3=0.7695, j4=0.2768, 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 | -0.00052 | -0.00077 | 0.00122 | 0.028 |
+| 1 | 0.00073 | -0.00088 | -0.00121 | 0.00166 | 0.058 |
+| 2 | 0.00076 | -0.00085 | -0.00118 | 0.00164 | 0.051 |
+| 3 | 0.00142 | -0.00067 | -0.00188 | 0.00245 | 0.131 |
+| 4 | 0.00014 | -0.00029 | -0.00036 | 0.00048 | 0.088 |
+| 5 | 0.00188 | -0.00127 | -0.00235 | 0.00327 | 0.139 |
+| 6 | 0.00205 | -0.00142 | -0.00283 | 0.00377 | 0.194 |
+| 7 | 0.00061 | -0.00053 | -0.00099 | 0.00128 | 0.045 |
+| 8 | -0.00012 | -0.00020 | -0.00019 | 0.00030 | 0.038 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_30e9dd17-a71f-437b-9e8a-30422ec171fc.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/30e9dd17-a71f-437b-9e8a-30422ec171fc.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/30e9dd17-a71f-437b-9e8a-30422ec171fc.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 3034 |
+| Sim rows | 269 |
+| Real episode_id | `30e9dd17-a71f-437b-9e8a-30422ec171fc` |
+| Sim episode_id | `30e9dd17-a71f-437b-9e8a-30422ec171fc` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 240 | 22 | 2.577 | 12.05 | 20.87 | 2013.04 | 0.5688 |
+| 1 | descend | 626 | 54 | 0.546 | 3.61 | 6.25 | 3625.38 | 0.6958 |
+| 2 | settle | 391 | 34 | 0.024 | 0.75 | 1.30 | 3625.17 | 0.6787 |
+| 3 | close | 152 | 14 | 1.038 | 6.65 | 11.51 | 3435.95 | 0.9776 |
+| 4 | lift | 319 | 28 | 2.176 | 10.61 | 18.39 | 2314.57 | 1.0873 |
+| 5 | move_xy | 456 | 40 | 5.440 | 29.65 | 51.35 | 2791.82 | 0.9148 |
+| 6 | lower | 382 | 33 | 0.085 | 1.32 | 2.28 | 3471.89 | 1.0479 |
+| 7 | open | 148 | 14 | 0.964 | 6.07 | 10.52 | 3625.32 | 0.7112 |
+| 8 | retract | 320 | 28 | 2.237 | 10.99 | 19.03 | 2328.48 | 0.7237 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.316 |
+| TCP position RMSE (mm, per-axis) | 12.26 |
+| EE position RMS L2 (mm) | 22.92 |
+| TCP rotvec (mrad) | 3089.65 |
+| W1 effort mean (A) | 0.7994 |
+| W1 effort per joint (A) | j0=0.2622, j1=1.2872, j2=1.6377, j3=0.7514, j4=0.2712, j5=0.5866 |
+
+## Phase-end anchor (sim - 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 | -0.00039 | -0.00077 | 0.00098 | 0.036 |
+| 1 | 0.00040 | -0.00073 | -0.00102 | 0.00132 | 0.049 |
+| 2 | 0.00041 | -0.00072 | -0.00097 | 0.00128 | 0.045 |
+| 3 | 0.00131 | -0.00039 | -0.00089 | 0.00163 | 0.161 |
+| 4 | 0.00026 | -0.00014 | -0.00027 | 0.00040 | 0.108 |
+| 5 | 0.00126 | -0.00091 | -0.00080 | 0.00175 | 0.118 |
+| 6 | 0.00161 | -0.00083 | -0.00085 | 0.00201 | 0.154 |
+| 7 | 0.00021 | -0.00048 | -0.00077 | 0.00094 | 0.044 |
+| 8 | -0.00011 | -0.00018 | -0.00021 | 0.00030 | 0.032 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_30f021ff-0da0-4367-8693-b10bd5263e78.md

@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/30f021ff-0da0-4367-8693-b10bd5263e78.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/30f021ff-0da0-4367-8693-b10bd5263e78.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 421 |
+| Sim rows | 58 |
+| Real episode_id | `30f021ff-0da0-4367-8693-b10bd5263e78` |
+| Sim episode_id | `30f021ff-0da0-4367-8693-b10bd5263e78` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.023 | 9.18 | 15.89 | 371.00 | 0.7773 |
+| 1 | descend | 210 | 21 | 0.025 | 3.18 | 5.51 | 1.93 | 0.7590 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.430 |
+| TCP position RMSE (mm, per-axis) | 6.87 |
+| EE position RMS L2 (mm) | 11.91 |
+| TCP rotvec (mrad) | 262.34 |
+| W1 effort mean (A) | 0.7679 |
+| W1 effort per joint (A) | j0=0.1777, j1=1.6394, j2=1.7219, j3=0.8270, j4=0.1348, j5=0.1066 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | -0.00506 | -0.00251 | 0.00038 | 0.00566 | 0.045 |
+| 1 | -0.00491 | -0.00243 | 0.00027 | 0.00549 | 0.049 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_30fdd392-4404-4ac6-9e9a-c0646d4c6170.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/30fdd392-4404-4ac6-9e9a-c0646d4c6170.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/30fdd392-4404-4ac6-9e9a-c0646d4c6170.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2877 |
+| Sim rows | 255 |
+| Real episode_id | `30fdd392-4404-4ac6-9e9a-c0646d4c6170` |
+| Sim episode_id | `30fdd392-4404-4ac6-9e9a-c0646d4c6170` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 238 | 21 | 3.012 | 11.61 | 20.11 | 1994.31 | 0.5666 |
+| 1 | descend | 325 | 29 | 1.427 | 8.55 | 14.81 | 3626.01 | 0.6804 |
+| 2 | settle | 378 | 33 | 0.022 | 0.59 | 1.03 | 3625.97 | 0.6933 |
+| 3 | close | 139 | 13 | 0.921 | 5.48 | 9.49 | 1490.26 | 0.9294 |
+| 4 | lift | 402 | 35 | 3.054 | 12.39 | 21.47 | 1908.16 | 1.1164 |
+| 5 | move_xy | 443 | 38 | 6.940 | 31.24 | 54.11 | 2024.33 | 0.9121 |
+| 6 | lower | 409 | 36 | 0.081 | 1.11 | 1.93 | 1662.32 | 0.9567 |
+| 7 | open | 141 | 13 | 0.961 | 5.48 | 9.50 | 3626.22 | 0.6010 |
+| 8 | retract | 402 | 35 | 3.306 | 13.60 | 23.55 | 2265.96 | 0.6967 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.006 |
+| TCP position RMSE (mm, per-axis) | 13.27 |
+| EE position RMS L2 (mm) | 25.70 |
+| TCP rotvec (mrad) | 2609.39 |
+| W1 effort mean (A) | 0.7866 |
+| W1 effort per joint (A) | j0=0.2428, j1=1.1772, j2=1.5279, j3=0.6964, j4=0.4522, j5=0.6232 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00036 | -0.00032 | -0.00049 | 0.00069 | 0.028 |
+| 1 | 0.00041 | -0.00055 | -0.00077 | 0.00103 | 0.037 |
+| 2 | 0.00042 | -0.00056 | -0.00073 | 0.00102 | 0.031 |
+| 3 | 0.00123 | -0.00031 | -0.00089 | 0.00155 | 0.244 |
+| 4 | 0.00015 | -0.00028 | -0.00036 | 0.00048 | 0.085 |
+| 5 | 0.00102 | -0.00077 | -0.00042 | 0.00135 | 0.095 |
+| 6 | 0.00118 | -0.00079 | -0.00114 | 0.00182 | 0.117 |
+| 7 | 0.00027 | -0.00030 | -0.00053 | 0.00067 | 0.038 |
+| 8 | -0.00006 | -0.00007 | -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.

gap_reports/gap_311e95dd-41f5-4a27-bc3a-083ed6979f85.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/311e95dd-41f5-4a27-bc3a-083ed6979f85.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/311e95dd-41f5-4a27-bc3a-083ed6979f85.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2697 |
+| Sim rows | 237 |
+| Real episode_id | `311e95dd-41f5-4a27-bc3a-083ed6979f85` |
+| Sim episode_id | `311e95dd-41f5-4a27-bc3a-083ed6979f85` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 229 | 20 | 3.058 | 12.10 | 20.96 | 1946.59 | 0.5642 |
+| 1 | descend | 406 | 35 | 0.502 | 3.15 | 5.45 | 3626.00 | 0.6932 |
+| 2 | settle | 373 | 32 | 0.021 | 0.60 | 1.04 | 3625.96 | 0.6901 |
+| 3 | close | 109 | 10 | 0.605 | 3.69 | 6.39 | 1575.03 | 0.9334 |
+| 4 | lift | 343 | 30 | 3.156 | 13.31 | 23.05 | 1644.11 | 1.0598 |
+| 5 | move_xy | 393 | 34 | 6.171 | 27.85 | 48.23 | 2120.79 | 0.8515 |
+| 6 | lower | 389 | 34 | 0.080 | 1.12 | 1.94 | 1856.01 | 0.9787 |
+| 7 | open | 110 | 10 | 0.655 | 3.87 | 6.70 | 3626.23 | 0.5833 |
+| 8 | retract | 345 | 30 | 3.236 | 13.47 | 23.33 | 2234.18 | 0.6785 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.767 |
+| TCP position RMSE (mm, per-axis) | 12.11 |
+| EE position RMS L2 (mm) | 22.85 |
+| TCP rotvec (mrad) | 2610.92 |
+| W1 effort mean (A) | 0.7702 |
+| W1 effort per joint (A) | j0=0.2322, j1=1.1616, j2=1.5914, j3=0.7022, j4=0.3666, j5=0.5671 |
+
+## Phase-end anchor (sim - 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 | -0.00049 | 0.00074 | 0.027 |
+| 1 | 0.00044 | -0.00054 | -0.00080 | 0.00106 | 0.038 |
+| 2 | 0.00043 | -0.00055 | -0.00076 | 0.00103 | 0.035 |
+| 3 | 0.00073 | -0.00050 | -0.00048 | 0.00101 | 0.096 |
+| 4 | 0.00024 | -0.00023 | -0.00021 | 0.00039 | 0.121 |
+| 5 | 0.00146 | -0.00073 | -0.00120 | 0.00203 | 0.149 |
+| 6 | 0.00140 | -0.00066 | -0.00068 | 0.00169 | 0.133 |
+| 7 | 0.00022 | -0.00035 | -0.00060 | 0.00073 | 0.034 |
+| 8 | -0.00007 | -0.00008 | -0.00014 | 0.00017 | 0.028 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_31313aae-b867-4e18-82d4-5cac57916c73.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/31313aae-b867-4e18-82d4-5cac57916c73.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/31313aae-b867-4e18-82d4-5cac57916c73.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2919 |
+| Sim rows | 259 |
+| Real episode_id | `31313aae-b867-4e18-82d4-5cac57916c73` |
+| Sim episode_id | `31313aae-b867-4e18-82d4-5cac57916c73` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 217 | 19 | 3.131 | 15.32 | 26.53 | 1968.60 | 0.6310 |
+| 1 | descend | 369 | 32 | 1.046 | 7.34 | 12.71 | 3624.69 | 0.8069 |
+| 2 | settle | 367 | 32 | 0.028 | 1.02 | 1.76 | 3624.60 | 0.7322 |
+| 3 | close | 183 | 17 | 0.735 | 5.27 | 9.12 | 3625.43 | 1.0037 |
+| 4 | lift | 398 | 35 | 3.309 | 17.48 | 30.28 | 2417.58 | 1.1163 |
+| 5 | move_xy | 397 | 35 | 8.990 | 49.14 | 85.11 | 2824.26 | 0.9436 |
+| 6 | lower | 409 | 36 | 0.091 | 1.74 | 3.01 | 3625.08 | 1.0610 |
+| 7 | open | 180 | 16 | 0.678 | 4.75 | 8.23 | 3624.73 | 0.7542 |
+| 8 | retract | 399 | 35 | 3.569 | 19.11 | 33.10 | 2434.67 | 0.7517 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.596 |
+| TCP position RMSE (mm, per-axis) | 19.52 |
+| EE position RMS L2 (mm) | 36.66 |
+| TCP rotvec (mrad) | 3150.37 |
+| W1 effort mean (A) | 0.8605 |
+| W1 effort per joint (A) | j0=0.2763, j1=1.5731, j2=1.5734, j3=0.7854, j4=0.3227, j5=0.6323 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00110 | -0.00027 | -0.00070 | 0.00133 | 0.029 |
+| 1 | 0.00111 | -0.00062 | -0.00121 | 0.00175 | 0.055 |
+| 2 | 0.00114 | -0.00065 | -0.00119 | 0.00177 | 0.057 |
+| 3 | 0.00256 | -0.00024 | -0.00126 | 0.00287 | 0.194 |
+| 4 | 0.00003 | -0.00052 | -0.00060 | 0.00080 | 0.086 |
+| 5 | 0.00212 | -0.00080 | -0.00220 | 0.00315 | 0.137 |
+| 6 | 0.00212 | -0.00092 | -0.00135 | 0.00268 | 0.119 |
+| 7 | 0.00097 | -0.00028 | -0.00096 | 0.00139 | 0.048 |
+| 8 | -0.00013 | -0.00020 | -0.00020 | 0.00031 | 0.033 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_31370004-432f-4bc6-b6dd-f9340fe2b721.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/31370004-432f-4bc6-b6dd-f9340fe2b721.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/31370004-432f-4bc6-b6dd-f9340fe2b721.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2561 |
+| Sim rows | 228 |
+| Real episode_id | `31370004-432f-4bc6-b6dd-f9340fe2b721` |
+| Sim episode_id | `31370004-432f-4bc6-b6dd-f9340fe2b721` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.257 | 11.98 | 20.75 | 1914.53 | 0.6083 |
+| 1 | descend | 340 | 30 | 0.292 | 2.29 | 3.97 | 3624.71 | 0.8027 |
+| 2 | settle | 389 | 34 | 0.025 | 0.90 | 1.55 | 3624.62 | 0.7799 |
+| 3 | close | 136 | 12 | 0.456 | 3.74 | 6.47 | 3625.01 | 1.0621 |
+| 4 | lift | 325 | 29 | 2.428 | 14.62 | 25.33 | 2292.93 | 1.1346 |
+| 5 | move_xy | 327 | 29 | 5.170 | 32.08 | 55.56 | 2799.04 | 0.9629 |
+| 6 | lower | 394 | 34 | 0.094 | 1.62 | 2.80 | 3625.12 | 1.0379 |
+| 7 | open | 135 | 12 | 0.399 | 2.88 | 4.99 | 3624.71 | 0.7385 |
+| 8 | retract | 325 | 29 | 2.425 | 14.55 | 25.20 | 2283.65 | 0.7398 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.213 |
+| TCP position RMSE (mm, per-axis) | 13.45 |
+| EE position RMS L2 (mm) | 24.40 |
+| TCP rotvec (mrad) | 3121.07 |
+| W1 effort mean (A) | 0.8658 |
+| W1 effort per joint (A) | j0=0.1973, j1=1.5682, j2=1.7607, j3=0.7780, j4=0.3002, j5=0.5901 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00080 | -0.00051 | -0.00076 | 0.00122 | 0.034 |
+| 1 | 0.00071 | -0.00077 | -0.00113 | 0.00154 | 0.053 |
+| 2 | 0.00073 | -0.00078 | -0.00114 | 0.00157 | 0.053 |
+| 3 | 0.00142 | -0.00059 | -0.00066 | 0.00167 | 0.087 |
+| 4 | 0.00035 | -0.00007 | -0.00037 | 0.00051 | 0.101 |
+| 5 | 0.00192 | -0.00111 | -0.00205 | 0.00302 | 0.166 |
+| 6 | 0.00195 | -0.00102 | -0.00169 | 0.00277 | 0.152 |
+| 7 | 0.00064 | -0.00059 | -0.00099 | 0.00132 | 0.042 |
+| 8 | -0.00014 | -0.00021 | -0.00019 | 0.00032 | 0.038 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_314e1915-bdff-4100-9d38-9414e011f555.md

@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/314e1915-bdff-4100-9d38-9414e011f555.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/314e1915-bdff-4100-9d38-9414e011f555.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1068 |
+| Sim rows | 111 |
+| Real episode_id | `314e1915-bdff-4100-9d38-9414e011f555` |
+| Sim episode_id | `314e1915-bdff-4100-9d38-9414e011f555` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 168 | 17 | 2.667 | 16.32 | 28.27 | 311.83 | 0.7570 |
+| 1 | descend | 89 | 9 | 0.719 | 4.73 | 8.20 | 6.14 | 0.7359 |
+| 2 | settle | 41 | 5 | 0.027 | 3.30 | 5.71 | 6.72 | 0.7186 |
+| 3 | close | 29 | 4 | 0.151 | 4.23 | 7.32 | 2109.99 | 1.1764 |
+| 4 | lift | 107 | 11 | 1.117 | 6.81 | 11.79 | 931.16 | 1.1571 |
+| 5 | move_xy | 214 | 21 | 3.627 | 19.36 | 33.53 | 158.58 | 1.1081 |
+| 6 | lower | 72 | 8 | 0.310 | 2.40 | 4.15 | 5.39 | 1.0700 |
+| 7 | open | 85 | 9 | 0.025 | 2.21 | 3.83 | 5.52 | 0.7692 |
+| 8 | retract | 67 | 7 | 0.383 | 2.90 | 5.03 | 5.13 | 0.7689 |
+| 9 | return | 196 | 20 | 2.935 | 14.33 | 24.83 | 271.43 | 0.7926 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 1.758 |
+| TCP position RMSE (mm, per-axis) | 9.81 |
+| EE position RMS L2 (mm) | 22.14 |
+| TCP rotvec (mrad) | 742.65 |
+| W1 effort mean (A) | 0.8689 |
+| W1 effort per joint (A) | j0=0.2697, j1=1.7113, j2=1.6173, j3=0.7871, j4=0.3546, j5=0.4731 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00160 | -0.00492 | -0.00126 | 0.00532 | 0.059 |
+| 1 | 0.00198 | -0.00513 | -0.00133 | 0.00566 | 0.041 |
+| 2 | 0.00199 | -0.00514 | -0.00150 | 0.00571 | 0.060 |
+| 3 | 0.00294 | -0.00532 | -0.00409 | 0.00733 | 0.251 |
+| 4 | 0.00191 | -0.00515 | -0.00301 | 0.00627 | 0.206 |
+| 5 | 0.00098 | -0.00292 | -0.00113 | 0.00328 | 0.161 |
+| 6 | 0.00158 | -0.00287 | -0.00061 | 0.00334 | 0.087 |
+| 7 | 0.00219 | -0.00311 | -0.00042 | 0.00383 | 0.057 |
+| 8 | 0.00193 | -0.00325 | -0.00062 | 0.00383 | 0.071 |
+| 9 | -0.00010 | -0.00019 | -0.00030 | 0.00037 | 0.039 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_3170faaf-72c2-416b-b1bf-e41c737f89ad.md

@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3170faaf-72c2-416b-b1bf-e41c737f89ad.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3170faaf-72c2-416b-b1bf-e41c737f89ad.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 626 |
+| Sim rows | 78 |
+| Real episode_id | `3170faaf-72c2-416b-b1bf-e41c737f89ad` |
+| Sim episode_id | `3170faaf-72c2-416b-b1bf-e41c737f89ad` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 419 | 41 | 6.068 | 27.78 | 48.12 | 954.52 | 0.7863 |
+| 1 | descend | 207 | 21 | 0.023 | 2.37 | 4.11 | 2.19 | 0.8493 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 4.291 |
+| TCP position RMSE (mm, per-axis) | 19.72 |
+| EE position RMS L2 (mm) | 39.44 |
+| TCP rotvec (mrad) | 674.95 |
+| W1 effort mean (A) | 0.8071 |
+| W1 effort per joint (A) | j0=0.1998, j1=1.6571, j2=1.7875, j3=0.8734, j4=0.1500, j5=0.1747 |
+
+## Phase-end anchor (sim - 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 | 0.00407 | 0.00074 | 0.00416 | 0.024 |
+| 1 | -0.00024 | 0.00405 | 0.00050 | 0.00409 | 0.044 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_3185437e-1b4a-45e4-b699-c065ce77ebf4.md

@@ -0,0 +1,59 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/3185437e-1b4a-45e4-b699-c065ce77ebf4.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/3185437e-1b4a-45e4-b699-c065ce77ebf4.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 609 |
+| Sim rows | 77 |
+| Real episode_id | `3185437e-1b4a-45e4-b699-c065ce77ebf4` |
+| Sim episode_id | `3185437e-1b4a-45e4-b699-c065ce77ebf4` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 400 | 40 | 3.835 | 19.07 | 33.03 | 7.14 | 0.8138 |
+| 1 | descend | 209 | 21 | 0.023 | 0.63 | 1.09 | 2.20 | 0.7720 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.712 |
+| TCP position RMSE (mm, per-axis) | 13.49 |
+| EE position RMS L2 (mm) | 26.78 |
+| TCP rotvec (mrad) | 5.28 |
+| W1 effort mean (A) | 0.7994 |
+| W1 effort per joint (A) | j0=0.2021, j1=1.7449, j2=1.6320, j3=0.9013, j4=0.1365, j5=0.1798 |
+
+## Phase-end anchor (sim - 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 | 0.00082 | 0.00066 | 0.00107 | 0.042 |
+| 1 | 0.00038 | 0.00078 | 0.00067 | 0.00109 | 0.041 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_31855a30-7e68-433a-ad91-bd05bcba137b.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:26 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/31855a30-7e68-433a-ad91-bd05bcba137b.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/31855a30-7e68-433a-ad91-bd05bcba137b.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2780 |
+| Sim rows | 245 |
+| Real episode_id | `31855a30-7e68-433a-ad91-bd05bcba137b` |
+| Sim episode_id | `31855a30-7e68-433a-ad91-bd05bcba137b` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_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 | 2.957 | 12.41 | 21.49 | 1878.32 | 0.5979 |
+| 1 | descend | 543 | 47 | 0.785 | 5.14 | 8.91 | 3625.40 | 0.7063 |
+| 2 | settle | 371 | 32 | 0.024 | 0.77 | 1.33 | 3625.26 | 0.7460 |
+| 3 | close | 132 | 12 | 0.997 | 6.52 | 11.30 | 3221.18 | 1.0265 |
+| 4 | lift | 323 | 28 | 3.122 | 14.53 | 25.17 | 2178.97 | 1.1286 |
+| 5 | move_xy | 365 | 32 | 7.366 | 37.48 | 64.92 | 2422.69 | 0.9307 |
+| 6 | lower | 402 | 35 | 0.091 | 1.41 | 2.45 | 3481.22 | 1.0147 |
+| 7 | open | 133 | 12 | 1.058 | 6.77 | 11.73 | 3625.51 | 0.6659 |
+| 8 | retract | 321 | 28 | 3.148 | 14.72 | 25.50 | 2419.79 | 0.7466 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 3.080 |
+| TCP position RMSE (mm, per-axis) | 15.29 |
+| EE position RMS L2 (mm) | 27.62 |
+| TCP rotvec (mrad) | 3017.10 |
+| W1 effort mean (A) | 0.8220 |
+| W1 effort per joint (A) | j0=0.2518, j1=1.4243, j2=1.6762, j3=0.7041, j4=0.3092, j5=0.5665 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00061 | -0.00023 | -0.00064 | 0.00092 | 0.037 |
+| 1 | 0.00062 | -0.00064 | -0.00099 | 0.00133 | 0.045 |
+| 2 | 0.00065 | -0.00063 | -0.00099 | 0.00134 | 0.045 |
+| 3 | 0.00088 | -0.00042 | -0.00081 | 0.00127 | 0.094 |
+| 4 | 0.00014 | -0.00023 | -0.00020 | 0.00034 | 0.099 |
+| 5 | 0.00143 | -0.00089 | -0.00058 | 0.00178 | 0.122 |
+| 6 | 0.00148 | -0.00084 | -0.00130 | 0.00214 | 0.109 |
+| 7 | 0.00043 | -0.00039 | -0.00070 | 0.00091 | 0.046 |
+| 8 | -0.00012 | -0.00018 | -0.00021 | 0.00031 | 0.034 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_31b7dd29-afd8-460e-a8f4-f777add365a4.md

@@ -0,0 +1,73 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/31b7dd29-afd8-460e-a8f4-f777add365a4.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/31b7dd29-afd8-460e-a8f4-f777add365a4.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 2334 |
+| Sim rows | 233 |
+| Real episode_id | `31b7dd29-afd8-460e-a8f4-f777add365a4` |
+| Sim episode_id | `31b7dd29-afd8-460e-a8f4-f777add365a4` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 150 | 15 | 2.490 | 9.38 | 16.24 | 1963.89 | 0.5806 |
+| 1 | descend | 417 | 41 | 0.496 | 3.08 | 5.34 | 3625.99 | 0.6790 |
+| 2 | settle | 327 | 32 | 0.022 | 0.59 | 1.03 | 3625.96 | 0.7023 |
+| 3 | close | 111 | 11 | 0.612 | 3.69 | 6.39 | 1993.19 | 0.9893 |
+| 4 | lift | 299 | 30 | 2.514 | 10.23 | 17.73 | 1528.66 | 1.0924 |
+| 5 | move_xy | 281 | 28 | 6.916 | 31.76 | 55.01 | 2291.75 | 0.8878 |
+| 6 | lower | 340 | 33 | 0.077 | 1.07 | 1.85 | 1287.18 | 0.9737 |
+| 7 | open | 105 | 11 | 0.495 | 2.97 | 5.15 | 3626.22 | 0.5841 |
+| 8 | retract | 304 | 30 | 2.706 | 11.03 | 19.11 | 2151.03 | 0.6861 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.760 |
+| TCP position RMSE (mm, per-axis) | 12.28 |
+| EE position RMS L2 (mm) | 21.86 |
+| TCP rotvec (mrad) | 2606.56 |
+| W1 effort mean (A) | 0.7746 |
+| W1 effort per joint (A) | j0=0.2520, j1=1.1884, j2=1.5787, j3=0.6369, j4=0.4267, j5=0.5652 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00044 | -0.00033 | -0.00048 | 0.00073 | 0.038 |
+| 1 | 0.00039 | -0.00054 | -0.00076 | 0.00101 | 0.035 |
+| 2 | 0.00041 | -0.00054 | -0.00076 | 0.00102 | 0.035 |
+| 3 | 0.00117 | -0.00026 | -0.00108 | 0.00162 | 0.127 |
+| 4 | 0.00020 | 0.00005 | -0.00020 | 0.00029 | 0.067 |
+| 5 | 0.00108 | -0.00076 | -0.00126 | 0.00183 | 0.103 |
+| 6 | 0.00152 | -0.00063 | -0.00119 | 0.00203 | 0.151 |
+| 7 | 0.00022 | -0.00034 | -0.00062 | 0.00074 | 0.038 |
+| 8 | -0.00005 | -0.00008 | -0.00013 | 0.00016 | 0.027 |
+
+## Suggested next edits (`pick_place.py`)
+
+1. No automatic rules fired; use per-phase tables and phase-end deltas to decide the next `pick_place.py` tweak.
+
+## Iteration loop
+
+Re-run Isaac with updated `pick_place.py`, export a new sim CSV, then run:
+
+```bash
+python sim_real_gap.py --real episode_29312353.csv --sim "episode (1).csv"
+```
+
+Details: see `GAP_ITERATION.md` in this folder.

gap_reports/gap_31bae6e7-9d95-4dc2-abb1-79c8c63c1cf8.md

@@ -0,0 +1,75 @@
+# Sim-real gap report
+
+- **Generated:** 2026-05-05 11:27 UTC
+- **Real CSV:** `/workspace/artifacts/real_csv/31bae6e7-9d95-4dc2-abb1-79c8c63c1cf8.csv`
+- **Sim CSV:** `/workspace/artifacts/sim_csv/31bae6e7-9d95-4dc2-abb1-79c8c63c1cf8.csv`
+
+## Inputs
+
+| | |
+|---|---|
+| Real rows | 1739 |
+| Sim rows | 176 |
+| Real episode_id | `31bae6e7-9d95-4dc2-abb1-79c8c63c1cf8` |
+| Sim episode_id | `31bae6e7-9d95-4dc2-abb1-79c8c63c1cf8` |
+
+## Methodology
+
+**Scope:** offline comparison of two CSV exports (real executed vs sim-planned/exported) with identical schema; not Isaac replay of real commands. **Kinematic** (joints, logged TCP) and **effort proxy** (`joint_current_*`) only.
+
+Within each `task_phase`, time is normalized to [0, 1]. The shorter series is linearly resampled to `max(n_real, n_sim)` samples. RMSE is computed on `joint_*` (deg), TCP position (per-axis pooled, mm), TCP rotation vector (rad -> mrad). **RMS EE (mm)** is the root-mean-square of the **Euclidean** TCP position error per timestep. **W1 effort (A)** is the 1D Wasserstein distance between aligned samples of `joint_current_*` per joint (equal-n sorting). Metrics omitted when `min(n_real, n_sim) < 2`. Phase-end table is **sim - real** on the **last** row of each phase.
+
+## Per-phase metrics
+
+| ph | name | n_real | n_sim | RMSE joints (deg) | RMSE TCP pos (mm) | RMS EE L2 (mm) | RMSE rot (mrad) | W1 effort mean (A) |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|
+| 0 | above_pick | 165 | 17 | 3.532 | 14.22 | 24.63 | 1588.58 | 0.7874 |
+| 1 | descend | 91 | 10 | 0.838 | 4.35 | 7.53 | 4.43 | 0.6614 |
+| 2 | settle | 27 | 3 | 0.019 | 2.75 | 4.76 | 5.10 | 0.6659 |
+| 3 | close | 390 | 38 | 0.101 | 3.19 | 5.53 | 9.64 | 1.2222 |
+| 4 | lift | 91 | 10 | 0.816 | 4.67 | 8.08 | 8.76 | 1.3544 |
+| 5 | move_xy | 203 | 20 | 5.546 | 26.69 | 46.23 | 15.90 | 1.1621 |
+| 6 | lower | 88 | 10 | 0.865 | 3.99 | 6.90 | 6.66 | 1.1598 |
+| 7 | open | 369 | 36 | 0.028 | 2.22 | 3.85 | 4.47 | 0.6485 |
+| 8 | retract | 93 | 10 | 1.033 | 4.53 | 7.85 | 3.67 | 0.6475 |
+| 9 | return | 222 | 22 | 2.861 | 14.84 | 25.70 | 1201.64 | 0.7478 |
+
+## Pooled metrics (matched phases only)
+
+| Metric | Value |
+|---|---:|
+| Joints (deg) | 2.337 |
+| TCP position RMSE (mm, per-axis) | 11.11 |
+| EE position RMS L2 (mm) | 20.34 |
+| TCP rotvec (mrad) | 629.93 |
+| W1 effort mean (A) | 0.9088 |
+| W1 effort per joint (A) | j0=0.1969, j1=1.4752, j2=1.5969, j3=0.9424, j4=0.5712, j5=0.6705 |
+
+## Phase-end anchor (sim - real)
+
+| ph | d_tcp_x (m) | d_tcp_y (m) | d_tcp_z (m) | norm d_tcp (m) | max abs dq (deg) |
+|---:|---:|---:|---:|---:|---:|
+| 0 | 0.00159 | -0.00383 | -0.00096 | 0.00425 | 0.030 |
+| 1 | 0.00199 | -0.00420 | -0.00088 | 0.00473 | 0.041 |
+| 2 | 0.00200 | -0.00422 | -0.00105 | 0.00479 | 0.042 |
+| 3 | 0.00240 | -0.00502 | -0.00156 | 0.00578 | 0.171 |
+| 4 | 0.00193 | -0.00476 | -0.00182 | 0.00545 | 0.212 |
+| 5 | 0.00156 | -0.00346 | -0.00000 | 0.00380 | 0.152 |
+| 6 | 0.00222 | -0.00297 | -0.00007 | 0.00370 | 0.136 |
+| 7 | 0.00207 | -0.00321 | 0.00007 | 0.00382 | 0.030 |
+| 8 | 0.00152 | -0.00342 | -0.00008 | 0.00374 | 0.060 |
+| 9 | 0.00004 | -0.00011 | -0.00017 | 0.00021 | 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.